Clutch position control method, device, computer equipment and storage medium

Abstract

The present application relates to a clutch position control method, apparatus, computer equipment, and storage medium. The method includes: when the vehicle is started, obtaining the actual position and target position of the clutch, inputting the actual position and target position into a linear controller, and outputting an initial duty cycle; wherein the target position is determined based on the clutch position requirement when the vehicle starts or shifts gears; determining a target solenoid valve based on the initial duty cycle; using the absolute value of the initial duty cycle and the actual position, determining a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve; and controlling the clutch to reach the target position using the target compensation duty cycle. This method can improve the accuracy of clutch position control.

Description

Technical Field

[0001] The present application relates to the field of vehicle driving technology, and in particular to a clutch position control method, device, computer equipment, and storage medium. Background Art

[0002] The vehicle starts or shifts gears by controlling the position of the clutch. The vehicle starts or shifts gears by controlling the clutch to reach the target position. The accuracy of the clutch position control will affect the accuracy of the clutch reaching the target position, thereby affecting the smoothness of the vehicle start or shift.

[0003] The clutch position control method in traditional technology has the problem of inaccuracy, which greatly affects the subjective driving experience and may also cause the vehicle to stall and shorten the vehicle life. Summary of the Invention

[0004] Based on this, it is necessary to provide a clutch position control method, device, computer equipment and storage medium that can improve the accuracy of clutch position control in order to address the above technical problems.

[0005] In a first aspect, the present application provides a clutch position control method. The method comprises:

[0006] When the vehicle is started, the actual position and target position of the clutch are obtained, the actual position and target position are input into a linear controller, and an initial duty cycle is output; wherein the target position is determined based on the clutch position requirement when the vehicle starts or shifts gears;

[0007] determining a target solenoid valve according to the initial duty cycle;

[0008] Determining a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve using the absolute value of the initial duty cycle and the actual position;

[0009] The clutch is controlled to reach the target position according to the target compensation duty cycle.

[0010] In one embodiment, the target solenoid valve includes a large intake valve, a small intake valve, a large intake valve and a small intake valve, a large exhaust valve, a small exhaust valve, a large exhaust valve and a small exhaust valve; and the target solenoid valve compensation table determination method includes:

[0011] For any target solenoid valve, collecting the displacement values and corresponding movement moments of the target solenoid valve controlling the clutch at different duty cycles according to a preset sampling period;

[0012] The displacement values under different duty cycles are used as the ordinate, and the product of the corresponding movement time and the corresponding duty cycle under different duty cycles is used as the abscissa, and the fitting curves under different duty cycles are obtained by curve fitting;

[0013] For a fitting curve under any duty cycle, determining a preset number of data points with the same spacing on the fitting curve, and obtaining the slope between two adjacent data points;

[0014] Determine a slope inflection point according to the values of each slope, and divide the duty cycle by the value of the slope corresponding to the slope inflection point to obtain a compensated duty cycle;

[0015] Selecting a smaller value between the compensation duty cycle and a preset maximum duty cycle as a target solenoid valve compensation duty cycle, wherein the target solenoid valve compensation duty cycle corresponds to the duty cycle and the movement displacement value corresponding to the slope inflection point;

[0016] A target solenoid valve compensation lookup table is obtained based on the target solenoid valve compensation duty cycle, the duty cycle corresponding to the slope inflection point, and the movement displacement value.

[0017] In one embodiment, the method further comprises:

[0018] A position difference between the target position and the actual position is obtained, and when the position difference is not less than a preset open-loop position threshold, the clutch is controlled to reach the target position using a preset open-loop duty cycle.

[0019] In one embodiment, the method further comprises:

[0020] When the difference is not less than a preset open-loop threshold, controlling the target solenoid valve to open;

[0021] Determine an actual compensation valve opening time in a target open-loop compensation lookup table corresponding to the target solenoid valve according to the actual position, determine a target compensation valve opening time in a target open-loop compensation lookup table corresponding to the target solenoid valve according to the target position, and calculate a time difference between the target compensation valve opening time and the actual compensation valve opening time;

[0022] The opening duration of the target solenoid valve is obtained, and when the opening duration is greater than the duration difference or when the difference is less than a preset open-loop threshold, the target solenoid valve is controlled to be closed.

