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Development of a engine start control method for P2 hybrid vehicles in launch situation
5th IFACand Conference onControl, Simulation and Modeling Engine Powertrain 5th IFAC IFACand Conference onControl,20-22, Engine Powertrain Simulation 5th Conference on Changchun, China, September 2018 and Modeling Available at www.sciencedirect.com Engine and and Powertrain Powertrain Control, Simulation Simulation and online Modeling Changchun, China, September 2018 and Engine Modeling 5th IFAC Conference onControl,20-22, Changchun, China, China, September September 20-22, 20-22, 2018 2018 Changchun, Engine and Powertrain Control, Simulation and Modeling Changchun, China, September 20-22, 2018
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IFAC PapersOnLine 51-31 (2018)method 7–10 Development of a engine start control for P2 hybrid vehicles Development of a engine start control method launch situation Development of of aa engine engine in start control method for for P2 P2 hybrid hybrid vehicles vehicles Development start control method for P2 hybrid vehicles launch situation Development of a engine in start control method for P2 hybrid vehicles in launch launch situation situation in JIakui. Ning*. Guiqing. Zhu.** in launch situation JIakui. Ning*. Baixue.Guiqing. Qu*** Zhu.**
JIakui. Ning*. Ning*. Guiqing. Zhu.** JIakui. Baixue. Qu*** Zhu.** Guiqing. Baixue. Qu*** Zhu.** Baixue. Qu*** Guiqing. JIakui. Ning*. * China FAW Co.,Ltd., Dongfeng street 8899, Changchun, Qu*** Baixue. * China+86-0431-8202-8441; FAW Co.,Ltd., Dongfeng street 8899, Changchun, China(Tel: e-mail: ningjiakui@ faw.com.cn). China FAW Co.,Ltd., Co.,Ltd., Dongfeng Dongfeng street 8899, Changchun, Changchun, ** China FAW street 8899, China(Tel: +86-0431-8202-8441; e-mail: ningjiakui@ faw.com.cn). ** China FAW Co.,Ltd., Dongfeng street 8899, Changchun, China(Tel: +86-0431-8202-8441; e-mail: ningjiakui@ faw.com.cn). China(Tel: +86-0431-8202-8441; e-mail: ningjiakui@ faw.com.cn). * China FAW Dongfeng street 8899, ** China FAWCo.,Ltd., Co.,Ltd., Dongfeng street 8899,Changchun, Changchun, China (e-mail:zhuguiqing@ faw.com.cn) ** China China FAW Co.,Ltd., Dongfeng street 8899, Changchun, ** FAW Co.,Ltd., Dongfeng street 8899, Changchun, China(Tel: +86-0431-8202-8441; e-mail: ningjiakui@ faw.com.cn). (e-mail:zhuguiqing@ faw.com.cn) *** ChinaChina FAW Co.,Ltd., Dongfeng street 8899, Changchun, China (e-mail:zhuguiqing@ faw.com.cn) (e-mail:zhuguiqing@ faw.com.cn) ** China FAW Dongfeng 8899, *** ChinaChina FAWCo.,Ltd., Co.,Ltd., Dongfengstreet street 8899,Changchun, Changchun, China (e-mail: qubaixue@ faw.com.cn)} *** China ChinaChina FAW Co.,Ltd., Co.,Ltd., Dongfeng street street 8899, Changchun, Changchun, *** FAW Dongfeng 8899, (e-mail:zhuguiqing@ faw.com.cn) (e-mail: qubaixue@ faw.com.cn)} China (e-mail: qubaixue@ faw.com.cn)} (e-mail: qubaixue@ faw.com.cn)} *** ChinaChina FAW Co.,Ltd., Dongfeng street 8899, Changchun, qubaixue@ faw.com.cn)} Abstract: In this paper, the P2 China hybrid (e-mail: system with dual clutch automatic transmission (DCT) is used as Abstract: this paper, theprocess P2 hybrid system with dual clutch transmission is used as the researchIn object, and the which the vehicle driven byautomatic motor alone switch to (DCT) driven by engine Abstract: Inobject, this paper, paper, theprocess P2 hybrid hybrid system with dual dual clutch automatic transmission (DCT) is used used as Abstract: In this the P2 system with clutch automatic transmission (DCT) is as the research and the which the vehicle driven by motor alone switch to driven by engine in launch situation is analyzed. Focusing on preventing the by wheel driving torque variation caused by the research object, and the process which the vehicle driven motor alone switch to driven by engine the research and the which the vehicle driven motor alone switch to (DCT) driven by engine Abstract: Inobject, this paper, theprocess P2 hybrid system with of dual clutch automatic transmission isthe used as in launch situation is analyzed. Focusing on preventing the by wheel driving torque variation by motor torque rising instantaneously in the process engine start, the effective method of letcaused DCT in launch launch situation is analyzed. Focusing on preventing the by wheel driving torque variation caused by in situation is analyzed. Focusing on preventing the wheel driving torque variation caused by the research object, and the process which the vehicle driven motor alone switch to driven by engine motor torque rising instantaneously in the process of engine start, the effective method of let the DCT clutch slip at arising desired speed, coordinated control strategy of start, powerthe source torque to reduce thethejerk of motor torque instantaneously in the the on process of engine engine effective method of let letthe DCT motor torque in process of start, the effective method of thejerk DCT in launch isinstantaneously analyzed. Focusing preventing the wheel driving torque variation caused by clutch slip situation at arising desired speed, coordinated control strategy ofthe power source torque to reduce of the vehicle in different launch situation is proposed. Finally, strategy is verified through vehicle test, clutch slip at at desired speed, coordinated coordinated control strategy ofthe power source torque to reduce the jerk of clutch slip desired speed, control strategy of power source torque to reduce the of motor torque instantaneously the process ofFinally, engine start, the effective method ofcomfort let thejerk the vehicle in aarising different launch is proposed. strategy is verified through vehicle test, the test results showed that the situation controlinstrategy proposed in this paper can improve the ride ofDCT the the test vehicle in different launch situation is proposed. Finally, the strategy is verified through vehicle test, the vehicle in different launch situation is proposed. Finally, the strategy is verified through vehicle test, clutch slip at a desired speed, coordinated control strategy of power source torque to reduce the jerk of results thatmode the control strategy proposed in this paper can improve the ride comfort of the vehicle during showed the driving transition process effectively. the test test results showed that the situation control strategy proposed in this this paper can improve improve thethrough ride comfort comfort oftest, the the results showed that the control strategy proposed in can the ride the vehicle in different launch is process proposed. Finally, thepaper strategy is verified vehicleof vehicle during the driving mode transition effectively. vehicle during the driving mode transition process effectively. © 2018, IFAC Federation of Automatic Control) Hosting Elsevier Ltd.the Allride rights reserved. vehicle during the driving mode transition process effectively. Keywords: P2(International hybrid system, engine start, clutch slip control, optimal control, mode transition the test results showed that the control strategy proposed in this paperbycan improve comfort of the Keywords: P2the hybrid system, engine start, clutch slip control, optimal control, mode transition smoothness. vehicle during driving mode transition process effectively. Keywords: P2 P2 hybrid hybrid system, system, engine engine start, start, clutch clutch slip slip control, control, optimal optimal control, control, mode mode transition transition Keywords: smoothness. smoothness. smoothness. P2 hybrid system, engine start, clutch Keywords: slip control, optimal control, mode transition demand torque variation during engine started by the motor. smoothness. 