Shift control method, device, equipment and storage medium

Abstract

The application discloses a gear shifting control method, device, equipment and storage medium. The application controls the driving motor and the gear shifting motor when receiving the vehicle gear shifting instruction, obtains the current motor information, and then performs gear shifting state switching according to the current motor information. When the vehicle gear shifting is completed after switching to the connection state and the actual position of the vehicle fork is in the target gear position, the application controls the driving motor and the gear shifting motor when receiving the vehicle gear shifting instruction, can coordinate the control of the driving motor and the gear shifting motor, and performs gear shifting state switching according to the current motor information. When the vehicle gear shifting is completed after switching to the connection state and the actual position of the vehicle fork is in the target gear position, the application controls the driving motor and the gear shifting motor when receiving the vehicle gear shifting instruction, can coordinate the control of the driving motor and the gear shifting motor, and performs gear shifting state switching according to the current motor information. When the vehicle gear shifting is completed after switching to the connection state and the actual position of the vehicle fork is in the target gear position, the application controls the driving motor and the gear shifting motor when receiving the vehicle gear shifting instruction, can coordinate the control of the driving motor and the gear shifting motor, and performs gear shifting state switching according to the current motor information. When the vehicle gear shifting is completed after switching to the connection state and the actual position of the vehicle fork is in the target gear position, the application controls the driving motor and the gear shifting motor when receiving the vehicle gear shifting instruction, can coordinate the control of the driving motor and the gear shifting motor, and performs gear shifting state switching according to the current motor information.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of gearbox control, and in particular to a gear shifting control method, device, equipment and storage medium. BACKGROUND

[0002] The planetary row type hybrid gearbox realizes smooth switching of gears through coordinated control of the driving motor and the gear shifting motor. If the gears cannot be quickly and smoothly switched, the power performance and fuel economy of the vehicle will be affected. Therefore, how to coordinate the control of the driving motor and the gear shifting motor during gear shifting to shorten the entire gear shifting time has become a problem to be solved.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The main purpose of the present application is to provide a gear shifting control method, device, equipment and storage medium, which aims to solve the technical problem of how to coordinate the control of the driving motor and the gear shifting motor during gear shifting to shorten the entire gear shifting time.

[0005] To achieve the above purpose, the present application provides a gear shifting control method, which comprises the following steps:

[0006] When receiving a vehicle gear shifting instruction, the driving motor and the gear shifting motor are controlled to obtain current motor information;

[0007] Gear shifting state switching is performed according to the current motor information;

[0008] After switching to the connection state and when the vehicle fork actual position is in the target gear position, the vehicle gear shifting is completed.

[0009] Optionally, before the step of performing gear shifting state switching according to the current motor information, the present application further comprises:

[0010] When the vehicle receives a gear retreating instruction, the initial state is switched from the default state;

[0011] When the vehicle fork position is in the preset fork mid-position, the initial state is switched to the default state;

[0012] The step of performing gear shifting state switching according to the current motor information specifically comprises:

[0013] According to the synchronizer two-end speed difference in the current motor information, the first transfer state is switched from the default state;

[0014] After switching to the first transfer state, the second transfer state is switched from the first transfer state;

[0015] switching from the second transfer state to a third transfer state after switching to the second transfer state;

[0016] switching from the third transfer state to a pushing state after switching to the third transfer state;

[0017] switching from the pushing state to a return engagement state after switching to the pushing state;

[0018] switching from the return engagement state to the engagement state after switching to the return engagement state.

[0019] Optionally, the step of switching from the first transfer state to the second transfer state after switching to the first transfer state specifically comprises:

[0020] performing speed and torque control on the driving motor to obtain a first driving motor actual torque and a first synchronizer two-end rotational speed difference after switching to the first transfer state;

[0021] performing position control on the shifting motor to obtain a first shift fork actual position;

[0022] switching from the first transfer state to the second transfer state when the first shift fork actual position is at a preset synchronization point position, the first synchronizer two-end rotational speed difference is less than a first preset rotational speed difference, and the first driving motor actual torque is less than a first preset torque.

[0023] Optionally, the step of switching from the second transfer state to the third transfer state after switching to the second transfer state specifically comprises:

[0024] performing torque control on the shifting motor to obtain a second shift fork actual position after switching to the second transfer state;

[0025] performing torque control on the driving motor to obtain a second driving motor actual torque and a second synchronizer two-end rotational speed difference;

[0026] switching from the second transfer state to the third transfer state when the second shift fork actual position is at a target position of the second transfer state, the second synchronizer two-end rotational speed difference is less than a second preset rotational speed difference, and the second driving motor actual torque is less than a second preset torque.

[0027] Optionally, the step of switching from the third transfer state to the pushing state after switching to the third transfer state specifically comprises:

[0028] performing position control on the shifting motor to obtain a third shift fork actual position after switching to the third transfer state;

[0029] performing torque control on the driving motor to obtain a third driving motor actual torque and a third synchronizer two-end rotational speed difference;

[0030] when the third shift fork actual position is at a target position of the third transfer state, the rotational speed difference between the two ends of the third synchronizer is less than a third preset rotational speed difference, and the third drive motor actual torque is less than a third preset torque, entering a propulsion state from the third transfer state.

