Gear shifting drum angle control method, apparatus and device, and storage medium

Abstract

The present application discloses a gear shifting drum angle control method, apparatus and device, and a storage medium. The method comprises: when a gear shifting request instruction is received, determining a target angle and an initial angle of a gear shifting drum; determining whether an initial angle difference between the initial angle and the target angle is smaller than a lower limit value of a preset interval or not; when the initial angle difference is smaller than the lower limit value, keeping the rotating speed of s gear shifting motor unchanged, and determining the current angle difference between the current angle of the gear shifting drum and the target angle; and when the current angle difference is larger than an upper limit value of the preset interval, adjusting the rotating speed of the gear shifting motor on the basis of the current angle difference until the current angle difference is smaller than a preset threshold value. By means of the described solution, reciprocating fluctuation of the rotating speed of the gear shifting motor caused by rebound of the gear shifting drum during gear shifting is effectively avoided, and the service life of a hybrid transmission is prolonged.

Description

Shift drum angle control method, device, equipment and storage medium Technical Field

[0001] The present application belongs to the field of hybrid transmission control technology, and in particular relates to a method, device, equipment and storage medium for controlling a shift drum angle. Background Art

[0002] As the international community increasingly prioritizes energy security and environmental protection, countries are increasingly stringent with their requirements for vehicle emissions. Reducing energy dependence and achieving energy conservation and emission reduction have become pressing challenges for the sustainable development of the global economy. Consequently, hybrid vehicles and pure electric vehicles are becoming increasingly popular in the automotive industry. Hybrid vehicles combine an electric motor with an engine to achieve energy conservation and emission reduction, idle stop, regenerative braking energy recovery, and electric motor drive. These hybrid vehicles offer advantages such as reduced fuel consumption, increased driving range, and relatively high technological maturity, making them a popular choice among users.

[0003] The powertrain of a hybrid vehicle typically consists of a drive motor, a generator, and an engine. These three power sources can be combined to deliver torque to the wheels to propel the vehicle, depending on the operating conditions. The most common shift mechanism in hybrid transmissions utilizes a single-gear, clutch-type transmission. This power source combination controls the clutch to enable the vehicle to enter different operating modes: When the clutch is disengaged, the vehicle operates in pure electric mode or series mode, with the drive motor providing the wheel torque. When the clutch is engaged, the vehicle operates in parallel mode, with the drive motor and engine providing the wheel torque, or the engine alone. Clutch opening and closing are controlled by the vehicle control unit (VCU) and executed by the automatic transmission control unit (HTCU). Similarly, gear opening and closing are controlled by the VCU and executed by the HTCU. Clutchless hybrid transmissions typically utilize a shift drum, shift fork, and synchronizer mechanism. The shift motor, driven by planetary gears, drives the shift drum to shift gears.

[0004] At present, when a vehicle with a clutchless hybrid transmission is shifting, the speed of the shift motor will fluctuate back and forth due to the mechanical rebound of the shift drum in the shift mechanism, which may cause damage to the hybrid transmission. Summary of the Invention

[0005] The embodiments of the present application provide a method, device, equipment, and storage medium for controlling the shift drum angle, which can, at least to a certain extent, reduce the reciprocating speed fluctuations of the shift motor during the shifting process and increase the service life of the hybrid transmission.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0007] According to a first aspect of an embodiment of the present application, a method for controlling a shift drum angle is provided, the method comprising:

[0008] determining a target angle and an initial angle of the shift drum upon receiving a shift request command;

[0009] Determining whether an initial angle difference between the initial angle and the target angle is less than a lower limit of a preset interval;

[0010] When the initial angle difference is less than the lower limit, the speed of the shift motor is kept unchanged, and the current angle difference between the current angle of the shift drum and the target angle is determined;

[0011] When the current angle difference is greater than an upper limit of the preset interval, the rotation speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than a preset threshold.

[0012] In some embodiments of the present application, based on the above solution, determining the target angle of the shift drum includes:

[0013] Obtaining a target gear position from the gear shift request instruction;

[0014] The target angle of the shift drum is determined according to the target gear position.

