A control method and system for improving the shifting reliability of a motor-speed-changing coupling device.

Abstract

This invention discloses a control method and system for improving the shifting reliability of a motor-transmission coupling device. The method includes: acquiring a shifting displacement signal; if the shifting displacement signal is equal to 0 and the PWM signal of the shifting motor is greater than the duty cycle threshold of the shifting motor, calculating the current output shaft speed and the output shaft speed change rate; otherwise, determining whether a shift completion flag is valid; if valid, ending the process; otherwise, restarting; determining the torque compensation direction of the drive motor based on the direction of the output shaft speed change, and calculating the compensation torque value; transmitting the compensation torque value to the drive motor, which provides compensation torque to counteract the inertial torque of the output shaft; and determining whether a shift completion flag is valid; if valid, ending the process; otherwise, recalculating the output shaft speed and the output shaft speed change rate. This invention solves the problem of shifting jamming or even failure during the disengagement or engagement phase of a motor-transmission coupling device in low-gear, high-ratio shifting processes by incrementally increasing the compensation torque.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle transmission technology, specifically to a control method and system for improving the shifting reliability of a motor-transmission coupling device. Background Technology

[0002] With the development of the electric vehicle industry, the motor-transmission coupled drive configuration is widely used in electric vehicles, especially electric commercial vehicles. However, the transmission requires a greater shifting force than other gear shifting processes during the disengagement / engagement phase of low-gear, high-ratio shifting. This is due to the large additional shifting force generated by the inertial torque around the output shaft axis caused by the large change in output shaft speed, which is applied to the synchronizing end. Therefore, without providing additional shifting force, the shifting actuator cannot smoothly complete the disengagement / engagement operation, resulting in problems such as jamming or even failure. Existing technologies often use increasing the shifting force output of the shifting motor to address this problem. However, this method can cause wear or even damage to the shifting actuator and reduce the lifespan of the shifting motor. Summary of the Invention

[0003] To address the aforementioned problems in the prior art, this invention provides a control method and system for improving the shifting reliability of a motor-speed coupling device.

[0004] This invention discloses a control method for improving the shifting reliability of a motor-speed coupling device, including determining whether the shifting process has started based on the shifting displacement signal collected by the shifting displacement sensor;

[0005] If the shift displacement signal is equal to 0, then determine whether the shift motor has output the shift force threshold based on the PWM signal of the shift motor.

[0006] If the PWM signal is greater than the duty cycle threshold of the shift motor, the extended Kalman filter algorithm is used to calculate the current output shaft speed of the motor-transmission device and the rate of change of the output shaft speed during the shift cycle.

[0007] If the shift displacement signal is not equal to 0 or the PWM signal is less than or equal to the duty cycle threshold of the shift motor, then determine whether the shift completion flag F=1 is true. If it is true, the process ends; otherwise, the process restarts.

[0008] The direction of torque compensation for the drive motor is determined based on the direction of the change in the output shaft speed, and the compensation torque value is calculated.

[0009] The compensation torque value is transmitted to the drive motor, which provides compensation torque to counteract the inertial torque of the output shaft;

[0010] Determine if the shift completion flag F=1 is true. If true, end the process; otherwise, set k. n+1 =k n +Δk, recalculate the output shaft speed and the rate of change of the output shaft speed;

[0011] Where n is the number of iterations; k is a positive integer and is initially equal to 1; Δk is a fixed value.

[0012] Preferably, the motor-speed changer includes a first drive motor, a second drive motor, an output shaft, a planetary gear mechanism, and a speed change mechanism;

[0013] The planetary gear mechanism includes a ring gear, planetary gears, a planet carrier, and a sun gear. The sun gear is connected to the drive shaft of the first drive motor. The planetary gears mesh with the sun gear and the ring gear respectively. The two ends of the planet carrier are connected to the planetary gears and the output shaft respectively. The other end of the output shaft is connected to the second drive motor.

[0014] The transmission mechanism is sleeved on the output shaft and includes a first gear engagement ring, a first gear synchronizer locking ring, an engagement sleeve, a second gear engagement ring, and a second gear synchronizer locking ring. The first gear synchronizer locking ring and the second gear synchronizer locking ring are respectively located on both sides of the engagement sleeve, and the engagement sleeve can be sleeved on the first gear synchronizer locking ring or the second gear synchronizer locking ring and can slide along the output shaft. The engagement sleeve can slide to engage with the first gear engagement ring or the second gear engagement ring so that the first gear engagement ring or the second gear engagement ring rotates synchronously with the output shaft.

