A method and system for driving a motor

Abstract

This invention relates to a drive motor control method and system, belonging to the field of drive motor technology. The control method includes: 1) after speed adjustment is completed and the drive motor torque is cleared to zero, during gear shifting, the displacement magnitude of the shifting actuator is collected, and it is determined whether tooth backlash has occurred based on the displacement magnitude; 2) if tooth backlash occurs, the drive motor is periodically controlled to vibrate through torque control; 3) once the tooth backlash disappears, the drive motor torque is cleared to zero, completing the gear shifting action. This invention collects the displacement of the shifting actuator during gear shifting, and then, after determining that tooth backlash has occurred based on the displacement magnitude, performs periodic torque control of the drive motor to eliminate the tooth backlash through drive motor vibration. Controlling drive motor vibration after tooth backlash occurs can reduce wear on the coupling sleeve, extend its service life, and, at the same time, the periodic torque control of the drive motor vibration is more precise, improving the reliability of eliminating tooth backlash.

Description

Technical Field

[0001] This invention relates to a drive motor control method and system, belonging to the field of drive motor technology. Background Technology

[0002] After the synchronizer is removed from the gearbox, although the drive motor can actively adjust the speed to shift gears, the rotational inertia of the drive motor is much greater than that of the traditional clutch. This makes it easy for teeth to come into contact during the shifting process. Once teeth come into contact, it is almost impossible to shift back into the gear and it is necessary to shift back to neutral and then shift back into the gear, which increases the shifting time. This is especially true for the arc-shaped sliding sleeve engagement teeth, where the probability of teeth coming into contact is even greater.

[0003] To address this, some researchers have proposed drive motor control methods to eliminate tooth backlash. For example, patent application CN110949142A discloses an AMT shifting process control method that eliminates tooth backlash by using random torque control commands within a limited range and active torque control of the shifting motor when the speed is synchronized.

[0004] However, the above methods for eliminating the top teeth have the following drawbacks:

[0005] 1. Random torque control within a set range produces different effects for different tooth-clamping phenomena, making it impossible to guarantee consistent results.

[0006] 2. Directly performing random torque control after speed adjustment results in greater wear on the engagement sleeve during gear shifting, reducing its lifespan.

[0007] In summary, existing technical solutions for eliminating top teeth have poor reliability. Summary of the Invention

[0008] The purpose of this application is to provide a drive motor control method and system to solve the problem of poor reliability of existing technologies for eliminating tooth spikes.

[0009] To achieve the above objectives, this application proposes a technical solution for a drive motor control method, which includes the following steps:

[0010] 1) After speed adjustment is completed and the drive motor torque is cleared to zero, during the gear shifting process, the displacement of the gear shifting actuator is collected, and the tooth collision is determined based on the displacement.

[0011] 2) If tooth knocking occurs, the motor vibration is controlled by periodic torque control;

[0012] 3) Once the tooth-pinching phenomenon disappears, the drive motor torque is reset to zero, completing the gear shifting action.

[0013] The beneficial effects of the drive motor control method of the present invention are as follows: During gear shifting, the displacement of the gear shifting actuator is collected. Then, after determining that a tooth-jamming phenomenon has occurred based on the magnitude of the displacement, periodic torque control of the drive motor is performed. The tooth-jamming phenomenon is eliminated through the vibration of the drive motor. Controlling the vibration of the drive motor after a tooth-jamming phenomenon occurs reduces wear on the coupling sleeve, extends its service life, and, moreover, the periodic torque control of the drive motor vibration is more precise, improving the reliability of eliminating the tooth-jamming phenomenon.

[0014] Furthermore, in order to more accurately determine the tooth-pinch phenomenon, the process of determining whether tooth-pinch has occurred based on the displacement magnitude includes: if the displacement value is within the set range, and the displacement change is less than the set change value within the set time, then tooth-pinch has occurred.