1. INTRODUCTION demand torqueetvariation duringa slip engine started by the motor. Jun Motosugi al. developed control system (2011) to 1. INTRODUCTION demand torqueetvariation variation duringa slip engine started by the the motor. demand torque during engine started by motor. Jun Motosugi al. developed control system (2011) 1. INTRODUCTION improve this theory. But in the paper the studied of control 1. INTRODUCTION April this year in China the corporate average fuel economy Jun Motosugi et al. developed a slip control system (2011) to to Jun Motosugi etvariation al. developed a slip control system (2011) to demand torque engine started by the motor. improve thislaunch theory. But during in the paper the studied of control method in situation is limited. In this paper, an April this year in China the corporate average fuel economy integration regulations is about to start, and the new energy 1. INTRODUCTION improve this theory. But in the paper the studied of control April this this year year in China Chinaisthe the corporate average fuel economy improve thislaunch theory. But in the paper the In studied of control Jun Motosugi et al. developed a slip control system (2011) to method in situation is limited. thiscontrol paper, an April in corporate fuel economy control method which dynamic slip and integration regulations about to start, and the new energy integration regulations will begin in average 2019. As one of the optimal method in in launch situation is paper limited. In thiscontrol paper, an integration regulations is about to start, and the new energy method launch situation is limited. In this paper, an improve this theory. But in the the studied of control optimal control method which dynamic slip and integration regulations is about to start, and the new energy April this year in China the corporate average fuel economy control of power source torque isslip presented. regulations willintegration begin in regulations, 2019. As one of and the coordinated means to deal with double hybrid optimal in control method which dynamic control and integration regulations will begin in regulations, 2019. As new one of and the coordinated optimal control method which dynamic method launch situation is limited. thiscontrol paper, and an control of power source torqueIn isslip presented. regulations begin in 2019. As one of the integration regulations iswill about to start, andmore the energy means to deal with double integration hybrid pure electric technology is being paid and more coordinated control of power source torque is presented. means to deal with double integration regulations, hybrid and coordinated control of power source torque is presented. The papercontrol is organized as follows: In sectionslip 2 the P2 hybrid optimal method which dynamic control and means to deal with double integration regulations, hybrid and integration regulations will begin in 2019. As one of the pure electric technology is being paid more and more attention by thetechnology major automotive companies. The paper isconfiguration organized asand follows: Intorque section 2is the P2 hybrid pure electric electric is being being paid more hybrid and more more its components explained. In coordinated control of power source is presented. pure technology is paid more and means to by deal double integration regulations, and powertrain attention thewith major automotive companies. The paper paper is isconfiguration organized asand follows: In section section the P2 hybrid hybrid The organized as follows: In 22is the P2 powertrain its components explained. attention by the major automotive companies. section 3 the control method is introduced. In section 4 attention bytothe major automotive companies. Compared pure electric vehicle which the more cruising is powertrain configuration and its components is explained. In pure electric technology is being paid andrange more In powertrain configuration and its iscomponents explained. In The paper is organized as follows: In section 2is the P2 hybrid section 3 the control method introduced. In section illustrative results from the vehicle test are provided. Finally Compared to pure electric vehicle which the cruising range is limited, the ofvehicle new hybrid is section 3 the control method is introduced. In section 44 attention bytodevelopment the major automotive companies. Compared pure electric whichpowertrains the cruising cruising which range is is section 3 the control method introduced. section powertrain configuration and its iscomponents is In explained. In4 illustrative results from the test provided. Finally Compared to pure electric vehicle which the range our conclusion are shown in vehicle section 5. are limited, the development of new hybrid powertrains which capable of providing bothofsuperior performance and which the fuel illustrative results from the vehicle test are provided. provided. Finally limited, the development new hybrid powertrains is illustrative results from the vehicle test are Finally section 3 the control method is introduced. In section 4 our conclusion are shown in section 5. limited, the development ofvehicle new hybrid powertrains Compared pure electric which the cruising is capable of to providing bothwithout superior performance and thebetter fuel economy, as while as range anxiety is which arange our conclusion conclusion are from shownthe in vehicle section test 5. are provided. Finally capable of providing both superior performance and the fuel our are shown in section 5. illustrative results capable of providing both superior performance and the fuel limited, the development ofChina, new hybrid powertrains is economy, while and as without range anxiety is which a better 2. P2 HYBRID POWERTRAIN CONFIGURATION solution. Inas Europe two hybrid configurations economy, as while and as without without range anxiety is aathebetter better are shown in section 5.CONFIGURATION 2. P2 HYBRID POWERTRAIN economy, as while as range anxiety is capable ofIn providing both superior performance and fuel our conclusion solution. Europe China, two hybrid configurations dominate the hybrid market, power split and P2.For China 2. P2 P2 HYBRID HYBRID POWERTRAIN POWERTRAIN CONFIGURATION CONFIGURATION solution. In Europe and China, two hybrid configurations 2. solution. In Europe and China, two hybrid configurations economy, as while as without range anxiety is a better dominate the companies, hybrid market, power of splitthe and manufacturing P2.For China 2.1 P2 Hybrid Powertrain configuration automotive consider dominate the hybrid market, power split and P2.For China 2. P2 HYBRID POWERTRAIN CONFIGURATION dominate In the hybrid market, power split and P2.For China 2.1 P2 solution. Europe China, twoof hybrid configurations automotive companies, consider the manufacturing technology and cost ofand planetary gear, most decide to develop Hybrid Powertrain configuration automotivethe companies, consider of the manufacturing 2.1 P2 Hybrid Powertrain Powertrain configuration configuration automotive companies, consider of the manufacturing dominate hybrid market, power split and P2.For China technology and cost of planetary gear, most decide to develop 2.1 P2 Hybrid P2 hybrid configuration. technology and cost of of planetary planetary gear,ofmost most decide to develop develop Fig.1 shows the configuration of the P2 hybrid system. A wet technology and cost gear, to automotive companies, consider thedecide manufacturing P2 hybrid configuration. 