Automatic clutch control method, device, equipment and storage medium

Abstract

The application provides an automatic clutch control method, device, equipment and storage medium. When the initial state of the automatic clutch meets the action execution condition, the TM motor is controlled to adjust the speed in response to the action instruction. When the speed of the TM motor is the target speed, the brushless direct current motor is started, the synchronizer of the automatic clutch is controlled to enter the synchronization state, the first angle of the brushless direct current motor is collected through the Hall sensor in the synchronization state, the synchronizer is controlled to enter the action process state according to the first angle and the first target angle, the second angle of the brushless direct current motor is collected in the action process state, and the synchronizer is controlled to complete the action corresponding to the action instruction according to the second angle and the second target angle. When the speed of the TM motor reaches the target speed, the brushless direct current motor is started to enter the synchronization state to execute the corresponding action, the TM motor speed adjustment time is shortened, the rotation angle of the idle stroke is shortened, and therefore the action execution time of the combination action or the separation action is shortened, and the driving experience is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to an automatic clutch control method, device, equipment and storage medium. Background Technology

[0002] With the widespread application of new energy vehicles, people have placed higher demands on the power and economy of automobiles, making the power and economy of new energy vehicles a research hotspot. Currently, pure electric vehicles only have one gear, making it impossible to achieve economical energy management by adjusting gears. Dual motors can only operate simultaneously, which is too wasteful of energy at low speeds, while single-motor operation is too weak to meet power requirements.

[0003] Automatic clutches can meet the power and economy requirements of new energy vehicles by automatically engaging and disengaging. For example, in low-speed, congested traffic, new energy vehicles equipped with dual motors can keep the automatic clutch disengaged, allowing only one motor to operate, thus saving battery energy and meeting economic requirements. However, on high-speed roads, the automatic clutch is engaged, enabling both motors to operate simultaneously to meet power requirements. For this type of automatic clutch, a fast-engagement control strategy optimized after the shift fork shaft has been developed, achieving cost savings while meeting economic, power, and safety requirements.

[0004] However, the current control strategy has two idle strokes and requires the TM motor to complete speed adjustment before engagement begins, which wastes too much engagement time and affects the driving experience. Summary of the Invention

[0005] This application provides an automatic clutch control method, device, equipment, and storage medium to solve the technical problem that existing control strategies waste too much engagement time and affect the driving experience.

[0006] In a first aspect, this application provides an automatic clutch control method, the method comprising:

[0007] When the initial state of the automatic clutch meets the action execution conditions, the TM motor is controlled to adjust its speed in response to the action command. When the speed of the TM motor is the target speed, the brushless DC motor is started, and the synchronizer of the automatic clutch is controlled to enter the synchronization state.

[0008] In the synchronization state, the first angle of the brushless DC motor is acquired by the Hall sensor, and the synchronizer is controlled to enter the operation process state from the synchronization state based on the first angle and the first target angle.

[0009] During the operation process, the Hall sensor acquires the second angle of the brushless DC motor, and the synchronizer is controlled to complete the action corresponding to the action command based on the second angle and the second target angle.

[0010] In one possible design, the action instruction is a detached instruction;

[0011] The step of controlling the synchronizer to enter the operation process state from the synchronization state based on the first angle and the first target angle includes:

[0012] When the first angle is less than the first target angle, control the synchronizer to enter the action process state from the synchronization state;

[0013] The step of controlling the synchronizer to complete the action corresponding to the action command based on the second angle and the second target angle includes:

[0014] When the second angle is less than the second target angle, it is determined that the synchronizer has completed the separation action.

[0015] In one possible design, the action instruction is a combined instruction;

[0016] The step of controlling the synchronizer to enter the operation process state from the synchronization state based on the first angle and the first target angle includes:

[0017] When the first angle is greater than the first target angle, the synchronizer is controlled to enter the action process state from the synchronization state.

[0018] The step of controlling the synchronizer to complete the action corresponding to the action command based on the second angle and the second target angle includes:

[0019] When the second angle is greater than the second target angle, it is determined that the synchronizer has completed the engagement action.