[0015] Furthermore, in order to improve the reliability of top tooth elimination, the process of driving motor vibration through periodic torque control includes: driving motor vibration through periodic positive and negative rectangular wave torque control.

[0016] In addition, this application also proposes a technical solution for a drive motor control system, the control system including:

[0017] The gear shift actuator is used to perform gear shifting actions;

[0018] A displacement sensor is installed on the gear shift actuator to detect the magnitude of the gear shift actuator's displacement.

[0019] The transmission control unit and the detection device are connected to the input terminal of the transmission control unit, and the shift actuator is connected to the output terminal of the shift actuator;

[0020] The drive motor controller is communicatively connected to the gearbox control unit and is used to drive the connected drive motor to rotate according to the control commands of the gearbox control unit.

[0021] After the drive motor speed adjustment is completed and the drive motor torque is cleared to zero, the gearbox control unit controls the shift actuator to determine whether the shift actuator has experienced tooth knocking during the shifting process based on the displacement magnitude of the shift actuator collected by the displacement sensor. If tooth knocking occurs, a periodic torque control command is output to the drive motor controller to control the drive motor vibration. When the tooth knocking phenomenon disappears, the drive motor torque is cleared to zero, and the shifting action is completed.

[0022] The beneficial effects of the drive motor control system of the present invention are as follows: During gear shifting, the displacement sensor collects the displacement of the gear shifting actuator. Then, after the gearbox control unit determines that a tooth-jamming phenomenon has occurred based on the magnitude of the displacement, it outputs periodic torque commands to the drive motor, eliminating the tooth-jamming phenomenon through the vibration of the drive motor. Controlling the vibration of the drive motor after a tooth-jamming phenomenon occurs reduces wear on the coupling sleeve, extends its service life, and, moreover, the periodic torque control of the drive motor vibration is more precise, improving the reliability of eliminating the tooth-jamming phenomenon.

[0023] Furthermore, in order to more accurately determine the tooth-pinch phenomenon, the process of determining whether tooth-pinch has occurred based on the displacement magnitude includes: if the displacement value is within the set range, and the displacement change is less than the set change value within the set time, then tooth-pinch has occurred.

[0024] Furthermore, in order to improve the reliability of top tooth elimination, the process of driving motor vibration through periodic torque control includes: driving motor vibration through periodic positive and negative rectangular wave torque control. Attached Figure Description

[0025] Figure 1 This is a structural diagram of the drive motor control system of the present invention;

[0026] Figure 2 This is a flowchart of the drive motor control method of the present invention;

[0027] Figure 3 This is a schematic diagram of the periodic square wave of the present invention. Detailed Implementation

[0028] Example of a drive motor control system:

[0029] The main idea of ​​this invention is that after determining that the gear shifting actuator has experienced tooth knocking by measuring the displacement magnitude collected by the displacement sensor, the drive motor is driven to vibrate through periodic torque control, thereby reliably eliminating the tooth knocking phenomenon.

[0030] Drive motor control system such as Figure 1 As shown, it includes a transmission control unit (TCU), a shift actuator, a displacement sensor, a drive motor controller, and a drive motor.

[0031] The shift actuator mainly includes shift forks, fork shafts, etc., which are assemblies that control the movement of shift engagement teeth;

[0032] The displacement sensor is installed on the shift actuator, that is, the displacement sensor is mechanically connected to the shift actuator, and is used to detect the displacement of the shift actuator during the shift process;

[0033] The drive motor controller is connected to the drive motor via a high-voltage line to control the rotation of the drive motor.

[0034] The input terminal of the transmission control unit is connected to the displacement sensor via a low-voltage electronic control harness, and the output terminal of the transmission control unit is connected to the shift actuator via a low-voltage electronic control harness to control the shift actuator to perform shifting operations. The transmission control unit communicates with the drive motor controller via a CAN network, and can also communicate and interact with other controllers in the vehicle.

[0035] The gearbox control unit includes a processor, a memory (FLASH memory unit), and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements a drive motor control method. Furthermore, the memory can store data collected by the displacement sensor, ensuring that the data is not reset after power failure.