[0031] Optionally, after the step of switching from the default state to the first transfer state according to the rotational speed difference between the two ends of the synchronizer in the current motor information, the method further comprises:

[0032] after switching to the first transfer state, entering a failure state when the duration in the first transfer state exceeds a first preset duration, or the first shift fork actual position is not at a preset synchronization point position, or the rotational speed difference between the two ends of the first synchronizer is greater than a fourth preset rotational speed difference;

[0033] after the step of switching from the first transfer state to the second transfer state, the method further comprises:

[0034] after switching to the second transfer state, entering a failure state when the duration in the second transfer state exceeds a second preset duration, or the rotational speed difference between the two ends of the second synchronizer is greater than a fifth preset rotational speed difference, or the second drive motor actual torque is greater than a fourth preset torque;

[0035] after the step of switching from the second transfer state to the third transfer state, the method further comprises:

[0036] after switching to the third transfer state, entering a failure state when the duration in the third transfer state exceeds a third preset duration, or the rotational speed difference between the two ends of the third synchronizer is greater than a sixth preset rotational speed difference, or the third drive motor actual torque is greater than a fifth preset torque.

[0037] Optionally, after the step of entering a failure state when the duration in the third transfer state exceeds a third preset duration, or the rotational speed difference between the two ends of the third synchronizer is greater than a sixth preset rotational speed difference, or the third drive motor actual torque is greater than a fifth preset torque, the method further comprises:

[0038] after switching to the failure state, obtaining a target shift fork position;

[0039] when the target shift fork position is at a preset shift fork mid-position, returning to the step of, upon receiving a vehicle gear shifting instruction, controlling the drive motor and the gear shifting motor to obtain current motor information.

[0040] In addition, to achieve the above-mentioned purpose, the application further provides a gear shifting control device, which comprises:

[0041] The information acquisition module is used to control the drive motor and shift motor to obtain the current motor information when a vehicle shift command is received;

[0042] The state switching module is used to switch the gear shifting state according to the current motor information;

[0043] The shift control module is used to complete the vehicle shift when the shift fork is in the target gear position after switching to the engagement state.

[0044] Furthermore, to achieve the above objectives, the present invention also proposes a shift control device, the shift control device comprising: a memory, a processor, and a shift control program stored in the memory and executable on the processor, the shift control program being configured to implement the steps of the shift control method as described above.

[0045] In addition, to achieve the above objectives, the present invention also proposes a storage medium storing a shift control program, which, when executed by a processor, implements the steps of the shift control method as described above.

[0046] This invention controls the drive motor and shift motor upon receiving a vehicle shift command to obtain current motor information. Then, based on this information, it switches the shift state. The shift is complete when the vehicle shift fork is in the target gear position after switching to the engaged state. By controlling the drive motor and shift motor in a coordinated manner upon receiving the shift command, and switching the shift state based on the current motor information, the shift is completed when the vehicle shift fork is in the target gear position. Simultaneously controlling the drive motor to adjust speed and reduce torque, the invention also controls the shift motor to move the shift fork towards the synchronization point until the shift fork is in the target gear position. This shortens the overall shift time, resulting in better vehicle power and fuel economy. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the structure of the gear shift control device in the hardware operating environment involved in the embodiments of the present invention;

[0048] Figure 2 This is a flowchart illustrating the first embodiment of the shift control method of the present invention;

[0049] Figure 3 This is a schematic diagram of a drive motor and a shift motor according to an embodiment of the shift control method of the present invention;

[0050] Figure 4 This is a flowchart illustrating the second embodiment of the shift control method of the present invention;

[0051] Figure 5 Flow chart of shift state switching of an embodiment of the shift control method of the present application;

[0052] Figure 6 Schematic diagram of the position of the shift fork of an embodiment of the shift control method of the present application;

[0053] Figure 7 Structure block diagram of a first embodiment of the shift control device of the present application.

[0054] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are merely illustrative of the present application and do not limit the present application.

[0056] Reference Figure 1 , Figure 1 Structure schematic diagram of the shift control device related to the hardware running environment of the embodiment of the present application.

[0057] As Figure 1 shown, the shift control device can include a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 can include a display, an input unit such as a keyboard, and can also include a standard wired interface, a wireless interface. The network interface 1004 can optionally include a standard wired interface, a wireless interface (such as a wireless fidelity (Wi-Fi) interface). The memory 1005 can be a high-speed random access memory (RAM), and can also be a stable non-volatile memory (NVM), such as a disk memory. The memory 1005 can also be a storage device independent of the aforementioned processor 1001.

[0058] Those skilled in the art can understand that Figure 1 the structure shown in the foregoing embodiments does not constitute a limitation on the shift control device, and can include more or fewer components than those shown, or combine certain components, or different component arrangements.

[0059] As Figure 1As shown, the memory 1005 as a storage medium can include an operating system, a network communication module, a user interface module, and a gear shifting control program.

[0060] In Figure 1 In the gear shifting control device shown, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the gear shifting control device of the application can be arranged in the gear shifting control device, and the gear shifting control device calls the gear shifting control program stored in the memory 1005 through the processor 1001, and executes the gear shifting control method provided by the embodiments of the application.

[0061] Based on the above gear shifting control device, the embodiment of the application provides a gear shifting control method, which is described below with reference to Figure 2 , Figure 2 The flowchart of the first embodiment of the gear shifting control method of the application is shown in the figure.

[0062] In this embodiment, the gear shifting control method comprises the following steps:

[0063] Step S10: When receiving a vehicle gear shifting instruction, control the driving motor and the gear shifting motor to obtain current motor information.

