Method and apparatus for detecting backlash in vehicle transmission gears

Abstract

This application relates to the field of gear transmission technology, and provides a method and apparatus for detecting the backlash of transmission gears in a vehicle. The method includes: obtaining a first motor rotor angle under the first output torque and a second motor rotor angle under the second output torque, based on at least one set of torque concentrations, including a first output torque and a second output torque; determining the backlash information of the transmission gears in the drive shaft system of the vehicle based on the first and second motor rotor angles; wherein the first and second output torques have the same value but opposite directions. The transmission gear backlash detection method provided in this application can effectively detect the backlash information of transmission gears, thereby improving the consistency and continuity of vibration suppression effects.

Description

Technical Field

[0001] This application relates to the field of gear transmission technology, specifically to a method and apparatus for detecting the backlash of transmission gears in a vehicle. Background Technology

[0002] Vehicles equipped with electric motors often experience low-frequency vibrations during start-up due to backlash in the drive shaft gears, affecting ride comfort. To improve ride comfort, related technologies use gear backlash information to set specific torque commands and control the motor torque output, thereby reducing start-up vibrations caused by gear backlash. However, due to precision errors in gear manufacturing and assembly, the backlash information between the drive gears varies from vehicle to vehicle. Furthermore, gear wear during vehicle use also alters the gear backlash. Therefore, without effective detection of the gear backlash information, the consistency and sustainability of vibration suppression cannot be guaranteed. Summary of the Invention

[0003] This application aims to address at least one of the technical problems existing in the related art. To this end, this application proposes a method for detecting the backlash of transmission gears in a vehicle, which can effectively detect the backlash information of the transmission gears to improve the consistency and continuity of vibration suppression effect.

[0004] This application also proposes a device for detecting the backlash of transmission gears in a vehicle.

[0005] This application also proposes an electronic device.

[0006] This application also proposes a computer-readable storage medium.

[0007] The method for detecting the backlash of a vehicle's transmission gears according to the first aspect of this application includes:

[0008] Based on at least one set of torque concentrations, the first motor rotor angle of the motor in the vehicle under the first output torque and the second motor rotor angle under the second output torque are obtained.

[0009] Based on the first motor rotor angle and the second motor rotor angle, determine the clearance information of the transmission gears in the drive shaft system of the vehicle;

[0010] The first output torque and the second output torque have the same value but opposite directions.

[0011] By acquiring the first motor rotor angle under the first output torque and the second motor rotor angle under the second output torque in the opposite direction to the first output torque, the gear backlash of the transmission gears is detected using the first and second motor rotor angles to obtain the gear backlash information. This allows for the determination of the actual gear backlash for different vehicles and different gear wear conditions, thereby effectively detecting the gear backlash information of transmission gears in different vehicles or with different wear conditions, and improving the consistency and continuity of vibration suppression effect.

[0012] According to one embodiment of this application, based on at least one set of torque sets (first and second output torques), obtaining a first motor rotor angle under the first output torque and a second motor rotor angle under the second output torque of a motor in a vehicle includes:

[0013] Based on the first output torque and the second output torque, the first initial rotor angle of the motor rotor under the first output torque and the second initial rotor angle under the second output torque are obtained from the rotor position sensor.

[0014] Based on the preset error angle, adjust the first initial rotor angle and the second initial rotor angle to obtain the first motor rotor angle and the second motor rotor angle.

[0015] According to one embodiment of this application, it further includes:

[0016] The preset error angle is determined based on the rotor position sensor.

[0017] According to one embodiment of this application, it also includes:

[0018] The preset error angle is determined by the ratio of the overall torque value determined by the first output torque and the second output torque to the overall stiffness of the shaft system.

[0019] According to one embodiment of this application, the overall stiffness is determined by inputting the shear modulus of the drive shaft, the polar moment of inertia of the cross section of the drive shaft, and the length of the drive shaft into a preset model;

[0020] The preset model is

[0021] Where k is the overall stiffness, l is the length of the drive shaft, G is the shear modulus of the material of the drive shaft, and I P Let be the polar moment of inertia of the cross section of the drive shaft.