[0015] In some embodiments of the present application, based on the above solution, determining the current angle difference between the current angle of the shift drum and the target angle includes:

[0016] Determining a current motor angle according to a current number of rotations of the shift motor and a current measured angle of the shift motor;

[0017] Determining the quotient of the current motor angle and the shift transmission speed ratio as the current angle of the shift drum;

[0018] The difference between the current angle and the target angle is determined as the current angle difference.

[0019] In some embodiments of the present application, based on the above solution, the current motor angle is calculated according to the following formula:

[0020] M2=N*359+M1-M0;

[0021] Among them, M2 is the current motor angle, N is the current number of rotations, M1 is the current measurement angle, and M0 is the angle of the shift motor at zero point.

[0022] In some embodiments of the present application, based on the above solution, adjusting the speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold includes:

[0023] determining a target speed of the shift motor according to the current angle difference;

[0024] determining a speed difference between a current speed of the shift motor and the target speed;

[0025] The current of the shift motor is controlled according to the speed difference until the current angle difference is smaller than the preset threshold.

[0026] In some embodiments of the present application, based on the above solution, determining the target speed of the shift motor according to the current angle difference includes:

[0027] determining an angular velocity of the shift drum according to the current angular difference;

[0028] The target rotational speed of the shift motor is determined according to the angular velocity.

[0029] In some embodiments of the present application, based on the above solution, after determining the current angle difference between the current angle and the target angle, the method further includes:

[0030] determining a current angle difference between a current angle of the shift drum and the target angle when the initial angle difference is greater than or equal to the lower limit;

[0031] The speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than a preset threshold.

[0032] According to a second aspect of an embodiment of the present application, a device for controlling a shift drum angle is provided, the device comprising:

[0033] an angle determination unit configured to determine a target angle and an initial angle of the shift drum upon receiving a shift request instruction;

[0034] an angle determination unit configured to determine whether an initial angle difference between the initial angle and the target angle is less than a lower limit of a preset interval;

[0035] a rotation speed control unit configured to maintain the rotation speed of the shift motor unchanged when the initial angle difference is less than the lower limit value, and determine a current angle difference between the current angle of the shift drum and the target angle;

[0036] The speed control unit is further configured to adjust the speed of the shift motor according to the current angle difference when the current angle difference is greater than the upper limit of the preset interval until the current angle difference is less than a preset threshold.

[0037] According to a third aspect of an embodiment of the present application, a control device for a shift drum angle is provided, comprising a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the instructions of the method described in any one of the first aspects above.

[0038] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, in which computer program instructions are stored. The computer program instructions are loaded and executed by a processor to implement the operations performed by the method described in any one of the first aspects above.

[0039] In this application, upon receiving a shift request, the target angle and initial angle of the shift drum are determined; a determination is made as to whether the initial angle difference between the initial angle and the target angle is less than a lower limit of a preset interval; if the initial angle difference is less than the lower limit, the speed of the shift motor is maintained constant while determining the current angle difference between the current angle of the shift drum and the target angle; and if the current angle difference is greater than an upper limit of the preset interval, the speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than a preset threshold. This solution effectively avoids the reciprocating speed fluctuation of the shift motor caused by shift drum rebound during the shift process, thereby extending the service life of the hybrid transmission.

[0040] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, explaining the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0042] FIG1 shows a schematic structural diagram of a shift mechanism in one embodiment;

[0043] FIG2 is a schematic diagram showing a simulation of the shift drum position and the shift motor speed in one embodiment;

[0044] FIG3 is a schematic flow chart showing a method for controlling a shift drum angle in one embodiment;

[0045] FIG4 shows a simulation diagram of the shift drum position and the shift motor speed in another embodiment;

[0046] FIG5 is a schematic flow chart showing a method for controlling the shift drum angle in another embodiment;

[0047] FIG6 shows a block diagram of a control device for a shift drum angle in one embodiment;

[0048] FIG7 shows a schematic structural diagram of a control device for a shift drum angle in one embodiment. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0050] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0051] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically separate entities. That is, these functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0052] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, while others may be combined or partially combined. Therefore, the actual execution order may vary depending on the actual situation.

[0053] In order to enable those skilled in the art to better understand the present application, the shifting mechanism involved in the present application is first briefly described with reference to FIG1 .

