Active tooth leaning method, device and equipment for new energy commercial vehicle and storage medium

Abstract

The invention discloses an active tooth leaning method, device and equipment for a new energy commercial vehicle and a computer readable storage medium, and the method comprises the steps: determining whether a torque output condition is met or not according to the obtained current gear information, rotating speed, crawling function information, constant-speed cruise function information and hill-holding function information of the vehicle; if it is determined that the torque output condition is met, tooth leaning torque and request torque are obtained, and the tooth leaning torque is obtained through calculation according to a transfer function of the electric drive system; according to the tooth leaning torque and the request torque, whether the tooth leaning torque is smoothly output through a preset PI regulator or not is determined so as to complete active tooth leaning, the technical problem that in the prior art, the torque is generally determined through calibration or experience, and tooth gaps cannot be eliminated is solved, and the tooth leaning accuracy is improved. The tooth leaning torque is obtained through calculation of the transfer function of the electric driving system, the gear clearance of the electric driving system is eliminated, the tooth leaning process is smoother, and the driving experience and the system efficiency are improved.

Description

Technical Field

[0001] The present application relates to the technical field of electric vehicles, and in particular to an active gear engagement method, device, equipment and computer-readable storage medium for a new energy commercial vehicle. Background Art

[0002] When an electric vehicle is driving, its motor controller is responsible for driving the motor to output torque and transmit it through the vehicle's mechanical transmission system. However, when the vehicle starts, accelerates quickly or decelerates, the torque of the transmission system will rise linearly and smoothly, but due to the inter-tooth gap in the transmission gear system, the torque can only be transmitted to the next level after the gears are engaged. There is a situation where the torque has been added to a large value, but the inter-tooth gap is decreasing. When the gears are engaged, a large torque is directly transmitted, that is, there is a torque surge at the vehicle level, which will not only cause the vehicle speed to be unstable, but may also cause noise and vibration due to the gap and impact between the transmission components, thereby affecting the comfort of the passengers. At present, when electric vehicles are shifting or starting, they will directly output a torque to reduce the inter-tooth gap, but this torque is generally determined by calibration or experience. Due to the production and assembly errors of the transmission system, the inter-tooth gap cannot be eliminated to achieve the effect of reducing the impact. Summary of the invention

[0003] The present application provides an active gear-engaging method, device, equipment and computer-readable storage medium for a new energy commercial vehicle, which can solve the technical problem in the prior art that the torque is generally determined by calibration or experience, and due to production and assembly errors of the transmission system, the gap between teeth cannot be eliminated, thereby achieving the effect of reducing impact.

[0004] In a first aspect, an embodiment of the present application provides an active gear engagement method for a new energy commercial vehicle, and the active gear engagement method for a new energy commercial vehicle comprises:

[0005] Determine whether the torque output condition is met according to the current gear information, speed, creep function information, cruise control function information and hill-holding function information of the vehicle;

[0006] If it is determined that the torque output condition is met, the gear torque and the request torque are obtained, wherein the gear torque is calculated according to the transfer function of the electric drive system;

[0007] According to the tooth-engaging torque and the requested torque, it is determined whether to smoothly output the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging.

[0008] In combination with the first aspect, in one implementation, determining whether to smoothly output the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging according to the tooth-engaging torque and the requested torque includes:

[0009] Comparing the acquired tooth-taking torque with the requested torque;

[0010] If the requested torque is less than the gear-relying torque, it is determined to smoothly output from the target torque to the gear-relying torque through a preset PI regulator to complete active gear-relying.

[0011] In combination with the first aspect, in one implementation, before completing the active tooth engagement, the method includes:

[0012] Calculating the acceleration of the motor speed of the vehicle in real time;

[0013] Determining whether active gear engagement is completed according to the acceleration of the motor speed;

[0014] If the acceleration of the motor speed increases from a negative value to a target acceleration, it is determined that active gear engagement is completed.

[0015] In combination with the first aspect, in one implementation, the real-time calculation of the acceleration of the current motor speed of the vehicle includes:

[0016] Get the motor speed and motor speed of the previous moment in real time;

[0017] The acceleration of the current motor speed of the vehicle is calculated based on the motor speed at the previous moment, the motor speed and a preset formula.