[0023] In one embodiment, the target open-loop compensation table is determined by:

[0024] For any target solenoid valve, obtaining a fitting curve of the target solenoid valve at a preset open-loop duty cycle, and determining a preset number of data points with the same spacing on the fitting curve at the preset open-loop duty cycle;

[0025] Determining inverse function data points corresponding to the preset number of data points on an inverse function curve of the fitting curve under the preset open-loop duty cycle;

[0026] When the vertical coordinate values of the inverse function data points are not greater than the preset values, the preset coefficient value is used as the first open-loop scaling coefficient value, and the first open-loop scaling coefficient value is used as the target open-loop scaling coefficient value;

[0027] When the ordinate value of the inverse function data point is greater than a preset value, obtaining a maximum ordinate value among the inverse function data points, dividing the maximum ordinate value by the preset value as a second open-loop scaling coefficient value, and using the second open-loop scaling coefficient value as a target open-loop scaling coefficient value;

[0028] The vertical coordinate value of the inverse function data point is divided by the preset value and multiplied by the target open-loop scaling coefficient value to obtain the valve opening time, where the valve opening time corresponds to the horizontal coordinate of the inverse function data point;

[0029] A target open-loop compensation lookup table is obtained based on the valve opening time and the horizontal coordinates of the inverse function data points.

[0030] In one embodiment, determining the target solenoid valve according to the initial duty cycle includes:

[0031] If the initial duty cycle is a positive value, the large intake valve and the small intake valve are used as target solenoid valves;

[0032] If the initial duty cycle is a negative value, the large exhaust valve and the small exhaust valve are used as target solenoid valves.

[0033] In a second aspect, the present application further provides a clutch position control device. The device comprises:

[0034] an initial output module, configured to obtain an actual position and a target position of the clutch when the vehicle is started, input the actual position and the target position into a linear controller, and output an initial duty cycle; wherein the target position is determined based on the clutch position requirement when the vehicle is started or shifted;

[0035] a solenoid valve determination module, configured to determine a target solenoid valve according to the initial duty cycle;

[0036] a target determination module, configured to determine a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve using the absolute value of the initial duty cycle and the actual position;

[0037] A control module is configured to control the clutch to reach the target position by using the target compensation duty cycle.

[0038] In a third aspect, the present application further provides a computer device comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in any of the above embodiments when executing the computer program.

[0039] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method in any of the above embodiments.

[0040] In a fifth aspect, the present application further provides a computer program product, which includes a computer program that implements the steps of the method in any of the above embodiments when executed by a processor.

[0041] The clutch position control method, device, computer equipment, and storage medium described above obtain the actual position of the clutch and the target position determined based on the clutch position requirements when the vehicle starts or shifts gears when the vehicle is started, input the actual position and target position into a linear controller, output an initial duty cycle, determine the target solenoid valve based on the initial duty cycle, and use the absolute value of the initial duty cycle and the actual position of the clutch to determine the target compensation duty cycle in the target solenoid valve compensation lookup table corresponding to the target solenoid valve, and control the clutch to reach the target position through the target compensation duty cycle. Compared with the low accuracy of clutch position control in traditional technologies, the present application can determine the target solenoid valve based on the actual position and target position of the clutch, thereby determining the target compensation duty cycle in the target solenoid valve compensation lookup table corresponding to the target solenoid valve, and controlling the clutch to reach the target position through the target compensation duty cycle, so that the clutch can accurately reach the target position, thereby improving the accuracy of clutch position control. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic flow chart of a clutch position control method provided in an embodiment of the present application;

[0043] Figure 2 Schematic diagram of various fitting curves of the large intake valve at different duty cycles in one embodiment;

[0044] Figure 3 Schematic diagram of a fitting curve of the large intake valve at a 5% duty cycle in one embodiment;

[0045] Figure 4 A schematic diagram of a slope displacement curve provided in one embodiment;

[0046] Figure 5 Schematic diagram of a flow chart for controlling the opening and closing of a target solenoid valve in one embodiment;

[0047] Figure 6 Schematic diagram of a fitting curve and an inverse function curve of an intake large valve at a 100% duty cycle in one embodiment;

[0048] Figure 7 This is a structural block diagram of a clutch position control device provided in an embodiment of the present application;

[0049] Figure 8 This is a diagram of the internal structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0051] In this embodiment, a clutch position control method is provided for use in a vehicle equipped with an automatic transmission. This embodiment illustrates the method by applying it to a computer device. It is understandable that the method can also be applied to a server, or to a system including a computer device and a server, and implemented through interaction between the computer device and the server.