[0064] It should be noted that the execution subject of the embodiment can be a computing service device with data processing, network communication and program running functions, such as a processor, a microcontroller, etc., or an electronic device or a gear shifting control device capable of realizing the above functions. The embodiments described below will be described with reference to the gear shifting control device.

[0065] It can be understood that the vehicle gear shifting instruction can be issued by a driver, which means an instruction that can shift gears of the vehicle. The driving motor refers to a motor that can adjust the speed and torque of the motor, and the gear shifting motor refers to a device that can adjust the position of the vehicle shift fork.

[0066] It should be understood that the current motor information can include information for controlling the driving motor and information for controlling the gear shifting motor, which can specifically include the speed difference between the two ends of the synchronizer, the position of the shift fork, etc., and can also include other information, which is not limited in this embodiment.

[0067] In the specific implementation, the gear shifting control method provided by the embodiment of the application is described with reference to Figure 3 , Figure 3 The schematic diagram of the driving motor and the gear shifting motor of the gear shifting control method of the application is shown in the figure. As shown in the figure, Figure 3 The synchronizer is located inside the gearbox, and the gear shifting motor can switch between high and low gears.

[0068] Step S20: switching the gear shifting state according to the current motor information;

[0069] It can be understood that the control mode of the driving motor and the driving mode of the gear shifting motor corresponding to each gear shifting state are different, and the gear shifting state can be switched according to the synchronizer speed difference, the shift fork position and other information in the current motor information.

[0070] Step S30: when the vehicle is switched to the connection state and the actual position of the vehicle shift fork is in the target gear position, the vehicle gear shifting is completed.

[0071] It can be understood that the connection state is one of the gear shifting states, and the control mode of the gear shifting motor corresponding to the connection state is: the control mode is standby; the required torque is to follow the actual torque of the gear shifting motor; the required position is the actual position of the shift fork. The control mode of the driving motor is: the control mode is no request; the required torque is to follow the actual torque of the driving motor; the required speed follows the actual speed of the driving motor.

[0072] In a specific implementation, the target gear position refers to the gear position that the user wants to shift, the actual position of the vehicle shift fork refers to the position corresponding to the shift fork at the time when the vehicle is switched to the connection state, and the target gear position refers to the position of the shift fork when the target gear is shifted. When the vehicle is switched to the connection state and the actual position of the vehicle shift fork is in the target gear position, it indicates that the vehicle gear shifting is completed at this time.

[0073] The embodiment controls the driving motor and the gear shifting motor when receiving the vehicle gear shifting instruction, obtains the current motor information, and then switches the gear shifting state according to the current motor information. When the vehicle is switched to the connection state and the actual position of the vehicle shift fork is in the target gear position, the vehicle gear shifting is completed. The embodiment can coordinate the control of the driving motor and the gear shifting motor by controlling the driving motor and the gear shifting motor when receiving the vehicle gear shifting instruction, and can switch the gear shifting state according to the current motor information. When the vehicle is switched to the connection state and the actual position of the vehicle shift fork is in the target gear position, the vehicle gear shifting is completed. The driving motor is controlled to reduce the torque while the gear shifting motor is controlled to move the shift fork to the synchronization point position until the actual position of the vehicle shift fork is in the target gear position, so that the entire gear shifting time is shortened, and the vehicle has better power and economy.

[0074] Reference Figure 4 , Figure 4 The flowchart of the second embodiment of the gear shifting control method of the application is shown.

[0075] Based on the first embodiment, in the embodiment, the step S20 includes:

[0076] Step S201: switching the synchronizer speed difference in the current motor information from the default state to the first transfer state;

[0077] It should be understood that after the vehicle is started, it automatically enters the default state. In this state, the shift motor is controlled as follows: The control mode is Standby; the required torque follows the actual torque of the shift motor; the required position is the actual position of the shift fork. Standby means waiting mode. In this state, the required torque of the shift motor is the same as its actual torque. The required torque refers to the torque the shift motor needs to achieve, and the required position refers to the position the shift fork needs to reach. The drive motor is controlled as follows: The control mode is torque control; the required torque is 0 N·m; the required speed follows the actual speed of the drive motor. Torque control means that the required torque is controlled, but the required speed is not. The required torque is 0 N·m, and the required speed is the speed the drive motor needs to achieve, which is the same as its actual speed.

[0078] Understandably, referring to Figure 5 , Figure 5 This is a flowchart illustrating the shift state switching of an embodiment of the shift control method of the present invention. Figure 5 As shown, before step S20, the system further includes: switching from the default state to the initial state when the vehicle receives a downshift command; switching from the initial state to the default state when the vehicle shift fork is in the preset shift fork center position; when the vehicle receives a downshift command, the system enters the Dsync state from the Default state, which is the initial state. The downshift command refers to a command to shift from a high gear to a low gear, or a command to shift from a low gear to neutral. The control method of the shift motor at this time is as follows: 1. When the actual torque of the drive motor is greater than 2 N·m: the control mode is Standby, the required torque follows the actual torque of the shift motor, and the required position is the actual position of the shift fork. 2. When the actual torque of the drive motor is less than 2 N·m: the control mode is position control, that is, only the required position is controlled, and the required torque is not controlled; the required torque follows the actual torque of the shift motor, and the required position is the shift fork center position. The drive motor is controlled in torque mode, meaning it controls the required torque but not the required speed. The required torque ranges from the current value Ramp to 0 N·m; the required speed follows the actual speed of the drive motor. When the vehicle shift fork is in the preset shift fork center position, the vehicle returns from Dsync state to Default state.

