Clutch position signal filtering method and apparatus, clutch, and vehicle

Abstract

The application provides a clutch position signal filtering method and device, a clutch and a vehicle. The clutch position signal filtering method comprises the following steps: collecting a clutch position signal of the vehicle in real time during vehicle driving; performing first mode filtering on the clutch position signal to obtain a first filtered signal; performing second mode filtering on the first filtered signal to obtain a second filtered signal; and performing third mode filtering on the second filtered signal to obtain a clutch position filtered signal; wherein the first mode filtering, the second mode filtering and the third mode filtering are respectively one of recursive average filtering, hysteresis filtering and hysteresis loop filtering, and are all different from each other. The clutch position signal collected by the application can be intelligently filtered, and the clutch actual position signal jitter and control output value oscillation caused by disturbance can be prevented.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of clutches, and particularly relates to a clutch position signal filtering method and device, a clutch and a vehicle. BACKGROUND

[0002] In the whole vehicle running process, the position of the clutch needs to be accurately controlled to achieve normal driving. At present, the position signal of the clutch is mainly collected by a sensor, and the specific position of the clutch is identified by analyzing the clutch position signal collected by the sensor.

[0003] However, the collected clutch position signal is disturbed in some working conditions, especially in the hot state working condition, and the probability of the clutch self-learning process is relatively high, which easily leads to the actual position signal of the clutch to fluctuate sharply, and then leads to the position control value to be adjusted sharply, and further leads to double oscillation. SUMMARY

[0004] The application provides a clutch position signal filtering method and device, a clutch and a vehicle, which can intelligently filter the collected clutch position signal, prevent the actual position signal of the clutch from fluctuating due to disturbance, and control the output value from oscillating.

[0005] The first aspect of the application provides a clutch position signal filtering method, comprising:

[0006] In the vehicle running process, the clutch position signal of the vehicle is collected in real time;

[0007] The clutch position signal is filtered in a first mode to obtain a first filtered signal;

[0008] The first filtered signal is filtered in a second mode to obtain a second filtered signal;

[0009] The second filtered signal is filtered in a third mode to obtain a clutch position filtered signal;

[0010] The first mode filtering, the second mode filtering and the third mode filtering are one of recursive average filtering, hysteresis filtering and hysteresis loop filtering, and are different from each other.

[0011] Optionally, the first mode filtering is recursive average filtering, the second mode filtering is hysteresis filtering, and the third mode filtering is hysteresis loop filtering.

[0012] Optionally, filtering the clutch position signal in the first mode comprises:

[0013] For each sampling point of the clutch position signal collected in real time, a specified number of clutch position signals generated before the sampling point are continuously selected;

[0014] An arithmetic mean of the specified number of clutch position signals is calculated, and the arithmetic mean is determined as the clutch position signal of the sampling point.

[0015] Optionally, the arithmetic mean of the specified number of clutch position signals is calculated, comprising:

[0016] The maximum and minimum values in the specified number of clutch position signals are removed, and an arithmetic mean of the remaining clutch position signals is calculated.

[0017] Optionally, the first filtering signal is filtered in a second manner, comprising:

[0018] The first filtering signal corresponding to the current sampling point is weighted with the second filtering signal corresponding to the previous sampling point to obtain the second filtering signal of the current sampling point.

[0019] Optionally, the first filtering signal corresponding to the current sampling point is weighted with the second filtering signal corresponding to the previous sampling point to obtain the second filtering signal of the current sampling point, comprising:

[0020] The first filtering signal corresponding to the current sampling point is weighted with the second filtering signal corresponding to the previous sampling point according to the following formula, and the second filtering signal of the current sampling point is obtained according to the weighted result:

[0021]

[0022] wherein, is the first filtering signal corresponding to the current sampling point, is the second filtering signal corresponding to the previous sampling point, is the second filtering signal corresponding to the current sampling point, and a is a filtering coefficient.

[0023] Optionally, the second filtering signal is filtered in a third manner, comprising:

[0024] For the current sampling point, it is determined whether the difference between the second filtering signal corresponding to the current sampling point and the clutch position filtering signal corresponding to the previous sampling point is greater than or equal to a first threshold value;

[0025] If yes, the second filtering signal corresponding to the current sampling point is determined as the clutch position filtering signal of the current sampling point; if no, the clutch position filtering signal corresponding to the previous sampling point is determined as the clutch position filtering signal of the current sampling point.