[0052] Figure 1 This is a flow chart of a clutch position control method provided in an embodiment of the present application. The method is applied to a computer device or a server. In one embodiment, Figure 1 As shown, the following steps are included:

[0053] S101, when the vehicle is started, obtain the actual position and target position of the clutch, input the actual position and target position into the linear controller, and output the initial duty cycle; wherein the target position is determined based on the clutch position requirement when the vehicle starts or shifts gears.

[0054] In this embodiment, the actual clutch position can be detected by sensors within the vehicle, and the target clutch position is determined by the clutch position requirements during vehicle startup or gear shifting. The actual and target positions are input into a linear controller, and the difference between the target and actual positions is calculated within the PID linear controller. The PID linear controller then outputs an initial duty cycle based on this difference. Alternatively, the difference between the target and actual positions can be calculated first and then input into the PID linear controller to output the initial duty cycle.

[0055] S102, determining a target solenoid valve according to an initial duty cycle.

[0056] The target solenoid valve is a device used to control the movement of the clutch. The solenoid valves that control the movement of the clutch in the vehicle include an intake valve and an exhaust valve. The intake valve controls the clutch to disengage from the transmission, while the exhaust valve controls the clutch to engage with the transmission.

[0057] In one embodiment, if the initial duty cycle is positive, the clutch is controlled to be disengaged from the transmission and the intake valve is used as the target solenoid valve; if the initial duty cycle is negative, the clutch is controlled to be engaged with the transmission and the exhaust valve is used as the target solenoid valve.

[0058] S103 , using the absolute value of the initial duty cycle and the actual position, determine a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve.

[0059] In some embodiments, the target solenoid valve includes a large intake valve, a small intake valve, a large intake valve and a small intake valve, a large exhaust valve, a small exhaust valve, a large exhaust valve and a small exhaust valve; the target solenoid valve compensation lookup table is determined by collecting the movement displacement values and corresponding movement moments of the target solenoid valve controlling the clutch under different duty cycles for any target solenoid valve according to a preset sampling period; using the movement displacement values under different duty cycles as the vertical coordinate, and the product of the corresponding movement moments under different duty cycles and the corresponding duty cycle as the horizontal coordinate, and obtaining the fitting curves under different duty cycles through curve fitting. ; For the fitting curve under any duty cycle, determine a preset number of data points with the same spacing on the fitting curve, and obtain the slope between two adjacent data points; determine the slope inflection point according to the value of each slope, and divide the duty cycle by the value of the slope corresponding to the slope inflection point to obtain the compensation duty cycle; select the smaller value between the compensation duty cycle and the preset maximum duty cycle as the target solenoid valve compensation duty cycle, and the target solenoid valve compensation duty cycle corresponds to the duty cycle and the moving displacement value corresponding to the slope inflection point; based on the target solenoid valve compensation duty cycle, the duty cycle corresponding to the slope inflection point and the moving displacement value, obtain the target solenoid valve compensation lookup table.

[0060] Taking the target solenoid valve as an intake valve as an example, the target solenoid valve compensation lookup table determination process is illustrated. The intake valve is controlled to open at 5% duty cycle intervals between 5% and 100% duty cycle. The intake valve is closed when the clutch and the engine flywheel separate at a preset maximum disengagement displacement or when the disengagement duration reaches a preset disengagement duration threshold. Initial disengagement displacement values and corresponding disengagement moments of the intake valve for clutch disengagement at duty cycles of 5%, 10%, 15%, ..., and 100% are collected according to a preset sampling period. Three initial disengagement displacement values are collected for each duty cycle. Each collected initial disengagement displacement value is then subjected to median filtering. The median-filtered disengagement displacement value is then low-pass filtered to obtain a low-pass filtered disengagement displacement value. The average of the three low-pass filtered disengagement displacement values is taken as the displacement value of the intake valve at each disengagement moment at different duty cycles. The corresponding disengagement moments are used as the displacement moments of the intake valve at different duty cycles.

[0061] The displacement values under different duty cycles are used as the ordinate, and the product of the corresponding movement time and the corresponding duty cycle under different duty cycles is used as the abscissa. The fitting curves under different duty cycles are obtained by curve fitting, as shown in the following example: Figure 2 As shown, Figure 2 Only some of the fitting curves under different duty cycles are shown.