[0079] Specifically, refer to Figure 6 , Figure 6 This is a schematic diagram of the shift fork position according to an embodiment of the shift control method of the present invention. Figure 6 As shown, the preset shift fork center position is the shift fork in neutral position. When the vehicle shift fork is in the preset shift fork center position, the vehicle returns from Dsync state to Default state.

[0080] In a specific implementation, when the shift instruction is received and the speed difference between the two ends of the synchronizer is less than a preset threshold, the default state can be switched to the first transition state, i.e., the Default state enters the Move2Sync state. The preset threshold can be set according to actual conditions, and in this embodiment, can be set to 6000 rpm / min, and can also be set to other values, which are not specifically limited in this embodiment.

[0081] Specifically, when the vehicle is in the Move2Sync state, the control mode of the shift motor is: the control mode is position control; the required torque is to follow the actual torque of the shift motor; the required position is the synchronizer point position of the shift fork, and the synchronizer point positions of different gears are different, Figure 6 The 1st gear synchronizer position is 1.7 mm away from the middle position of the shift fork, and the 2nd gear synchronizer position is 1.7 mm away from the middle position of the shift fork, but the 1st gear synchronizer position and the 2nd gear synchronizer position are in opposite directions. The control mode of the drive motor is to complete the process of speed regulation and torque clearing, and the control mode is as follows: 1. When the speed difference between the two ends of the synchronizer is greater than a preset value, which can be set to 30 rpm / min, the drive motor needs to regulate the speed: the control mode of the drive motor is speed control, the target speed of the drive motor is the speed ratio of the output shaft speed multiplied by the target gear, and the actual speed Ramp of the current drive motor is from the current drive motor to the target value; the target torque of the drive motor follows the actual torque of the motor. 2. When the speed difference between the two ends of the synchronizer is less than the above-mentioned preset value, i.e., less than 30 rpm / min, it is considered that the speed regulation is successful, and the drive motor is cleared at this time, the control mode of the drive motor is torque control, the target torque of the drive motor is from the current actual torque Ramp to 0, and the target speed of the drive motor follows the actual speed of the drive motor. 3. When the absolute value of the actual torque of the drive motor is less than a preset value, which can be set to 2 N.m, and the absolute value of the speed difference between the two ends of the synchronizer is less than the above-mentioned preset value, i.e., less than 30 rpm / min, the speed regulation and torque clearing of the drive motor are completed.

[0082] Step S202: After switching to the first transition state, switching from the first transition state to the second transition state;

[0083] Further, in order to switch from the first transition state to the second transition state, in this embodiment, the step S202 includes: after switching to the first transition state, performing speed regulation and torque clearing control on the drive motor to obtain a first drive motor actual torque and a first synchronizer speed difference between the two ends; performing position control on the shift motor to obtain a first shift fork actual position; when the first shift fork actual position is at a preset synchronizer position, the first synchronizer speed difference between the two ends is less than a first preset speed difference, and the first drive motor actual torque is less than a first preset torque, the first transition state enters the second transition state.

[0084] It can be understood that, after switching to the first transition state, i.e., switching to the Move2Sync state, the driving motor is subjected to the speed and torque control, and the speed and torque control process is as described above, so as to obtain the first driving motor actual torque and the first synchronizer two-end rotational speed difference. The shift motor is subjected to the position control, i.e., the above-mentioned position control, so as to obtain the first fork actual position.

[0085] In a specific implementation, when the first fork actual position is at a preset synchronization point position, the first synchronizer two-end rotational speed difference is less than a first preset rotational speed difference, and the first driving motor actual torque is less than a first preset torque, the first transition state enters the second transition state, i.e., the Move2Sync state enters the SyncAndMove2Engage state. The preset synchronization point position is a synchronization point position of a target gear position. The first preset rotational speed can be set to 30 rpm / min. The first preset torque can be set to 2 N.m, and can also be set to other values, which are not limited in the embodiment.

[0086] Further, in the embodiment, after the step S201, the method further includes: when a duration in the first transition state exceeds a first preset duration or the first fork actual position is not at a preset synchronization point position or the first synchronizer two-end rotational speed difference is greater than a fourth preset rotational speed difference, entering a fault state.

[0087] It can be understood that, after switching to the first transition state, i.e., switching to Move2Sync, if a duration in the Move2Sync state exceeds a first preset duration or the first fork actual position is not at a preset synchronization point position or the first synchronizer two-end rotational speed difference is greater than a fourth preset rotational speed difference, a fault state is entered, i.e., an ABORT state is entered. The fourth preset rotational speed difference can be set to 6500 rpm / min. The specific values of the first preset duration and the fourth preset rotational speed difference can be set according to actual conditions, which are not limited in the embodiment.

[0088] Step S203: switching from the second transition state to a third transition state after switching to the second transition state.

[0089] Further, in order to switch from the second transition state to the third transition state, in the embodiment, the step S203 includes: after switching to the second transition state, performing torque control on the shift motor to obtain a second fork actual position; performing torque control on the driving motor to obtain a second driving motor actual torque and a second synchronizer two-end rotational speed difference; when the second fork actual position is at a target position of the second transition state and the second synchronizer two-end rotational speed difference is less than a second preset rotational speed difference and the second driving motor actual torque is less than a second preset torque, switching from the second transition state to the third transition state.