[0026] Optionally, the method further comprises a credibility checking step, the credibility checking step comprising:

[0027] detecting a rotational speed of an input shaft of a vehicle transmission and a rotational speed of an engine, respectively;

[0028] calculating a difference between the rotational speed of the input shaft and the rotational speed of the engine, and determining whether the difference is less than or equal to a second threshold value;

[0029] if yes, determining that the clutch position filtered signal is credible.

[0030] Embodiments of the second aspect of the application provide a clutch position signal filtering device, comprising:

[0031] a signal acquisition module, configured to acquire a clutch position signal of a vehicle in real time during driving of the vehicle;

[0032] a first filtering module, configured to filter the clutch position signal in a first manner to obtain a first filtered signal;

[0033] a second filtering module, configured to filter the first filtered signal in a second manner to obtain a second filtered signal;

[0034] a third filtering module, configured to filter the second filtered signal in a third manner to obtain a clutch position filtered signal.

[0035] Embodiments of the third aspect of the application provide a clutch, comprising a clutch body, and further comprising the clutch position signal filtering device according to the first aspect.

[0036] Embodiments of the fourth aspect of the application provide a vehicle, comprising the clutch according to the second aspect.

[0037] The technical solutions provided in the embodiments of the application have at least the following technical effects or advantages:

[0038] The clutch position signal filtering method provided in the embodiments of the application can realize three filtering effects by superimposed filtering of the real-time acquired clutch position signal through recursive average filtering, hysteresis filtering and hysteresis loop filtering, so as to effectively filter out signals with sharp fluctuations, reduce untrustworthy signals caused by interference, and at the same time ensure the output of normal clutch position signal values, so that the filtered position signal is trustworthy, and the stable trustworthy signal can be used to stably control the clutch position, avoid control output value oscillation, and affect driving operation, etc. BRIEF DESCRIPTION OF DRAWINGS

[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present application. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0040] Figure 1 A schematic flow chart of a clutch position signal filtering method according to an embodiment of the present application is shown;

[0041] Figure 2 A schematic diagram of a process for filtering the clutch position signal in a first manner in an embodiment of the present application is shown;

[0042] Figure 3 A schematic diagram of a process for filtering the clutch position signal in a second manner in an embodiment of the present application is shown;

[0043] Figure 4 A schematic diagram of a process for filtering the clutch position signal in a third manner in an embodiment of the present application is shown;

[0044] Figure 5 A schematic diagram showing a comparison of an original clutch position signal over a period of time and a clutch position filtered signal obtained after filtering the signal using the clutch position signal filtering method provided in an embodiment of the present application;

[0045] Figure 6 A schematic structural diagram of a clutch position signal filtering device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0046] The following describes exemplary embodiments of the present application in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0047] It should be noted that, unless otherwise specified, the technical or scientific terms used in this application should have the common meanings understood by those skilled in the art to which this application belongs.

[0048] The following describes a clutch position signal filtering method, device, clutch, and vehicle according to embodiments of the present application with reference to the accompanying drawings.

[0049] like Figure 1 As shown, the embodiment of the present application provides a clutch position signal filtering method, which may include the following steps:

[0050] Step S1, collecting clutch position signal of the vehicle in real time during vehicle driving;

[0051] Step S2, filtering the clutch position signal in a first mode to obtain a first filtered signal;

[0052] Step S3, filtering the first filtered signal in a second mode to obtain a second filtered signal;

[0053] Step S4, filtering the second filtered signal in a third mode to obtain a clutch position filtered signal.

[0054] The first mode, the second mode and the third mode are respectively one of recursive average filtering, hysteresis filtering and hysteresis loop filtering, and are all different.

[0055] The recursive average filtering is also called sliding average filtering method, which is to perform arithmetic average on multiple values around a sampling point, and to take the arithmetic average as the value of the sampling point. Through the recursive average filtering process, the data can be effectively smoothed, the mutation of the data can be slowed down, and the influence of interference factors on the collected clutch position signal can be reduced.

[0056] The hysteresis filtering can be first-order hysteresis filtering or second-order hysteresis filtering, which is not limited in the embodiment. The embodiment preferably uses first-order hysteresis filtering, in which the current output value mainly depends on the last output value, and the current sampling value has a small contribution to the current output, which plays a correction role. In this way, a suitable balance point between stability and sensitivity can be found, and the periodic interference can be well suppressed.

[0057] The hysteresis loop filtering is to compare the current sampling value with the last sampling value. If the difference between the two sampling values exceeds a certain value, the current sampling value is considered valid, otherwise, the output value of the last filtering is maintained. This algorithm can avoid the output result from being too jittered and the noise from being too large when the sampling value changes slightly, which affects the control effect of the clutch.