[0062] Taking the fitting curve under 5% duty cycle as an example, 20 data points with the same spacing are determined on the fitting curve. These 20 data points include the data point with the horizontal coordinate of 0 and the data point corresponding to the maximum value of the moving time multiplied by 5%, such as Figure 3 As shown, Figure 3 The “×” in the figure corresponds to 20 data points. The slope between two adjacent data points is obtained. The slope value corresponds to the previous data point between the two adjacent data points. All slope values are used as ordinates and the displacement values of the corresponding data points are used as abscissas to draw the slope displacement curve. The slope displacement curve is as follows: Figure 4 As shown. According to the value of each slope, the slope inflection point is determined. The slope inflection point is the data point where the slope increases or decreases before and after a certain data point. Figure 4 The slope inflection points determined are the data points corresponding to the horizontal coordinates of 0mm, 1mm, 2mm and 7mm.

[0063] The 5% duty cycle is divided by the slope value corresponding to the slope inflection point to obtain the compensation duty cycle, and the smaller value between the compensation duty cycle and the preset maximum duty cycle is selected as the intake large valve compensation duty cycle vali. Based on the intake large valve compensation duty cycle, the corresponding 5% duty cycle and the horizontal coordinate value corresponding to the slope inflection point, the compensation lookup table of the intake large valve at 5% duty cycle is obtained, as shown in Table 1 below.

[0064] Table 1 Compensation lookup table for the intake large valve at 5% duty cycle

[0065]

[0066] A compensation lookup table for the large intake valve at different duty cycles is obtained to obtain a compensation lookup table for the large intake valve. When the target solenoid valve is the large intake valve, the compensation lookup table for the large intake valve is used as the compensation lookup table for the target solenoid valve.

[0067] Using the absolute value of the initial duty cycle and the actual position of the clutch, the target compensation duty cycle is determined in the target solenoid valve compensation lookup table corresponding to the target solenoid valve, wherein the absolute value of the initial duty cycle corresponds to the duty cycle in the target solenoid valve compensation lookup table, and the actual position of the clutch corresponds to the movement displacement value in the target solenoid valve compensation lookup table. The determined vali value is the target compensation duty cycle.

[0068] S104: Control the clutch to reach a target position through the target compensation duty cycle.

[0069] In this embodiment, the target solenoid valve is controlled by the target compensation duty ratio so that the clutch reaches the target position.

[0070] The clutch position control method provided in this embodiment obtains the actual position of the clutch and the target position determined according to the clutch position requirement when the vehicle starts or shifts gears, inputs the actual position and target position into a linear controller, outputs an initial duty cycle, determines the target solenoid valve according to the initial duty cycle, and uses the absolute value of the initial duty cycle and the actual position of the clutch to determine the target compensation duty cycle in the target solenoid valve compensation lookup table corresponding to the target solenoid valve, and controls the clutch to reach the target position through the target compensation duty cycle. Compared with the conventional technology in which the clutch position control accuracy is low, the present application can determine the target solenoid valve according to the actual position and target position of the clutch, thereby determining the target compensation duty cycle in the target solenoid valve compensation lookup table corresponding to the target solenoid valve, and controlling the clutch to reach the target position through the target compensation duty cycle, so that the clutch can accurately reach the target position, thereby improving the accuracy of the clutch position control.

[0071] In one embodiment, a position difference between the target position and the actual position is obtained, and when the position difference is not less than a preset open-loop position threshold, the clutch is controlled to reach the target position using a preset open-loop duty cycle.

[0072] Among them, the preset open-loop position threshold is set manually. When the position difference is not less than the preset open-loop position threshold, in order to ensure that the clutch can reach the target position more quickly, the preset open-loop duty cycle is used to control the clutch to reach the target position. The preset open-loop duty cycle is set manually and can be set to 100%.

[0073] In one embodiment, a flow chart of controlling the opening and closing of the target solenoid valve when the position difference between the target position and the actual position of the clutch is not less than a preset open-loop position threshold is shown in FIG. Figure 5 As shown, including the following:

[0074] S501 : When the difference is not less than a preset open-loop threshold, the target solenoid valve is controlled to open.

[0075] In this embodiment, timing is started when the position difference between the target position and the actual position of the clutch is not less than a preset open-loop threshold, so as to subsequently obtain the target solenoid valve opening time.

[0076] S502, determine the actual compensation valve opening time in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the actual position, determine the target compensation valve opening time in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the target position, and calculate the time difference between the target compensation valve opening time and the actual compensation valve opening time.