[0022] According to one embodiment of this application, determining the clearance information of the transmission gears in the shaft system of the vehicle's drive shaft based on the first motor rotor angle and the second motor rotor angle includes:

[0023] Based on the first motor rotor angle and the second motor rotor angle, determine the angle information corresponding to the torque set;

[0024] Based on the angle information of each torque set, the clearance information of the transmission gear is determined.

[0025] According to one embodiment of this application, determining the angle information corresponding to the torque set based on the first motor rotor angle and the second motor rotor angle includes:

[0026] Based on the first motor rotor angle and the second motor rotor angle, determine the angle difference between the first motor rotor angle and the second motor rotor angle;

[0027] The angle information is determined based on the angle difference and pi.

[0028] Wherein, when the angle difference is less than or equal to pi, the angle information is the angle difference;

[0029] When the angle difference is greater than pi, the angle information is the difference between pi and the angle difference as a preset multiple.

[0030] A vehicle transmission gear backlash detection device according to a second aspect embodiment of this application includes:

[0031] The rotor angle acquisition module is used to acquire, based on at least one set of torques, a first output torque and a second output torque, the first motor rotor angle of the motor rotor in the vehicle under the first output torque and the second motor rotor angle under the second output torque.

[0032] The clearance information detection module is used to determine the clearance information of the transmission gears in the shaft system of the drive shaft of the vehicle based on the first motor rotor angle and the second motor rotor angle.

[0033] The first output torque and the second output torque have the same value but opposite directions.

[0034] An electronic device according to a third aspect of this application includes a processor and a memory storing a computer program, wherein the processor executes the computer program to implement the transmission gear backlash detection method for a vehicle as described in any of the above embodiments.

[0035] A computer-readable storage medium according to a fourth aspect of this application stores a computer program thereon, which, when executed by a processor, implements the transmission gear backlash detection method for a vehicle as described in any of the above embodiments.

[0036] A computer program product according to a fifth aspect of this application includes: when the computer program is executed by a processor, it implements a method for detecting the transmission gear clearance of a vehicle as described in any of the above embodiments.

[0037] The above-described one or more technical solutions in the embodiments of this application have at least one of the following technical effects:

[0038] By acquiring the first motor rotor angle under the first output torque and the second motor rotor angle under the second output torque in the opposite direction to the first output torque, the gear backlash of the transmission gears is detected using the first and second motor rotor angles to obtain the gear backlash information. This allows for the determination of the actual gear backlash for different vehicles and different gear wear conditions, thereby effectively detecting the gear backlash information of transmission gears in different vehicles or with different wear conditions, and improving the consistency and continuity of vibration suppression effect.

[0039] Furthermore, after obtaining the first initial rotor angle of the motor rotor under the first output torque and the second initial rotor angle of the motor rotor under the second output torque, the first initial rotor angle and the second initial rotor angle are adjusted by using a preset error angle to reduce the error of the obtained motor rotor angle and make the obtained motor rotor angle more accurate.

[0040] Furthermore, by using a rotor position sensor to obtain a predetermined preset error angle, the obtained preset error angle becomes more accurate. Thus, when using the preset error angle to adjust the error of the first initial rotor angle and the second initial rotor angle, the error of the obtained motor rotor angle can be further reduced, and the accuracy of the obtained motor rotor angle can be improved.

[0041] Furthermore, the ratio of the overall torque value determined by the first output torque and the second output torque to the overall stiffness of the shaft system is used to determine the error caused by the elastic deformation of the shaft system, and this error is determined as a preset error angle. This makes the preset error angle more accurate, thereby reducing the error of the obtained motor rotor angle and improving the accuracy of the obtained motor rotor angle when the preset error angle is used to adjust the error of the first initial rotor angle and the second initial rotor angle. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a schematic flowchart of the vehicle transmission gear backlash detection method provided in the embodiments of this application;

[0044] Figure 2 This is an embodiment of the present application. Figure 1 A further detailed flowchart illustrating the process of obtaining the motor rotor angle in the method for detecting the transmission gear clearance of a vehicle.

