Electromagnetic Movement Control Method for Shift Execution Mechanism

Abstract

The present invention discloses a method for controlling the movement of an electromagnet of a shift actuator. The main design concept of the present invention is to obtain the target position of the electromagnet in the shift actuator according to the driver's intention, and plan the movement path of the electromagnet in combination with the current position. By combining the movement path with the desired maximum allowable movement time, the current moment, and the movement mode of the electromagnet with uniform acceleration first and then uniform deceleration, the acceleration and deceleration for driving the electromagnet are accurately calculated, so as to control the driving force, enable the electromagnet to be adjusted to the corresponding target position within the desired time, and reliably realize the shift function of the vehicle, especially providing a reliable guarantee for the control timeliness of the shift actuator.

Description

Technical Field

[0001] The present invention relates to the technical field of automotive gear selection and shifting, and particularly to a method for controlling the movement of an electromagnet of a gear selection and shifting actuator. Background Art

[0002] At present, electromagnets are used in the gear selection and shifting actuators of some vehicle models on the market, and the movement state of the actuator is adjusted by changing the magnitude of the current acting on the energized coil. In the existing control of gear selection and shifting actuators, PID regulation is generally used to make the movement of the controlled object meet the expectations. However, due to the existence of hysteresis effect, the electromagnet cannot effectively respond to the rapid regulation of PID, so there will be problems such as response lag in the control of gear selection and shifting actuators, resulting in the inability to quickly and accurately control the gear selection and shifting actions.

[0003] In addition, PID control may oscillate or even become unstable during the adjustment process of overcoming errors. When applied to a gear selection and shifting actuator, it may cause problems such as frequent adjustment, and has high requirements for the hardware state of the gear selection and shifting mechanism. When dealing with difficult-to-control objects such as large time delays and open-loop unstable processes, multiple PID regulators or combinations with other regulators are required to achieve a certain control effect. Therefore, when the gear selection and shifting actuator is an electromagnet, the effect of PID control often fails to meet expectations.

[0004] Currently, the industry has tried other methods in some gear selection and shifting control research to make up for the deficiencies of PID control. However, these compensation schemes do not focus on controlling the controlled object to the target position in the shortest time, but rather focus on the single purpose of accurately reaching the specified position of the object. The in-place time of the gear selection and shifting mechanism is still limited by the hardware state and actual situation, so it is also difficult to achieve timely response to gear selection and shifting commands. Summary of the Invention

[0005] In view of the above, the present invention aims to provide a method for controlling the movement of an electromagnet of a gear selection and shifting actuator to solve the aforementioned technical problems.

[0006] The technical solution adopted by the present invention is as follows:

[0007] The present invention provides a method for controlling the movement of an electromagnet of a gear selection and shifting actuator, which includes:

[0008] Obtaining the target position of the electromagnet in the gear selection and shifting mechanism according to the desired gear of the driver;

[0009] Calculating the movement path of the electromagnet according to the target position and the current position of the electromagnet;

[0010] Based on the described motion path, the preset expected movement time, the continuously acquired current time, and the preset electromagnet motion mode, calculate the acceleration and deceleration for driving the electromagnet; wherein, the electromagnet motion mode includes a prior uniformly accelerating stage and a subsequent uniformly decelerating stage;

[0011] After obtaining the acceleration and the deceleration, drive the electromagnet to move to the target position.

[0012] In at least one possible implementation, the control method further includes:

[0013] Obtain the real-time planned displacements related to the time sequence and the corresponding planned times in the uniformly accelerating stage and the uniformly decelerating stage;

[0014] Based on the real-time state of the electromagnet during movement and the preset triggering conditions, dynamically adjust the acceleration and / or the deceleration.

[0015] In at least one possible implementation, the triggering conditions include: based on the distance deviation relationship between the current actual displacement of the electromagnet and the real-time planned displacement; and / or, based on the time deviation relationship between the time when the electromagnet reaches the real-time planned displacement and the planned time.

[0016] In at least one possible implementation, the dynamically adjusting the acceleration and / or the deceleration specifically includes:

[0017] In the uniformly accelerating stage, if the electromagnet does not reach the corresponding real-time planned displacement at any of the planned times, then according to the comparison relationship between the deviation value between the current actual displacement of the electromagnet and the real-time planned displacement and a predetermined threshold, dynamically adjust the current acceleration or maintain the current acceleration; and, calculate the motion speed boundary based on the current motion speed and the current actual displacement, and adjust the deceleration in the uniformly decelerating stage.

[0018] In at least one possible implementation, in the uniformly accelerating stage, if the electromagnet reaches the real-time planned displacement in advance, then calculate the motion speed boundary based on the current motion speed and the current actual displacement, and adjust the deceleration in the uniformly decelerating stage.