[0020] In one possible design, controlling the initial state of the automatic clutch to satisfy the action execution conditions includes:

[0021] Obtain the initial state of the automatic clutch;

[0022] If the initial state is the separated state, determine whether the synchronizer is mechanically intact, so that when the automatic clutch is mechanically intact, the initial state satisfies the action execution condition;

[0023] If the initial state is a combined state, it is determined that the initial state satisfies the action execution condition.

[0024] In one possible design, obtaining the initial state of the automatic clutch includes:

[0025] The third angle of the brushless DC motor is acquired by the Hall sensor;

[0026] The initial state of the automatic clutch is determined based on the third angle.

[0027] One possible design also includes:

[0028] If, during the separation state, the fourth angle of the brushless DC motor is greater than the first idle stroke angle, and no action command is received, the brushless DC motor is controlled to rotate in the opposite direction.

[0029] In one possible design, if the action instruction is the combined instruction, the method further includes:

[0030] If the first angle collected within the first preset time period is less than the third target angle, the brushless DC motor is controlled to rotate at a reduced speed according to a preset amplitude, causing the synchronizer to enter an action execution failure state.

[0031] In one possible design, if the action instruction is the combined instruction, the method further includes:

[0032] If the second angle collected within the second preset time period is less than the second target angle, the brushless DC motor is controlled to reverse so that the synchronizer moves in the separation direction.

[0033] In one possible design, after determining that the synchronizer has completed the action corresponding to the action command, the method further includes:

[0034] Determine whether the synchronizer has slipped out based on the second angle and the second target angle;

[0035] If so, control the brushless DC motor to rotate at a preset speed, so that the synchronizer moves in the direction corresponding to the action command.

[0036] Secondly, this application provides an automatic clutch control device, comprising:

[0037] The first processing module is used to respond to the action command to control the speed adjustment of the TM motor when the initial state of the automatic clutch meets the action execution conditions, so as to start the brushless DC motor when the speed of the TM motor is the target speed, and control the synchronizer of the automatic clutch to enter the synchronization state.

[0038] The second processing module is used to acquire the first angle of the brushless DC motor through a Hall sensor in the synchronization state, and control the synchronizer to enter the operation process state from the synchronization state according to the first angle and the first target angle.

[0039] The third processing module is used to acquire the second angle of the brushless DC motor through the Hall sensor during the operation process, and control the synchronizer to complete the action corresponding to the action command based on the second angle and the second target angle.

[0040] Thirdly, this application provides an electronic device, including: a processor, and a memory communicatively connected to the processor;

[0041] The memory stores computer-executed instructions;

[0042] The processor executes computer execution instructions stored in the memory to implement any of the possible automatic clutch control methods provided in the first aspect.

[0043] Fourthly, this application provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement any of the possible automatic clutch control methods provided in the first aspect.

[0044] This application provides an automatic clutch control method, device, equipment, and storage medium. First, when the initial state of the automatic clutch meets the action execution conditions, the system responds to the action command by controlling the speed adjustment of the TM motor. When the speed of the TM motor reaches the target speed, the brushless DC motor is activated, controlling the synchronizer of the automatic clutch to enter a synchronization state. Then, in the synchronization state, a Hall sensor collects the first angle of the brushless DC motor, and based on the first angle and the first target angle, the synchronizer is controlled to transition from the synchronization state to the action process state. Next, in the action process state, a Hall sensor collects the second angle of the brushless DC motor, and based on the second angle and the second target angle, the synchronizer is controlled to complete the action corresponding to the action command. When the speed of the TM motor reaches the target speed, the brushless DC motor is activated to enter the synchronization state to execute the action corresponding to the action command. This shortens the speed adjustment time of the TM motor and the rotation angle of the idle stroke, thereby shortening the action execution time of engagement or disengagement, and improving the driving experience. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of 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.

[0046] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application;

[0047] Figure 2 A schematic diagram of a transmission system provided in an embodiment of this application;

[0048] Figure 3 A flowchart illustrating an automatic clutch control method provided in an embodiment of this application;

[0049] Figure 4 A flowchart illustrating another automatic clutch control method provided in an embodiment of this application;

[0050] Figure 5 A timing diagram of combined actions provided for an embodiment of this application;

[0051] Figure 6 A timing diagram of a separation action provided for an embodiment of this application;

[0052] Figure 7 An automatic clutch control device is provided for embodiments of this application;

[0053] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0054] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of methods and apparatus consistent with some aspects of this application as detailed in the appended claims.