2.1 P2shows Hybrid Powertrain configuration Fig.1 configuration ofand the aP2traction hybrid system. A wet namedthe clutch motor located P2 hybrid hybrid configuration. configuration. P2 Fig.1 shows shows thecoupling configuration ofand the aP2 P2traction hybrid system. system. A wet wet system configuration CCMdecide whichtoconsist of clutch technology and cost of planetaryadd gear,a most develop Fig.1 the configuration of the hybrid A clutch named coupling clutch motor located between the combustion engine and the 7-speed DCT P2 hybrid system configuration add acoupling CCM which consist of clutch clutch named coupling clutch and a traction motor located an electric traction motor and a clutch to the P2 hybrid configuration. named coupling clutch and a traction motor located Fig.1 shows the configuration of the P2 hybrid system. A wet between the The combustion andhigh-voltage the 7-speedbattery. DCT P2 hybrid hybrid system configuration add CCM which which consist of transmission. battery isengine a Li-ion P2 configuration add CCM consist of an electricsystem traction motortheandcombustion a aacoupling clutch to the the betweennamed the The combustion engine and the 7-speed 7-speed DCT conventional powertrain, engine and between the combustion engine the DCT clutch coupling clutch and aand traction motor located transmission. battery is a Li-ion high-voltage battery. an electric traction motor and a coupling clutch to the The vehicle can be driven by either the motor or the engine an electric traction motor and a coupling clutch to the P2 hybrid system configuration add a CCM which consist of transmission. The battery is a Li-ion high-voltage battery. conventional powertrain, the combustion engine andmade transmission of the conventional powertrain have been transmission. The battery isengine aeither Li-ion battery. between thecan combustion and theand7-speed DCT The vehicle bepower drivensources by thehigh-voltage motor orcan thealso engine conventional powertrain, theandcombustion combustion engine and the alone or by both together, be conventional the engine and the an electricadaptations traction motor a coupling clutch tomade transmission ofpowertrain, the conventional powertrain have been The vehicle vehicle can bepower drivensources by either thehigh-voltage motor orcan thealso engine necessary for powertrain hybridization. AS the alone The can be driven by either the motor or the engine transmission. The battery is a Li-ion battery. or by both together, and be transmission of the conventional powertrain have been made decelerated by regenerative braking with the motor. transmission of the conventional powertrain have been made conventional powertrain, the combustion engine and the necessarymotor adaptations for both powertrain hybridization. AS the alone alonevehicle or by byby both power sources together, and can also be traction provides the driving torque and or both power sources together, and can also be The can be driven by either the motor or the engine decelerated regenerative braking with the motor. necessary adaptations for powertrain hybridization. AS the necessary adaptations for both powertrain hybridization. AS transmission of the conventional powertrain have made traction motor provides the driving torquebeen and the decelerated decelerated by regenerative braking with the motor. engine start torque depend on the driving situation, one of the regenerative brakingtogether, with the and motor. power sources can also be tractionstart motor provides both the driving torqueone and the alone or bybyboth traction motor provides the driving torque and necessary adaptations foraboth powertrain hybridization. AS engine depend on driving situation, of the challenges oftorque developing p2 the hybrid system is to prevent the decelerated by regenerative braking with the motor. engine start torque depend on the driving situation, one of the engine depend on driving situation, one of the tractionstart motor provides the driving torque and challenges oftorque developing aboth p2 the hybrid system to prevent motor driving torque variation caused by is start in challenges oftorque developing a on p2 the hybrid system isengine to prevent prevent the challenges of developing a p2 hybrid system is to engine start depend driving situation, one of the motor driving torque variation caused by engine start in response to the driver’s acceleration demand. S Limo et al. motor driving driving torque variation caused by isengine engine start in motor torque variation caused by start in challenges of developing a p2 hybrid system to prevent the response to the driver’s acceleration demand. S Limo et al. filed a patent (2006) to solve this problem first.S However in response to the driver’s acceleration demand. Limo et al. response to the driver’s acceleration demand. S Limo et al. motor torquetovariation caused byfirst. engine start in filedpatent a driving patent (2006) solve this problem However the the method is not able to response to the driver filedpatent patent (2006) toissolve solve this problem first.StoHowever However in filed aa patent (2006) to first. in response tothe the driver’s acceleration Limo et al. the method not this able problem to demand. response the driver the patent patent the(2006) methodtois issolve not this able problem to response response toHowever the driver driver the the method not able to the filed a patent first.to in the patent© the Copyright 2018method IFAC is not able to response to the driver 7 2405-8963 © IFAC (International Federation of Automatic Control) Copyright © 2018, 2018 IFAC 7 Hosting by Elsevier Ltd. All rights reserved. Peer review© of International Federation of Automatic Copyright ©under 2018 responsibility IFAC 7 Control. Copyright 2018 IFAC 7 10.1016/j.ifacol.2018.10.002 Copyright © 2018 IFAC 7
IFAC E-CoSM 2018 8 Changchun, China, September 20-22, 2018 JIakui Ning et al. / IFAC PapersOnLine 51-31 (2018) 7–10
torque and MCU controls the motor driving torque. TCU (Transmission Control Unit) controls the DCT in order to transmit the input driving torque to the wheel, or transmit the brake torque to the motor. BMS (Battery Management system) regulates and monitors the individual state and status. ESP (Electronic Stability Program) is responsible for calculating the brake recuperation torque and controlling the vehicle stability. Fig. 1.P2 hybrid system powertrain configuration 2.2 P2 Hybrid System feature The coupling clutch (C0) is designed as a multidisc wet clutch which diverted from the 7-speed DCT even clutch, a hydraulic control module consists of a pressure valve, a pressure sensor and a lubrication valve has been added for controlling and lubricating the clutch. The coupling clutch is able to decouple the combustion engine during pure electric driving and also is able to transmit the start torque from the traction motor to the engine. The traction motor is a permanent magnet synchronous motor, liquid cooled. The motor acts the roles of both driving the vehicle and starting the engine, the main challenge is to ensure the drivability when the motor acts these two roles simultaneously, especially in the launch situation.