[0018] In combination with the first aspect, in one embodiment, after completing the active tooth engagement, the method further includes:

[0019] Obtaining the acceleration of the current motor speed of the vehicle;

[0020] If the current acceleration of the motor speed is the target acceleration, the holding torque is calculated according to the first preset ratio and the gear torque;

[0021] If the current acceleration of the motor speed is not the target acceleration, the holding torque is calculated according to the second preset ratio and the gear torque;

[0022] The holding torque is used to enable the vehicle to run normally.

[0023] In combination with the first aspect, in an implementation manner, after comparing the acquired tooth-taking torque with the requested torque, the method further includes:

[0024] If the requested torque is greater than or equal to the gear torque, the requested torque is subjected to first-order filtering and then outputted so that the vehicle can run normally.

[0025] In combination with the first aspect, in one implementation manner, before obtaining the gear torque and the requested torque, the method further includes:

[0026] According to the Laplace transformation of the obtained force balance equation of the preset input shaft and the force balance equation of the preset output shaft, a transfer function of the electric drive system is obtained;

[0027] The transfer function of the electric drive system is calculated based on the acquired driving torque, the rotation angle of the driving shaft, the rotation angle of the load shaft, the viscous damping coefficient of the driving wheel shaft system, the viscous damping coefficient of the driven wheel shaft system, the equivalent inertia of the driving shaft system, the equivalent inertia of the load shaft system, the equivalent torque on the gear pair, the load torque, the gear reduction ratio and the preset speed to determine the tooth torque.

[0028] In a second aspect, an embodiment of the present application provides an active gear-adjusting device for a new energy commercial vehicle, wherein the active gear-adjusting device for a new energy commercial vehicle comprises:

[0029] A determination module, used to determine whether the torque output condition is met according to the current gear information, speed, activation information of creep function, cruise control function and hill-holding function information of the vehicle;

[0030] an acquisition module, configured to acquire the gear torque and the requested torque if it is determined that the torque output condition is met, wherein the gear torque is calculated according to a transfer function of the electric drive system;

[0031] The active gear-engaging module is used to determine whether to smoothly output the gear-engaging torque to the gear-engaging torque through a preset PI regulator according to the gear-engaging torque and the requested torque to complete active gear-engaging.

[0032] In a third aspect, an embodiment of the present application provides an active gear-engaging device for a new energy commercial vehicle, wherein the active gear-engaging device for the new energy commercial vehicle comprises a processor, a memory, and an active gear-engaging program for the new energy commercial vehicle stored in the memory and executable by the processor, wherein when the active gear-engaging program for the new energy commercial vehicle is executed by the processor, the steps of the active gear-engaging method for the new energy commercial vehicle as described above are implemented.

[0033] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which is stored an active gear engagement program for a new energy commercial vehicle. When the active gear engagement program for the new energy commercial vehicle is executed by a processor, the steps of the active gear engagement method for the new energy commercial vehicle as described above are implemented.

[0034] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0035] By obtaining the current gear information, speed, creep function information, cruise control function information and hill-holding function information of the vehicle, it is determined whether the torque output conditions are met; if it is determined that the torque output conditions are met, the tooth-relying torque and the requested torque are obtained, wherein the tooth-relying torque is calculated according to the transfer function of the electric drive system; according to the tooth-relying torque and the requested torque, it is determined whether to smoothly output the tooth-relying torque through a preset PI regulator to complete active tooth-relying, which solves the technical problem that the torque existing in the related art is generally determined by calibration or experience, and the tooth gap cannot be eliminated due to the production and assembly errors of the transmission system, thereby achieving the effect of reducing the impact, and the tooth-relying torque calculated by the transfer function of the electric drive system is realized, the gear gap of the electric drive system is eliminated, the tooth-relying process is smoother, and the driving experience and system efficiency are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a flow chart of the first embodiment of the active gear-engaging method for a new energy commercial vehicle of the present application;

[0037] Figure 2 This is a flow chart of the second embodiment of the active gear engagement method for a new energy commercial vehicle of the present application;

[0038] Figure 3 This is a flow chart of the third embodiment of the active gear engagement method for a new energy commercial vehicle of the present application;

[0039] Figure 4 This is a functional module diagram of an embodiment of an active gear-retaining device for a new energy commercial vehicle of the present application;

[0040] Figure 5 This is a schematic diagram of the hardware structure of the active gear-retaining device of the new energy commercial vehicle involved in the embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0043] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0044] In a first aspect, an embodiment of the present application provides an active gear engagement method for a new energy commercial vehicle.