[0055] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0056] Automatic clutches can meet the power and economy requirements of new energy vehicles by automatically engaging and disengaging. For example, in low-speed, congested traffic, new energy vehicles equipped with dual motors can keep the automatic clutch disengaged, allowing only one motor to operate, thus saving battery energy and meeting economic requirements. On highways, the automatic clutch is engaged, enabling both motors to operate simultaneously to meet power requirements. For this type of automatic clutch, a fast engagement control strategy optimized after the shift fork shaft has been developed, achieving cost savings while meeting economy, power, and safety requirements. However, the current control strategy has two idle strokes and requires the TM motor to complete speed adjustment before engagement, resulting in excessive engagement time and impacting the driving experience.

[0057] To address the aforementioned problems in the prior art, this application provides an automatic clutch control method, device, equipment, and storage medium. The inventive concept of the automatic clutch control method provided in this application lies in designing multiple states based on the engagement or disengagement action of the automatic clutch. A Hall sensor is used to collect the angle of the brushless DC motor, controlling the synchronizer of the automatic clutch in different states to achieve engagement or disengagement actions on the synchronizer. Specifically, when the speed of the TM motor reaches the target speed, the brushless DC motor is activated to enter a synchronized state to execute the corresponding action command, such as engagement or disengagement. This shortens the rotation angle of the idle travel, thereby shortening the execution time of the engagement or disengagement action and improving the driving experience.

[0058] The following describes exemplary application scenarios of the embodiments of this application.

[0059] Figure 1 This is a schematic diagram of an application scenario provided by an embodiment of this application. Figure 2 This is a schematic diagram of a transmission system provided for an embodiment of this application. Figure 1As shown, a vehicle 100, such as a new energy electric vehicle, is equipped with an automatic clutch. The engagement and disengagement of this automatic clutch can meet the power and fuel economy requirements of the vehicle 100. For example, when the user demands high power from the vehicle 100, the synchronizer in the automatic clutch can engage, allowing multiple motors in the vehicle 100, such as two motors, to operate simultaneously. Conversely, when the user demands fuel economy, the synchronizer in the automatic clutch can disengage, allowing only one motor to operate independently. Thus, the engagement and disengagement of the automatic clutch through the synchronizer satisfies the user's requirements for both power and fuel economy in the vehicle 100.

[0060] Reference Figure 2 As shown, the action command is a coupling command, and the synchronizer executes the coupling action. By controlling the brushless DC motor 201 to rotate, the reducer 202 drives the camshaft 203 to move, and the movement of the camshaft 203 drives the shift fork 204 to move (as shown). Figure 2 The shift fork 204 moves in the engagement direction (from center to left), driving the shift fork motion guide shaft 205 to move. The shift fork motion guide shaft 205 then drives the synchronizer 206 to move in the engagement direction, i.e., closer to the wheel 207. When the action command is a disengagement command, the synchronizer performs the disengagement action. By controlling the brushless DC motor 201 to rotate, the camshaft 203 is driven to move via the reducer 202. The movement of the camshaft 203 drives the shift fork 204 to move (e.g., from center to left). Figure 2 (Moving in the separation direction from the center to the right), the shift fork 204 drives the shift fork motion guide shaft 205 to move, and the shift fork motion guide shaft 205 drives the synchronizer 206 to move in the separation direction, that is, to move away from the wheel 207.

[0061] The electronic device 200 is configured to execute the automatic clutch control method provided in this application embodiment. It uses a Hall sensor to collect the angle of the brushless DC motor and controls the synchronizer of the automatic clutch to different states, thereby controlling the synchronizer of the automatic clutch to perform engagement or disengagement actions. Specifically, when the speed of the TM motor reaches the target speed, the brushless DC motor is activated to enter a synchronized state to execute the corresponding action command, such as engagement or disengagement. This shortens the speed adjustment time of the TM motor and the rotation angle of the idle travel, thereby shortening the execution time of the engagement or disengagement actions and improving the driving experience.

[0062] It should be noted that the electronic device 200 can be a computer, server, server cluster, microcontroller unit (MCU), electronic control unit (ECU), vehicle controller, etc. The embodiments of this application do not limit the type of electronic device. Figure 1The electronic device 200 in the example is an ECU.