CAN signal
Fig. 3. P2 hybrid control system architecture
The 7-speed DCT controls the two wet clutches (C1, C2) by modulating the hydraulic pressure measured by pressure sensors. An electric oil pump is added to the DCT which works alone or together with the mechanical oil pump, thus solve the problem of oil supply when the motor speed is low and enhance the performances of launch when the motor is stopped.
3. ENGINE START METHOD IN LAUNCH SITUATION The main challenge of the P2 hybrid system is to prevent the motor driving torque variation transmitted to the wheel when engine being started. Especially the vehicle is in launch situation. When the motor is required to drive the vehicle and start the engine in launch situation simultaneously, the motor torque variates in the procedure of C0 close to transmit the start torque to the engine, an optimal control was devised to deal with the situation described above. Driver Demand Torque TCU TCU Regulate Regulate Integrate Integrate
++
--
Motor Target Speed
Regulate Regulate Proportion Proportion
Motor Speed
Fig. 2. CCM module and 7-speed DCT
Motor Motor Speed Speed Regulate Regulate Torque Torque
2.3 Hybrid control system architecture
Driver Driver Demand Demand Torque Torque
In this P2 hybrid control system architecture, HCU(Hybrid Control Unit) is responsible for calculating the driver demand torque based on driver inputs, which including shift lever, acceleration pedal and brake. HCU distributes the calculated torque to EMS (Engine Management System) and MCU (Motor Control Unit).EMS control the engine combustion
++
Motor Command Torque
Engine Engine Start Start Torque Torque HCU
Fig. 4. Engine start control system architecture 8
MCU MCU
IFAC E-CoSM 2018 Changchun, China, September 20-22, 2018 JIakui Ning et al. / IFAC PapersOnLine 51-31 (2018) 7–10
AS shown in Fig.4, first, TCU demands C1 to slip at a different designed slip speed in the engine start procedure. So the torque variation is cut off and the torque transmit to the wheel is equal to the C1 torque capacity. Second, the C1 slip speed should be controlled due to DCT clutch durability and the fuel economy. To do this, TCU will calculate the target motor speed and send this target speed to HCU via CAN, HCU is responsible for control the motor speed according to the target motor speed. To control the motor speed, HCU will add a PI speed control torque to the driver demand torque and motor start torque. HCU sends the sum of the torque to MCU.
Motor Engine New Target Original Target C1
Accelerator (%)
Time (S)
For the slip control and clutch torque calculation, as shown in Fig.6.In electric drive mode, TCU clutch torque is the sum of the speed closed loop control torque and the observer torque. Closed loop control torque calculation according to the speed error of the target motor speed and the actual motor speed. Observer torque calculation according to the input torque and the error of the target motor speed acceleration and the actual motor speed acceleration. When the engine start in launch situation, TCU will withdraw the speed closed loop control, the inertia torque also will be discarded. So C1 clutch of the DCT will only transmit the driver demand torque to the wheel. In addition, if the motor slip error is too large TCU will recover the speed closed loop control to avoid the clutch disc being damaged. Above all, if the C1 clutch temperature is too high, TCU will close and limit the driver demand torque to a low value to avoid the clutch being damaged. + ∑ ∑
Speed Error Regulate Regulate Proportion Proportion
Motor Speed
Proportion Regulate Torque Torque + Torque Torque change change + + Torque change change ++ ++ Clutch Torque Torque rate rate rate limit limit rate limit limit + +
+
++
+
Integrate Integrate
∑ ∑
Target Accel -
+
Inertia Torque
Time (S) Speed Syncronize
C0 Close
Fig. 6. TCU launch target speed calculate 4. DRIVING TEST RESULTS A test was conducted to confirm whether this method could satisfy the target performance in actual launch condition. As shown in Fig.7, first, when the motor start the engine in electric launch condition, the engine start procedure cost only 1.2 sec, the vehicle is able to accelerate as the driver demand. Second, the motor speed vibrates caused by the engine start, but the C1 speed is smooth during the whole launch procedure. In addition, the acceleration vibration is limited less than 1m/s2, so good motor start engine performance in launch situation is obtained.
Motor speed Accel
Integrate Regulate Regulate Torque Torque change change Torque Integrate rate Integrate rate limit limit Observer Torque Speed Closed loop Control torque Direct Direct
Engine Start
Speed Speed Sensors Sensors
Direct Torque Delta Input Torque
C0 Filling
Torque (Nm)
Motor Target Speed -
9
Engine torque Motor torque C0 torque
Inertia Inertia Observer Torque
Speed (r/min)
Fig. 5. Electric drive DCT clutch torque control architecture
SM SC1 SSlip1 SSlip 2 ;
Acceleration (m/s^ 2)
For the target speed calculation, as shown in Fig.6.The original launch target speed is the target speed when in electric drive mode without engine start. The new target speed is the target speed when motor start the engine. TCU calculate the motor target speed method are shown as bellow.
Motor speed Engine speed C1 speed
(1)
SM is motor target speed, SC1 is C1 clutch speed, SSlip1 is slip speed in normally launch and drive situation. SSlip2 is the slip speed in motor start engine situation. SSlip2 calculation according to the engine start phase. SSlip2 is zero at electric drive mode, in the C0 filling and engine start phase, SSlip2 increase to a designed speed according to a profile. In the speed synchronization phase, the SSlip2 decrease to a designed small value according to a profile. This is able to minimize the total time of the engine start and is better to the fuel economy. In the C0 close phase, SSlip2 decrease to zero.
Fig. 7. Engine start process in launch situation 5. CONCLUSIONS One of the P2 hybrid system configuration challenges is to prevent the motor torque variation transmitted to the wheel when engine start, especially in launch situation, driver demand the vehicle response quickly and launch smoothly. To solve this problem, a control method is devised. The 9
IFAC E-CoSM 2018 10 Changchun, China, September 20-22, 2018 JIakui Ning et al. / IFAC PapersOnLine 51-31 (2018) 7–10
vehicle test shown the method achieved the target performance and satisfy the demand of the driver in launch situation. REFERENCES Jun Motosugi, Kazutaka Adachi, Hiroyuki Ashizawa and Satoru Fjimoto. Development of a Slip Contorl System for RWD Hybird Vehicles using Integrated Motor-Clutch Contorl. Nissan Motor Co Ltd, 2011. Koprubasi K, Westervelt E R, Rizzoni G. Toward the systematic design of controllers for smooth hybrid electric vehicle mode changes[C]//American Control Conference, 2007. ACC'07. IEEE, 2007: 2985-2990. Kim H, Kim J, Lee H. Mode transition control using disturbance compensation for a parallel hybrid electric vehicle[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2011, 225(2): 150-166.