[0045] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the active gear-engaging method for new energy commercial vehicles of this application. Figure 1 As shown, the active gear-engaging methods of new energy commercial vehicles include:

[0046] Step S10: determining whether the torque output condition is met according to the current gear information, speed, creep function information, cruise control function information and hill-holding function information of the vehicle;

[0047] Exemplarily, the current gear information of the vehicle is obtained. If the gear information is a forward gear or a reverse gear, the engine speed of the vehicle is obtained, and the obtained engine speed is compared with the preset speed. If the engine speed is greater than the preset speed, the creep function information, the cruise control function information, and the hill-holding function information are obtained. For example, the preset speed is 10rpm. If the creep function information, the cruise control function information, and the hill-holding function information obtained are all in an activated state, it is determined that the torque output condition is met.

[0048] Step S20: if it is determined that the torque output condition is met, then obtaining the gear torque and the request torque, wherein the gear torque is calculated according to the transfer function of the electric drive system;

[0049] Exemplarily, if it is determined that the torque output condition is met, the gear torque and the request torque are obtained, wherein the gear torque is calculated based on the transfer function of the electric drive system, and the request torque is sent based on the VCU.

[0050] Specifically, before obtaining the tooth torque and the requested torque, it also includes: performing Laplace transformation on the obtained force balance equation of the preset input shaft and the force balance equation of the preset output shaft to obtain the transfer function of the electric drive system; calculating the transfer function of the electric drive system according to the obtained driving torque, the rotation angle of the driving shaft, the rotation angle of the load shaft, the viscous damping coefficient of the driving wheel shaft system, the viscous damping coefficient of the driven wheel shaft system, the equivalent inertia of the driving shaft system, the equivalent inertia of the load shaft system, the equivalent torque on the gear pair, the load torque, the gear reduction ratio, the time, the distance and the preset speed to determine the tooth torque.

[0051] Exemplarily, the force balance equation of the preset input shaft and the force balance equation of the preset output shaft are obtained, and the force balance equation of the preset input shaft is The force balance equation of the preset output shaft is: Among them, T i is the driving torque, θ iis the rotation angle of the drive shaft, θ L is the rotation angle of the load axis, B i is the viscous damping coefficient of the driving wheel shaft system, B L is the viscous damping coefficient of the driven wheel shaft system, J i is the equivalent inertia of the drive shaft system, J L is the equivalent inertia of the load shaft system, T is the equivalent torque acting on the gear pair, T L is the load torque, i is the gear reduction ratio, t is the time, and d is the distance. The Laplace transformation of the force balance equations of the input shaft and the output shaft is obtained:

[0052] T i (s) = J i s 2 θ i (s)+B i sθ i (s)+T and iT(s)=J L s 2 θ L (s)+B L sθ L (s)+T L . Combining the two equations, and Get the transfer function of the electric drive system The transfer function of the electric drive system is calculated based on the acquired driving torque, the rotation angle of the driving shaft, the rotation angle of the load shaft, the viscous damping coefficient of the driving wheel shaft system, the viscous damping coefficient of the driven wheel shaft system, the equivalent inertia of the driving shaft system, the equivalent inertia of the load shaft system, the equivalent torque on the gear pair, the load torque, the gear reduction ratio and the preset speed to determine the gear torque. Since the transmission system has no load at the rear end when there is a gap, that is, T L =0, select the appropriate gear rotation speed and substitute it into the speed expression to get the driving torque T i .

[0053] Step S30: According to the tooth-engaging torque and the requested torque, determine whether to smoothly output the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging.

[0054] Exemplarily, when the tooth-relying torque and the requested torque are obtained, the tooth-relying torque and the requested torque are respectively compared with the preset torque. If the tooth-relying torque and the requested torque are both greater than the preset torque, it is determined to smoothly output the tooth-relying torque through the preset PI regulator to complete active tooth-relying. Alternatively, the torque difference between the tooth-relying torque and the requested torque is obtained. If the torque difference is a positive number, it is determined to smoothly output the tooth-relying torque through the preset PI regulator to complete active tooth-relying.