[0063] The above application scenarios are merely illustrative. The automatic clutch control method, device, equipment, and storage medium provided in the embodiments of this application include, but are not limited to, the above application scenarios.

[0064] Figure 3 This is a flowchart illustrating an automatic clutch control method provided in an embodiment of this application. Figure 3 As shown, the automatic clutch control method provided in this application includes:

[0065] S101: Obtain the initial state of the automatic clutch.

[0066] To determine whether the initial state of the automatic clutch is disengaged or engaged, for example, a Hall sensor can be used to collect the third angle of the brushless DC motor, and the initial state of the automatic clutch can be determined based on the collected third angle.

[0067] Specifically, the stroke of the synchronizer in an automatic clutch for engaging or disengaging the clutch corresponds to the rotation angle of the brushless DC motor during that stroke, which falls between 0° and 3600° throughout the entire stroke. Therefore, the initial state of the automatic clutch—whether it is engaged or disengaged—can be determined by a Hall sensor acquiring the third angle of the brushless DC motor. For example, an angle of 0° to 50° represents the disengaged state, and 3650° to 3700° represents the engaged state. Thus, when the Hall sensor acquires an angle of 0° to 50° (the third angle), the automatic clutch is disengaged; when it acquires an angle of 3650° to 3700°, the automatic clutch is engaged.

[0068] S102: If the initial state is the disengaged state, determine whether the synchronizer is mechanically intact, so that if the automatic clutch is mechanically intact, the initial state satisfies the action execution conditions.

[0069] When the initial state of the automatic clutch is determined to be disengaged, it is necessary to verify the mechanical integrity of the synchronizer. Specifically, this involves the synchronizer performing an engagement action and returning to the disengaged position, checking for any abnormalities in the Hall sensors during this process. If no abnormalities are found, it indicates that the synchronizer's mechanical integrity is good. In other words, the initial state of the automatic clutch meets the execution conditions. It can be understood that since the initial state of the automatic clutch is disengaged, the subsequent action performed by the automatic clutch is an engagement action. The mechanical integrity of the automatic clutch means that it can perform an engagement action, satisfying the execution conditions for engagement.

[0070] S103: If the initial state is a combined state, determine that the initial state satisfies the action execution conditions.

[0071] Conversely, if the initial state of the automatic clutch is determined to be engaged, there is no need to verify its mechanical integrity; it can be directly determined that the initial state satisfies the action execution conditions. It can be understood that since the initial state of the automatic clutch is engaged, the subsequent action performed by the automatic clutch is a disengagement action, satisfying the action execution conditions for a disengagement action.

[0072] S104: When the initial state of the automatic clutch meets the action execution conditions, respond to the action command to control the speed adjustment of the TM motor, start the brushless DC motor when the speed of the TM motor is the target speed, and control the synchronizer of the automatic clutch to enter the synchronization state.

[0073] Regardless of whether the automatic clutch is initially disengaged or engaged, it responds to the action command and controls the speed adjustment of the TM motor when the initial state meets the action execution conditions. For example, the user can issue action commands to the vehicle controller via the HMI (Human Machine Interface), such as issuing a disengagement command or an engagement command. The vehicle controller then responds to the action command and controls the speed adjustment of the TM motor. For example, if the issued action command is an engagement command, the TM motor will adjust its speed from a standstill. Once the TM motor speed reaches the target speed, the brushless direct current motor (BLDC) is activated. The operation of the brushless direct current motor rotates the synchronizer of the automatic clutch, bringing it into a synchronized state.

[0074] In this embodiment, the brushless DC motor is activated once the TM motor reaches the target speed, without requiring the TM motor speed to perfectly match the wheel speed. Since this phase is an idle stroke, eliminating the need to wait for the TM motor to adjust its speed to perfectly match the wheel speed shortens the idle stroke and reduces the action execution time, such as the engagement time. The target speed can be set according to actual working conditions; this embodiment does not limit this setting, for example, it could be half the current wheel speed.

[0075] S105: In the synchronization state, the first angle of the brushless DC motor is acquired by the Hall sensor, and the synchronizer is controlled to enter the action process state from the synchronization state based on the first angle and the first target angle.