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IFAC PapersOnLine 51-31 (2018)method 7–10 Development of a engine start control for P2 hybrid vehicles Development of a engine start control method launch situation Development of of aa engine engine in start control method for for P2 P2 hybrid hybrid vehicles vehicles Development start control method for P2 hybrid vehicles launch situation Development of a engine in start control method for P2 hybrid vehicles in launch launch situation situation in JIakui. Ning*. Guiqing. Zhu.** in launch situation JIakui. Ning*. Baixue.Guiqing. Qu*** Zhu.**
JIakui. Ning*. Ning*. Guiqing. Zhu.** JIakui. Baixue. Qu*** Zhu.** Guiqing. Baixue. Qu*** Zhu.** Baixue. Qu*** Guiqing. JIakui. Ning*. * China FAW Co.,Ltd., Dongfeng street 8899, Changchun, Qu*** Baixue. * China+86-0431-8202-8441; FAW Co.,Ltd., Dongfeng street 8899, Changchun, China(Tel: e-mail: ningjiakui@ faw.com.cn). China FAW Co.,Ltd., Co.,Ltd., Dongfeng Dongfeng street 8899, Changchun, Changchun, ** China FAW street 8899, China(Tel: +86-0431-8202-8441; e-mail: ningjiakui@ faw.com.cn). ** China FAW Co.,Ltd., Dongfeng street 8899, Changchun, China(Tel: +86-0431-8202-8441; e-mail: ningjiakui@ faw.com.cn). China(Tel: +86-0431-8202-8441; e-mail: ningjiakui@ faw.com.cn). * China FAW Dongfeng street 8899, ** China FAWCo.,Ltd., Co.,Ltd., Dongfeng street 8899,Changchun, Changchun, China (e-mail:zhuguiqing@ faw.com.cn) ** China China FAW Co.,Ltd., Dongfeng street 8899, Changchun, ** FAW Co.,Ltd., Dongfeng street 8899, Changchun, China(Tel: +86-0431-8202-8441; e-mail: ningjiakui@ faw.com.cn). (e-mail:zhuguiqing@ faw.com.cn) *** ChinaChina FAW Co.,Ltd., Dongfeng street 8899, Changchun, China (e-mail:zhuguiqing@ faw.com.cn) (e-mail:zhuguiqing@ faw.com.cn) ** China FAW Dongfeng 8899, *** ChinaChina FAWCo.,Ltd., Co.,Ltd., Dongfengstreet street 8899,Changchun, Changchun, China (e-mail: qubaixue@ faw.com.cn)} *** China ChinaChina FAW Co.,Ltd., Co.,Ltd., Dongfeng street street 8899, Changchun, Changchun, *** FAW Dongfeng 8899, (e-mail:zhuguiqing@ faw.com.cn) (e-mail: qubaixue@ faw.com.cn)} China (e-mail: qubaixue@ faw.com.cn)} (e-mail: qubaixue@ faw.com.cn)} *** ChinaChina FAW Co.,Ltd., Dongfeng street 8899, Changchun, qubaixue@ faw.com.cn)} Abstract: In this paper, the P2 China hybrid (e-mail: system with dual clutch automatic transmission (DCT) is used as Abstract: this paper, theprocess P2 hybrid system with dual clutch transmission is used as the researchIn object, and the which the vehicle driven byautomatic motor alone switch to (DCT) driven by engine Abstract: Inobject, this paper, paper, theprocess P2 hybrid hybrid system with dual dual clutch automatic transmission (DCT) is used used as Abstract: In this the P2 system with clutch automatic transmission (DCT) is as the research and the which the vehicle driven by motor alone switch to driven by engine in launch situation is analyzed. Focusing on preventing the by wheel driving torque variation caused by the research object, and the process which the vehicle driven motor alone switch to driven by engine the research and the which the vehicle driven motor alone switch to (DCT) driven by engine Abstract: Inobject, this paper, theprocess P2 hybrid system with of dual clutch automatic transmission isthe used as in launch situation is analyzed. Focusing on preventing the by wheel driving torque variation by motor torque rising instantaneously in the process engine start, the effective method of letcaused DCT in launch launch situation is analyzed. Focusing on preventing the by wheel driving torque variation caused by in situation is analyzed. Focusing on preventing the wheel driving torque variation caused by the research object, and the process which the vehicle driven motor alone switch to driven by engine motor torque rising instantaneously in the process of engine start, the effective method of let the DCT clutch slip at arising desired speed, coordinated control strategy of start, powerthe source torque to reduce thethejerk of motor torque instantaneously in the the on process of engine engine effective method of let letthe DCT motor torque in process of start, the effective method of thejerk DCT in launch isinstantaneously analyzed. Focusing preventing the wheel driving torque variation caused by clutch slip situation at arising desired speed, coordinated control strategy ofthe power source torque to reduce of the vehicle in different launch situation is proposed. Finally, strategy is verified through vehicle test, clutch slip at at desired speed, coordinated coordinated control strategy ofthe power source torque to reduce the jerk of clutch slip desired speed, control strategy of power source torque to reduce the of motor torque instantaneously the process ofFinally, engine start, the effective method ofcomfort let thejerk the vehicle in aarising different launch is proposed. strategy is verified through vehicle test, the test results showed that the situation controlinstrategy proposed in this paper can improve the ride ofDCT the the test vehicle in different launch situation is proposed. Finally, the strategy is verified through vehicle test, the vehicle in different launch situation is proposed. Finally, the strategy is verified through vehicle test, clutch slip at a desired speed, coordinated control strategy of power source torque to reduce the jerk of results thatmode the control strategy proposed in this paper can improve the ride comfort of the vehicle during showed the driving transition process effectively. the test test results showed that the situation control strategy proposed in this this paper can improve improve thethrough ride comfort comfort oftest, the the results showed that the control strategy proposed in can the ride the vehicle in different launch is process proposed. Finally, thepaper strategy is verified vehicleof vehicle during the driving mode transition effectively. vehicle during the driving mode transition process effectively. © 2018, IFAC Federation of Automatic Control) Hosting Elsevier Ltd.the Allride rights reserved. vehicle during the driving mode transition process effectively. Keywords: P2(International hybrid system, engine start, clutch slip control, optimal control, mode transition the test results showed that the control strategy proposed in this paperbycan improve comfort of the Keywords: P2the hybrid system, engine start, clutch slip control, optimal control, mode transition smoothness. vehicle during driving mode transition process effectively. Keywords: P2 P2 hybrid hybrid system, system, engine engine start, start, clutch clutch slip slip control, control, optimal optimal control, control, mode mode transition transition Keywords: smoothness. smoothness. smoothness. P2 hybrid system, engine start, clutch Keywords: slip control, optimal control, mode transition demand torque variation during engine started by the motor. smoothness. 