[0055] Specifically, according to the tooth-engaging torque and the requested torque, determining whether to smoothly output the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging includes: comparing the acquired tooth-engaging torque and the requested torque; if the requested torque is less than the tooth-engaging torque, determining to smoothly output from the target torque to the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging.

[0056] Exemplarily, the acquired tooth-engaging torque is compared with the requested torque. If the requested torque is less than the tooth-engaging torque, it is determined to smoothly output from the target torque to the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging. For example, the preset PI regulator starts outputting from a target torque of 0 until the target torque increases to the tooth-engaging torque to complete active tooth-engaging.

[0057] Specifically, after comparing the acquired gear-reliant torque with the requested torque, the method further includes: if the requested torque is greater than or equal to the gear-reliant torque, performing first-order filtering on the requested torque and then outputting it, so as to allow the vehicle to run normally.

[0058] Exemplarily, the obtained gear torque is compared with the requested torque. If the requested torque is greater than or equal to the gear torque, a first-order filter is added to the requested torque and output to reduce the impact of the whole vehicle, especially the impact when starting with a large throttle, so that the vehicle can run normally.

[0059] In this embodiment, whether the torque output condition is met is determined based on the current gear information, speed, creep function information, cruise control function information and hill-holding function information of the vehicle; if it is determined that the torque output condition is met, the tooth-relying torque and the requested torque are obtained, wherein the tooth-relying torque is calculated based on the transfer function of the electric drive system; based on the tooth-relying torque and the requested torque, it is determined whether to smoothly output the tooth-relying torque through a preset PI regulator to complete active tooth-relying, which solves the technical problem that the torque in the related art is generally determined by calibration or experience, and the tooth gap cannot be eliminated due to production and assembly errors of the transmission system, thereby achieving the effect of reducing the impact, and the tooth-relying torque calculated by the transfer function of the electric drive system is realized, the gear gap of the electric drive system is eliminated, the tooth-relying process is smoother, and the driving experience and system efficiency are improved.

[0060] In one embodiment, referring to Figure 2 , Figure 2 This is a flow chart of the second embodiment of the active gear-engaging method for new energy commercial vehicles of this application. Figure 2 As shown, the active gear-adjusting method of new energy commercial vehicles also includes:

[0061] Step S21: Calculate the acceleration of the motor speed of the vehicle in real time;

[0062] For example, the motor speed w0 and motor speed w1 of the previous moment are obtained in real time; according to the motor speed w0 and motor speed w1 of the previous moment and the preset formula, the acceleration of the current motor speed of the vehicle is calculated. Among them, t is the duration.

[0063] Step S22: determining whether active gear engagement is completed according to the acceleration of the motor speed;

[0064] Exemplarily, whether active gear engagement is completed is determined by the acceleration of the motor speed. For example, the acceleration of the motor speed is compared with the preset acceleration. If the comparison is consistent, it is determined that active gear engagement is completed; if the comparison is inconsistent, it is determined that active gear engagement is not completed, and the gear engagement torque is re-acquired.

[0065] Step S23: If the acceleration of the motor speed increases from a negative value to a target acceleration, it is determined that active gear engagement is completed.

[0066] For example, if the acceleration of the motor speed decreases to a negative value and then increases to 0, it is determined that the active tooth engagement is completed. Due to manufacturing and installation errors, the center of mass of the gear set deviates and the holding torque is also different. It can be automatically calibrated through the self-learning method. When the tooth engagement begins, the speed acceleration is positive. As the gap between the teeth decreases, the acceleration decreases to a negative value and then decreases to 0.

[0067] In this embodiment, the acceleration of the motor speed of the vehicle is calculated in real time; based on the acceleration of the motor speed, it is determined whether the active gear engagement is completed; if the acceleration of the motor speed increases from a negative value to a target acceleration, it is determined that the active gear engagement is completed, which solves the technical problem in the related art that whether the active gear engagement of new energy commercial vehicles is successful is not determined. By using the acceleration of the motor speed, it is determined whether the active gear engagement is completed to improve the certainty of the active gear engagement.