[0090] It should be understood that, when the vehicle is in the second shift state, that is, the SyncAndMove2Engage state, the control mode of the shift motor is torque control, the demand torque is the feedforward term torque+P term torque+I term torque (wherein the feedforward term torque is the resistance torque in the synchronization process; the P term torque is the P term adjustment value multiplied by the difference between the actual position and the target position of the shift fork, and the P term adjustment value is obtained by looking up table according to the difference between the actual position and the target position of the shift fork; the I term torque is the I term adjustment value multiplied by the difference between the actual position and the target position of the shift fork, and the multiplication value is integrated. The I term adjustment value is obtained by looking up table according to the difference between the actual position and the target position of the shift fork); and the demand position is the actual position of the shift fork. The control mode of the drive motor is torque control, the demand torque is 0 N.m, and the demand speed follows the actual speed of the drive motor.

[0091] It should be understood that, after switching to the second shift state, that is, the SyncAndMove2Engage state, the drive motor is torque controlled, that is, the above-mentioned torque control, so as to obtain the second drive motor actual torque and the second speed difference between the two ends of the synchronizer. The shift motor is torque controlled, that is, the above-mentioned torque control, so as to obtain the second actual position of the shift fork.

[0092] In a specific implementation, when the second actual position of the shift fork is at the target position of the second shift state, the second speed difference between the two ends of the synchronizer is less than the second preset speed difference, and the second drive motor actual torque is less than the second preset torque, the second shift state is entered into the third shift state, that is, the SyncAndMove2Engage state is entered into the Move2End state. The second preset speed can be set to 30 rpm / min, the second preset torque can be set to 2 N.m, and other values can also be set, which are not limited in the embodiment.

[0093] Further, in the embodiment, after the step S202, the method further includes: when the time length in the second shift state exceeds the second preset time length, or the second speed difference between the two ends of the synchronizer is greater than the fifth preset speed difference, or the second drive motor actual torque is greater than the fourth preset torque, entering a fault state.

[0094] It can be understood that, after switching to the second transfer state, that is, switching to the SyncAndMove2Engage state, if the time length in the SyncAndMove2Engage state exceeds the second preset time length or the rotational speed difference between the two ends of the second synchronizer is greater than the fifth preset rotational speed difference or the actual torque of the second drive motor is greater than the fourth preset torque, a fault state is entered, that is, the ABORT state is entered. The fifth preset rotational speed difference can be set to 50 rpm / min, and the fourth preset torque can be set to 4 N.m. The specific values of the second preset time length, the fifth preset rotational speed difference, and the fourth preset torque can be set according to actual conditions, and the present embodiment does not make specific limitations thereto.

[0095] Step S204: After switching to the third transfer state, switching from the third transfer state to the advancing state;

[0096] Further, in order to realize switching from the third transfer state to the advancing state, in the present embodiment, the step S204 includes: after switching to the third transfer state, performing position control on the shift motor to obtain a third shift fork actual position; performing torque control on the drive motor to obtain a third drive motor actual torque and a third synchronizer rotational speed difference between the two ends; when the third shift fork actual position is at a target position of the third transfer state, the third synchronizer rotational speed difference is less than a third preset rotational speed difference, and the third drive motor actual torque is less than a third preset torque, switching from the third transfer state to the advancing state.

[0097] It should be understood that, when the vehicle is in the third transfer state, that is, the Move2End state, the control mode of the shift motor is: the control mode is position control; the required torque is to follow the actual torque of the shift motor; and the required position is the target position corresponding to the Move2End state. The control mode of the drive motor is: the control mode is torque control; the required torque is 0 N.m; and the required rotational speed follows the actual rotational speed of the drive motor.

[0098] It can be understood that, after switching to the third transfer state, that is, switching to the Move2End state, torque control is performed on the drive motor, that is, the above-mentioned torque control, so as to obtain the third drive motor actual torque and the third synchronizer rotational speed difference between the two ends. Position control is performed on the shift motor, that is, the above-mentioned position control, so as to obtain the third shift fork actual position.

[0099] In a specific implementation, when the third shift fork actual position is at the target position of the third shift state, the speed difference between the two ends of the third synchronizer is less than the third preset speed difference, and the third drive motor actual torque is less than the third preset torque, the third shift state enters the push state, i.e., the Move2End state enters the PushIn state. The third preset speed can be set to 30 rpm / min, the third preset torque can be set to 2 N.m, and other values can also be set, which are not specifically limited in the embodiment.

[0100] Further, in the embodiment, after the step S203, the method further includes: when the time length in the third shift state exceeds the third preset time length or the speed difference between the two ends of the third synchronizer is greater than the sixth preset speed difference or the third drive motor actual torque is greater than the fifth preset torque, entering the fault state after switching to the third shift state.

[0101] It can be understood that, after switching to the third shift state, i.e., switching to the Move2End state, if the time length in the Move2End state exceeds the third preset time length or the speed difference between the two ends of the third synchronizer is greater than the sixth preset speed difference or the third drive motor actual torque is greater than the fifth preset torque, entering the fault state, i.e., entering the ABORT state. The sixth preset speed difference can be set to 50 rpm / min, the fifth preset torque can be set to 4 N.m, and the specific values of the third preset time length, the sixth preset speed difference, and the fifth preset torque can be set according to actual conditions, which are not specifically limited in the embodiment.