[0045] Figure 3 This is a schematic diagram of the structure of the vehicle transmission gear clearance detection device provided in the embodiments of this application;

[0046] Figure 4 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0048] The method and apparatus for detecting the backlash of vehicle transmission gears provided in this application will be described in detail below through several specific embodiments.

[0049] In one embodiment, a method for detecting the backlash of transmission gears in a vehicle is provided. This method is applied to a controller for detecting the backlash of transmission gears in the shaft system of the vehicle's drive shaft. The controller can be a microcontroller, control chip, or server, etc. The server can be a standalone server or a server cluster composed of multiple servers. It can also be a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence sampling point devices.

[0050] like Figure 1 As shown, this embodiment provides a method for detecting the backlash of vehicle transmission gears, including:

[0051] Step 101: Based on at least one set of torque concentrations, the first output torque and the second output torque, obtain the first motor rotor angle of the motor rotor in the vehicle under the first output torque and the second motor rotor angle under the second output torque.

[0052] Step 102: Determine the clearance information of the transmission gears in the drive shaft system of the vehicle based on the first motor rotor angle and the second motor rotor angle.

[0053] The first output torque and the second output torque have the same value but opposite directions.

[0054] By acquiring the first motor rotor angle under the first output torque and the second motor rotor angle under the second output torque in the opposite direction to the first output torque, the gear backlash of the transmission gears is detected using the first and second motor rotor angles to obtain the gear backlash information. This allows for the determination of the actual gear backlash for different vehicles and different gear wear conditions, thereby effectively detecting the gear backlash information of transmission gears in different vehicles or with different wear conditions, and improving the consistency and continuity of vibration suppression effect.

[0055] In one embodiment, the controller outputs two torque commands of the same value but opposite direction to the vehicle's motor. For example, a first torque command outputting 2 Nm of torque to the motor, and a second torque command outputting -2 Nm of torque to the motor, causing the motor to output a first output torque of 2 Nm and a second output torque of -2 Nm. This first and second output torque constitute a torque set. When sending torque commands to the vehicle's motor, it is necessary to first ensure that the vehicle is parked stably and that the drive wheels are locked to avoid interfering with the output torque.

[0056] During the process of the motor outputting the first output torque, the rotor angle of the motor rotor is sampled to record the first motor rotor angle Angle1. To make the obtained first motor rotor angle Angle1 more accurate, the sampling of the first motor rotor angle Angle1 can be performed after the rotor position of the motor rotor is determined to be stable, so as to avoid the impact of rotor vibration on the accuracy of the first motor rotor angle Angle1, thus making the obtained first motor rotor angle Angle1 more accurate.

[0057] For example, during the process of the motor outputting the first output torque, the rotor position of the motor rotor can be sampled multiple times consecutively. For instance, if 10 consecutive samples are taken, and the rotor position is the same value in each sample, then the rotor position of the motor rotor can be determined to be stable. At this time, during the process of the motor outputting the first output torque, the rotor angle is sampled to obtain the first motor rotor angle Angle1.

[0058] Similarly, after acquiring the first motor rotor angle Angle1, the motor can be controlled to output the second output torque. During the process of the motor outputting the second output torque, the rotor angle of the motor rotor is sampled to record the second motor rotor angle Angle2.

[0059] Understandably, when sampling the second motor rotor angle Angle2, it is also possible to sample the second motor rotor angle Angle2 after confirming that the rotor position of the motor rotor is stable, in order to improve the accuracy of the obtained second motor rotor angle Angle2.

[0060] The sampling of the motor rotor position and rotor angle can be obtained through the motor's built-in rotor position sensor.

[0061] Considering that there is usually a detection error when obtaining the motor rotor angle, and this error can be predetermined through a large amount of experimental data, in order to make the obtained electronic rotor angle more accurate, in one embodiment, such as... Figure 2 As shown, based on at least one set of torque sets, including a first output torque and a second output torque, the motor rotor angle of the motor in the vehicle under the first output torque and the second output torque are obtained, including:

[0062] Step 201: Based on the first output torque and the second output torque, obtain from the rotor position sensor the first initial rotor angle of the motor rotor under the first output torque and the second initial rotor angle under the second output torque;

[0063] Step 202: Adjust the first initial rotor angle and the second initial rotor angle according to the preset error angle to obtain the first motor rotor angle and the second motor rotor angle.