1. INTRODUCTION demand torqueetvariation duringa slip engine started by the motor. Jun Motosugi al. developed control system (2011) to 1. INTRODUCTION demand torqueetvariation variation duringa slip engine started by the the motor. demand torque during engine started by motor. Jun Motosugi al. developed control system (2011) 1. INTRODUCTION improve this theory. But in the paper the studied of control 1. INTRODUCTION April this year in China the corporate average fuel economy Jun Motosugi et al. developed a slip control system (2011) to to Jun Motosugi etvariation al. developed a slip control system (2011) to demand torque engine started by the motor. improve thislaunch theory. But during in the paper the studied of control method in situation is limited. In this paper, an April this year in China the corporate average fuel economy integration regulations is about to start, and the new energy 1. INTRODUCTION improve this theory. But in the paper the studied of control April this this year year in China Chinaisthe the corporate average fuel economy improve thislaunch theory. But in the paper the In studied of control Jun Motosugi et al. developed a slip control system (2011) to method in situation is limited. thiscontrol paper, an April in corporate fuel economy control method which dynamic slip and integration regulations about to start, and the new energy integration regulations will begin in average 2019. As one of the optimal method in in launch situation is paper limited. In thiscontrol paper, an integration regulations is about to start, and the new energy method launch situation is limited. In this paper, an improve this theory. But in the the studied of control optimal control method which dynamic slip and integration regulations is about to start, and the new energy April this year in China the corporate average fuel economy control of power source torque isslip presented. regulations willintegration begin in regulations, 2019. As one of and the coordinated means to deal with double hybrid optimal in control method which dynamic control and integration regulations will begin in regulations, 2019. As new one of and the coordinated optimal control method which dynamic method launch situation is limited. thiscontrol paper, and an control of power source torqueIn isslip presented. regulations begin in 2019. As one of the integration regulations iswill about to start, andmore the energy means to deal with double integration hybrid pure electric technology is being paid and more coordinated control of power source torque is presented. means to deal with double integration regulations, hybrid and coordinated control of power source torque is presented. The papercontrol is organized as follows: In sectionslip 2 the P2 hybrid optimal method which dynamic control and means to deal with double integration regulations, hybrid and integration regulations will begin in 2019. As one of the pure electric technology is being paid more and more attention by thetechnology major automotive companies. The paper isconfiguration organized asand follows: Intorque section 2is the P2 hybrid pure electric electric is being being paid more hybrid and more more its components explained. In coordinated control of power source is presented. pure technology is paid more and means to by deal double integration regulations, and powertrain attention thewith major automotive companies. The paper paper is isconfiguration organized asand follows: In section section the P2 hybrid hybrid The organized as follows: In 22is the P2 powertrain its components explained. attention by the major automotive companies. section 3 the control method is introduced. In section 4 attention bytothe major automotive companies. Compared pure electric vehicle which the more cruising is powertrain configuration and its components is explained. In pure electric technology is being paid andrange more In powertrain configuration and its iscomponents explained. In The paper is organized as follows: In section 2is the P2 hybrid section 3 the control method introduced. In section illustrative results from the vehicle test are provided. Finally Compared to pure electric vehicle which the cruising range is limited, the ofvehicle new hybrid is section 3 the control method is introduced. In section 44 attention bytodevelopment the major automotive companies. Compared pure electric whichpowertrains the cruising cruising which range is is section 3 the control method introduced. section powertrain configuration and its iscomponents is In explained. In4 illustrative results from the test provided. Finally Compared to pure electric vehicle which the range our conclusion are shown in vehicle section 5. are limited, the development of new hybrid powertrains which capable of providing bothofsuperior performance and which the fuel illustrative results from the vehicle test are provided. provided. Finally limited, the development new hybrid powertrains is illustrative results from the vehicle test are Finally section 3 the control method is introduced. In section 4 our conclusion are shown in section 5. limited, the development ofvehicle new hybrid powertrains Compared pure electric which the cruising is capable of to providing bothwithout superior performance and thebetter fuel economy, as while as range anxiety is which arange our conclusion conclusion are from shownthe in vehicle section test 5. are provided. Finally capable of providing both superior performance and the fuel our are shown in section 5. illustrative results capable of providing both superior performance and the fuel limited, the development ofChina, new hybrid powertrains is economy, while and as without range anxiety is which a better 2. P2 HYBRID POWERTRAIN CONFIGURATION solution. Inas Europe two hybrid configurations economy, as while and as without without range anxiety is aathebetter better are shown in section 5.CONFIGURATION 2. P2 HYBRID POWERTRAIN economy, as while as range anxiety is capable ofIn providing both superior performance and fuel our conclusion solution. Europe China, two hybrid configurations dominate the hybrid market, power split and P2.For China 2. P2 P2 HYBRID HYBRID POWERTRAIN POWERTRAIN CONFIGURATION CONFIGURATION solution. In Europe and China, two hybrid configurations 2. solution. In Europe and China, two hybrid configurations economy, as while as without range anxiety is a better dominate the companies, hybrid market, power of splitthe and manufacturing P2.For China 2.1 P2 Hybrid Powertrain configuration automotive consider dominate the hybrid market, power split and P2.For China 2. P2 HYBRID POWERTRAIN CONFIGURATION dominate In the hybrid market, power split and P2.For China 2.1 P2 solution. Europe China, twoof hybrid configurations automotive companies, consider the manufacturing technology and cost ofand planetary gear, most decide to develop Hybrid Powertrain configuration automotivethe companies, consider of the manufacturing 2.1 P2 Hybrid Powertrain Powertrain configuration configuration automotive companies, consider of the manufacturing dominate hybrid market, power split and P2.For China technology and cost of planetary gear, most decide to develop 2.1 P2 Hybrid P2 hybrid configuration. technology and cost of of planetary planetary gear,ofmost most decide to develop develop Fig.1 shows the configuration of the P2 hybrid system. A wet technology and cost gear, to automotive companies, consider thedecide manufacturing P2 hybrid configuration. 