[0036] Drive motor control methods such as Figure 2 As shown, it includes the following steps:

[0037] 1) The transmission control unit determines whether it is currently in the process of shifting gears and whether the current gear has been shifted to neutral. If not, it maintains this determination; if so, it controls the drive motor to adjust its speed according to the target gear's matching speed. Specifically, the transmission control unit sends the target drive motor speed (Mot_Spd) to the drive motor controller via the CAN network. 目标 .

[0038] 2) After receiving the target speed from the gearbox control unit, the drive motor controller controls the drive motor to adjust its speed, determining whether the actual speed of the drive motor, Mot_Spd, is at the target speed, Mot_Spd. 目标 Within the set range, that is, abs(Mot_Spd-Mot_Spd) 目标 If the value is less than or equal to Δspd, proceed to step 3; otherwise, continue with the speed control of the drive motor.

[0039] 3) After the drive motor speed adjustment is completed, the drive motor controller controls the drive motor to clear the torque to zero. After the drive motor torque is cleared to zero, proceed to step 4).

[0040] 4) The transmission control unit controls the shift actuator to perform the shifting action. During the shifting process, it judges whether the tooth collision phenomenon has occurred by judging the magnitude of the displacement collected by the displacement sensor. If the tooth collision phenomenon occurs, proceed to step 5); if the tooth collision phenomenon does not occur, proceed to step 6).

[0041] In this step, if the displacement value collected by the displacement sensor is within the set range, and the displacement change is less than the set change value within the set time, then tooth breaking occurs. Specifically, the displacement collected by the displacement sensor is reflected in the voltage value of the displacement sensor. Therefore, the process of determining if tooth breaking has occurred includes: if the voltage value s of the displacement sensor is within [s...] a s b When the voltage change Δs is less than the set change value Δs0 within the set time t0, a tooth-jetting phenomenon occurs. a s b The range is the range of the target gear tooth set according to the mechanical mechanism parameters. It is mainly based on the voltage value corresponding to the tooth point, with reasonable thresholds set on the left and right sides.

[0042] s a and s b Related to the hardware structure design, the top tooth voltage range should be set reasonably according to the hardware structure. That is, the position of the top tooth is basically fixed for the designed advance stroke, and the fixed value corresponds to a fixed displacement voltage signal. The judgment voltage range can be set near this fixed value.

[0043] 5) The gearbox control unit sends a drive motor vibration command to the drive motor controller, which then controls the drive motor to vibrate. Once the change in voltage Δs of the displacement sensor is greater than or equal to Δs0 within a set time t0, the tooth-pinch phenomenon disappears (this means that after the motor vibration, the tooth-pinch phenomenon no longer occurs; the judgment condition is the opposite of the tooth-pinch condition, and the purpose is to prove that the tooth-pinch has been eliminated), proceed to step 6).

[0044] The specific process for controlling drive motor vibration is as follows: the gearbox control unit sends, for example... Figure 3 The target torque Mot_Trq of the periodic rectangular wave shown is given to the drive motor controller, which in turn controls the vibration of the drive motor.

[0045] The target torque Mot_Trq is a rectangular torque wave with a fixed period of positive and negative switching. It can drive the drive motor to vibrate by applying positive and negative torque, thereby offsetting the gap between the top teeth and improving the success rate of gear shifting. The torque amplitude and period of the target torque Mot_Trq can be calibrated according to the actual effect. During the specific calibration, reasonable amplitude and period values ​​can be set and tested step by step until the set of parameters with the highest success rate is found.

[0046] 6) The target torque of the drive motor is cleared to zero, and the gearbox control unit controls the shift actuator to complete the remaining shift action. After the shift is completed, the vehicle power is restored.

[0047] In the above embodiment, a positive and negative switching rectangular torque wave is used to control the vibration of the drive motor. As another implementation method, other waveforms such as periodic sawtooth waves can also be used for control, as long as the control of the drive motor is controllable.