[0102] Further, in the embodiment, after the step of entering the fault state when the time length in the third shift state exceeds the third preset time length or the speed difference between the two ends of the third synchronizer is greater than the sixth preset speed difference or the third drive motor actual torque is greater than the fifth preset torque, the method further includes: after switching to the fault state, obtaining a target shift fork position; and when the target shift fork position is at a preset shift fork neutral position, returning to the step of controlling the drive motor and the shift motor to obtain the current motor information when the vehicle shift instruction is received.

[0103] It can be understood that the vehicle can enter the ABORT state from the Move2Sync state, the SyncAndMove2Engage state, or the Move2End state. When the vehicle is in the ABORT state, the control mode of the shift motor is: the control mode is position control; the demand torque is to follow the shift motor actual torque; and the demand position is the shift fork neutral position. The control mode of the drive motor is: the control mode is torque control; the demand torque is 0 N.m; and the demand speed follows the drive motor actual speed.

[0104] In practical implementation, during the position control of the shift motor and the torque control of the drive motor in the ABORT state, if the target shift fork is in the preset shift fork mid-position at a certain moment, i.e. Figure 6 In the middle position, the vehicle returns from the ABORT state to the Default state. Then, when a vehicle shift command is received and the speed difference between the two ends of the synchronizer is less than a preset threshold, the vehicle switches from the default state to the first transfer state and continues to perform subsequent operations.

[0105] Step S205: After switching to the propulsion state, switch from the propulsion state to the return connection state;

[0106] Understandably, when the vehicle is in the push-in state, the shift motor is controlled as follows: Control mode is torque control; the required torque is -240 N·m when in 1st gear and 240 N·m when in 2nd gear; the required position is the actual position of the shift fork. The drive motor is controlled as follows: Control mode is no request; required torque follows the actual torque of the drive motor; required speed follows the actual speed of the drive motor.

[0107] It should be understood that after switching to the push state, i.e., after switching to the PushIn state, if the duration of the PushIn state exceeds the fourth preset duration, the system switches from the push state to the return connection state, i.e., from the PushIn state to the Moveback2Engage state. The fourth preset duration can be set to 20ms, or it can be set to other values; this embodiment does not impose specific limitations on this.

[0108] Step S206: After switching to the return connection state, switch from the return connection state to the connection state.

[0109] Understandably, when the vehicle is in the return engagement state, i.e., in the Moveback2Engage state, the shift motor is controlled as follows: control mode is position control; the required torque follows the actual torque of the shift motor; the required position is the target gear in gear. The drive motor is controlled as follows: control mode is no request; the required torque follows the actual torque of the drive motor; the required speed follows the actual speed of the drive motor.

[0110] It should be understood that after switching to the return connection state, i.e., after switching to the Moveback2Engage state, if the duration of the Moveback2Engage state exceeds the fifth preset duration, the system switches from the return connection state to the connection state, i.e., from the Moveback2Engage state to the Engage state. The fifth preset duration can be set to 20ms, or it can be set to other values; this embodiment does not impose specific limitations on this.

[0111] In a specific implementation, when the vehicle is in the engaging state, the control mode of the shift motor is: the control mode is Standby; the demand torque is to follow the actual torque of the shift motor; the demand position is the actual position of the shift fork. The control mode of the drive motor is: the control mode is no request; the demand torque is to follow the actual torque of the drive motor; the demand speed follows the actual speed of the drive motor.

[0112] Further, after the vehicle switches to the Engage state, the actual position of the vehicle shift fork in the Engage state is obtained, and when the actual position of the vehicle shift fork is in the target gear position, the vehicle returns to the Default state from the Engage state, at which time the vehicle shift is completed. The target gear position can refer to the 1st gear in position or the 2nd gear in position in Figure 6 , the shift fork position between the 1st gear intermediate state and the 1st gear in position is less than 7.9mm, the shift fork position between the 1st gear in position and the 1st gear intermediate state is greater than or equal to 6mm, the shift fork position between the 2nd gear intermediate state and the 2nd gear in position is greater than or equal to 7.9mm, and the shift fork position between the 2nd gear in position and the 2nd gear intermediate state is less than 6mm.

[0113] The embodiment switches from the default state to the first transition state according to the speed difference between the two ends of the synchronizer in the current motor information, switches from the first transition state to the second transition state after switching to the first transition state, switches from the second transition state to the third transition state after switching to the second transition state, switches from the third transition state to the advancing state after switching to the third transition state, switches from the advancing state to the return engaging state after switching to the advancing state, and switches from the return engaging state to the engaging state after switching to the return engaging state. The embodiment controls the shift motor and the drive motor in each state, controls the drive motor to reduce the torque while controlling the shift motor to move the shift fork to the synchronization point position, until the actual position of the vehicle shift fork is in the target gear position, thereby shortening the entire shift time and improving the power and economy of the vehicle.

[0114] Referring to Figure 7 , Figure 7 is a structural block diagram of the first embodiment of the shift control device of the present application.

[0115] As shown in Figure 7 , the shift control device provided by the embodiment of the present application comprises:

[0116] An information acquisition module 10 is configured to control the drive motor and the shift motor and obtain current motor information when receiving a vehicle shift instruction;

[0117] A state switching module 20 is configured to switch the shift state according to the current motor information.

[0118] The shift control module 30 is configured to complete the vehicle gear shifting when the shift is switched to the engagement state and the actual position of the shift fork is at the target gear position.