[0076] After the synchronizer controlling the automatic clutch enters the synchronization state, the first angle of the brushless DC motor is collected in real time by a Hall sensor during this synchronization state. Based on the collected first angle and the first target angle, the synchronizer is then controlled to enter the next state, i.e., the operation process state. It is understood that the first target angle can be set according to actual operating conditions; for example, it could be 2200°.

[0077] In one possible design, if the action command is a separation command, the synchronizer is controlled to enter the action process state from the synchronization state based on the first angle and the first target angle, including:

[0078] If the first angle collected is less than the first target angle, the synchronizer is controlled to enter the action process state from the synchronization state.

[0079] If the action command is a combined command, the synchronizer is controlled to enter the action process state from the synchronization state based on the first angle and the first target angle, including:

[0080] If the first angle is greater than the first target angle, that is, when the first angle exceeds the first target angle, the synchronizer is controlled to enter the action process state from the synchronization state.

[0081] Taking the combined command as an example, the synchronizer enters the action process state, preparing to execute the corresponding action command. The synchronization state is the process of frictional synchronization in the automatic clutch, requiring a large amount of power; therefore, a 50% duty cycle can be provided. Since the torque of the brushless DC motor varies in each state, the peak and minimum starting torques of the motor are calibrated, and the percentage control logic is set by looking up a table. If the starting torque of the motor at room temperature is 0.1 Nm and the highest peak is 2 Nm, then the corresponding percentage corresponds to different control torques; for example, 100% corresponds to 2 Nm. The corresponding duty cycle can be obtained by converting the torque.

[0082] Optionally, assuming the action command is a combined command, if the first angle collected within the first preset time period is less than the third target angle, the brushless DC motor is controlled to rotate at a reduced speed according to a preset amplitude, causing the synchronizer to enter the action execution failure state.

[0083] For example, if the action command is a combined command, and the brushless DC motor cannot reach the third target angle within a first preset time period (i.e., the first angle collected within the first preset time period is less than the third target angle), it indicates that the synchronizer's frictional synchronization process has failed. The brushless DC motor is then controlled to gradually decrease its speed according to a preset range to reduce the duty cycle and prevent abnormal noise from synchronizer impact caused by a large duty cycle. Specifically, if the action command is a combined command, and the third target angle is less than the first target angle (e.g., if the first target angle is 2200°, the third target angle can be set to 1850°), the specific value of the third target angle can be set according to actual operating conditions, and this embodiment does not limit it.

[0084] Optionally, if the action command is a separation command, and the brushless DC motor fails to reach the third target angle within a first preset time period, it essentially means that the first angle collected within the first preset time period is greater than the third target angle, indicating that the synchronizer friction synchronization process has failed. If the action command is a separation command, and the third target angle is greater than the first target angle, the specific value of the third target angle can be set according to the actual working conditions, and this application embodiment does not limit it.

[0085] Optionally, if, during synchronization, a user-issued instruction opposite to the action command is received—for example, if the initially received action command was an engagement command, the opposite command would be a disengagement command, and vice versa—then the brushless DC motor is controlled to execute the most recently received command. Specifically, the brushless DC motor can be controlled to reverse, causing the synchronizer to move in the direction of the most recently received command. For instance, if the previously received action command was an engagement command, and the most recently received opposite command is a disengagement command, the brushless DC motor is controlled to reverse, causing the synchronizer to move in the disengagement direction, and vice versa.

[0086] S106: During the operation process, the second angle of the brushless DC motor is acquired by the Hall sensor, and the synchronizer is controlled to complete the corresponding action of the action command based on the second angle and the second target angle.

[0087] When the synchronizer is in operation, the second angle of the brushless DC motor is collected in real time by the Hall sensor, and the synchronizer is controlled to complete the corresponding action of the action command based on the collected second angle and the second target angle.

[0088] For example, if the action command is a separation command, the synchronizer is controlled to complete the corresponding action based on the second angle and the second target angle, including:

[0089] When the acquired second angle is less than the second target angle, it is determined that the synchronizer has completed the separation action. The separation action is the action corresponding to the separation command. For example, if the second target angle is set to 50°, when the second angle drops below 50°, it means that the synchronizer has completed the separation action and the synchronizer is in the separation state at this time.