[0019] In at least one possible implementation, in the uniformly decelerating stage, if the electromagnet does not reach the corresponding real-time planned displacement at any of the planned times, then according to the comparison relationship between the deviation value and the predetermined threshold, maintain the current deceleration, or dynamically adjust the current deceleration in combination with the current time and the expected movement time.

[0020] In at least one possible implementation manner, during the uniform deceleration stage, if the electromagnet reaches the real-time planned displacement in advance, the current deceleration is dynamically adjusted in combination with the current time and the expected movement time.

[0021] In at least one possible implementation manner, driving the electromagnet to the target position includes:

[0022] Performing resistance analysis based on the mass of the shift actuator and calculating the expected driving force of the electromagnet;

[0023] Calculating the duty ratio of the control signal according to the expected driving force to drive the electromagnet to the target position.

[0024] The main design concept of the present invention is to obtain the target position of the electromagnet in the shift actuator according to the driver's intention, plan the movement path of the electromagnet in combination with the current position, and combine the movement path with the expected maximum allowable movement time, the current moment, and the movement mode of the electromagnet with uniform acceleration first and then uniform deceleration, accurately calculate the acceleration and deceleration for driving the electromagnet, so as to control the driving force, adjust the electromagnet to the corresponding target position within the expected time, and reliably realize the shift function of the vehicle, especially providing a reliable guarantee for the control timeliness of the shift actuator.

[0025] Furthermore, the present invention also proposes to dynamically adjust the acceleration and deceleration according to the actual action state of the actuator, so as to ensure that the planned position can be reached within the expected time. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described below in conjunction with the drawings, where:

[0027] Figure 1 is a flowchart of the electromagnet movement control method for the shift actuator provided by an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and cannot be construed as limiting the present invention.

[0029] The present invention proposes an embodiment of an electromagnet movement control method for a shift actuator. Specifically, as Figure 1 shown, which includes:

[0030] Step S1: Determine the expected gear for vehicle travel according to the driver's intention, and obtain the target position of the electromagnet in the shift mechanism.

[0031] Step S2: Based on the target position and the current position of the electromagnet collected in real time by the sensor, preliminarily calculate the movement path of the electromagnet.

[0032] Step S3: Combine the movement path, the preset expected movement time, the current time obtained by the timer, and the planned electromagnet movement mode to obtain the acceleration and deceleration for driving the electromagnet; wherein, the electromagnet movement mode includes a prior uniform acceleration stage and a subsequent uniform deceleration stage.

[0033] Step S4: After obtaining the acceleration and the deceleration, drive the electromagnet to move to the target position.

[0034] Based on the above embodiments, the control method further includes:

[0035] Calculate the real-time planned displacement related to the time sequence and the corresponding planned time in the uniform acceleration stage and the uniform deceleration stage respectively.

[0036] Based on the real-time state of the electromagnet during movement and the preset trigger conditions, dynamically adjust the acceleration and / or the deceleration.

[0037] Wherein, the trigger conditions may include: based on the distance deviation relationship between the current actual displacement of the electromagnet and the real-time planned displacement; and / or, combining the relationship between the time when the electromagnet reaches the real-time planned displacement and the planned time.

[0038] The specific adjustment method can be referred to as follows:

[0039] (1) In the uniform acceleration stage, if the electromagnet does not reach the corresponding real-time planned displacement at any of the planned times:

[0040] According to the comparison relationship between the deviation value between the current actual displacement of the electromagnet and the real-time planned displacement and the established threshold, dynamically adjust the acceleration or maintain the current acceleration; and, calculate the movement speed boundary based on the current movement speed (which can be calculated from the actual displacement change rate of the electromagnet during movement) and the current actual displacement, and adjust the deceleration in the subsequent uniform deceleration stage based on the movement speed boundary.

[0041] (2) Optionally, in the uniform acceleration stage, if the electromagnet reaches the real-time planned displacement in advance, calculate the movement speed boundary based on the current movement speed and the current actual displacement, and adjust the deceleration in the subsequent uniform deceleration stage based on the movement speed boundary.

[0042] (3) In the uniform deceleration stage, if the electromagnet does not reach the corresponding real-time planned displacement at any of the said planned times:

[0043] According to the comparison relationship between the deviation value and the established threshold, maintain the current deceleration, or combine the current time and the expected movement time to dynamically adjust the deceleration (in some embodiments, the deceleration can also be changed to acceleration to meet the time requirements).

[0044] (4) Optionally, in the uniform deceleration stage, if the electromagnet reaches the real-time planned displacement in advance, then combine the current time and the expected movement time to dynamically adjust the deceleration.