[0054] Refer to Figure 1, which shows a schematic diagram of the shift mechanism in one embodiment. The shift mechanism of a clutchless hybrid multi-speed transmission utilizes a shift drum, shift fork, and synchronizer configuration. The shift motor rotates to output torque, which, after being decelerated and amplified by a planetary gear reduction mechanism, drives the shift fork to reciprocate laterally along the fork shaft, pushing the synchronizer sleeve left and right to engage and disengage gears. The shift drum is essentially a cam mechanism, and its rotational motion is converted into axial motion of the shift fork and synchronizer.

[0055] Figure 2 shows a simulation diagram of the shift drum position and the shift motor speed in one embodiment. As shown in Figure 2, currently when the deviation between the actual angle of the shift drum and the target angle is less than a fixed value, the shift motor will actively shut down. Assuming that the target angle of the shift drum is 183.123° and the calibrated fixed value is 1.064°, then when the actual angle of the shift drum is less than the shift drum shutdown threshold of 184.187° (where 184.187°=183.123°+1.064°), the shift motor will shut down. When the target angle of the shift drum shifts from 212° to 183.123°, the shift drum stops at 184.146° due to resistance. At this time, the actual angle of the shift drum is less than 184.187°, the target speed of the shift motor is zero, and the shift motor stops. Due to the presence of mechanical elastic force, force is applied to the motor shaft, causing it to run in the opposite direction. The angle of the shift drum increases by 0.06°, and the actual angle becomes 184.207°, which is greater than 184.187°. At this time, the shift motor starts working again, and this cycle repeats, causing oscillation.

[0056] In order to solve the above problems, an embodiment of the present application provides a method for controlling the angle of a shift drum. As shown in FIG3 , the method may include the following steps 301 to 304 .

[0057] In step 301 , when a shift request instruction is received, a target angle and an initial angle of the shift drum are determined.

[0058] The target angle refers to the angle that the shift drum needs to reach, and the initial angle refers to the angle of the shift drum when the shift request instruction is received.

[0059] It's understood that the HTCU, acting as the shift mechanism actuator, responds to the VCU's gear request commands. The HTCU determines whether to shift based on whether it receives the VCU's gear request. If it doesn't, the HTCU doesn't shift and maintains the current gear. If it does, it controls the angle deviation until the difference between the shift drum's current angle and the target angle falls below a certain threshold, at which point the shift is considered complete.

[0060] In some embodiments, the target gear position may be obtained from the gear shift request instruction; and the target angle of the shift drum may be determined according to the target gear position.

[0061] Specifically, there is a corresponding relationship between the target gear position of the shift drum and the target angle, and the target angle can be obtained by looking up a table according to the target gear position.

[0062] In some embodiments, the initial angle of the shift drum can be calculated and determined based on parameters such as the initial number of rotations of the shift motor, the initial measured angle of the shift motor, and the shift transmission ratio.

[0063] Specifically, the initial motor angle can be determined according to the initial number of rotations of the shift motor and the initial measured angle of the shift motor; and the quotient of the initial motor angle and the shift transmission speed ratio is determined as the initial angle of the shift drum.

[0064] In step 302, it is determined whether the initial angle difference between the initial angle and the target angle is less than a lower limit of a preset interval.

[0065] It can be understood that the preset interval can also be called a hysteresis interval, and the upper limit and lower limit of the interval can be set according to actual conditions. For example, the preset interval can be set to (0.5°, 0.68°).

[0066] In step 303 , when the initial angle difference is less than the lower limit, the rotation speed of the shift motor is kept unchanged, and the current angle difference between the current angle of the shift drum and the target angle is determined.

[0067] It should be emphasized that the control strategy in the prior art generally compares the initial angle difference with a fixed value. If the initial angle difference is less than the fixed value, the shift motor stops. Due to the rebound of the shift drum, the angle difference will change. When the angle difference is greater than the fixed value, the shift motor will start again, which causes the speed of the shift motor to fluctuate back and forth. However, the embodiment of the present application sets a preset interval. When the initial angle difference is less than the lower limit of the preset interval, the speed of the shift motor is maintained unchanged. The speed of the shift motor is not adjusted until the current angle difference is greater than the upper limit of the preset interval. The current angle difference is reduced to the preset threshold, completing the shift.

