A control method, control device, vehicle, and storage medium for a gear shift motor.

Abstract

This invention provides a control method, control device, vehicle, and storage medium for a gear shift motor. The control method includes: responding to a vehicle gear shift command; acquiring a required pulse width modulation (PWM) duty cycle and controlling the gear shift motor to rotate; acquiring the position change between two adjacent rotation positions of the gear shift motor; assigning a first value to a position change reference value based on the direction of the current position change relative to the previous position change, until the position change reference value is not less than a jitter judgment threshold; controlling the PWM duty cycle of the gear shift motor to not exceed a preset duty cycle; assigning a second value to the position change reference value based on the direction of the newly acquired current position change relative to the previous position change, until the position change reference value is not greater than a jitter reset threshold; and controlling the PWM duty cycle of the gear shift motor to be equal to the required PWM duty cycle until the gear shift is completed. This method can effectively suppress gear shift jitter.

Description

Technical Field

[0001] This invention relates to the field of vehicle engineering technology, specifically to a control method, control device, vehicle, and storage medium for a gear shift motor. Background Technology

[0002] With global energy shortages and climate change, the automotive industry's transformation from traditional gasoline-powered vehicles to new energy vehicles has become increasingly urgent. In recent years, the new energy vehicle industry has flourished, with continuous technological iterations, and multi-speed transmissions are gradually being applied to new energy vehicles. By increasing gear ratios, multi-speed transmissions can achieve higher operating speeds, while related subsystems, such as motors and power electronics, can be miniaturized, reducing final manufacturing costs and system weight.

[0003] During gear shifting, if the driving torque of the shift motor is too large, it can cause collision between the synchronizer ring and the engagement gear, resulting in vibration. This can be felt by the occupants, severely reducing the driving experience. At the same time, the vibration can cause abnormal wear between the transmission components inside the gearbox, further reducing the performance of the gearbox and even affecting the safety of the entire vehicle. Summary of the Invention

[0004] In view of this, embodiments of the present invention aim to provide a control method, control device, vehicle, and storage medium capable of suppressing shift jitter in a shift motor.

[0005] To achieve the above objectives, the technical solution of this invention is implemented as follows:

[0006] This invention provides a control method for a gear-shifting motor, the control method comprising:

[0007] In response to the vehicle's gear shift command, the required pulse width modulation duty cycle is obtained, and the gear shift motor is controlled to rotate.

[0008] Obtain the position change between two consecutive rotation positions of the shift motor;

[0009] Based on the direction of change of the current position change relative to the previous position change, a first value is assigned to the position change reference value until the position change reference value is not less than the jitter judgment threshold.

[0010] The pulse width modulation duty cycle of the shift motor is controlled to not exceed a preset duty cycle;

[0011] Based on the direction of change of the current position change relative to the previous position change, a second value is assigned to the position change reference value until the position change reference value is not greater than the jitter reset threshold.

[0012] The pulse width modulation duty cycle of the shift motor is controlled to be equal to the required pulse width modulation duty cycle until the shift is completed.

[0013] In some embodiments, controlling the rotation of the shift motor includes:

[0014] The required pulse width modulation duty cycle is determined to be no less than the change threshold, and the pulse width modulation duty cycle of the shift motor is controlled to change to the required pulse width modulation duty cycle step by step according to the preset step size.

[0015] In some embodiments, prior to obtaining the position change between two adjacent rotational positions of the shift motor, the following steps are included:

[0016] The shift motor is detected, fault information is obtained, and the pulse width modulation duty cycle of the shift motor is controlled to not exceed a preset safe duty cycle.

[0017] In some embodiments, obtaining the position change between two adjacent rotation positions of the shift motor includes:

[0018] The current rotation position of the shift motor is obtained at preset time intervals, and the change between the current rotation position and the previous rotation position is the position change.

[0019] In some embodiments, the initial value of the position change reference value is less than the jitter judgment threshold, and the step of assigning a first value to the position change reference value according to the direction of the current position change amount relative to the previous position change amount includes:

[0020] If the current position change is in the same direction as the previous position change, assign a first negative value to the position change reference value.