[0090] If the action command is a combined command, the synchronizer is controlled to complete the corresponding action based on the second angle and the second target angle, including:

[0091] When the acquired second angle is greater than the second target angle, that is, when the second angle exceeds the second target angle, it is determined that the synchronizer has completed the engagement action. The engagement action is the action corresponding to the engagement command. For example, if the second target angle is set to 3650°, when the second angle exceeds 3650°, it means that the synchronizer has completed the engagement action, and the synchronizer is in the engaged state at this time.

[0092] It is understood that the specific value of the second target angle can be set according to the actual working conditions and the rotation direction of the brushless DC motor when performing separation and engagement actions. This application embodiment does not limit this. In this application embodiment, when the action command is an engagement command and the engagement action is performed, the brushless DC motor rotates forward.

[0093] It should be noted that the state after the synchronizer completes the action command is either a completely separated state or a completely combined state.

[0094] Optionally, assuming the action command is a coupling command, if the second angle collected within the second preset time period is less than the second target angle, it means that the synchronizer cannot complete the coupling action for a relatively long time. Specifically, the time when the brushless DC motor stalls can be determined. If the stalling time exceeds the third preset time period, the coupling is considered to have failed, and the brushless DC motor is controlled to reverse, causing the synchronizer to move in the separation direction.

[0095] The automatic clutch control method provided in this application embodiment controls the synchronizer of the automatic clutch to perform engagement or disengagement actions by designing multiple states. When the speed of the TM motor reaches the target speed, the brushless DC motor is started to enter the synchronization state to execute the action command corresponding to the action, such as engagement or disengagement. This shortens the rotation angle of the idle stroke, thereby shortening the action execution time of engagement or disengagement and improving the driving experience.

[0096] In one possible design, after determining that the synchronizer has completed the action corresponding to the action command, the embodiments of this application further include, as follows: Figure 4 The steps are shown. Figure 4 This is a schematic flowchart illustrating another automatic clutch control method provided in an embodiment of this application. Figure 4As shown, the embodiments of this application include:

[0097] S201: Determine whether the synchronizer has slipped out based on the second angle and the second target angle.

[0098] S202: If so, control the brushless DC motor to rotate at a preset speed, so that the synchronizer moves in the direction of the action command.

[0099] After determining the synchronizer's action corresponding to the action command based on the second angle and the second target angle, it is further determined whether the synchronizer has slipped out based on the second angle and the second target angle. If so, the brushless DC motor is further controlled to rotate so that the synchronizer moves in the corresponding direction.

[0100] Specifically, when the action command is a engagement command, a second angle greater than the second target angle indicates that the synchronizer has completed the engagement action, and the synchronizer is in the engaged state at this time. Therefore, after it completes the engagement action, if the acquired second angle is less than the second target angle and no separation command is received, it indicates that the synchronizer has slipped out. In this case, the brushless DC motor is controlled to rotate at a preset speed, causing the synchronizer to move in the direction of the engagement action to maintain the engaged state.

[0101] Conversely, when the action command is a separation command, a second angle smaller than the second target angle indicates that the synchronizer has completed the separation action, and the synchronizer is in a separated state at this time. Therefore, after it completes the separation action, if the acquired second angle is greater than the second target angle, and no rejoining command is received, it indicates that the synchronizer has slipped out. In this case, the brushless DC motor is controlled to rotate at a preset speed, causing the synchronizer to move in the direction of the separation action to maintain the separated state.

[0102] It should be noted that in the embodiments of this application, when controlling the brushless DC motor to rotate at a preset speed, a small duty cycle should be given to the brushless DC motor to prevent the synchronizer from making a large impact noise during the process.

[0103] In one possible design, if the fourth angle of the brushless DC motor is detected to be greater than the first idle stroke angle during the synchronizer's disconnected state, and no action command is received (the action command is an engagement command), it indicates that the brushless DC motor slipped during the disconnected state before the action command was executed. In this case, the brushless DC motor is controlled to rotate in the opposite direction, i.e., to rotate in the opposite direction to the engagement action. For example, if the engagement direction is forward rotation, the opposite direction is reverse rotation. This can be achieved by giving the brushless DC motor a small reverse duty cycle. The first idle stroke angle can be, for example, 50°; the specific value is not limited in this embodiment.