[0048] This invention collects the displacement of the shift actuator during gear shifting, and then, after determining that a tooth-jamming phenomenon has occurred based on the magnitude of the displacement, performs periodic torque control on the drive motor. The vibration of the drive motor eliminates the tooth-jamming phenomenon. Controlling the drive motor vibration after a tooth-jamming phenomenon occurs reduces wear on the engagement sleeve, extends its service life, and, moreover, uses periodic torque control for more precise drive motor vibration control, improving the reliability of eliminating tooth-jamming, increasing the success rate of gear shifting on the first attempt, shortening shifting time, and enhancing overall vehicle safety.

[0049] Example of drive motor control method:

[0050] The specific implementation process and effects of the drive motor control method have been introduced in the above-mentioned drive motor control system, and will not be repeated here.

Claims

1. A method for controlling a drive motor, characterized in that, Includes the following steps: 1) After speed regulation is completed and the torque of the control drive motor is cleared to zero, the shift actuator is controlled to perform shifting. During the shifting process, the displacement value of the shift actuator is collected by the displacement sensor, and the tooth collision is determined based on the displacement value. 2) If the displacement value collected by the displacement sensor is within the set range and the displacement change is less than the set change value within the set time, it is considered that toothing has occurred. Then, the motor is driven to vibrate by a periodic positive and negative rectangular wave torque control method. The displacement value collected by the displacement sensor is reflected in the voltage of the displacement sensor. The process of determining that toothing has occurred includes: if the voltage value of the displacement sensor is within the voltage range and the voltage change is less than the set change value within the set time, it is considered that toothing has occurred. The voltage range is the range of toothing at the target gear set according to the mechanical mechanism parameters. Specifically, it is based on the voltage value corresponding to the toothing point, and reasonable thresholds are set on the left and right sides of it. 3) Once the tooth-pinching phenomenon disappears, the drive motor torque is reset to zero, completing the gear shifting action.

2. The drive motor control method according to claim 1, characterized in that, If no gear shift occurs, the drive motor torque will be reset to zero to complete the gear shift.

3. The drive motor control method according to claim 1 or 2, characterized in that, The shifting mechanism includes a shift fork and a fork shaft.

4. A drive motor control system, characterized in that, include: The gear shift actuator is used to perform gear shifting actions; A displacement sensor is installed on the gear shift actuator to detect the displacement value of the gear shift actuator; The transmission control unit and the detection device are connected to the input terminal of the transmission control unit, and the shift actuator is connected to the output terminal of the transmission control unit. The drive motor controller is communicatively connected to the gearbox control unit and is used to drive the connected drive motor to rotate according to the control commands of the gearbox control unit. After the drive motor speed adjustment is completed and the drive motor torque is cleared to zero, the transmission control unit controls the shift actuator during gear shifting. Based on the displacement value collected by the displacement sensor, it determines whether gear shifting has occurred. If the displacement value is within a set range and the displacement change is less than the set change value within a set time, gear shifting is considered to have occurred. A periodic positive and negative rectangular wave torque control command is then output to the drive motor controller to control the drive motor's vibration. Once the gear shifting phenomenon disappears, the drive motor torque is cleared to zero, completing the gear shifting action. The displacement value collected by the displacement sensor is reflected in the sensor's voltage. The process of determining if gear shifting has occurred includes: if the voltage value of the displacement sensor is within a voltage range and the voltage change is less than the set change value within a set time, gear shifting is considered to have occurred. The voltage range is the range of gear shifting for the target gear, set according to the mechanical mechanism parameters. Specifically, it is based on the voltage value corresponding to the gear shifting point, with reasonable thresholds set on both sides.

5. The drive motor control system according to claim 4, characterized in that, If no gear shift occurs, the drive motor torque will be reset to zero to complete the gear shift.

6. The drive motor control system according to claim 4 or 5, characterized in that, The gearbox control unit and the drive motor controller are connected via a CAN network.

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