[0021] If the current position change is in a different direction than the previous position change, a first positive value is assigned to the position change reference value.

[0022] In some embodiments, the absolute value of the first negative value is less than the absolute value of the first positive value.

[0023] In some embodiments, prior to assigning a second value to the position change reference value, the following steps are included:

[0024] Set the value of the position change reference value as the jitter judgment threshold.

[0025] In some embodiments, assigning a second value to the position change reference value based on the direction of change of the current position change relative to the previous position change includes:

[0026] If the current position change is obtained again in the same direction as the previous position change, a second negative value is assigned to the position change reference value.

[0027] If the direction of the current position change is different from that of the previous position change, a second positive value is assigned to the position change reference value.

[0028] In some embodiments, the absolute value of the second negative value is less than the absolute value of the second positive value.

[0029] In some embodiments, prior to assigning the first value to the position change reference value, the following steps are included:

[0030] Set the value of the position change reference value as the initial reference value.

[0031] Before controlling the pulse width modulation duty cycle of the shift motor to be equal to the desired pulse width modulation duty cycle, the following steps are included:

[0032] The value of the position change reference value is reset to the initial reference value.

[0033] This invention also provides a control device for a gear-shifting motor, the control device comprising:

[0034] The acquisition module is used to acquire the required pulse width modulation duty cycle and the position change between two adjacent rotation positions of the shift motor;

[0035] The assignment module is used to assign a first value to the position change reference value and a second value to the position change reference value;

[0036] The determination module is used to determine that the position change reference value is not less than the jitter judgment threshold and to determine that the position change reference value reaches the jitter reset threshold.

[0037] The motor control module is used to control the rotation of the shift motor, control the pulse width modulation duty cycle of the shift motor to not exceed a preset duty cycle, and control the pulse width modulation duty cycle of the shift motor to be equal to the required pulse width modulation duty cycle.

[0038] This invention also provides a vehicle, which includes a shift motor and the control device described in the foregoing embodiments.

[0039] This invention also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method described in any of the foregoing embodiments.

[0040] The control method for the shift motor in this embodiment of the invention determines shift jitter by comparing the direction of position change over different time periods; it specifically suppresses jitter caused by excessive output torque of the shift motor by assigning a first value to a position change reference value and comparing the position change reference value with a jitter judgment threshold, thereby reducing the probability of subsequent jitter suppression control strategies triggered by jitter caused by other interferences; and it reduces the output torque of the shift motor by reducing the pulse width modulation duty cycle of the shift motor, thereby reducing the probability of shift jitter caused by collision between the synchronization ring and engagement teeth in the gearbox, thus effectively suppressing shift jitter, improving the service life of the gearbox, reducing the probability of shift noise, and improving the user experience. Attached Figure Description

[0041] Figure 1 This is a flowchart illustrating the steps of a control method for a gear-shifting motor according to an embodiment of the present invention;

[0042] Figure 2 This is a flowchart of a control method for a gear-shifting motor according to an embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the control device for a shift motor in one embodiment of the present invention.

[0044] Explanation of reference numerals in the attached figures

[0045] Control device 10; Acquisition module 11; Assignment module 12; Determination module 13; Motor control module 14 Detailed Implementation

[0046] It should be noted that, unless otherwise specified, the embodiments and technical features in the embodiments of this application can be combined with each other, and the detailed descriptions in the specific implementation should be understood as explanations of the purpose of this application and should not be regarded as undue limitations on this application.

[0047] In related technologies, the shifting motor is a BLDC (Brushless Direct Current Motor), and the output driving torque is related to the duty cycle of the PWM (Pulse Width Modulation) that drives its operation.

[0048] This invention provides a control method for a gear-shifting motor, see below. Figure 1 The method includes:

[0049] S11: In response to the vehicle's gear shift command, obtain the required pulse width modulation duty cycle and control the gear shift motor to rotate.