[0064] In one embodiment, the motor rotor is detected by a rotor position sensor. The motor rotor angle under a first output torque is taken as the first initial rotor angle, and the motor rotor angle under a second output torque is taken as the second initial rotor angle. After obtaining the first and second initial rotor angles, the first and second initial rotor angles are adjusted for error by a preset error angle to obtain the first motor rotor angle Angle1 and the second motor rotor angle Angle2.

[0065] Considering that the error in the motor rotor angle is usually caused by the detection error of the rotor position sensor, in one embodiment, the preset error angle can be determined based on the rotor position sensor. Specifically, the rotor angle sensor of the vehicle electric drive is generally a rotary transformer, and its angle calculation mainly has two implementation methods: hardware decoding and software decoding. Through a large amount of experimental data, it can be determined that its angle detection error value is approximately ±0.2°, or 0.0035 rad. Therefore, this error value can be used as the preset error angle to adjust the first initial rotor angle and the second initial rotor angle, thereby determining the first motor rotor angle and the second motor rotor angle.

[0066] By using a rotor position sensor to obtain a predetermined preset error angle, the obtained preset error angle is made more accurate. Therefore, when using the preset error angle to adjust the error of the first initial rotor angle and the second initial rotor angle, the error of the obtained motor rotor angle can be further reduced, and the accuracy of the obtained motor rotor angle can be improved.

[0067] Besides the detection error of the rotor position sensor, the drive shaft system also experiences elastic deformation when the vehicle's motor outputs torque, leading to errors in rotor angle detection. The drive shaft system includes the drive shaft, its bearings, and on-shaft components. To reduce rotor angle detection errors caused by the elastic deformation of the shaft system, in one embodiment, the preset error angle can be the ratio of the overall torque value determined by the first and second output torques to the overall stiffness of the shaft system.

[0068] Specifically, after determining the first and second output torques of the motor, the value of the first output torque is added to the value of the second output torque to determine the overall torque value M. Based on the overall torque value M and the detected overall stiffness k of the shaft system, a preset error angle is determined.

[0069] For example, the first output torque is 2 Nm, and the second output torque is -2 Nm, meaning the torque values ​​of the first and second output torques are the same, both being 2 Nm. In this case, the torque values ​​of the first and second output torques can be added together to determine the overall torque value M as 4 Nm. Alternatively, since the first and second output torques are the same, after determining that the first output torque is 2 Nm, the overall torque value M can be directly determined to be 4 Nm based on the value of the first output torque of 2 Nm. After determining the overall torque value M to be 4 Nm, if the detected overall stiffness k of the shaft system is 58 Nm / rad, then the preset error angle can be determined. It is 0.069 rad.

[0070] The overall stiffness can be determined by inputting the shear modulus of the drive shaft, the polar moment of inertia of the drive shaft section, and the length of the drive shaft into a preset model. The preset model is... k is the overall stiffness, l is the length of the drive shaft, G is the shear modulus of the material of the drive shaft, and I P Let be the polar moment of inertia of the cross section of the drive shaft.

[0071] The ratio of the overall torque value determined by the first output torque and the second output torque to the overall stiffness of the shaft system is used to determine the error caused by the elastic deformation of the shaft system. This error is then defined as a preset error angle, making the obtained preset error angle more accurate. As a result, when the first initial rotor angle and the second initial rotor angle are adjusted using the preset error angle, the error of the obtained motor rotor angle can be further reduced, and the accuracy of the obtained motor rotor angle can be improved.

[0072] Considering that the error may be caused by both the rotor position sensor and the elastic deformation of the shaft system, in order to further improve the accuracy of the preset error angle, in one embodiment, the error angle determined by the rotor position sensor can be used as the first error angle, and the error angle determined by the ratio of the overall torque value determined by the first output torque and the second output torque to the overall stiffness of the shaft system can be used as the second error angle. Then, the first error angle and the second error angle are added together to obtain a preset error angle that takes into account all possible causes of error, so that the obtained preset error angle is closer to the actual error angle, thereby further reducing the error of the obtained motor rotor angle and improving the accuracy of the obtained motor rotor angle.