[0068] It is understandable that due to the mechanical rebound of the shift drum, the actual angle of the shift drum will change after the initial angle of the shift drum is determined. Therefore, it is necessary to calculate the current angle of the shift drum and control it more accurately based on the current angle.

[0069] In some embodiments, the current motor angle can be determined based on the current number of rotations of the shift motor and the current measured angle of the shift motor; the quotient of the current motor angle and the shift transmission speed ratio is determined as the current angle of the shift drum; and the difference between the current angle and the target angle is determined as the current angle difference.

[0070] Specifically, the current motor angle can be obtained in a variety of ways. In some embodiments, the current motor angle is calculated according to the following formula:

[0071] M2=N*359°+M1-M0;

[0072] Among them, M2 is the current motor angle, N is the current number of rotations, M1 is the current measured angle, and M0 is the angle of the shift motor at zero point.

[0073] In other embodiments, the current motor angle may also be obtained by multiplying the current number of rotations by 360°.

[0074] Assuming that the current number of rotations is 5.81 and the gear ratio is 61.07, the current angle of the gear shift drum can be: 5.81*360° / 61.07=34.25°.

[0075] It can be understood that the current motor angle calculated in the above manner can obtain a more accurate motor angle than the motor angle obtained by measurement, and thus a more precise current angle value can be obtained.

[0076] In step 304 , when the current angle difference is greater than the upper limit of the preset interval, the speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than the preset threshold.

[0077] Among them, the preset threshold can be set according to actual conditions, and can be 1°, 1.2°, etc., and the embodiment of the present application is not limited to this.

[0078] It is understandable that if the current angle difference is less than the preset threshold, it can be determined that the gear shift is completed. If the current angle difference is greater than or equal to the preset threshold, it can be determined that the gear shift is not completed and the speed of the gear shift motor needs to be further adjusted.

[0079] In some embodiments, the target speed of the shift motor can be determined based on the current angle difference; the speed difference between the current speed of the shift motor and the target speed can be determined; and the current of the shift motor can be controlled based on the speed difference until the current angle difference is less than a preset threshold.

[0080] When controlling the current of the shift motor, PID control can be performed according to the speed difference.

[0081] Specifically, the angular velocity of the shift drum can be determined according to the current angle difference; and the target rotational speed of the shift motor can be determined according to the angular velocity.

[0082] In some embodiments, when the initial angle difference is greater than or equal to a lower limit value, the current angle difference between the current angle of the shift drum and the target angle is determined; and the speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than a preset threshold.

[0083] It is understandable that if the initial angle difference is greater than or equal to the lower limit, the speed of the shift motor can be directly adjusted so that the current angle difference between the current angle and the target angle is less than the preset threshold value to complete the shift.

[0084] Refer to Figure 4, which is a simulation diagram of the shift drum position and the shift motor speed after being controlled by the control method of the shift drum angle in the embodiment of the present application. It can be seen from Figure 4 that the shift drum angle has a maximum rebound of 0.048°, and the target speed of the shift motor changes to 0. It can be seen that the setting of the preset interval can cover the range of action of the reverse force, and there is no jitter problem in the target speed of the shift motor.

[0085] This embodiment of the present application determines the target and initial angles of the shift drum upon receiving a shift request; determines whether the initial angle difference between the initial angle and the target angle is less than a lower limit of a preset interval; if the initial angle difference is less than the lower limit, maintains the speed of the shift motor unchanged and determines the current angle difference between the current angle of the shift drum and the target angle; and if the current angle difference is greater than an upper limit of the preset interval, adjusts the speed of the shift motor based on the current angle difference until the current angle difference is less than a preset threshold. This approach effectively avoids the reciprocating speed fluctuations of the shift motor caused by shift drum rebound during the shift process, thereby extending the service life of the hybrid transmission.