2.1 P2shows Hybrid Powertrain configuration Fig.1 configuration ofand the aP2traction hybrid system. A wet namedthe clutch motor located P2 hybrid hybrid configuration. configuration. P2 Fig.1 shows shows thecoupling configuration ofand the aP2 P2traction hybrid system. system. A wet wet system configuration CCMdecide whichtoconsist of clutch technology and cost of planetaryadd gear,a most develop Fig.1 the configuration of the hybrid A clutch named coupling clutch motor located between the combustion engine and the 7-speed DCT P2 hybrid system configuration add acoupling CCM which consist of clutch clutch named coupling clutch and a traction motor located an electric traction motor and a clutch to the P2 hybrid configuration. named coupling clutch and a traction motor located Fig.1 shows the configuration of the P2 hybrid system. A wet between the The combustion andhigh-voltage the 7-speedbattery. DCT P2 hybrid hybrid system configuration add CCM which which consist of transmission. battery isengine a Li-ion P2 configuration add CCM consist of an electricsystem traction motortheandcombustion a aacoupling clutch to the the betweennamed the The combustion engine and the 7-speed 7-speed DCT conventional powertrain, engine and between the combustion engine the DCT clutch coupling clutch and aand traction motor located transmission. battery is a Li-ion high-voltage battery. an electric traction motor and a coupling clutch to the The vehicle can be driven by either the motor or the engine an electric traction motor and a coupling clutch to the P2 hybrid system configuration add a CCM which consist of transmission. The battery is a Li-ion high-voltage battery. conventional powertrain, the combustion engine andmade transmission of the conventional powertrain have been transmission. The battery isengine aeither Li-ion battery. between thecan combustion and theand7-speed DCT The vehicle bepower drivensources by thehigh-voltage motor orcan thealso engine conventional powertrain, theandcombustion combustion engine and the alone or by both together, be conventional the engine and the an electricadaptations traction motor a coupling clutch tomade transmission ofpowertrain, the conventional powertrain have been The vehicle vehicle can bepower drivensources by either thehigh-voltage motor orcan thealso engine necessary for powertrain hybridization. AS the alone The can be driven by either the motor or the engine transmission. The battery is a Li-ion battery. or by both together, and be transmission of the conventional powertrain have been made decelerated by regenerative braking with the motor. transmission of the conventional powertrain have been made conventional powertrain, the combustion engine and the necessarymotor adaptations for both powertrain hybridization. AS the alone alonevehicle or by byby both power sources together, and can also be traction provides the driving torque and or both power sources together, and can also be The can be driven by either the motor or the engine decelerated regenerative braking with the motor. necessary adaptations for powertrain hybridization. AS the necessary adaptations for both powertrain hybridization. AS transmission of the conventional powertrain have made traction motor provides the driving torquebeen and the decelerated decelerated by regenerative braking with the motor. engine start torque depend on the driving situation, one of the regenerative brakingtogether, with the and motor. power sources can also be tractionstart motor provides both the driving torqueone and the alone or bybyboth traction motor provides the driving torque and necessary adaptations foraboth powertrain hybridization. AS engine depend on driving situation, of the challenges oftorque developing p2 the hybrid system is to prevent the decelerated by regenerative braking with the motor. engine start torque depend on the driving situation, one of the engine depend on driving situation, one of the tractionstart motor provides the driving torque and challenges oftorque developing aboth p2 the hybrid system to prevent motor driving torque variation caused by is start in challenges oftorque developing a on p2 the hybrid system isengine to prevent prevent the challenges of developing a p2 hybrid system is to engine start depend driving situation, one of the motor driving torque variation caused by engine start in response to the driver’s acceleration demand. S Limo et al. motor driving driving torque variation caused by isengine engine start in motor torque variation caused by start in challenges of developing a p2 hybrid system to prevent the response to the driver’s acceleration demand. S Limo et al. filed a patent (2006) to solve this problem first.S However in response to the driver’s acceleration demand. Limo et al. response to the driver’s acceleration demand. S Limo et al. motor torquetovariation caused byfirst. engine start in filedpatent a driving patent (2006) solve this problem However the the method is not able to response to the driver filedpatent patent (2006) toissolve solve this problem first.StoHowever However in filed aa patent (2006) to first. in response tothe the driver’s acceleration Limo et al. the method not this able problem to demand. response the driver the patent patent the(2006) methodtois issolve not this able problem to response response toHowever the driver driver the the method not able to the filed a patent first.to in the patent© the Copyright 2018method IFAC is not able to response to the driver 7 2405-8963 © IFAC (International Federation of Automatic Control) Copyright © 2018, 2018 IFAC 7 Hosting by Elsevier Ltd. All rights reserved. Peer review© of International Federation of Automatic Copyright ©under 2018 responsibility IFAC 7 Control. Copyright 2018 IFAC 7 10.1016/j.ifacol.2018.10.002 Copyright © 2018 IFAC 7
IFAC E-CoSM 2018 8 Changchun, China, September 20-22, 2018 JIakui Ning et al. / IFAC PapersOnLine 51-31 (2018) 7–10
torque and MCU controls the motor driving torque. TCU (Transmission Control Unit) controls the DCT in order to transmit the input driving torque to the wheel, or transmit the brake torque to the motor. BMS (Battery Management system) regulates and monitors the individual state and status. ESP (Electronic Stability Program) is responsible for calculating the brake recuperation torque and controlling the vehicle stability. Fig. 1.P2 hybrid system powertrain configuration 2.2 P2 Hybrid System feature The coupling clutch (C0) is designed as a multidisc wet clutch which diverted from the 7-speed DCT even clutch, a hydraulic control module consists of a pressure valve, a pressure sensor and a lubrication valve has been added for controlling and lubricating the clutch. The coupling clutch is able to decouple the combustion engine during pure electric driving and also is able to transmit the start torque from the traction motor to the engine. The traction motor is a permanent magnet synchronous motor, liquid cooled. The motor acts the roles of both driving the vehicle and starting the engine, the main challenge is to ensure the drivability when the motor acts these two roles simultaneously, especially in the launch situation.
CAN signal
Fig. 3. P2 hybrid control system architecture
The 7-speed DCT controls the two wet clutches (C1, C2) by modulating the hydraulic pressure measured by pressure sensors. An electric oil pump is added to the DCT which works alone or together with the mechanical oil pump, thus solve the problem of oil supply when the motor speed is low and enhance the performances of launch when the motor is stopped.