[0050] The source of vehicle shift commands is not limited. For example, the passenger can actively issue a command to instruct the transmission to shift gears; or the VCU (Vehicle Control Unit) can autonomously send a target gear command to the transmission based on factors such as engine operating conditions and road conditions.

[0051] The required pulse width modulation duty cycle is the pulse width modulation duty cycle corresponding to the torque that the shifting motor needs to output in order to complete the corresponding shifting action.

[0052] Once the shift motor starts rotating, it drives the transmission components inside the gearbox to move through the output torque, thus initiating gear shifting.

[0053] S12: Obtain the position change between two adjacent rotation positions of the shift motor.

[0054] After the rotor of the shift motor starts to rotate, its position changes continuously until the shift is completed.

[0055] During the rotation of the rotor of the shift motor, the rotor's rotation position at several moments is obtained, and the rotation position at each moment is compared with the rotation position at the previous moment to obtain the change in rotor position during the time interval between two adjacent moments.

[0056] The positional change includes the rotor's rotation direction and rotational stroke during that time period.

[0057] S13: Assign a first value to the position change reference value based on the direction of the current position change relative to the previous position change, until the position change reference value is not less than the jitter judgment threshold.

[0058] The current position change refers to the change in the rotational position of the shift motor at the current moment relative to the rotational position of the shift motor at the previous moment.

[0059] The change in position refers to the change in the rotational position of the shift motor at the previous moment relative to the rotational position of the shift motor at the moment before that.

[0060] If the current position change is in the same direction as the previous position change, it means that the shift motor rotates in the same direction during these two time periods. If the current position change is in a different direction than the previous position change, it means that the shift motor rotates in a different direction during these two time periods, indicating that the shift motor experienced a vibration.

[0061] It is understandable that the shift motor may experience occasional vibrations within a certain time range due to factors such as internal wear and external electromagnetic interference. Therefore, it is necessary to eliminate the vibrations caused by this situation.

[0062] The purpose of setting the position change reference value is to characterize the frequency of shifting vibration of the shifting motor within a certain time range.

[0063] By assigning a first value to the position change reference value to make the position change reference value change continuously until the value of the position change reference value is not less than the jitter judgment threshold, it is indicated that the shift motor frequently experiences shift jitter within a certain time range, and the shift jitter is caused by excessive output torque of the shift motor.

[0064] S14: Controls the pulse width modulation duty cycle of the shift motor to not exceed the preset duty cycle. This reduces the output torque of the shift motor and suppresses shift jitter.

[0065] It is understandable that the preset duty cycle is less than the required pulse width modulation duty cycle.

[0066] S15: Based on the direction of change of the current position change relative to the previous position change, assign a second value to the position change reference value until the position change reference value is not greater than the jitter reset threshold.

[0067] After the pulse width modulation duty cycle of the self-adjusting shift motor meets the preset duty cycle requirement, the rotation position at each moment is reacquired, thereby obtaining the position change within the time interval between each moment.

[0068] A second value is assigned to the position change reference value so that the position change reference value changes continuously, thereby indirectly reflecting the frequency of shifting jitter in the shifting motor within a certain time range after the pulse width modulation duty cycle of the shifting motor is adjusted.

[0069] If the value of the position change reference value changes to no less than the jitter judgment threshold, it means that the frequency of shift jitter has decreased or even disappeared within a certain time range. In other words, the jitter caused by excessive output torque of the shift motor has been basically eliminated.

[0070] S16: Control the pulse width modulation duty cycle of the shift motor to be equal to the required pulse width modulation duty cycle until the shift is completed.

[0071] The shift motor can disengage from the state of suppressing jitter and return to the state of outputting torque in the state of the required pulse width modulation duty cycle, so that the torque output by the shift motor meets the shifting requirements, realizes the meshing between the transmission gears of the target gear, and thus switches to the target gear.