[0015] Preferably, determining the torque compensation direction of the drive motor based on the direction of the output shaft speed change, and calculating the compensation torque value includes:

[0016] The moment of inertia equivalent to that on the planetary carrier is calculated using the following formula:

[0017]

[0018] In the formula: J is the moment of inertia equivalent to that on the planet carrier. S J is the moment of inertia at the input end of the planetary gear mechanism. R J is the moment of inertia of the gear ring. P Let n be the moment of inertia of the planetary gear. P k represents the number of planetary gears. q The ratio of the number of teeth between the gear ring and the planetary gears is:

[0019] The compensation torque value k is calculated based on the inertial torque formula. n T comp The formula for moment of inertia is:

[0020]

[0021] In the formula: Δw out The output shaft speed change rate is k1 = 1.

[0022] Preferably, the direction of the compensating torque is the same as the direction of the inertial torque.

[0023] This invention also discloses a control system for improving the shifting reliability of a motor-speed-changing coupling device, comprising:

[0024] The shift module is used to determine whether the shift process has started based on the shift displacement signal collected by the shift displacement sensor;

[0025] The output shift force module is used to determine whether the shift motor has output a shift force threshold based on the PWM signal of the shift motor if the shift displacement signal is equal to 0.

[0026] The first calculation module is used to calculate the current output shaft speed of the motor-transmission device and the rate of change of the output shaft speed during the shifting cycle by using an extended Kalman filter algorithm if the PWM signal is greater than the duty cycle threshold of the shifting motor.

[0027] The repeat module is used to determine whether the shift completion flag F=1 is true if the shift displacement signal is not equal to 0 or the PWM signal is less than or equal to the duty cycle threshold of the shift motor. If it is true, the process ends; otherwise, it restarts.

[0028] The second calculation module is used to determine the torque compensation direction of the drive motor based on the direction of the output shaft speed change, and to calculate the compensation torque value.

[0029] A compensation module is used to transmit the compensation torque value to the drive motor, the drive motor providing compensation torque to counteract the inertial torque of the output shaft;

[0030] The judgment module is used to determine whether the shift completion flag F=1 is true. If true, the process ends; otherwise, let k... n+1 =k n +Δk, recalculate the output shaft speed and the rate of change of the output shaft speed;

[0031] Where n is the number of iterations; k is a positive integer and is initially equal to 1; Δk is a fixed value.

[0032] Preferably, the motor-speed changer includes a first drive motor, a second drive motor, an output shaft, a planetary gear mechanism, and a speed change mechanism;

[0033] The planetary gear mechanism includes a ring gear, planetary gears, a planet carrier, and a sun gear. The sun gear is connected to the drive shaft of the first drive motor. The planetary gears mesh with the sun gear and the ring gear respectively. The two ends of the planet carrier are connected to the planetary gears and the output shaft respectively. The other end of the output shaft is connected to the second drive motor.

[0034] The transmission mechanism is sleeved on the output shaft and includes a first gear engagement ring, a first gear synchronizer locking ring, an engagement sleeve, a second gear engagement ring, and a second gear synchronizer locking ring. The first gear synchronizer locking ring and the second gear synchronizer locking ring are respectively located on both sides of the engagement sleeve, and the engagement sleeve can be sleeved on the first gear synchronizer locking ring or the second gear synchronizer locking ring and can slide along the output shaft. The engagement sleeve can slide to engage with the first gear engagement ring or the second gear engagement ring so that the first gear engagement ring or the second gear engagement ring rotates synchronously with the output shaft.

[0035] Preferably, determining the torque compensation direction of the drive motor based on the direction of the output shaft speed change, and calculating the compensation torque value includes:

[0036] The moment of inertia equivalent to that on the planetary carrier is calculated using the following formula:

[0037]

[0038] In the formula: J is the moment of inertia equivalent to that on the planet carrier. S J is the moment of inertia at the input end of the planetary gear mechanism. R J is the moment of inertia of the gear ring. P Let n be the moment of inertia of the planetary gear. P k represents the number of planetary gears. q The ratio of the number of teeth between the gear ring and the planetary gears is:

[0039] The compensation torque value k is calculated based on the inertial torque formula. n T comp The formula for moment of inertia is:

[0040]

[0041] In the formula: Δw out The output shaft speed change rate is k1 = 1.