[0086] FIG5 is a flow chart of a method for controlling the shift drum angle in another embodiment. As shown in FIG5 , the method for controlling the shift drum angle may include the following steps:

[0087] Step 501: upon receiving a shift request instruction, obtaining a target gear position from the shift request instruction, and determining a target angle of the shift drum according to the target gear position;

[0088] Step 502 , determining the initial angle of the shift drum and determining whether the initial angle difference between the initial angle and the target angle is less than a lower limit of a preset interval;

[0089] Step 503 , when the initial angle difference is less than the lower limit, the speed of the shift motor is kept unchanged, and the current angle difference between the current angle of the shift drum and the target angle is determined;

[0090] Step 504: if the current angle difference is greater than the upper limit of the preset interval, determine the target speed of the shift motor according to the current angle difference;

[0091] Step 505, determining the speed difference between the current speed of the shift motor and the target speed;

[0092] Step 506 , controlling the current of the shift motor according to the speed difference until the current angle difference is less than a preset threshold;

[0093] Step 503 ′: when the initial angle difference is greater than or equal to the lower limit, determining the current angle difference between the current angle of the shift drum and the target angle;

[0094] Step 504 ′: adjust the speed of the shift motor according to the current angle difference until the current angle difference is smaller than a preset threshold.

[0095] The embodiments of the present application improve the stability of the speed of the shift motor, avoid damage to the gearbox caused by repeated fluctuations in the speed, and avoid repeated driving of the shift motor when the gearbox is in direct drive gear.

[0096] The following describes an embodiment of the device of the present application, which can be used to implement the shift drum angle control method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the shift drum angle control method in the above embodiment of the present application.

[0097] 6 , which shows a block diagram of a device for controlling a shift drum angle in an embodiment of the present application.

[0098] As shown in Figure 6, the control device for the shift drum angle of an embodiment of the present application includes: an angle determination unit 601, an angle judgment unit 602 and a speed control unit 603, wherein the angle determination unit 601 is configured to determine the target angle and the initial angle of the shift drum when a shift request instruction is received; the angle judgment unit 602 is configured to determine whether the initial angle difference between the initial angle and the target angle is less than the lower limit value of a preset interval; the speed control unit 603 is configured to keep the speed of the shift motor unchanged when the initial angle difference is less than the lower limit value, and determine the current angle difference between the current angle of the shift drum and the target angle; the speed control unit 603 is also configured to adjust the speed of the shift motor according to the current angle difference when the current angle difference is greater than the upper limit value of the preset interval until the current angle difference is less than the preset threshold value.

[0099] In some embodiments of the present application, based on the above solution, the angle determination unit 601 is further configured to obtain a target gear from a gear shift request instruction; and determine a target angle of the shift drum according to the target gear.

[0100] In some embodiments of the present application, based on the aforementioned scheme, the speed control unit 603 is also configured to determine the current motor angle based on the current number of rotations of the shift motor and the current measured angle of the shift motor; determine the quotient of the current motor angle and the shift transmission speed ratio as the current angle of the shift drum; and determine the difference between the current angle and the target angle as the current angle difference.

[0101] In some embodiments of the present application, based on the aforementioned solution, the current motor angle is calculated according to the following formula:

[0102] M2=N*359+M1-M0;

[0103] Among them, M2 is the current motor angle, N is the current number of rotations, M1 is the current measured angle, and M0 is the angle of the shift motor at zero point.

[0104] In some embodiments of the present application, based on the aforementioned scheme, the speed control unit 603 is also configured to determine the target speed of the shift motor based on the current angle difference; determine the speed difference between the current speed of the shift motor and the target speed; and control the current of the shift motor based on the speed difference until the current angle difference is less than a preset threshold.

[0105] In some embodiments of the present application, based on the above solution, the speed control unit 603 is further configured to determine the angular velocity of the shift drum according to the current angle difference; and determine the target speed of the shift motor according to the angular velocity.

[0106] In some embodiments of the present application, based on the aforementioned scheme, the speed control unit 603 is also configured to determine the current angle difference between the current angle of the shift drum and the target angle when the initial angle difference is greater than or equal to the lower limit value; and adjust the speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold.