[0072] The control method for the shift motor in this embodiment of the invention determines shift jitter by comparing the direction of position change over different time periods; it specifically suppresses jitter caused by excessive output torque of the shift motor by assigning a first value to a position change reference value and comparing the position change reference value with a jitter judgment threshold, thereby reducing the probability of subsequent jitter suppression control strategies triggered by jitter caused by other interferences; and it reduces the output torque of the shift motor by reducing the pulse width modulation duty cycle of the shift motor to no more than a preset duty cycle, thereby reducing the probability of shift jitter caused by collision between the synchronization ring and engagement gear in the gearbox, effectively suppressing shift jitter, improving the service life of the gearbox, reducing the probability of shift noise, and improving the user experience.

[0073] Understandably, it is necessary to convert the vehicle shift command information into the required pulse width modulation duty cycle.

[0074] For example, the VCU sends the vehicle shift command information to the TCU (Transmission Control Unit) via CAN (Controller Area Network), and the TCU calculates the pulse width modulation duty cycle required for the shift motor to switch to the target gear.

[0075] It should be noted that the related algorithms, program architecture, and logic levels of the TCU for acquiring vehicle shift commands and calculating the required pulse width modulation duty cycle have been maturely applied in relevant technical solutions and will not be elaborated here.

[0076] There are no restrictions on the specific method for obtaining the rotational position of the shift motor. For example, a Hall sensor can be installed on the stator of the shift motor, and a magnet can be installed on the rotor. After the shift motor starts to rotate, the rotational position can be obtained by the change in magnetic flux between the magnet and the Hall sensor.

[0077] Understandably, a jitter status bit is set to characterize the current jitter processing status. The jitter status bit indicates that the torque of the shift motor causes jitter, and the pulse width modulation duty cycle of the shift motor needs to be controlled to not exceed the preset duty cycle; resetting the jitter status bit indicates that the jitter is eliminated.

[0078] For example, when the position change reference value changes to a level not less than the jitter judgment threshold, the jitter status bit can be set to 1, indicating that the jitter is caused by the torque of the shift motor; when the position change reference value changes to a level not greater than the jitter reset threshold, the jitter status bit can be reset to 0, indicating that there is no jitter.

[0079] Other programs in the vehicle that involve transmission shifting shudder can implement corresponding control strategies by calling the value of the shudder status bit. For example, calling the shudder status bit with a value of 1 will cause the shudder signal indicator to flash to alert the occupants; calling the shudder status bit with a value of 0 will turn off the shudder signal indicator.

[0080] In some embodiments, the pulse width modulation duty cycle of the control shift motor is changed to the desired pulse width duty cycle in one step to reduce the change time of the pulse width modulation duty cycle.

[0081] It is understandable that if the required pulse width modulation duty cycle for the target gear to be switched is large, the output torque of the shift motor will increase significantly, which will cause the shift motor to oscillate.

[0082] In some embodiments, controlling the rotation of the shift motor includes:

[0083] The required pulse width modulation (PWM) duty cycle is determined to be no less than the change threshold. The PWM duty cycle of the shift motor is controlled to change sequentially to the required PWM duty cycle according to a preset step size. This is to avoid excessive overshoot, which could cause oscillation in the shift motor.

[0084] For example, if the threshold change is 10%, the preset step size is 5%, the required pulse width modulation duty cycle is 30%, and the initial pulse width modulation duty cycle of the shift motor is 10%, then the pulse width modulation duty cycle change process of the shift motor is 0% → 5% → 10% → 15% → 20% → 25% → 30%.

[0085] The specific values ​​of the change threshold and preset step size are set according to the actual situation of the shift motor.

[0086] It is understandable that the specific value of the pulse width modulation duty cycle at the start of the shift motor is not limited. For example, 0%, 10%, 20%, etc.

[0087] It is understandable that the time intervals between each adjustment of the pulse width modulation duty cycle of the shift motor according to the preset step size are equal.

[0088] Understandably, if any abnormality is found in the shift motor itself after it starts rotating, measures should be taken promptly to reduce the impact on driving safety.

[0089] For example, before obtaining the position change between two adjacent rotation positions of the shift motor, the process includes:

[0090] Inspect the shift motor, obtain fault information, and implement preset safety control strategies.