[0068] In one embodiment, referring to Figure 2 , Figure 2 This is a flow chart of the second embodiment of the active gear-engaging method for new energy commercial vehicles of this application. Figure 2 As shown, the active gear-adjusting method of new energy commercial vehicles also includes:

[0069] Step S31: determining whether the torque output condition is met according to the current gear information, speed, creep function information, cruise control function information and hill-holding function information of the vehicle;

[0070] Exemplarily, the current gear information of the vehicle is obtained. If the gear information is a forward gear or a reverse gear, the engine speed of the vehicle is obtained, and the obtained engine speed is compared with the preset speed. If the engine speed is greater than the preset speed, the creep function information, the cruise control function information, and the hill-holding function information are obtained. For example, the preset speed is 10rpm. If the creep function information, the cruise control function information, and the hill-holding function information obtained are all in an activated state, it is determined that the torque output condition is met.

[0071] Step S32: if it is determined that the torque output condition is met, then obtaining the gear torque and the request torque, wherein the gear torque is calculated according to the transfer function of the electric drive system;

[0072] Exemplarily, if it is determined that the torque output condition is met, the gear torque and the request torque are obtained, wherein the gear torque is calculated based on the transfer function of the electric drive system, and the request torque is sent based on the VCU.

[0073] Specifically, before obtaining the tooth torque and the requested torque, it also includes: performing Laplace transformation on the obtained force balance equation of the preset input shaft and the force balance equation of the preset output shaft to obtain the transfer function of the electric drive system; calculating the transfer function of the electric drive system according to the obtained driving torque, the rotation angle of the driving shaft, the rotation angle of the load shaft, the viscous damping coefficient of the driving wheel shaft system, the viscous damping coefficient of the driven wheel shaft system, the equivalent inertia of the driving shaft system, the equivalent inertia of the load shaft system, the equivalent torque on the gear pair, the load torque, the gear reduction ratio, the time, the distance and the preset speed to determine the tooth torque.

[0074] Exemplarily, the force balance equation of the preset input shaft and the force balance equation of the preset output shaft are obtained, and the force balance equation of the preset input shaft is The force balance equation of the preset output shaft is: Among them, T i is the driving torque, θ i is the rotation angle of the drive shaft, θ L is the rotation angle of the load axis, B i is the viscous damping coefficient of the driving wheel shaft system, B L is the viscous damping coefficient of the driven wheel shaft system, J i is the equivalent inertia of the drive shaft system, J L is the equivalent inertia of the load shaft system, T is the equivalent torque acting on the gear pair, T L is the load torque, i is the gear reduction ratio, t is the time, and d is the distance. The Laplace transformation of the force balance equations of the input shaft and the output shaft is obtained:

[0075] T i (s) = J i s2 θ i (s)+B i sθ i (s)+T and iT(s)=J L s 2 θ L (s)+B L sθ L (s)+T L . Combining the two equations, and Get the transfer function of the electric drive system The transfer function of the electric drive system is calculated based on the acquired driving torque, the rotation angle of the driving shaft, the rotation angle of the load shaft, the viscous damping coefficient of the driving wheel shaft system, the viscous damping coefficient of the driven wheel shaft system, the equivalent inertia of the driving shaft system, the equivalent inertia of the load shaft system, the equivalent torque on the gear pair, the load torque, the gear reduction ratio and the preset speed to determine the gear torque. Since the transmission system has no load at the rear end when there is a gap, that is, T L =0, select the appropriate gear rotation speed and substitute it into the speed expression to get the driving torque T i .

[0076] Step S33: According to the tooth-engaging torque and the requested torque, determine whether to smoothly output the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging.

[0077] Exemplarily, when the tooth-relying torque and the requested torque are obtained, the tooth-relying torque and the requested torque are respectively compared with the preset torque. If the tooth-relying torque and the requested torque are both greater than the preset torque, it is determined to smoothly output the tooth-relying torque through the preset PI regulator to complete active tooth-relying. Alternatively, the torque difference between the tooth-relying torque and the requested torque is obtained. If the torque difference is a positive number, it is determined to smoothly output the tooth-relying torque through the preset PI regulator to complete active tooth-relying.