[0073] After determining the preset error angle, the first initial rotor angle can be added to the preset error angle to adjust the error of the first initial rotor angle, resulting in the first motor rotor angle Angle1. Similarly, the second initial rotor angle can be added to the preset error angle to adjust the error of the second initial rotor angle, resulting in the second motor rotor angle Angle2. The preset error angle can be determined based on a large amount of experimental data.

[0074] By obtaining the first initial rotor angle of the motor rotor under the first output torque and the second initial rotor angle of the motor rotor under the second output torque, the first initial rotor angle and the second initial rotor angle are adjusted by using a preset error angle to reduce the error of the obtained motor rotor angle and make the obtained motor rotor angle more accurate.

[0075] In one embodiment, after obtaining the first motor rotor angle Angle1 and the second motor rotor angle Angle2, the angle difference between the two motor rotors, AngleDiff = abs(Angle1-Angle2), can be calculated based on the first motor rotor angle and the second motor rotor angle, thereby determining the angle difference AngleDiff as the gear clearance.

[0076] In addition to directly determining the angle difference AngleDiff corresponding to a certain set of torques as the gear clearance, to make the obtained gear clearance more accurate, in one embodiment, the clearance information of the transmission gears in the drive shaft system of the vehicle is determined based on the first motor rotor angle and the second motor rotor angle, including:

[0077] Based on the first motor rotor angle and the second motor rotor angle, determine the angle information corresponding to the torque set;

[0078] Based on the angle information of each torque set, the clearance information of the transmission gear is determined.

[0079] In one embodiment, after obtaining the first motor rotor angle Angle1 and the second motor rotor angle Angle2 corresponding to a certain torque set, the angle difference between the two motor rotors, AngleDiff = abs(Angle1-Angle2), can be calculated based on the first motor rotor angle and the second motor rotor angle. After determining the angle difference AngleDiff as the angle information corresponding to the torque set, the angle information that appears most frequently is obtained from the angle information that corresponds one-to-one with each torque set as the clearance information of the transmission gear. Alternatively, the angle information can be averaged to determine the average value as the clearance information of the transmission gear.

[0080] Considering that in actual calculations, directly determining the angle difference AngleDiff as the angle information corresponding to the torque set might result in angle information greater than 180°, while the actual clearance of the transmission gears will not exceed 180°, the angle information might not match the actual situation, leading to inaccurate transmission gear clearance information. Therefore, in one embodiment, determining the angle information corresponding to the torque set based on the first motor rotor angle and the second motor rotor angle includes:

[0081] Based on the first motor rotor angle and the second motor rotor angle, determine the angle difference between the first motor rotor angle and the second motor rotor angle;

[0082] The angle information is determined based on the angle difference and pi.

[0083] Wherein, when the angle difference is less than or equal to pi, the angle information is the angle difference;

[0084] When the angle difference is greater than pi, the angle information is the difference between pi and the angle difference as a preset multiple.

[0085] In one embodiment, after obtaining the angle difference AngleDiff = abs(Angle1-Angle2) based on the first motor rotor angles Angle1 and Angle2, the angle difference AngleDiff is detected; if the angle difference AngleDiff ≤ pi, the angle information of the transmission gear in the shaft system of the vehicle drive shaft is determined to be GearClearance1 = AngleDiff; if the angle difference AngleDiff > pi, the angle information of the transmission gear in the shaft system of the vehicle drive shaft is determined to be GearClearance1 = 2pi-AngleDiff.

[0086] The transmission gear clearance detection device for vehicles provided in this application will be described below. The transmission gear clearance detection device for vehicles described below can be referred to in correspondence with the transmission gear clearance detection method for vehicles described above.

[0087] In one embodiment, such as Figure 3 As shown, a vehicle transmission gear backlash detection device is provided, comprising:

[0088] The rotor angle acquisition module 210 is used to acquire, based on at least one set of torques, a first output torque and a second output torque, the first motor rotor angle of the motor rotor in the vehicle under the first output torque and the second motor rotor angle under the second output torque.