[0091] The specific type of fault information is not limited, such as stall, overcurrent, overtemperature, etc. Upon detecting a fault in the shift motor, safety control strategies are quickly implemented to ensure passenger safety.

[0092] The specific methods of the preset security control strategies adopted are not limited.

[0093] For example, controlling the shift motor to stop shifting gears.

[0094] For example, the pulse width modulation duty cycle of the shift motor can be controlled to not exceed a preset safe duty cycle. This ensures that the torque output by the shift motor is within the range that the shift motor can withstand when it is in a faulty state, thereby reducing the probability of further deterioration of the fault while achieving shifting.

[0095] It is understandable that when the shift motor is in a faulty state, the pulse width modulation duty cycle controlling the shift motor will never exceed the preset safe duty cycle until the shift is completed.

[0096] There are no restrictions on the method used to obtain the change in position.

[0097] For example, obtaining the position change between two adjacent rotation positions of the shift motor includes:

[0098] The current rotational position of the shift motor is acquired at preset time intervals, and the change between the current rotational position and the previous rotational position is the position change. By acquiring the rotational position at equal time intervals, the chance of missing jitter is reduced.

[0099] The specific time for the preset duration is not limited, such as 1ms (millisecond), 2ms, 3ms, etc. The shorter the preset duration, the more accurate the judgment of the occurrence of jitter, but the higher the requirements for the operation and processing of the control method. A reasonable preset duration needs to be set according to the shift motor and the operating conditions.

[0100] It is understandable that there is no limit to the specific way in which the first value is assigned to the position change reference value so that the numerical value of the position change reference value changes.

[0101] In some embodiments, the initial value of the position change reference value is less than the jitter judgment threshold. Assigning a first value to the position change reference value based on the direction of the current position change relative to the previous position change includes:

[0102] If the current position change is in the same direction as the previous position change, a first negative value is assigned to the position change reference value. That is, if the shift motor rotates continuously in the same direction in two adjacent time periods, the difference between the position change reference value and the jitter judgment threshold increases by assigning a first negative value to the position change reference value.

[0103] If the current position change is in a different direction than the previous position change, a first positive value is assigned to the position change reference value. That is, if the rotation direction of the shift motor is different in two adjacent time periods, assigning a first positive value to the position change reference value reduces the difference between the position change reference value and the jitter judgment threshold, indicating that the shift motor is continuously jittering within a certain time range.

[0104] The following example illustrates the process of changing the reference value for positional changes:

[0105] The initial value of the position change reference value is 0, the first positive value is 1, the first negative value is -1, and the jitter judgment threshold is 9. After the shift motor rotates, if the current position change is in a different direction from the previous position change at a certain moment, the first positive value is assigned to the position change reference value, making its value 2; if the current position change is still in a different direction from the previous position change at the next moment, the first positive value is assigned to the position change reference value, making its value 3; and so on, until the shift motor's rotation direction jitters multiple times, causing the position change reference value to be 9, which is equal to the jitter judgment threshold.

[0106] Understandably, the absolute values ​​of the first positive and negative values ​​are different to improve the speed of jitter detection.

[0107] In some embodiments, the absolute value of the first negative value is less than the absolute value of the first positive value.

[0108] The following example illustrates the change in the position reference value when the absolute value of the first negative value is less than the absolute value of the first positive value:

[0109] The initial value of the position change reference value is 0, the first positive value is 9, the first negative value is -1, and the jitter judgment threshold is 81. After the shift motor rotates, if the current position change is in a different direction than the previous position change, the first positive value is assigned to the position change reference value, making its value 9; if the current position change is in the same direction as the previous position change, the first negative value is assigned to the position change reference value, making its value 8; if the current position change is in a different direction than the previous position change, the first positive value is assigned to the position change reference value, making its value 17; and so on, until the position change reference value is not less than 81, that is, not less than the jitter judgment threshold.

[0110] The above method enables the position change reference value to rise quickly and fall slowly, thereby improving the speed of jitter recognition, preventing the position change reference value from oscillating continuously near the jitter judgment threshold, reducing the probability of frequent intermittent jitter that cannot be recognized, and improving the robustness of the system.