[0119] The embodiment can control the driving motor and the shift motor when receiving the vehicle gear shifting instruction, obtain the current motor information, and then switch the gear shifting state according to the current motor information. The vehicle gear shifting is completed when the shift is switched to the engagement state and the actual position of the shift fork is at the target gear position. The embodiment can coordinate the control of the driving motor and the shift motor, switch the gear shifting state according to the current motor information, and complete the vehicle gear shifting when the shift is switched to the engagement state and the actual position of the shift fork is at the target gear position. The driving motor is controlled to reduce the speed and the torque, and the shift motor is controlled to move the shift fork to the synchronization point position until the actual position of the shift fork is at the target gear position, so that the gear shifting time is shortened, and the vehicle has better power and economy.

[0120] It should be noted that the above-described workflow is merely illustrative and does not limit the protection scope of the present application. In actual application, a person skilled in the art can select part or all of the above-described workflow to achieve the purpose of the embodiment, and the selection is not limited herein.

[0121] In addition, technical details not described in detail in the embodiment can be referred to the gear shifting control method provided by any embodiment of the present application, and will not be described herein.

[0122] Based on the first embodiment of the gear shifting control device described above, a second embodiment of the gear shifting control device is provided.

[0123] In the embodiment, the state switching module 20 is further configured to switch the synchronizer speed difference between the two ends in the current motor information from a default state to a first transfer state, switch from the first transfer state to a second transfer state after switching to the first transfer state, switch from the second transfer state to a third transfer state after switching to the second transfer state, switch from the third transfer state to a pushing state after switching to the third transfer state, switch from the pushing state to a return engagement state after switching to the pushing state, and switch from the return engagement state to the engagement state after switching to the return engagement state.

[0124] Further, the state switching module 20 is further configured to, after switching to the first transfer state, perform speed and torque control on the drive motor to obtain a first drive motor actual torque and a first synchronizer speed difference; perform position control on the gear motor to obtain a first fork actual position; and when the first fork actual position is at a preset synchronization point position, the first synchronizer speed difference is less than a first preset speed difference, and the first drive motor actual torque is less than a first preset torque, switch from the first transfer state to a second transfer state.

[0125] Further, the state switching module 20 is further configured to, after switching to the second transfer state, perform torque control on the gear motor to obtain a second fork actual position; perform torque control on the drive motor to obtain a second drive motor actual torque and a second synchronizer speed difference; and when the second fork actual position is at a target position of the second transfer state, the second synchronizer speed difference is less than a second preset speed difference, and the second drive motor actual torque is less than a second preset torque, switch from the second transfer state to a third transfer state.

[0126] Further, the state switching module 20 is further configured to, after switching to the third transfer state, perform position control on the gear motor to obtain a third fork actual position; perform torque control on the drive motor to obtain a third drive motor actual torque and a third synchronizer speed difference; and when the third fork actual position is at a target position of the third transfer state, the third synchronizer speed difference is less than a third preset speed difference, and the third drive motor actual torque is less than a third preset torque, switch from the third transfer state to a propulsion state.

[0127] Further, the state switching module 20 is further configured to, after switching to the first transfer state, enter a fault state when a duration in the first transfer state exceeds a first preset duration, the first fork actual position is not at a preset synchronization point position, or the first synchronizer speed difference is greater than a fourth preset speed difference; after switching to the second transfer state, enter the fault state when a duration in the second transfer state exceeds a second preset duration, the second synchronizer speed difference is greater than a fifth preset speed difference, or the second drive motor actual torque is greater than a fourth preset torque; and after switching to the third transfer state, enter the fault state when a duration in the third transfer state exceeds a third preset duration, the third synchronizer speed difference is greater than a sixth preset speed difference, or the third drive motor actual torque is greater than a fifth preset torque.

[0128] Further, the gear control module 30 is further configured to, after switching to the fault state, obtain a target fork position; and when the target fork position is at a preset fork neutral position, return to the step of, when the vehicle gear shifting instruction is received, controlling the drive motor and the gear motor to obtain the current motor information.

[0129] Other embodiments or specific implementations of the shift control device of the present application can refer to the above-mentioned method embodiments, which will not be described here again.

[0130] In addition, the embodiments of the present application also propose a storage medium, wherein the shift control program is stored on the storage medium, and the shift control program realizes the steps of the shift control method as described above when executed by a processor.

[0131] It should be noted that in this document, the terms "comprising", "containing" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or system including the element.

[0132] The above-mentioned embodiment numbers of the present application are only for description, not representing the advantages or disadvantages of the embodiments.

[0133] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, an optical disk) and includes a number of instructions to make a terminal device (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) execute the methods described in various embodiments of the present application.

[0134] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation, or direct or indirect application in other related technical fields, is also included in the patent protection scope of the present application.

Claims

1. A shift control method characterized by, The shift control method comprises the following steps: Upon receiving a vehicle shift instruction, the drive motor and the shift motor are controlled to obtain current motor information, which comprises drive motor information and shift motor information; The shift state is switched according to the current motor information; Upon switching to the engagement state and the vehicle fork actual position being at the target gear position, the vehicle shift is completed; The step of switching the shift state according to the current motor information specifically comprises: The speed difference between the two ends of the synchronizer in the current motor information is switched from a default state to a first transfer state; Upon switching to the first transfer state, the drive motor is controlled in speed and torque to switch from the first transfer state to a second transfer state; Upon switching to the second transfer state, the shift motor is controlled in torque to switch from the second transfer state to a third transfer state; Upon switching to the third transfer state, the shift motor is controlled in position to switch from the third transfer state to a pushing state; Upon switching to the pushing state, when the time length in the pushing state is greater than a fourth preset time length, the pushing state is switched to the return engagement state; Upon switching to the return engagement state, when the time length in the engagement state is greater than a fifth preset time length, the return engagement state is switched to the engagement state.