[0058] The clutch position signal filtering method provided in the embodiment can realize three filtering effects by superimposing filtering of recursive average filtering, hysteresis filtering and hysteresis loop filtering on the real-time collected clutch position signal, so as to effectively filter out signals with severe fluctuations, reduce untrustworthy signals caused by interference, and ensure the output of normal clutch position signal values at the same time. The filtered position signal is trustworthy, and the stable and trustworthy signal can be used to stably control the clutch position, avoid control output value oscillation, and affect driving operation.

[0059] In a specific implementation of this embodiment, the first filtering method is recursive averaging filtering, the second filtering method is hysteresis filtering, and the third filtering method is hysteresis filtering, that is, the clutch position signal filtering method is: first, the clutch position signal is subjected to recursive averaging filtering to obtain a first filtered signal; then, the first filtered signal obtained in the previous step is subjected to hysteresis filtering to obtain a second filtered signal; and then, the second filtered signal obtained in the previous step is subjected to hysteresis filtering to obtain a clutch position filtered signal.

[0060] This embodiment sequentially performs recursive averaging filtering, first-order hysteresis filtering, and hysteresis filtering on the clutch position signal. First, recursive averaging filtering is performed, which effectively overcomes fluctuation interference caused by accidental factors, improves the smoothness of the clutch position signal, reduces the number of unreliable signal points, and improves the credibility of subsequent filtering results. Hysteresis filtering is then performed, which, based on the highly reliable recursive averaging filtering results, further suppresses interference from periodic factors and corrects the clutch position signal curve for greater accuracy. Finally, hysteresis filtering is performed, which avoids position adjustment fluctuations caused by minor fluctuations in the clutch position signal, thereby making clutch position control more stable. This is equivalent to the process of coarse to fine-tune the clutch position signal. Compared with other filtering superposition methods, this method can achieve better filtering effect and real-time performance of the clutch position filter signal, higher credibility, and greater robustness.

[0061] Specifically, if Figure 2 As shown, the first method of filtering the clutch position signal may include the following processing: for each sampling point where the clutch position signal is collected in real time, continuously selecting a specified number of clutch position signals generated before the current sampling point; calculating the arithmetic mean of the specified number of clutch position signals, and determining the arithmetic mean as the clutch position signal at the sampling point. The specified number may be specifically limited according to actual conditions and is not specifically limited in this embodiment.

[0062] Furthermore, the arithmetic mean can be calculated after removing the maximum and minimum values. Accordingly, calculating the arithmetic mean of a specified number of clutch position signals can include removing the maximum and minimum values ​​from the specified number of clutch position signals and calculating the arithmetic mean of the remaining clutch position signals. This further reduces the impact of sudden signal changes. Furthermore, this filtering method is simple to operate, highly efficient, and easy to implement, effectively suppressing periodic interference.

[0063] like Figure 3As shown, performing lag filtering on the first filtered signal may include the following processing: weighting the first filtered signal corresponding to the current sampling point with the second filtered signal corresponding to the previous sampling point to obtain the second filtered signal at the current sampling point. Specifically, a determination may be made as to whether the first filtered signal corresponding to the current sampling point is equal to the previous filtering result. If so, the previous filtering result is directly output; if not, the above-described processing is repeated to obtain the second filtered signal at the current sampling point.

[0064] Furthermore, a first-order lag filter can be used. Accordingly, the first filtered signal corresponding to the current sampling point (current sampling value) and the second filtered signal corresponding to the previous sampling point (last filtering result) can be weighted according to the following formula (1), and the second filtered signal of the current sampling point can be obtained according to the weighted result:

[0065] (1)

[0066] in, is the first filtered signal corresponding to the current sampling point, The second filtered signal corresponding to the previous sampling point, is the second filtered signal corresponding to the current sampling point, and a is the filtering coefficient. The smaller the value of the filtering coefficient a, the more stable the filtering result, but the lower the sensitivity; the larger the value of the filtering coefficient a, the higher the sensitivity, but the less stable the filtering result. Generally, to achieve a more stable filtering effect, a suitable balance is sought between stability and sensitivity to effectively suppress periodic interference. The value of the filtering coefficient a will be relatively small, that is, the value of the current second filtered signal mainly depends on the value of the second filtered signal corresponding to the previous sampling point. The value of the first filtered signal corresponding to the current sampling point has a relatively small contribution to the value of the current second filtered signal and only serves as a correction.