[0111] Understandably, after the condition that the position change reference value is not less than the jitter judgment threshold is met, the value of the position change reference value is reset so that the position change reference value can meet the requirement of not being greater than the jitter reset threshold more quickly.

[0112] In some embodiments, before assigning a second value to the position change reference value, the following steps are included:

[0113] Set the value of the position change baseline as the jitter judgment threshold.

[0114] The difference between the jitter judgment threshold and the jitter reset threshold is a constant. By setting the value of the position change reference value as the jitter judgment threshold, the difference between the position change reference value and the jitter reset threshold is reduced or maintained. This helps to reduce the time required to assign a second value to the position change reference value to ensure that the position change reference value is not greater than the jitter reset threshold. It also helps to quickly reset the jitter status position, thereby saving shift completion time.

[0115] It is understandable that there are no restrictions on the specific way a second value is assigned to the position change reference value so that the numerical value of the position change reference value changes.

[0116] It is understandable that the jitter detection threshold is greater than the jitter reset threshold.

[0117] In some embodiments, assigning a second value to the position change reference value based on the direction of change of the current position change relative to the previous position change includes:

[0118] If the current position change is acquired again in the same direction as the previous position change, a second negative value is assigned to the position change reference value. That is, if the shift motor rotates continuously in the same direction in two adjacent time periods, the difference between the position change reference value and the jitter reset threshold is reduced by assigning a second negative value to the position change reference value.

[0119] If the direction of the current position change is different from that of the previous position change, a second positive value is assigned to the position change reference value. That is, if the rotation direction of the shift motor is different in two adjacent time periods, the difference between the position change reference value and the jitter reset threshold is increased by assigning a second positive value to the position change reference value.

[0120] The following example illustrates the process of changing the reference value for positional changes:

[0121] The position change reference value is 9, the second positive value is 1, the second negative value is -1, and the jitter reset threshold is 0. After the shift motor rotates, if the current position change is in the same direction as the previous position change, the second negative value is assigned to the position change reference value, making its value 8; if the current position change is still in the same direction as the previous position change, the second negative value is assigned to the position change reference value, making its value 7; and so on, until the position change reference value becomes 0, which is equal to the jitter reset threshold.

[0122] Understandably, the absolute values ​​of the second positive and second negative values ​​are different in order to extend the duration during which the pulse width modulation duty cycle of the control shift motor does not exceed the preset duty cycle, thereby improving the suppression effect on jitter.

[0123] In some embodiments, the absolute value of the second negative value is less than the absolute value of the second positive value.

[0124] The following example illustrates the change in the position reference value when the absolute value of the second negative value is less than the absolute value of the second positive value:

[0125] The position change reference value is 81, the second positive value is 9, the second negative value is -1, and the jitter reset threshold is 0. After controlling the pulse width modulation duty cycle of the shift motor to not exceed the preset duty cycle, if the current position change is in the same direction as the previous position change, the second negative value is assigned to the position change reference value, making its value 80; if the current position change is still in the same direction as the previous position change, the second negative value is assigned to the position change reference value again, making its value 79; and so on, until the position change reference value is not greater than 0, that is, not greater than the jitter judgment threshold.

[0126] The above method can extend the duration during which the pulse width modulation duty cycle of the control shift motor does not exceed the preset duty cycle. If jitter occurs again, the time can be extended further to improve the effect of jitter suppression.

[0127] It is understandable that the value of the first positive value and the value of the second positive value can be the same or different.

[0128] It is understandable that the value of the first negative value and the value of the second negative value can be the same or different.

[0129] In some embodiments, before assigning a first value to the position change reference value, the method includes: setting the value of the position change reference value to an initial reference value. Before controlling the pulse width modulation duty cycle of the shift motor to be equal to the desired pulse width modulation duty cycle, the method includes: resetting the value of the position change reference value to the initial reference value. This ensures that each time the control method in this embodiment of the invention is executed to suppress jitter, the position change reference value is always assigned from the same value, so that the standard for judging jitter is consistent each time.