3. ENGINE START METHOD IN LAUNCH SITUATION The main challenge of the P2 hybrid system is to prevent the motor driving torque variation transmitted to the wheel when engine being started. Especially the vehicle is in launch situation. When the motor is required to drive the vehicle and start the engine in launch situation simultaneously, the motor torque variates in the procedure of C0 close to transmit the start torque to the engine, an optimal control was devised to deal with the situation described above. Driver Demand Torque TCU TCU Regulate Regulate Integrate Integrate
++
--
Motor Target Speed
Regulate Regulate Proportion Proportion
Motor Speed
Fig. 2. CCM module and 7-speed DCT
Motor Motor Speed Speed Regulate Regulate Torque Torque
2.3 Hybrid control system architecture
Driver Driver Demand Demand Torque Torque
In this P2 hybrid control system architecture, HCU(Hybrid Control Unit) is responsible for calculating the driver demand torque based on driver inputs, which including shift lever, acceleration pedal and brake. HCU distributes the calculated torque to EMS (Engine Management System) and MCU (Motor Control Unit).EMS control the engine combustion
++
Motor Command Torque
Engine Engine Start Start Torque Torque HCU
Fig. 4. Engine start control system architecture 8
MCU MCU
IFAC E-CoSM 2018 Changchun, China, September 20-22, 2018 JIakui Ning et al. / IFAC PapersOnLine 51-31 (2018) 7–10
AS shown in Fig.4, first, TCU demands C1 to slip at a different designed slip speed in the engine start procedure. So the torque variation is cut off and the torque transmit to the wheel is equal to the C1 torque capacity. Second, the C1 slip speed should be controlled due to DCT clutch durability and the fuel economy. To do this, TCU will calculate the target motor speed and send this target speed to HCU via CAN, HCU is responsible for control the motor speed according to the target motor speed. To control the motor speed, HCU will add a PI speed control torque to the driver demand torque and motor start torque. HCU sends the sum of the torque to MCU.
Motor Engine New Target Original Target C1
Accelerator (%)
Time (S)
For the slip control and clutch torque calculation, as shown in Fig.6.In electric drive mode, TCU clutch torque is the sum of the speed closed loop control torque and the observer torque. Closed loop control torque calculation according to the speed error of the target motor speed and the actual motor speed. Observer torque calculation according to the input torque and the error of the target motor speed acceleration and the actual motor speed acceleration. When the engine start in launch situation, TCU will withdraw the speed closed loop control, the inertia torque also will be discarded. So C1 clutch of the DCT will only transmit the driver demand torque to the wheel. In addition, if the motor slip error is too large TCU will recover the speed closed loop control to avoid the clutch disc being damaged. Above all, if the C1 clutch temperature is too high, TCU will close and limit the driver demand torque to a low value to avoid the clutch being damaged. + ∑ ∑
Speed Error Regulate Regulate Proportion Proportion
Motor Speed
Proportion Regulate Torque Torque + Torque Torque change change + + Torque change change ++ ++ Clutch Torque Torque rate rate rate limit limit rate limit limit + +
+
++
+
Integrate Integrate
∑ ∑
Target Accel -
+
Inertia Torque
Time (S) Speed Syncronize
C0 Close
Fig. 6. TCU launch target speed calculate 4. DRIVING TEST RESULTS A test was conducted to confirm whether this method could satisfy the target performance in actual launch condition. As shown in Fig.7, first, when the motor start the engine in electric launch condition, the engine start procedure cost only 1.2 sec, the vehicle is able to accelerate as the driver demand. Second, the motor speed vibrates caused by the engine start, but the C1 speed is smooth during the whole launch procedure. In addition, the acceleration vibration is limited less than 1m/s2, so good motor start engine performance in launch situation is obtained.
Motor speed Accel
Integrate Regulate Regulate Torque Torque change change Torque Integrate rate Integrate rate limit limit Observer Torque Speed Closed loop Control torque Direct Direct
Engine Start
Speed Speed Sensors Sensors
Direct Torque Delta Input Torque
C0 Filling
Torque (Nm)
Motor Target Speed -
9
Engine torque Motor torque C0 torque
Inertia Inertia Observer Torque
Speed (r/min)
Fig. 5. Electric drive DCT clutch torque control architecture
SM SC1 SSlip1 SSlip 2 ;
Acceleration (m/s^ 2)
For the target speed calculation, as shown in Fig.6.The original launch target speed is the target speed when in electric drive mode without engine start. The new target speed is the target speed when motor start the engine. TCU calculate the motor target speed method are shown as bellow.
Motor speed Engine speed C1 speed
(1)
SM is motor target speed, SC1 is C1 clutch speed, SSlip1 is slip speed in normally launch and drive situation. SSlip2 is the slip speed in motor start engine situation. SSlip2 calculation according to the engine start phase. SSlip2 is zero at electric drive mode, in the C0 filling and engine start phase, SSlip2 increase to a designed speed according to a profile. In the speed synchronization phase, the SSlip2 decrease to a designed small value according to a profile. This is able to minimize the total time of the engine start and is better to the fuel economy. In the C0 close phase, SSlip2 decrease to zero.
Fig. 7. Engine start process in launch situation 5. CONCLUSIONS One of the P2 hybrid system configuration challenges is to prevent the motor torque variation transmitted to the wheel when engine start, especially in launch situation, driver demand the vehicle response quickly and launch smoothly. To solve this problem, a control method is devised. The 9
IFAC E-CoSM 2018 10 Changchun, China, September 20-22, 2018 JIakui Ning et al. / IFAC PapersOnLine 51-31 (2018) 7–10
vehicle test shown the method achieved the target performance and satisfy the demand of the driver in launch situation. REFERENCES Jun Motosugi, Kazutaka Adachi, Hiroyuki Ashizawa and Satoru Fjimoto. Development of a Slip Contorl System for RWD Hybird Vehicles using Integrated Motor-Clutch Contorl. Nissan Motor Co Ltd, 2011. Koprubasi K, Westervelt E R, Rizzoni G. Toward the systematic design of controllers for smooth hybrid electric vehicle mode changes[C]//American Control Conference, 2007. ACC'07. IEEE, 2007: 2985-2990. Kim H, Kim J, Lee H. Mode transition control using disturbance compensation for a parallel hybrid electric vehicle[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2011, 225(2): 150-166.
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