[0089] The clearance information detection module 220 is used to determine the clearance information of the transmission gears in the shaft system of the drive shaft of the vehicle based on the first motor rotor angle and the second motor rotor angle.

[0090] The first output torque and the second output torque have the same value but opposite directions.

[0091] By acquiring the first motor rotor angle under the first output torque and the second motor rotor angle under the second output torque in the opposite direction to the first output torque, the gear backlash of the transmission gears is detected using the first and second motor rotor angles to obtain the gear backlash information. This allows for the determination of the actual gear backlash for different vehicles and different gear wear conditions, thereby effectively detecting the gear backlash information of transmission gears in different vehicles or with different wear conditions, and improving the consistency and continuity of vibration suppression effect.

[0092] In one embodiment, the rotor angle acquisition module 210 is specifically used for:

[0093] Based on the first output torque and the second output torque, the first initial rotor angle of the motor rotor under the first output torque and the second initial rotor angle under the second output torque are obtained from the rotor position sensor.

[0094] Based on the preset error angle, adjust the first initial rotor angle and the second initial rotor angle to obtain the first motor rotor angle and the second motor rotor angle.

[0095] In one embodiment, the rotor angle acquisition module 210 is further configured to:

[0096] The preset error angle is determined based on the rotor position sensor.

[0097] In one embodiment, the rotor angle acquisition module 210 is further configured to:

[0098] The preset error angle is determined by the ratio of the overall torque value determined by the first output torque and the second output torque to the overall stiffness of the shaft system.

[0099] In one embodiment, the overall stiffness is determined by inputting the shear modulus of the drive shaft, the polar moment of inertia of the cross section of the drive shaft, and the length of the drive shaft into a preset model;

[0100] The preset model is

[0101] Where k is the overall stiffness, l is the length of the drive shaft, G is the shear modulus of the material of the drive shaft, and IP Let be the polar moment of inertia of the cross section of the drive shaft.

[0102] In one embodiment, the gap information detection module 220 is specifically used for:

[0103] Based on the first motor rotor angle and the second motor rotor angle, determine the angle information corresponding to the torque set;

[0104] Based on the angle information of each torque set, the clearance information of the transmission gear is determined.

[0105] In one embodiment, the gap information detection module 220 is further configured to:

[0106] Based on the first motor rotor angle and the second motor rotor angle, determine the angle difference between the first motor rotor angle and the second motor rotor angle;

[0107] The angle information is determined based on the angle difference and pi.

[0108] Wherein, when the angle difference is less than or equal to pi, the angle information is the angle difference;

[0109] When the angle difference is greater than pi, the angle information is the difference between pi and the angle difference as a preset multiple.

[0110] Figure 4 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 4 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call a computer program in the memory 830 to execute a method for detecting the backlash of vehicle transmission gears, such as including:

[0111] Based on at least one set of torque concentrations, the first motor rotor angle of the motor in the vehicle under the first output torque and the second motor rotor angle under the second output torque are obtained.

[0112] Based on the first motor rotor angle and the second motor rotor angle, determine the clearance information of the transmission gears in the drive shaft system of the vehicle;

[0113] The first output torque and the second output torque have the same value but opposite directions.

[0114] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, 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 steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0115] On the other hand, embodiments of this application also provide a storage medium, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle transmission gear backlash detection method provided in the above embodiments, for example including:

[0116] Based on at least one set of torque concentrations, the first motor rotor angle of the motor in the vehicle under the first output torque and the second motor rotor angle under the second output torque are obtained.

[0117] Based on the first motor rotor angle and the second motor rotor angle, determine the clearance information of the transmission gears in the drive shaft system of the vehicle;

[0118] The first output torque and the second output torque have the same value but opposite directions.