[0130] In some embodiments, the initial baseline value is 0.

[0131] The following specific embodiment illustrates the program steps of a control method for a shift motor according to the present invention. Please refer to [link / reference]. Figure 2 Specifically, it includes the following steps:

[0132] S201: In response to a vehicle shift command, obtain the required pulse width modulation duty cycle.

[0133] S202: Controls the rotation of the gear shift motor.

[0134] S203: Determine whether the required pulse width modulation duty cycle is less than the change threshold. If yes, proceed to step 204; if no, proceed to step 205.

[0135] S204: Control the pulse width modulation duty cycle of the shift motor to change to the required pulse width duty cycle in one step. After completion, proceed to step 206.

[0136] S205: Control the pulse width modulation duty cycle of the shift motor to change to the required pulse width duty cycle step by step according to the preset step size. After completion, proceed to step 206.

[0137] S206: Check the shift motor to see if fault information is obtained. If yes, proceed to step 207; if no, proceed to step 208.

[0138] S207: Control the pulse width modulation duty cycle of the shift motor to not exceed the preset safe duty cycle until the shift is completed, and then the program ends.

[0139] S208: The current rotation position of the shift motor is obtained at preset intervals. The change between the current rotation position and the previous rotation position is the position change.

[0140] S209: Determine whether the current position change is in the same direction as the previous position change. If yes, proceed to step 210; otherwise, proceed to step 214.

[0141] S210: Assign a first negative value or a second negative value to the position change reference value. Assign the first negative value before executing step 216; assign the second negative value after executing step 216.

[0142] S211: Determine whether the position change reference value is not greater than the jitter reset threshold. If yes, proceed to step 212; if no, proceed to step 215.

[0143] S212: The value of the position change reference value is reset to the initial reference value.

[0144] S213: Control the pulse width duty cycle of the shift motor to be equal to the required pulse width duty cycle until the shift is completed, and then the program ends.

[0145] S214: Assign a first positive value or a second positive value to the position change reference value. Assign the first positive value before executing step 216; assign the second positive value afterward.

[0146] S215: Determine whether the position change reference value is not less than the jitter judgment threshold. If yes, proceed to step 216; if no, proceed to step 206.

[0147] S216: Reset the position change reference value to the initial reference value, control the pulse width duty cycle of the shift motor to not exceed the preset duty cycle, and then execute step 206.

[0148] This invention also provides a control device 10 for a gear shifting motor, see below. Figure 3 The control device 10 includes an acquisition module 11, an assignment module 12, a determination module 13, and a motor control module 14.

[0149] The acquisition module 11 is used to acquire the required pulse width modulation duty cycle and the position change between two adjacent rotation positions of the shift motor.

[0150] The assignment module 12 is used to assign a first value to the position change reference value and a second value to the position change reference value.

[0151] The determination module 13 is used to determine whether the position change reference value is not less than the jitter judgment threshold and whether the position change reference value reaches the jitter reset threshold.

[0152] The motor control module 14 is used to control the rotation of the shift motor, control the pulse width modulation duty cycle of the shift motor to not exceed the preset duty cycle, and control the pulse width modulation duty cycle of the shift motor to be equal to the required pulse width modulation duty cycle.

[0153] It is understandable that the acquisition module 11, the assignment module 12, the determination module 13 and the motor control module 14 are electrically connected to enable data interaction.

[0154] This invention also provides a vehicle, which includes a shift motor and the control device 10 described in the foregoing embodiments.

[0155] It should be noted that, in this embodiment of the invention, if the above-described control method for the shift motor is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment of the invention, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a magnetic disk, or an optical disk. Thus, this embodiment of the invention is not limited to any specific hardware and software combination.

[0156] Correspondingly, the present invention also provides a storage medium, the storage medium including a stored program, wherein, when the program is running, it controls the device where the storage medium is located to execute the control method described in any of the foregoing embodiments.

[0157] Correspondingly, embodiments of the present invention provide a computer device, including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the program to implement the steps in the above-described method.