[0078] Specifically, according to the tooth-engaging torque and the requested torque, determining whether to smoothly output the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging includes: comparing the acquired tooth-engaging torque and the requested torque; if the requested torque is less than the tooth-engaging torque, determining to smoothly output from the target torque to the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging.

[0079] Exemplarily, the acquired tooth-engaging torque is compared with the requested torque. If the requested torque is less than the tooth-engaging torque, it is determined to smoothly output from the target torque to the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging. For example, the preset PI regulator starts outputting from a target torque of 0 until the target torque increases to the tooth-engaging torque to complete active tooth-engaging.

[0080] Specifically, after comparing the acquired gear-reliant torque with the requested torque, the method further includes: if the requested torque is greater than or equal to the gear-reliant torque, performing first-order filtering on the requested torque and then outputting it, so as to allow the vehicle to run normally.

[0081] Exemplarily, the obtained gear torque is compared with the requested torque. If the requested torque is greater than or equal to the gear torque, a first-order filter is added to the requested torque and output to reduce the impact of the whole vehicle, especially the impact when starting with a large throttle, so that the vehicle can run normally.

[0082] Step S34: obtaining the acceleration of the current motor speed of the vehicle;

[0083] Step S35: if the current acceleration of the motor speed is the target acceleration, the holding torque is calculated according to the first preset ratio and the gear torque;

[0084] Exemplarily, if the acceleration of the current motor speed is 0, the tooth torque is reduced by a first preset ratio of 0.5%. For example, the holding torque is calculated based on the multiplication of the first preset ratio of 0.5% and the tooth torque.

[0085] Step S36: if the current acceleration of the motor speed is not the target acceleration, the holding torque is calculated according to the second preset ratio and the gear torque;

[0086] Exemplarily, if the acceleration of the current motor speed is not 0, a second preset ratio of 5% is obtained to increase the toothed torque. For example, the second preset ratio of 5% is multiplied by the toothed torque to calculate the holding torque.

[0087] Step S37: Maintaining the torque to allow the vehicle to run normally.

[0088] Exemplarily, the holding torque is output so that the vehicle can run normally.

[0089] In this embodiment, whether the torque output condition is met is determined based on the vehicle's current gear information, speed, creep function information, cruise control function information and hill-holding function information; if it is determined that the torque output condition is met, the gear torque and the requested torque are obtained, wherein the gear torque is calculated based on the transfer function of the electric drive system; based on the gear torque and the requested torque, it is determined whether to output the gear torque smoothly through a preset PI regulator to complete active gear engagement, and then the holding torque is calculated to enable the vehicle to operate normally.

[0090] In a second aspect, an embodiment of the present application also provides an active gear-adjusting device for a new energy commercial vehicle.

[0091] In one embodiment, referring to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of an active gear-receiving device for a new energy commercial vehicle of the present application. Figure 4 As shown, the active gear device of the new energy commercial vehicle includes:

[0092] The determination module 10 is used to determine whether the torque output condition is met according to the current gear information, speed, activation information of the creep function, cruise control function information and hill-holding function information of the vehicle;

[0093] An acquisition module 20, configured to acquire the gear torque and the requested torque if it is determined that the torque output condition is met, wherein the gear torque is calculated according to a transfer function of the electric drive system;

[0094] The active gear-engaging module 30 is used to determine whether to smoothly output the gear-engaging torque to the gear-engaging torque through a preset PI regulator according to the gear-engaging torque and the requested torque, so as to complete active gear-engaging.

[0095] Furthermore, in one embodiment, the active tooth-adjacent module 30 is used for:

[0096] Comparing the acquired tooth-taking torque with the requested torque;

[0097] If the requested torque is less than the gear-relying torque, it is determined to smoothly output from the target torque to the gear-relying torque through a preset PI regulator to complete active gear-relying.

[0098] Furthermore, in one embodiment, the active gear device of the new energy commercial vehicle further includes a new module for:

[0099] Calculating the acceleration of the motor speed of the vehicle in real time;

[0100] Determining whether active gear engagement is completed according to the acceleration of the motor speed;

[0101] If the acceleration of the motor speed increases from a negative value to a target acceleration, it is determined that active gear engagement is completed.