[0067] like Figure 4 As shown, performing the third filtering method on the second filtered signal may include the following processing: for the current sampling point, determining whether the difference between the corresponding second filtered signal (current sampling value) and the clutch position filtered signal (previous filtering result) corresponding to the previous sampling point is greater than or equal to a first threshold; if so, determining the second filtered signal corresponding to the current sampling point as the clutch position filtered signal for the current sampling point; if not, determining the clutch position filtered signal corresponding to the previous sampling point as the clutch position filtered signal for the current sampling point. In this way, through the aforementioned hysteresis filtering process, the second filtered signal can be further finely adjusted, avoiding clutch position adjustment even when the second filtered signal fluctuates slightly, thereby achieving more stable clutch position adjustment. The value of the first threshold can be set according to actual conditions and is not specifically limited in this embodiment; for example, it can be 0.5%-1%.

[0068] It should be noted that the above-mentioned clutch position signal is sequentially subjected to recursive average filtering, first-order lag filtering and hysteresis filtering, which is only a preferred embodiment of the present embodiment, and the present embodiment is not limited thereto, as long as the three filtering methods are used for superimposed filtering, which can effectively play a filtering effect.

[0069] The clutch position signal filtering method can further include a reliability verification step, which can include the following processes: detecting the speed of the vehicle transmission input shaft and the speed of the engine respectively; calculating the difference between the speed of the input shaft and the speed of the engine, and determining whether the difference is less than or equal to a second threshold value; if so, it is determined that the clutch position filtering signal is reliable. The value of the second threshold value can be set according to the actual situation, and the present embodiment does not make specific limitation thereto, for example, it can be 0.1%-0.5%.

[0070] The present embodiment determines the synchronization state of the transmission input shaft speed and the engine speed by detecting the difference between the transmission input shaft speed and the engine speed, and judges whether the actual position of the clutch is oscillating according to the synchronization state. When in the synchronization state, it means that the clutch is engaged, and the actual position of the clutch is stable and reliable.

[0071] In addition, the present embodiment also compares and analyzes the actual clutch position signal and the clutch position filtering signal obtained after filtering by the clutch position signal filtering method provided by the present embodiment, as shown in Figure 5 , (wherein the abscissa is time and the ordinate is signal intensity), from Figure 5 , it can be seen that the original collected clutch position data (original clutch position signal, the curve with more sawtooth in the eye diameter direction in the figure) fluctuates slightly, while the filtered result (clutch position filtering signal, the more smooth curve in the figure) after filtering by the present filtering method is better in smoothness and stable in data change, and has higher reliability.

[0072] Based on the same concept of the above-mentioned clutch position signal filtering method, the present embodiment further provides a clutch position signal filtering device, as shown in Figure 6 , the filtering device comprises:

[0073] a signal acquisition module, configured to acquire the clutch position signal of the vehicle in real time during vehicle driving;

[0074] a first filtering module, configured to filter the clutch position signal in a first manner to obtain a first filtering signal;

[0075] a second filtering module, configured to filter the first filtering signal in a second manner to obtain a second filtering signal;

[0076] The third filtering module is configured to filter the second filtered signal in a third manner to obtain a clutch position filtered signal.

[0077] The clutch position signal filtering device provided in the embodiment is based on the same concept as the clutch position signal filtering method, and can at least achieve the beneficial effects of the clutch position signal filtering method, which will not be described herein.

[0078] Based on the same concept as the clutch position signal filtering method, the embodiment further provides a clutch, which comprises a clutch body and the clutch position signal filtering device as described above.

[0079] The clutch provided in the embodiment comprises the clutch position signal filtering device, and can at least achieve the beneficial effects of the clutch position signal filtering device, which will not be described herein.

[0080] Based on the same concept as the clutch position signal filtering method, the embodiment further provides a vehicle, which comprises the clutch as described above.

[0081] The vehicle provided in the embodiment comprises the clutch with the clutch position signal filtering device, and can at least achieve the beneficial effects of the clutch position signal filtering device, which will not be described herein.

[0082] It should be noted that the above embodiments explain the present application but do not limit the present application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In a unit claim enumerating several means, the several means can be embodied by one and the same item of hardware. The use of the words first, second and third, etc. does not imply any ordering. These words are to be interpreted as names.