[0158] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0159] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0160] The various embodiments / implementations provided in this application can be combined with each other without creating contradictions.

[0161] The above description is merely a preferred embodiment of this application and is not intended to limit the application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A control method for a gear-shifting motor, characterized in that, The control method includes: In response to the vehicle's gear shift command, the required pulse width modulation duty cycle is obtained, and the gear shift motor is controlled to rotate. Obtain the position change between two consecutive rotation positions of the shift motor; Based on the direction of change of the current position change relative to the previous position change, a first value is assigned to the position change reference value until the position change reference value is not less than the jitter judgment threshold. The pulse width modulation duty cycle of the shift motor is controlled to not exceed a preset duty cycle; Based on the direction of change of the current position change relative to the previous position change, a second value is assigned to the position change reference value until the position change reference value is not greater than the jitter reset threshold. The pulse width modulation duty cycle of the shift motor is controlled to be equal to the required pulse width modulation duty cycle until the shift is completed.

2. The control method according to claim 1, characterized in that, The aforementioned control of the shift motor rotation includes: The required pulse width modulation duty cycle is determined to be no less than the change threshold, and the pulse width modulation duty cycle of the shift motor is controlled to change to the required pulse width modulation duty cycle step by step according to the preset step size.

3. The control method according to claim 1, characterized in that, Before obtaining the position change between two adjacent rotation positions of the shift motor, the process includes: The shift motor is detected, fault information is obtained, and the pulse width modulation duty cycle of the shift motor is controlled to not exceed a preset safe duty cycle.

4. The control method according to claim 1, characterized in that, The method of obtaining the position change between two adjacent rotation positions of the shift motor includes: The current rotation position of the shift motor is obtained at preset time intervals, and the change between the current rotation position and the previous rotation position is the position change.

5. The control method according to claim 1, characterized in that, The initial value of the position change reference value is less than the jitter judgment threshold. Assigning a first value to the position change reference value based on the direction of the current position change relative to the previous position change includes: If the current position change is in the same direction as the previous position change, assign a first negative value to the position change reference value. If the current position change is in a different direction than the previous position change, a first positive value is assigned to the position change reference value.

6. The control method according to claim 5, characterized in that, The absolute value of the first negative value is less than the absolute value of the first positive value.

7. The control method according to claim 1, characterized in that, Before assigning a second value to the reference value for the position change, the process includes: Set the value of the position change reference value as the jitter judgment threshold.

8. The control method according to claim 1, characterized in that, Assigning a second value to the position change reference value based on the direction of change of the current position change relative to the previous position change includes: If the current position change is obtained again in the same direction as the previous position change, a second negative value is assigned to the position change reference value. If the direction of the current position change is different from that of the previous position change, a second positive value is assigned to the position change reference value.

9. The control method according to claim 8, characterized in that, The absolute value of the second negative value is less than the absolute value of the second positive value.

10. The control method according to claim 1, characterized in that, Before assigning the first value to the reference value for the position change, the process includes: Set the value of the position change reference value as the initial reference value; Before the step of controlling the pulse width modulation duty cycle of the shift motor to be equal to the required pulse width modulation duty cycle includes: The value of the position change reference value is reset to the initial reference value.

11. A control device for a gear-shifting motor, used to execute the control method according to any one of claims 1 to 10, characterized in that, include: The acquisition module is used to acquire the required pulse width modulation duty cycle and the position change between two adjacent rotation positions of the shift motor; The assignment module is used to assign a first value to the position change reference value and a second value to the position change reference value; The determination module is used to determine that the position change reference value is not less than the jitter judgment threshold and to determine that the position change reference value reaches the jitter reset threshold. The motor control module is used to control the rotation of the shift motor, control the pulse width modulation duty cycle of the shift motor to not exceed a preset duty cycle, and control the pulse width modulation duty cycle of the shift motor to be equal to the required pulse width modulation duty cycle.

12. A vehicle, characterized in that, It includes a shift motor and the control device described in claim 11.

13. A storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method according to any one of claims 1 to 10.

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