[0102] Furthermore, in one embodiment, the active gear device of the new energy commercial vehicle further includes a new module for:

[0103] Get the motor speed and motor speed of the previous moment in real time;

[0104] The acceleration of the current motor speed of the vehicle is calculated based on the motor speed at the previous moment, the motor speed and a preset formula.

[0105] Furthermore, in one embodiment, the active gear device of the new energy commercial vehicle further includes a new module for:

[0106] Obtaining the acceleration of the current motor speed of the vehicle;

[0107] If the current acceleration of the motor speed is the target acceleration, the holding torque is calculated according to the first preset ratio and the gear torque;

[0108] If the current acceleration of the motor speed is not the target acceleration, the holding torque is calculated according to the second preset ratio and the gear torque;

[0109] The holding torque is used to enable the vehicle to run normally.

[0110] Furthermore, in one embodiment, the active gear device of the new energy commercial vehicle further includes a new module for:

[0111] If the requested torque is greater than or equal to the gear torque, the requested torque is subjected to first-order filtering and then outputted so that the vehicle can run normally.

[0112] Furthermore, in one embodiment, the active gear device of the new energy commercial vehicle further includes a new module for:

[0113] According to the Laplace transformation of the obtained force balance equation of the preset input shaft and the force balance equation of the preset output shaft, a transfer function of the electric drive system is obtained;

[0114] The transfer function of the electric drive system is calculated based on the acquired driving torque, the rotation angle of the driving shaft, the rotation angle of the load shaft, the viscous damping coefficient of the driving wheel shaft system, the viscous damping coefficient of the driven wheel shaft system, the equivalent inertia of the driving shaft system, the equivalent inertia of the load shaft system, the equivalent torque on the gear pair, the load torque, the gear reduction ratio and the preset speed to determine the tooth torque.

[0115] Among them, the functional implementation of each module in the active gear-engaging device of the above-mentioned new energy commercial vehicle corresponds to the various steps in the embodiment of the active gear-engaging method of the above-mentioned new energy commercial vehicle, and its functions and implementation processes will not be repeated here one by one.

[0116] In a third aspect, an embodiment of the present application provides an active gear-adjusting device for a new energy commercial vehicle. The active gear-adjusting device for a new energy commercial vehicle can be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0117] Reference Figure 5 , Figure 5 The hardware structure diagram of the active gear-adjusting device of the new energy commercial vehicle involved in the embodiment of the present application is shown in FIG. In the embodiment of the present application, the active gear-adjusting device of the new energy commercial vehicle may include a processor, a memory, a communication interface and a communication bus.

[0118] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0119] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the active gear-receiving device of new energy commercial vehicles, and the interface used to realize the interconnection between the active gear-receiving device of new energy commercial vehicles and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0120] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0121] The processor may be a general-purpose processor, which may call the active gear-engaging program of the new energy commercial vehicle stored in the memory and execute the active gear-engaging method of the new energy commercial vehicle provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the active gear-engaging program of the new energy commercial vehicle is called may refer to the various embodiments of the active gear-engaging method of the new energy commercial vehicle of the present application, which will not be repeated here.

[0122] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0123] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium.

[0124] The computer-readable storage medium of the present application stores an active gear engagement program for a new energy commercial vehicle, wherein when the active gear engagement program for a new energy commercial vehicle is executed by a processor, the steps of the active gear engagement method for a new energy commercial vehicle as described above are implemented.

[0125] Among them, the method implemented when the active gear engagement program of the new energy commercial vehicle is executed can refer to the various embodiments of the active gear engagement method of the new energy commercial vehicle of the present application, and will not be repeated here.

[0126] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0127] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0128] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0129] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0130] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0131] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0132] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. An active gear-engaging method for a new energy commercial vehicle, characterized in that: The active gear-engaging method of the new energy commercial vehicle comprises: Determine whether the torque output condition is met according to the current gear information, speed, creep function information, cruise control function information and hill-holding function information of the vehicle; If it is determined that the torque output condition is met, the gear torque and the request torque are obtained, wherein the gear torque is calculated according to the transfer function of the electric drive system; According to the tooth-engaging torque and the requested torque, it is determined whether to smoothly output the tooth-engaging torque through a preset PI regulator to complete active tooth-engaging.