[0042] Preferably, the direction of the compensating torque is the same as the direction of the inertial torque.

[0043] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0044] This invention calculates the required additional torque for the drive motor and avoids insufficient compensation torque due to inaccurate output shaft speed estimation by incrementally increasing the compensation torque. This solves the problem of shifting jamming or even failure during low-gear, high-ratio shifting in the motor-transmission coupling device, ensuring smooth shifting and improving the reliability of the control technology. Furthermore, torque compensation for the drive motor offsets some of the inertial torque at the output shaft end caused by rapid changes in output shaft speed, thereby reducing the shifting force during gear engagement or disengagement. This reduces the output torque of the shifting motor, decreases damage to the shifting mechanism, lowers the possibility of motor lifespan degradation, and improves shifting reliability. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the motor-speed coupling device in this invention. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] The present invention will now be described in further detail with reference to the accompanying drawings:

[0048] This invention provides a control method for improving the shifting reliability of a motor-speed coupling device, including determining whether the shifting process has started based on the shifting displacement signal collected by the shifting displacement sensor;

[0049] If the shift displacement signal is equal to 0, then the shift motor is judged to determine whether it has output the shift force threshold based on the PWM signal of the shift motor.

[0050] If the PWM signal is greater than the duty cycle threshold of the shifting motor, the extended Kalman filter algorithm is used to calculate the current output shaft speed of the motor-transmission device and the rate of change of the output shaft speed within the shifting cycle.

[0051] If the shift displacement signal is not equal to 0 or the PWM signal is less than or equal to the duty cycle threshold of the shift motor, then determine whether the shift completion flag F=1 is true. If it is true, the process ends; otherwise, the process restarts.

[0052] The direction of torque compensation for the drive motor is determined based on the direction of the output shaft speed change, and the compensation torque value is calculated.

[0053] The compensation torque value is transmitted to the drive motor, which provides compensation torque to counteract the inertial torque of the output shaft;

[0054] Determine if the shift completion flag F=1 is true. If true, end the process; otherwise, set k. n+1 =k n +Δk, recalculate the output shaft speed and the rate of change of output shaft speed;

[0055] Where n is the number of iterations; k is a positive integer and is initially equal to 1; Δk is a fixed value.

[0056] Furthermore, the motor-speed changer includes a first drive motor, a second drive motor, an output shaft, a planetary gear mechanism, and a speed change mechanism;

[0057] The planetary gear mechanism includes a ring gear, planetary gears, a planet carrier, and a sun gear. The sun gear is connected to the drive shaft of the first drive motor. The planetary gears mesh with the sun gear and the ring gear respectively. The two ends of the planet carrier are connected to the planetary gears and the output shaft respectively. The other end of the output shaft is connected to the second drive motor.

[0058] The transmission mechanism is sleeved on the output shaft and includes a first gear engagement gear ring, a first gear synchronizer locking ring, an engagement sleeve, a second gear engagement gear ring, and a second gear synchronizer locking ring. The first gear synchronizer locking ring and the second gear synchronizer locking ring are located on both sides of the engagement sleeve, and the engagement sleeve can be sleeved on the first gear synchronizer locking ring or the second gear synchronizer locking ring and can slide along the output shaft. The engagement sleeve can slide to engage with the first gear engagement gear ring or the second gear engagement gear ring so that the first gear engagement gear ring or the second gear engagement gear ring rotates synchronously with the output shaft.

[0059] Furthermore, the direction of torque compensation for the drive motor is determined based on the direction of the output shaft speed change, and the compensation torque value is calculated, including:

[0060] The moment of inertia equivalent to that on the planetary carrier is calculated using the following formula:

[0061]

[0062] In the formula: To represent the moment of inertia equivalent to that on the planet carrier, J S J is the moment of inertia at the input end of the planetary gear mechanism. R J is the moment of inertia of the gear ring. P Let n be the moment of inertia of the planetary gear. P k represents the number of planetary gears. q The gear ratio between the ring gear and the planetary gears:

[0063] The compensation torque value k is calculated based on the inertial torque formula. n T comp The formula for moment of inertia is:

[0064]

[0065] In the formula: Δw out The output shaft speed change rate; k1 = 1.