[0119] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0120] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0121] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method of detecting a backlash of a transmission gear of a vehicle, characterized by, The method comprises the following steps: According to the first output torque and the second output torque in at least one group of torque sets, the first motor rotor angle of the motor rotor in the vehicle under the first output torque and the second motor rotor angle under the second output torque are obtained; According to the first motor rotor angle and the second motor rotor angle, the clearance information of the transmission gear in the shaft system of the drive shaft of the vehicle is determined; Wherein, the first output torque and the second output torque have the same value but opposite directions; According to the first output torque and the second output torque in at least one group of torque sets, the first motor rotor angle of the motor rotor in the vehicle under the first output torque and the second motor rotor angle under the second output torque are obtained, comprising: According to the first output torque and the second output torque, the first initial rotor angle of the motor rotor under the first output torque and the second initial rotor angle under the second output torque are obtained from the rotor position sensor; According to the preset error angle, the first initial rotor angle and the second initial rotor angle are adjusted to obtain the first motor rotor angle and the second motor rotor angle; Wherein, the preset error angle is the ratio of the total torque value obtained by adding the torque values of the first output torque and the second output torque to the overall stiffness of the shaft system; The overall stiffness is determined by inputting the shear modulus of the drive shaft, the polar moment of inertia of the cross section of the drive shaft and the length of the drive shaft into a preset model; The preset model is ; wherein, is the overall stiffness, is the length of the drive shaft, is the shear modulus of the material of the drive shaft, is the polar moment of inertia of the cross section of the drive shaft.

2. The method of detecting a backlash of a transmission gear of a vehicle according to claim 1, characterized by, Further comprising: According to the rotor position sensor, the preset error angle is determined.

3. The method of detecting a backlash of a transmission gear of a vehicle according to claim 1 or 2, characterized by, According to the first motor rotor angle and the second motor rotor angle, the clearance information of the transmission gear in the shaft system of the drive shaft of the vehicle is determined, comprising: According to the first motor rotor angle and the second motor rotor angle, the angle information corresponding to the torque set is determined; According to the angle information of each group of torque sets, the clearance information of the transmission gear is determined.

4. The method of detecting a backlash of a transmission gear of a vehicle according to claim 3, characterized by, According to the first motor rotor angle and the second motor rotor angle, the angle information corresponding to the torque set is determined, comprising: According to the first motor rotor angle and the second motor rotor angle, the angle difference between the first motor rotor angle and the second motor rotor angle is determined; According to the angle difference and the circular constant, the angle information is determined; Wherein, when the angle difference is less than or equal to the circular constant, the angle information is the angle difference; When the angle difference is greater than the circular constant, the angle information is the difference between the circular constant and the angle difference.

5. A drive gear gap detection device of a vehicle characterized by comprising: The method comprises the following steps: The rotor angle acquisition module is used for obtaining the first motor rotor angle of the motor rotor in the vehicle under the first output torque and the second motor rotor angle under the second output torque according to the first output torque and the second output torque in at least one group of torque sets; The clearance information detection module is used for determining the clearance information of the transmission gear in the shaft system of the drive shaft of the vehicle according to the first motor rotor angle and the second motor rotor angle. The first output torque and the second output torque have the same value but opposite directions. The gap information detection module is specifically configured to: According to the first output torque and the second output torque, obtain a first initial rotor angle of the motor rotor under the first output torque and a second initial rotor angle of the motor rotor under the second output torque from a rotor position sensor; According to a preset error angle, adjust the first initial rotor angle and the second initial rotor angle to obtain the first motor rotor angle and the second motor rotor angle; The preset error angle is a ratio of a total torque value obtained by adding the torque values of the first output torque and the second output torque to a total stiffness of the shaft system; The total stiffness is determined by inputting a shear modulus of the drive shaft, a polar moment of inertia of the cross section of the drive shaft, and a length of the drive shaft into a preset model; The preset model is ; wherein, is the overall stiffness, is the length of the drive shaft, is the shear modulus of the material of the drive shaft, is the polar moment of inertia of the cross section of the drive shaft.

6. An electronic device comprising a processor and a memory having a computer program stored therein, characterized in that The processor executes the computer program to implement the transmission gear gap detection method of the vehicle according to any one of claims 1 to 4.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that The computer program is executed by the processor to implement the transmission gear gap detection method of the vehicle according to any one of claims 1 to 4.

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