2. The shift control method according to claim 1, characterized by, The step of switching the shift state according to the current motor information further comprises: Upon receiving a vehicle reverse shift instruction, the default state is switched to an initial state; Upon the vehicle fork actual position being at a preset fork mid-position, the initial state is switched to the default state.

3. The shift control method according to claim 2, characterized by, The step of switching from the first transfer state to the second transfer state upon switching to the first transfer state specifically comprises: Upon switching to the first transfer state, the drive motor is controlled in speed and torque to obtain a first drive motor actual torque and a first speed difference between the two ends of the synchronizer; The shift motor is controlled in position to obtain a first fork actual position; When the first fork actual position is at a preset synchronization point position, the first speed difference between the two ends of the synchronizer is less than a first preset speed difference, and the first drive motor actual torque is less than a first preset torque, the first transfer state is switched to the second transfer state.

4. The shift control method according to claim 3, characterized by, The step of switching from the second transfer state to the third transfer state upon switching to the second transfer state specifically comprises: Upon switching to the second transfer state, the shift motor is controlled in torque to obtain a second fork actual position; The drive motor is controlled in torque to obtain a second drive motor actual torque and a second speed difference between the two ends of the synchronizer; When the second fork actual position is at a target position of the second transfer state, the second speed difference between the two ends of the synchronizer is less than a second preset speed difference, and the second drive motor actual torque is less than a second preset torque, the second transfer state is switched to the third transfer state.

5. The shift control method according to claim 4, characterized by, The step of switching from the third transfer state to the pushing state upon switching to the third transfer state specifically comprises: Upon switching to the third transfer state, the shift motor is controlled in position to obtain a third fork actual position; The drive motor is controlled in torque to obtain a third drive motor actual torque and a third speed difference between the two ends of the synchronizer; When the third shift fork actual position is at a target position of the third transfer state, the rotational speed difference between the two ends of the third synchronizer is less than a third preset rotational speed difference, and the third drive motor actual torque is less than a third preset torque, the third transfer state is entered from the third transfer state.

6. The shift control method according to claim 5, characterized by, After the step of switching from the default state to the first transfer state according to the rotational speed difference between the two ends of the synchronizer in the current motor information, the method further comprises: After switching to the first transfer state, when the duration in the first transfer state exceeds a first preset duration, or the first shift fork actual position is not at a preset synchronization point position, or the rotational speed difference between the two ends of the first synchronizer is greater than a fourth preset rotational speed difference, a fault state is entered; After the step of switching from the first transfer state to the second transfer state after switching to the first transfer state, the method further comprises: After switching to the second transfer state, when the duration in the second transfer state exceeds a second preset duration, or the rotational speed difference between the two ends of the second synchronizer is greater than a fifth preset rotational speed difference, or the second drive motor actual torque is greater than a fourth preset torque, a fault state is entered; After the step of switching from the second transfer state to the third transfer state after switching to the second transfer state, the method further comprises: After switching to the third transfer state, when the duration in the third transfer state exceeds a third preset duration, or the rotational speed difference between the two ends of the third synchronizer is greater than a sixth preset rotational speed difference, or the third drive motor actual torque is greater than a fifth preset torque, a fault state is entered.

7. The shift control method according to claim 6, characterized by, After the step of entering a fault state when the duration in the third transfer state exceeds a third preset duration, or the rotational speed difference between the two ends of the third synchronizer is greater than a sixth preset rotational speed difference, or the third drive motor actual torque is greater than a fifth preset torque, the method further comprises: After switching to the fault state, a target shift fork position is obtained; When the target shift fork position is at a preset shift fork midpoint position, the step of controlling the drive motor and the shift motor to obtain current motor information when a vehicle shift instruction is received is returned to.

8. A shift control device characterized by comprising: The shift control device comprises: an information acquisition module configured to control the drive motor and the shift motor to obtain current motor information when a vehicle shift instruction is received; a state switching module configured to switch the shift state according to the current motor information; a shift control module configured to complete vehicle shifting when the vehicle shift fork actual position is at a target gear position after switching to the engagement state. The state switching module is further configured to switch from a default state to a first transition state according to a speed difference between two ends of a synchronizer in the current motor information; perform speed and torque control on the driving motor after switching to the first transition state, and switch from the first transition state to a second transition state; perform torque control on the gear shifting motor after switching to the second transition state, and switch from the second transition state to a third transition state; perform position control on the gear shifting motor after switching to the third transition state, and switch from the third transition state to a propulsion state; switch from the propulsion state to a return connection state when a time length in the propulsion state is greater than a fourth preset time length; and switch from the return connection state to the connection state when a time length in the connection state is greater than a fifth preset time length.

9. A shift control apparatus characterized by comprising: The device comprises a memory, a processor, and a gear shifting control program stored on the memory and executable on the processor, and the gear shifting control program is configured to implement the steps of the gear shifting control method according to any one of claims 1 to 7.

10. A storage medium, characterized by The storage medium has a gear shifting control program stored thereon, and the gear shifting control program is executable on the processor to implement the steps of the gear shifting control method according to any one of claims 1 to 7.

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