[0066] The direction of the compensating torque is the same as the direction of the inertial torque.

[0067] Reference Figure 1 The motor-speed coupling device is a planetary gear type dual-motor coupled speed drive device, mainly composed of drive motor 1, drive motor 2, and a planetary gear type speed change mechanism. The planetary gear set consists of a ring gear 4, planetary gears 5, a planet carrier 6, and a sun gear 7. The speed change mechanism consists of a first-gear engagement ring gear 8, a first-gear synchronizer locking ring 9, an engagement sleeve 10, a second-gear synchronizer locking ring 11, and a second-gear engagement ring gear 12. Drive motor 2 is directly fixed to the output shaft to output torque, while the torque of drive motor 1 is reduced and increased in torque through the planetary gear type speed change mechanism before being output. The speed change mechanism allows switching between first and second gear by adjusting the engagement position of the engagement sleeve 10 with either the first-gear engagement ring gear 8 or the second-gear engagement ring gear 12.

[0068] A: Example of the first gear disengagement process: Program begins

[0069] S1 is executed. The shift control unit collects the first gear disengagement displacement signal ΔS through the shift displacement sensor to determine whether the engagement sleeve 10 has started to disengage from the first gear engagement ring 8. If the result of ΔS = 0 is yes, then S2 is executed. If the result of the determination is no, then S7 is executed.

[0070] If the result of S1 is yes, then S2 is executed. The shift control unit determines whether the shift motor has output the shift force threshold F through the PWM signal of the shift motor. sat If PWM > sat, then execute S3; if PWM ≤ sat, then execute S7.

[0071] If the result of S2 is yes, then S3 is executed, and the control unit uses the extended Kalman filter algorithm to calculate the current rotational speed w of the output shaft 13 of the motor-transmission device. out And calculate the rate of change of output shaft speed Δw during this shift cycle. out ;

[0072] Execute S4, and the control unit will follow the formula: Calculate the moment of inertia equivalent to that on the planet carrier 6, based on the rate of change of rotational speed Δw of the output shaft 13. out Formula for calculating moment of inertia: The calculated compensation torque value kT required for drive motor 1 is obtained. comp , where k=1, and the direction of the compensation torque of drive motor 1 is the same as the direction of the inertial torque;

[0073] When S5 is executed, the control unit transmits the torque compensation control signal to the drive motor.

[0074] The microcontroller 1 drives the motor 1 and provides compensation torque kT. comp This is to counteract part of the inertial torque at the output shaft end.

[0075] Execute S6. The shift control unit determines whether the shift completion flag F=1 is true, that is, whether the engagement sleeve 10 has completely disengaged from the first gear engagement gear ring 8 and the first gear synchronizer locking ring 9. If yes, the program ends; otherwise, execute S8.

[0076] If the result of S1 or S2 is negative, then S7 is executed. The shift control unit determines whether the shift completion flag F=1 is valid, that is, whether the engagement sleeve 10 has completely disengaged from the first gear engagement gear ring 8 and the first gear synchronizer locking ring 9. If yes, the program ends; otherwise, the program restarts.

[0077] If the result of S6 is negative, then execute S8 and let k n+1 =k n +Δk, and re-execute S3;

[0078] The program has ended.

[0079] B: Example of executing the first gear shifting process: Program begins

[0080] S1 is executed. The shift control unit collects the first gear shift displacement signal ΔS through the shift displacement sensor to determine whether the engagement sleeve 10 has started to engage with the first gear engagement gear ring 8. If the result of ΔS = 0 is yes, then S2 is executed. If the result of the judgment is no, then S7 is executed.

[0081] If the result of S1 is yes, then S2 is executed, and the shift motor's PWM signal is used to determine whether the shift motor has output the shift force threshold F. sat If PWM > sat, then execute S3; if PWM ≤ sat, then execute S7.