[0045] Finally, it can also be supplemented that driving the electromagnet to the target position includes:

[0046] Conduct a resistance analysis based on the mass of the shift actuator and calculate the expected driving force of the electromagnet;

[0047] Calculate the duty ratio of the control signal according to the expected driving force to drive the electromagnet to the target position.

[0048] In summary, the main design concept of the present invention is to obtain the target position of the electromagnet in the shift mechanism according to the driver's intention, plan the movement path of the electromagnet in combination with the current position, combine the movement path with the expected maximum allowable movement time, the current moment, and the movement mode of the electromagnet with uniform acceleration first and then uniform deceleration, accurately calculate the acceleration and deceleration for driving the electromagnet, so as to control the driving force, enable the electromagnet to be adjusted to the corresponding target position within the expected time, and reliably realize the shift function of the vehicle, especially providing a reliable guarantee for the control timeliness of the shift mechanism.

[0049] In the embodiments of the present invention, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent the situation of A existing alone, A and B existing simultaneously, and B existing alone. Where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one of the following" and its similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, and c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0050] The structure, features and effects of the present invention have been described in detail based on the embodiments shown in the drawings above. However, the above are only the preferred embodiments of the present invention. It should be noted that for the technical features involved in the above embodiments and their preferred modes, those skilled in the art can reasonably combine and match them into a variety of equivalent solutions without departing from or changing the design concept and technical effects of the present invention. Therefore, the scope of implementation of the present invention is not limited by the drawings shown. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified into equivalent changes, should still be within the protection scope of the present invention as long as they do not exceed the spirit covered by the description and the drawings.

Claims

1. A method for controlling the movement of an electromagnet in a shift actuator, characterized in that, it includes: Obtaining the target position of the electromagnet in the shift actuator according to the desired gear of the driver; Calculating the movement path of the electromagnet according to the target position and the current position of the electromagnet; Combining the movement path, the preset desired movement time, the continuously acquired current time, and the preset electromagnet movement mode to obtain the acceleration and deceleration for driving the electromagnet; wherein, the electromagnet movement mode includes a prior uniform acceleration stage and a subsequent uniform deceleration stage; After obtaining the acceleration and the deceleration, driving the electromagnet to move to the target position; The control method further includes: Obtaining the real-time planned displacement and the corresponding planned time related to the time sequence in the uniform acceleration stage and the uniform deceleration stage; Based on the real-time state of the electromagnet during movement and the preset triggering conditions, dynamically adjusting the acceleration and / or the deceleration, wherein the triggering conditions include: based on the distance deviation relationship between the current actual displacement of the electromagnet and the real-time planned displacement; and / or, based on the time deviation relationship between the time when the electromagnet reaches the real-time planned displacement and the planned time.

2. The method for controlling the movement of an electromagnet in a shift actuator according to claim 1, characterized in that, The dynamically adjusting the acceleration and / or the deceleration specifically includes: In the uniform acceleration stage, if the electromagnet does not reach the corresponding real-time planned displacement at any of the planned times, dynamically adjusting the current acceleration or maintaining the current acceleration according to the comparison relationship between the deviation value between the current actual displacement of the electromagnet and the real-time planned displacement and a predetermined threshold; and, calculating the movement speed boundary according to the current movement speed and the current actual displacement, and adjusting the deceleration in the uniform deceleration stage.

3. The method for controlling the movement of an electromagnet in a shift actuator according to claim 2, characterized in that, In the uniform acceleration stage, if the electromagnet reaches the real-time planned displacement in advance, calculating the movement speed boundary according to the current movement speed and the current actual displacement, and adjusting the deceleration in the uniform deceleration stage.

4. The method for controlling the movement of an electromagnet in a shift actuator according to claim 2, characterized in that, In the uniform deceleration stage, if the electromagnet does not reach the corresponding real-time planned displacement at any of the planned times, maintaining the current deceleration according to the comparison relationship between the deviation value and the predetermined threshold, or dynamically adjusting the current deceleration in combination with the current time and the desired movement time.

5. The method for controlling the movement of an electromagnet in a shift actuator according to claim 2, characterized in that, In the uniform deceleration stage, if the electromagnet reaches the real-time planned displacement in advance, dynamically adjusting the current deceleration in combination with the current time and the desired movement time.

6. The method for controlling the movement of an electromagnet in a shift actuator according to any one of claims 1 to 5, characterized in that, The driving the electromagnet to move to the target position includes: Conducting a resistance analysis based on the mass of the shift actuator and calculating the desired driving force of the electromagnet; Calculate the duty cycle of the control signal according to the desired driving force to drive the electromagnet to move to the target position.

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