[0083] The above is only the preferred specific implementation of the present application, but the protection scope of the present application is not limited to this. Any changes or replacements easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of filtering a clutch position signal, characterized by, The method comprises the following steps: acquiring a clutch position signal of a vehicle in real time during driving of the vehicle; performing first mode filtering on the clutch position signal to obtain a first filtered signal; performing second mode filtering on the first filtered signal to obtain a second filtered signal; performing third mode filtering on the second filtered signal to obtain a clutch position filtered signal; wherein the first mode filtering, the second mode filtering and the third mode filtering are respectively one of recursive average filtering, hysteresis filtering and hysteresis loop filtering, and are all different from each other; the first mode filtering is recursive average filtering, the second mode filtering is hysteresis filtering, and the third mode filtering is hysteresis loop filtering; the third mode filtering on the second filtered signal comprises the following steps: determining whether a difference between the second filtered signal corresponding to a current sampling point and a clutch position filtered signal corresponding to a previous sampling point is greater than or equal to a first threshold value; if yes, determining the second filtered signal corresponding to the current sampling point as the clutch position filtered signal of the current sampling point; and if no, determining the clutch position filtered signal corresponding to the previous sampling point as the clutch position filtered signal of the current sampling point; the method further comprises a credibility checking step, which comprises the following steps: respectively detecting a rotational speed of an input shaft of a gearbox of the vehicle and a rotational speed of an engine; calculating a difference between the rotational speed of the input shaft and the rotational speed of the engine, and determining whether the difference is less than or equal to a second threshold value; if yes, determining that the clutch position filtered signal is credible; wherein the difference is used to determine whether the rotational speed of the input shaft and the rotational speed of the engine are in a synchronous state, and to determine whether an actual position of the clutch is oscillating according to the synchronous state, and when in the synchronous state, it is determined that the clutch position filtered signal is credible.

2. The method according to claim 1, characterized in that the first mode filtering on the clutch position signal comprises the following steps: for each sampling point of the clutch position signal acquired in real time, continuously selecting a specified number of clutch position signals generated before the sampling point; calculating an arithmetic mean of the specified number of clutch position signals, and determining the arithmetic mean as the clutch position signal of the sampling point.

3. The method of claim 2, wherein, the calculation of the arithmetic mean of the specified number of clutch position signals comprises the following steps: removing the maximum and minimum values in the specified number of clutch position signals, and calculating an arithmetic mean of the remaining clutch position signals.

4. The method of claim 1, wherein, the second mode filtering on the first filtered signal comprises the following steps: weighting the first filtered signal corresponding to a current sampling point and the second filtered signal corresponding to a previous sampling point to obtain the second filtered signal of the current sampling point.

5. The method of claim 4, wherein, the weighting of the first filtered signal corresponding to the current sampling point and the second filtered signal corresponding to the previous sampling point to obtain the second filtered signal of the current sampling point comprises the following steps: weighting the first filtered signal corresponding to the current sampling point and the second filtered signal corresponding to the previous sampling point according to the following formula to obtain the second filtered signal of the current sampling point: wherein, is the first filtered signal corresponding to the current sample point, is the second filtered signal corresponding to the previous sample point, is the second filtered signal corresponding to the current sample point, and a is a filter coefficient.

6. A clutch position signal filtering device characterized by comprising: ​ The signal acquisition module is configured to acquire a clutch position signal of the vehicle in real time during driving of the vehicle. The first filtering module is configured to filter the clutch position signal in a first manner to obtain a first filtered signal. The second filtering module is configured to filter the first filtered signal in a second manner to obtain a second filtered signal. The third filtering module is configured to filter the second filtered signal in a third manner to obtain a clutch position filtered signal. The first manner of filtering is recursive average filtering, the second manner of filtering is hysteresis filtering, and the third manner of filtering is hysteresis loop filtering. The third filtering module is further configured to perform the following steps: For a current sampling point, determine whether a difference between the second filtered signal corresponding to the current sampling point and a clutch position filtered signal corresponding to a previous sampling point is greater than or equal to a first threshold value. If yes, the second filtered signal corresponding to the current sampling point is determined as the clutch position filtered signal of the current sampling point; if no, the clutch position filtered signal corresponding to the previous sampling point is determined as the clutch position filtered signal of the current sampling point. The device further comprises a module for performing a credibility checking step, and the credibility checking step comprises: Respectively detecting a rotational speed of an input shaft of a gearbox of the vehicle and a rotational speed of an engine of the vehicle; Calculating a difference between the rotational speed of the input shaft and the rotational speed of the engine, and determining whether the difference is less than or equal to a second threshold value; If yes, the clutch position filtered signal is determined as being credible. The difference is used to determine whether the rotational speed of the input shaft and the rotational speed of the engine are in a synchronous state, and to determine whether the actual position of the clutch is oscillating according to the synchronous state; when in the synchronous state, the clutch position filtered signal is determined as being credible.

7. A clutch comprising a clutch body, characterised in that, The clutch position signal filtering device of claim 6 is further included.

8. A vehicle characterized by comprising: The clutch of claim 7 is included.

Images