[0082] If the result of S2 is yes, then S3 is executed, and the control unit uses the extended Kalman filter algorithm to calculate the current rotational speed w of the output shaft 13 of the motor-transmission device. out And calculate the rate of change of output shaft speed Δw during this shift cycle. out ;

[0083] Execute S4, and the control unit will follow the formula: Calculate the moment of inertia equivalent to that on the planet carrier 6, based on the rate of change of rotational speed Δw of the output shaft 13. out Formula for calculating moment of inertia: The calculated compensation torque value kT required for drive motor 1 is obtained. comp, where k=1, and the direction of the compensation torque of drive motor 1 is the same as the direction of the inertial torque;

[0084] In step S5, the control unit transmits the torque compensation control signal to the microcontroller of drive motor 1, and drive motor 1 provides the compensation torque kT. comp This is to counteract part of the inertial torque at the output shaft end.

[0085] Execute S6. The shift control unit determines whether the shift completion flag F=1 is true, that is, whether the engagement sleeve 10 is fully engaged with the first gear engagement gear ring 8. If so, the program ends; otherwise, execute S8.

[0086] If the result of S1 or S2 is negative, then S7 is executed. The shift control unit determines whether the shift completion flag F=1 is valid, that is, whether the engagement sleeve 10 is fully engaged with the first gear engagement gear ring 8. If yes, the program ends; otherwise, the program restarts.

[0087] If the result of S6 is negative, then execute S8 and let k n+1 =k n +Δk, and re-execute S3;

[0088] The program has ended.

[0089] Using the above method, S3 and S4 in the control flow calculate the required compensation torque for the drive motor, S5 performs torque compensation via the drive motor, and S6 and S8 avoid the problem of insufficient compensation torque due to insufficient accuracy of output shaft speed estimation in S3 by incrementally increasing the compensation torque. This solves the problem of shifting jamming or even failure in the low-gear, high-ratio shifting process of the motor-speed coupling device during the disengagement / engagement phase, successfully completing the shifting task and improving the reliability of the control technology. The torque compensation via the drive motor in S5 offsets some of the torque loss caused by excessive changes in output shaft speed. The inertial torque at the output shaft end caused by the fast shifting reduces the shifting force during gear engagement / disengagement, thereby reducing the output torque of the shifting motor, reducing damage to the shifting mechanism, reducing the possibility of motor lifespan degradation, and improving shifting reliability. Since the phenomenon that the shifting device needs to exceed the shifting force of other gear shifting processes during the disengagement / engagement phase of low-gear, high-ratio shifting is common in electric vehicles equipped with motor-transmission coupling devices, the S1-S8 process involved in this technology can be universally applied to electric vehicles equipped with motor-transmission coupling devices, demonstrating good versatility.

[0090] This invention also discloses a control system for improving the shifting reliability of a motor-speed-changing coupling device, comprising:

[0091] The shift module is used to determine whether the shift process has started based on the shift displacement signal collected by the shift displacement sensor;

[0092] The output shift force module is used to determine whether the shift motor has output the shift force threshold based on the PWM signal of the shift motor if the shift displacement signal is equal to 0.

[0093] The first calculation module is used to calculate the current output shaft speed of the motor-transmission device and the rate of change of the output shaft speed during the shifting cycle if the PWM signal is greater than the duty cycle threshold of the shifting motor.

[0094] The repeat module is used to determine whether the shift completion flag F=1 is true if the shift displacement signal is not equal to 0 or the PWM signal is less than or equal to the duty cycle threshold of the shift motor. If it is true, the process ends; otherwise, it restarts.

[0095] The second calculation module is used to determine the torque compensation direction of the drive motor based on the direction of the output shaft speed change, and to calculate the compensation torque value.

[0096] The compensation module is used to transmit the compensation torque value to the drive motor, which provides the compensation torque to counteract the inertial torque of the output shaft.

[0097] The judgment module is used to determine whether the shift completion flag F=1 is true. If true, the process ends; otherwise, let k... n+1 =k n +Δk, recalculate the output shaft speed and the rate of change of output shaft speed;

[0098] Where n is the number of iterations; k is a positive integer and is initially equal to 1; Δk is a fixed value.