[0104] If, during the synchronizer's engagement state, the fifth angle of the brushless DC motor is less than the second idle stroke angle, and no action command is received (the action command is a disengagement command), it indicates that slippage occurred in the engagement state of the brushless DC motor before the action command was executed. In this case, the brushless DC motor is controlled to rotate in the opposite direction, that is, to rotate in the opposite direction to the disengagement action. For example, if the disengagement direction is reverse rotation, the opposite direction is forward rotation. This can be achieved by giving the brushless DC motor a small reverse duty cycle. The second idle stroke angle can be, for example, 3650°; the specific value is not limited in this embodiment.

[0105] As described in the above embodiments, during the entire process of the synchronizer executing the action command corresponding to the action, the automatic clutch control method provided in this application embodiment also designs a corresponding handling mechanism for abnormalities. For example, when abnormalities such as action failure or slippage occur, corresponding control logic is set to provide comprehensive protection for the synchronizer to perform engagement or disengagement actions, prevent mechanical damage, ensure the safety of the automatic clutch, and thus improve driving safety.

[0106] Based on the above embodiments. Figure 5 and Figure 6 The diagrams schematically illustrate the changes over time in the angle, speed, synchronizer states, and duty cycles of the brushless DC motor when the action commands are engagement and disengagement commands. Figure 5 and Figure 6 As shown, the automatic clutch control method provided in this application embodiment controls the synchronizer of the automatic clutch to perform engagement or disengagement actions by designing multiple states. When the speed of the TM motor reaches the target speed, the brushless DC motor is started to enter the synchronization state to execute the action command corresponding to the action, such as engagement or disengagement. This shortens the rotation angle of the idle stroke, thereby shortening the action execution time of engagement or disengagement and improving the driving experience.

[0107] Figure 7 An automatic clutch control device is provided as an embodiment of this application. For example... Figure 7 As shown, the automatic clutch control device 400 provided in this application embodiment includes:

[0108] The first processing module 401 is used to respond to the action command to control the speed adjustment of the TM motor when the initial state of the automatic clutch meets the action execution conditions, and start the brushless DC motor when the speed of the TM motor is the target speed, and control the synchronizer of the automatic clutch to enter the synchronization state.

[0109] The second processing module 402 is used to acquire the first angle of the brushless DC motor through the Hall sensor in the synchronization state, and control the synchronizer to enter the action process state from the synchronization state according to the first angle and the first target angle.

[0110] The third processing module 403 is used to acquire the second angle of the brushless DC motor through the Hall sensor during the operation process, and control the synchronizer to complete the corresponding action of the action command based on the second angle and the second target angle.

[0111] The automatic clutch control device provided in this application embodiment can execute the corresponding steps of the automatic clutch control method in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0112] Figure 8 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 8 As shown, the electronic device 500 may include a processor 501 and a memory 502 communicatively connected to the processor 501.

[0113] Memory 502 is used to store programs. Specifically, the program may include program code, which includes computer-executable instructions.

[0114] Memory 502 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0115] The processor 501 is used to execute computer execution instructions stored in the memory 502 to implement the automatic clutch control method.

[0116] The processor 501 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0117] Optionally, the memory 502 can be either standalone or integrated with the processor 501. When the memory 502 is a device independent of the processor 501, the electronic device 500 may further include:

[0118] Bus 503 is used to connect processor 501 and memory 502. The bus can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus, or an extended industry standard architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc., but this does not mean there is only one bus or one type of bus.

[0119] Optionally, in a specific implementation, if the memory 502 and the processor 501 are integrated on a single chip, the memory 502 and the processor 501 can communicate through an internal interface.

[0120] This application also provides a computer-readable storage medium, which may include various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. Specifically, the computer-readable storage medium stores computer-executable instructions, which are used to implement the methods in the above embodiments.

[0121] This application also provides a computer program product, including computer execution instructions that, when executed by a processor, can implement the methods described in the above embodiments.

[0122] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the claims.