2. The active gear-engaging method for a new energy commercial vehicle as claimed in claim 1, characterized in that: The step of determining whether to smoothly output the tooth-engaging torque through a preset PI regulator according to the tooth-engaging torque and the requested torque to complete active tooth-engaging includes: Comparing the acquired tooth-taking torque with the requested torque; If the requested torque is less than the gear-relying torque, it is determined to smoothly output from the target torque to the gear-relying torque through a preset PI regulator to complete active gear-relying.

3. The active gear-engaging method for a new energy commercial vehicle as claimed in claim 1, characterized in that: Before the active tooth engagement is completed, the process includes: Calculating the acceleration of the motor speed of the vehicle in real time; Determining whether active gear engagement is completed according to the acceleration of the motor speed; If the acceleration of the motor speed increases from a negative value to a target acceleration, it is determined that active gear engagement is completed.

4. The active gear-engaging method for a new energy commercial vehicle as claimed in claim 3, characterized in that: The real-time calculation of the acceleration of the current motor speed of the vehicle includes: Get the motor speed and motor speed of the previous moment in real time; The acceleration of the current motor speed of the vehicle is calculated based on the motor speed at the previous moment, the motor speed and a preset formula.

5. The active gear-engaging method for a new energy commercial vehicle as claimed in claim 1, characterized in that: After the active tooth engagement is completed, the method further comprises: Obtaining the acceleration of the current motor speed of the vehicle; If the current acceleration of the motor speed is the target acceleration, the holding torque is calculated according to the first preset ratio and the gear torque; If the current acceleration of the motor speed is not the target acceleration, the holding torque is calculated according to the second preset ratio and the gear torque; The holding torque is used to enable the vehicle to run normally.

6. The active gear-engaging method for a new energy commercial vehicle as claimed in claim 2, characterized in that: After comparing the acquired tooth-taking torque with the requested torque, the method further includes: If the requested torque is greater than or equal to the gear torque, the requested torque is subjected to first-order filtering and then outputted so that the vehicle can run normally.

7. The active gear-engaging method for a new energy commercial vehicle as claimed in claim 1, characterized in that: Before obtaining the gear torque and the requested torque, the method further includes: According to the Laplace transformation of the obtained force balance equation of the preset input shaft and the force balance equation of the preset output shaft, a transfer function of the electric drive system is obtained; The transfer function of the electric drive system is calculated based on the acquired driving torque, the rotation angle of the driving shaft, the rotation angle of the load shaft, the viscous damping coefficient of the driving wheel shaft system, the viscous damping coefficient of the driven wheel shaft system, the equivalent inertia of the driving shaft system, the equivalent inertia of the load shaft system, the equivalent torque on the gear pair, the load torque, the gear reduction ratio, the time, the distance and the preset speed to determine the tooth torque.

8. An active gear device for a new energy commercial vehicle, characterized in that: The active gear device of the new energy commercial vehicle includes: A determination module, used to determine whether the torque output condition is met according to the current gear information, speed, activation information of creep function, cruise control function and hill-holding function information of the vehicle; an acquisition module, configured to acquire the gear torque and the requested torque if it is determined that the torque output condition is met, wherein the gear torque is calculated according to a transfer function of the electric drive system; The active gear-engaging module is used to determine whether to smoothly output the gear-engaging torque to the gear-engaging torque through a preset PI regulator according to the gear-engaging torque and the requested torque to complete active gear-engaging.

9. An active gear device for a new energy commercial vehicle, characterized in that: The active gear-engaging device of the new energy commercial vehicle comprises a processor, a memory, and an active gear-engaging program of the new energy commercial vehicle stored in the memory and executable by the processor. When the active gear-engaging program of the new energy commercial vehicle is executed by the processor, the steps of the active gear-engaging method of the new energy commercial vehicle as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an active gear engagement program for a new energy commercial vehicle, wherein when the active gear engagement program for a new energy commercial vehicle is executed by a processor, the steps of the active gear engagement method for a new energy commercial vehicle as described in any one of claims 1 to 7 are implemented.

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