[0099] Furthermore, the motor-speed changer includes a first drive motor, a second drive motor, an output shaft, a planetary gear mechanism, and a speed change mechanism;

[0100] The planetary gear mechanism includes a ring gear, planetary gears, a planet carrier, and a sun gear. The sun gear is connected to the drive shaft of the first drive motor. The planetary gears mesh with the sun gear and the ring gear respectively. The two ends of the planet carrier are connected to the planetary gears and the output shaft respectively. The other end of the output shaft is connected to the second drive motor.

[0101] The transmission mechanism is sleeved on the output shaft and includes a first gear engagement gear ring, a first gear synchronizer locking ring, an engagement sleeve, a second gear engagement gear ring, and a second gear synchronizer locking ring. The first gear synchronizer locking ring and the second gear synchronizer locking ring are located on both sides of the engagement sleeve, and the engagement sleeve can be sleeved on the first gear synchronizer locking ring or the second gear synchronizer locking ring and can slide along the output shaft. The engagement sleeve can slide to engage with the first gear engagement gear ring or the second gear engagement gear ring so that the first gear engagement gear ring or the second gear engagement gear ring rotates synchronously with the output shaft.

[0102] Furthermore, the direction of torque compensation for the drive motor is determined based on the direction of the output shaft speed change, and the compensation torque value is calculated, including:

[0103] The moment of inertia equivalent to that on the planetary carrier is calculated using the following formula:

[0104]

[0105] In the formula: To represent the moment of inertia equivalent to that on the planet carrier, J S J is the moment of inertia at the input end of the planetary gear mechanism. R J is the moment of inertia of the gear ring. P Let n be the moment of inertia of the planetary gear. P k represents the number of planetary gears. q The gear ratio between the ring gear and the planetary gears:

[0106] The compensation torque value k is calculated based on the inertial torque formula. n T comp The formula for moment of inertia is:

[0107]

[0108] In the formula: Δw out The output shaft speed change rate; k1 = 1.

[0109] The direction of the compensating torque is the same as the direction of the inertial torque.

[0110] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for improving the reliability of gear shifting of a motor- variable speed coupling device, characterized in that, The method comprises the following steps: According to the shift displacement signal collected by the shift displacement sensor, it is judged whether the shift process starts; If the shift displacement signal is equal to 0, it is judged whether the shift motor has output a shift force threshold according to the PWM signal of the shift motor; If the PWM signal > the duty cycle threshold of the shift motor, the output shaft speed of the current motor-transmission device and the output shaft speed change rate in the shift period are calculated by using the extended Kalman filtering algorithm; If the shift displacement signal is not equal to 0 or the PWM signal ≤ the duty cycle threshold of the shift motor, it is judged whether the shift completion flag F = 1 is established, if yes, the process is ended, if not, the process is restarted; According to the direction of the change of the output shaft speed, the torque compensation direction of the driving motor is determined, and the compensation torque value is calculated; The compensation torque value is transmitted to the driving motor, and the driving motor provides compensation torque to offset the inertial torque of the output shaft; determining whether the shift completion flag F = 1 is true, and if true, ending, otherwise setting k n+1 = k n + Δk, recalculating the output shaft speed and the output shaft speed change rate; Wherein, n is the number of times; k is a positive integer and the initial value is 1; Δk is a fixed value.

2. The control method of claim 1, wherein The motor-transmission device comprises a first driving motor, a second driving motor, an output shaft, a planetary gear mechanism and a transmission mechanism; The planetary gear mechanism comprises a ring gear, a planet wheel, a planet carrier and a sun gear, the sun gear is connected with the driving shaft of the first driving motor, the planet wheel is in meshing transmission with the sun gear and the ring gear respectively, the two ends of the planet carrier are connected with the planet wheel and the output shaft respectively, and the other end of the output shaft is connected with the second driving motor; The transmission mechanism is sleeved on the output shaft and comprises a first gear engagement ring, a first synchronizer lock ring, an engagement sleeve, a second gear engagement ring and a second synchronizer lock ring, the first synchronizer lock ring and the second synchronizer lock ring are located on the two sides of the engagement sleeve respectively, the engagement sleeve can be sleeved on the first synchronizer lock ring or the second synchronizer lock ring and can slide along the output shaft, and the engagement sleeve can slide to clamp the first gear engagement ring or the second gear engagement ring, so that the first gear engagement ring or the second gear engagement ring rotates synchronously with the output shaft.