[0123] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. An automatic clutch control method, characterized in that, Methods, including: When the initial state of the automatic clutch meets the action execution conditions, the TM motor is controlled to adjust its speed in response to the action command. When the speed of the TM motor is the target speed, the brushless DC motor is started, and the synchronizer of the automatic clutch is controlled to enter the synchronization state. In the synchronization state, the first angle of the brushless DC motor is acquired by the Hall sensor, and the synchronizer is controlled to enter the operation process state from the synchronization state based on the first angle and the first target angle. During the operation process, the Hall sensor acquires the second angle of the brushless DC motor, and the synchronizer is controlled to complete the action corresponding to the action command based on the second angle and the second target angle. Wherein, if the action command is a separation command; the step of controlling the synchronizer to enter the action process state from the synchronization state according to the first angle and the first target angle includes: when the first angle is less than the first target angle, controlling the synchronizer to enter the action process state from the synchronization state; the step of controlling the synchronizer to complete the action corresponding to the action command according to the second angle and the second target angle includes: when the second angle is less than the second target angle, determining that the synchronizer has completed the separation action; If the action command is a combination command; controlling the synchronizer to enter the action process state from the synchronization state according to the first angle and the first target angle includes: when the first angle is greater than the first target angle, controlling the synchronizer to enter the action process state from the synchronization state; controlling the synchronizer to complete the action corresponding to the action command according to the second angle and the second target angle includes: when the second angle is greater than the second target angle, determining that the synchronizer has completed the combination action.

2. The automatic clutch control method according to claim 1, characterized in that, Controlling the initial state of the automatic clutch to satisfy the action execution conditions includes: Obtain the initial state of the automatic clutch; If the initial state is a disengaged state, determine whether the synchronizer is mechanically intact, so that when the automatic clutch is mechanically intact, the initial state satisfies the action execution condition; If the initial state is a combined state, it is determined that the initial state satisfies the action execution condition.

3. The automatic clutch control method according to claim 2, characterized in that, The process of obtaining the initial state of the automatic clutch includes: The third angle of the brushless DC motor is acquired by the Hall sensor; The initial state of the automatic clutch is determined based on the third angle.

4. The automatic clutch control method according to claim 2, characterized in that, Also includes: If, during the separation state, the fourth angle of the brushless DC motor is greater than the first idle stroke angle, and no action command is received, the brushless DC motor is controlled to rotate in the opposite direction.

5. The automatic clutch control method according to claim 1, characterized in that, If the action instruction is the combined instruction, the method further includes: If the first angle collected within the first preset time period is less than the third target angle, the brushless DC motor is controlled to rotate at a reduced speed according to a preset amplitude, causing the synchronizer to enter an action execution failure state.

6. The automatic clutch control method according to claim 5, characterized in that, If the action instruction is the combined instruction, the method further includes: If the second angle collected within the second preset time period is less than the second target angle, the brushless DC motor is controlled to reverse so that the synchronizer moves in the separation direction.

7. The automatic clutch control method according to claim 6, characterized in that, After determining that the synchronizer has completed the action corresponding to the action command, the method further includes: Determine whether the synchronizer has slipped out based on the second angle and the second target angle; If so, control the brushless DC motor to rotate at a preset speed, so that the synchronizer moves in the direction corresponding to the action command.

8. An automatic clutch control device, characterized in that, include: The first processing module is used to respond to the action command to control the speed adjustment of the TM motor when the initial state of the automatic clutch meets the action execution conditions, so as to start the brushless DC motor when the speed of the TM motor is the target speed, and control the synchronizer of the automatic clutch to enter the synchronization state. The second processing module is used to acquire the first angle of the brushless DC motor through a Hall sensor in the synchronization state, and control the synchronizer to enter the operation process state from the synchronization state according to the first angle and the first target angle. The third processing module is used to acquire the second angle of the brushless DC motor through the Hall sensor during the operation process, and control the synchronizer to complete the action corresponding to the action command based on the second angle and the second target angle. Wherein, if the action command is a separation command; the second processing module is used to: control the synchronizer to enter the action process state from the synchronization state when the first angle is less than the first target angle; the third processing module is used to: determine that the synchronizer has completed the separation action when the second angle is less than the second target angle; If the action command is a combination command; the second processing module is used to: control the synchronizer to enter the action process state from the synchronization state when the first angle is greater than the first target angle; the third processing module is used to: determine that the synchronizer has completed the combination action when the second angle is greater than the second target angle.

9. An electronic device, characterized in that, include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to implement the automatic clutch control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the automatic clutch control method as described in any one of claims 1 to 7.

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