[0107] Based on the same inventive concept, an embodiment of the present application also provides a control device for the shift drum angle. Referring to Figure 7, a structural schematic diagram of the control device for the shift drum angle in an embodiment of the present application is shown. The control device for the shift drum angle includes one or more memories 704, one or more processors 702, and at least one computer program (computer program instruction) stored on the memory 704 and executable on the processor 702. When the processor 702 executes the computer program, the method described above is implemented.

[0108] In FIG7 , a bus architecture (represented by bus 700) is shown. Bus 700 may include any number of interconnected buses and bridges. Bus 700 links various circuits, including one or more processors represented by processor 702 and memory represented by memory 704. Bus 700 may also link various other circuits, such as peripherals, voltage regulators, and power management circuits. These are well known in the art and are therefore not described further herein. Bus interface 705 provides an interface between bus 700 and receiver 701 and transmitter 703. Receiver 701 and transmitter 703 may be the same component, namely a transceiver, which provides a means for communicating with various other devices over a transmission medium. Processor 702 is responsible for managing bus 700 and general processing, while memory 704 may be used to store data used by processor 702 when performing operations.

[0109] Based on the same inventive concept, an embodiment of the present application provides a computer-readable storage medium, which stores at least one computer program instruction. The at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method described above.

[0110] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0111] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0112] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0113] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store computer program instructions.

[0114] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for controlling a shift drum angle, characterized in that: The method comprises: determining a target angle and an initial angle of the shift drum upon receiving a shift request command; Determining whether an initial angle difference between the initial angle and the target angle is less than a lower limit of a preset interval; When the initial angle difference is less than the lower limit value, the rotation speed of the shift motor is kept unchanged, and a current angle difference between the current angle of the shift drum and the target angle is determined; When the current angle difference is greater than an upper limit of the preset interval, the rotation speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than a preset threshold.

2. The method according to claim 1, characterized in that Determining the target angle of the shift drum includes: Obtaining a target gear position from the gear shift request instruction; The target angle of the shift drum is determined according to the target gear position.

3. The method according to claim 2, characterized in that Determining a current angle difference between a current angle of the shift drum and the target angle includes: Determining a current motor angle according to a current number of rotations of the gear-shifting motor and a current measured angle of the gear-shifting motor; Determining the quotient of the current motor angle and the gear shift transmission ratio as the current angle of the gear shift drum; The difference between the current angle and the target angle is determined as the current angle difference.

4. The method according to claim 3, characterized in that: The current motor angle is calculated according to the following formula: M2=N*359+M1-M0; Among them, M2 is the current motor angle, N is the current number of rotations, M1 is the current measurement angle, and M0 is the angle of the shift motor at zero point.

5. The method according to claim 1, characterized in that The adjusting the speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold value includes: determining a target speed of the shift motor according to the current angle difference; Determining a speed difference between a current speed of the shift motor and the target speed; The current of the shift motor is controlled according to the rotational speed difference until the current angle difference is smaller than the preset threshold.

6. The method according to claim 5, characterized in that The step of determining the target speed of the shift motor according to the current angle difference comprises: determining an angular velocity of the shift drum according to the current angular difference; The target rotation speed of the shift motor is determined according to the angular velocity.

7. The method according to claim 1, characterized in that After determining the current angle difference between the current angle and the target angle, the method further includes: In a case where the initial angle difference is greater than or equal to the lower limit value, determining a current angle difference between the current angle of the shift drum and the target angle; The rotation speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than a preset threshold.

8. A control device for a shift drum angle, characterized in that: The device comprises: an angle determination unit configured to determine a target angle and an initial angle of the shift drum upon receiving a shift request instruction; an angle determination unit, configured to determine whether an initial angle difference between the initial angle and the target angle is less than a lower limit of a preset interval; a rotation speed control unit configured to keep the rotation speed of the shift motor unchanged when the initial angle difference is less than the lower limit value, and determine a current angle difference between the current angle of the shift drum and the target angle; The speed control unit is further configured to adjust the speed of the shift motor according to the current angle difference when the current angle difference is greater than an upper limit value of the preset interval until the current angle difference is less than a preset threshold value.

9. A control device for a shift drum angle, comprising a processor and a memory, characterized in that: The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the processor implements instructions of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which are loaded and executed by a processor to implement the operations performed by the method according to any one of claims 1 to 7.

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