3. The control method of claim 2, wherein According to the direction of the change of the output shaft speed, the torque compensation direction of the driving motor is determined, and the compensation torque value is calculated, which comprises: The rotational inertia equivalent to the planet carrier is calculated according to the formula: wherein: Jeqis the equivalent moment of inertia to the planet carrier S Jin is the input moment of inertia of the planetary row mechanism R Jc is the moment of inertia of the ring gear P Jp is the moment of inertia of the planet gears P k is the number of planet gears q is the gear ratio of the ring gear to the planet gears: The compensation torque value k is calculated according to the inertia moment formula n T comp The inertia moment formula is: where Δw out is the output shaft speed variation rate; k1 = 1.

4. The control method of claim 3, wherein The compensation torque direction is the same as the direction of the inertial torque.

5. A control system for improving the reliability of shifting in a motor-variator coupling, characterized by The method comprises the following steps: The shift module is used for judging whether the shift process starts according to the shift displacement signal collected by the shift displacement sensor; The output shift force module is used for judging whether the shift motor has output a shift force threshold according to the PWM signal of the shift motor if the shift displacement signal is equal to 0; The first calculation module is used for calculating the output shaft speed of the current motor-transmission device and the output shaft speed change rate in the shift period by using the extended Kalman filtering algorithm if the PWM signal > the duty cycle threshold of the shift motor; The repeating module is configured to determine whether a shift completion flag F=1 is established if the shift displacement signal is not equal to 0 or the PWM signal is less than a duty cycle threshold of the shift motor, and end if the shift completion flag F=1 is established, and restart if the shift completion flag F=1 is not established; The second calculating module is configured to determine a torque compensation direction of the drive motor according to a direction of the change of the output shaft speed, and calculate a compensation torque value; The compensation module is configured to transmit the compensation torque value to the drive motor, and the drive motor provides a compensation torque to offset the inertial torque of the output shaft. A judging module is configured to judge whether a shift completion flag F=1 is established, and if so, the method ends, otherwise, k n+1 = k n + Δk, and recalculate the output shaft speed and the output shaft speed change rate. Wherein, n is the degree; k is a positive integer and the initial value is 1; Δk is a fixed value.

6. The control system for improving shift reliability of a motor-transmission coupling device according to claim 5, wherein The motor-gear device comprises a first drive motor, a second drive motor, an output shaft, a planetary gear mechanism and a gear mechanism. The planetary gear mechanism comprises a ring gear, a planet wheel, a planet carrier and a sun gear, the sun gear is connected with a drive shaft of the first drive motor, the planet wheel is in meshing transmission with the sun gear and the ring gear respectively, two ends of the planet carrier are connected with the planet wheel and the output shaft respectively, and the other end of the output shaft is connected with the second drive motor. The gear mechanism is sleeved on the output shaft and comprises a first gear, a first synchronizer lock ring, a sleeve, a second gear and a second synchronizer lock ring, the first synchronizer lock ring and the second synchronizer lock ring are located on two sides of the sleeve respectively, the sleeve can be sleeved on the first synchronizer lock ring or the second synchronizer lock ring and can slide along the output shaft, and the sleeve can be slid to clamp the first gear or the second gear to make the first gear or the second gear rotate synchronously with the output shaft.

7. The control system for improving shift reliability of a motor-transmission coupling device according to claim 6, wherein Determining the torque compensation direction of the drive motor according to the direction of the change of the output shaft speed and calculating the compensation torque value comprise: The moment of inertia equivalent to the planet carrier is calculated according to the formula: wherein: Jp is the rotational inertia equivalent to the planetary carrier S Jin is the rotational inertia of the input end of the planetary row mechanism R Jc is the rotational inertia of the ring gear P Jp is the rotational inertia of the planet gears P k is the number of planet gears q is the ratio of the number of teeth of the ring gear to the number of teeth of the planet gears: The compensation torque value k is calculated according to the inertia moment formula n T comp The inertia moment formula is: where Δw out is the output shaft speed variation rate; k1 = 1.

8. The control system for improving shift reliability of a motor-transmission coupling device according to claim 7, wherein The compensation torque direction is the same as the direction of the inertial torque. The compensation torque direction is the same as the direction of the inertial torque.

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