[0077] In some embodiments, the target open-loop compensation lookup table is determined by obtaining a fitting curve of the target solenoid valve at a preset open-loop duty cycle for any target solenoid valve, and determining a preset number of data points with the same spacing on the fitting curve at the preset open-loop duty cycle; determining inverse function data points corresponding to the preset number of data points on the inverse function curve of the fitting curve at the preset open-loop duty cycle; when the vertical coordinate values of the inverse function data points are not greater than the preset value, using the preset coefficient value as the first open-loop scaling coefficient value, and using the first open-loop scaling coefficient value as the target open-loop scaling coefficient value; when the vertical coordinate value of the inverse function data point is greater than the preset value, obtaining the maximum vertical coordinate value among the inverse function data points, dividing the maximum vertical coordinate value by the preset value as the second open-loop scaling coefficient value, and using the second open-loop scaling coefficient value as the target open-loop scaling coefficient value; dividing the vertical coordinate value of the inverse function data point by the preset value and multiplying it by the target open-loop scaling coefficient value to obtain the valve opening time, and the valve opening time corresponds to the horizontal coordinate of the inverse function data point; and obtaining the target open-loop compensation lookup table based on the valve opening time and the horizontal coordinate of the inverse function data point.

[0078] Taking the target solenoid valve as the intake valve as an example, the determination process of the target open-loop compensation lookup table is illustrated. Obtain the fitting curve of the intake valve under the preset open-loop duty cycle of 100%. The method of obtaining the fitting curve is the same as the method of obtaining the fitting curve in the above embodiment, which will not be repeated here. Determine 20 data points with the same spacing on the fitting curve. These 20 data points include the data point with a horizontal coordinate of 0 and the data point corresponding to the maximum value when the moving time multiplied by 100%. The vertical coordinate value of the data point with a horizontal coordinate of 0 is 0, and the vertical coordinate value of the data point corresponding to the maximum value when the horizontal coordinate is multiplied by 100% is Xmax; obtain the inverse function curve of the fitting curve of the intake valve under a duty cycle of 100%, and determine the inverse function data points corresponding to the 20 data points on the fitting curve on the inverse function curve. The fitting curve and inverse function curve of the intake valve under a duty cycle of 100% are as follows. Figure 6 As shown, Figure 6 The middle curve marked with square dots is the fitting curve, and the curve marked with circular dots is the inverse function curve. The horizontal coordinate of the fitting curve is the product of the moving time and the duty cycle of 100%, and the vertical coordinate is the moving displacement value; the horizontal coordinate of the inverse function curve is the moving displacement value, and the vertical coordinate is the product of the moving time and the duty cycle of 100%.

[0079] When the vertical coordinate values of the inverse function data points are not greater than 100% of the preset value, the preset coefficient value 1 is used as the first open-loop scaling coefficient value, and the first open-loop scaling coefficient value is used as the target open-loop scaling coefficient value;

[0080] When the ordinate value of the inverse function data point is greater than 100% of the preset value, obtaining the maximum ordinate value among the inverse function data points, dividing the maximum ordinate value by the preset value as the second open-loop scaling coefficient value, and using the second open-loop scaling coefficient value as the target open-loop scaling coefficient value;

[0081] The vertical coordinate value of each inverse function data point is divided by the preset value and multiplied by the target open-loop scaling coefficient value to obtain the valve opening time ti. Based on the valve opening time and the horizontal coordinate values of all inverse function data points, the 100% open-loop compensation lookup table of the intake large valve under the preset open-loop duty cycle of 100% duty cycle is obtained, as shown in Table 2 below. When the target solenoid valve is the intake large valve and the preset open-loop duty cycle is 100% duty cycle, the 100% open-loop compensation lookup table of the intake large valve is used as the target open-loop compensation lookup table.

[0082] Table 2 Open-loop compensation lookup table for the intake valve at 100% duty cycle

[0083] Move displacement value 0 … … … … Xmax Valve opening time t1 … … … … t20

[0084] The actual compensation valve opening duration is determined in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the actual position of the clutch, and the target compensation valve opening duration is determined in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the target position of the clutch, wherein the actual position of the clutch and the target position of the clutch correspond to the movement displacement values in the target open-loop compensation lookup table.

[0085] S503 , obtaining the opening duration of the target solenoid valve, and controlling the target solenoid valve to close when the opening duration is greater than the duration difference or the difference is less than a preset open-loop threshold.

[0086] In this embodiment, when the opening time is greater than the time difference or the difference is less than the preset open-loop threshold, the target solenoid valve is controlled to be closed. This can avoid the problem of inaccurate clutch position control caused by the target solenoid valve always operating at the preset open-loop duty cycle, resulting in the clutch exceeding the target position, and controlling the target solenoid valve to open and close can improve the efficiency of clutch position control.

[0087] In one embodiment, the position difference between the actual position and the target position of the clutch is obtained. When the position difference between the target position and the actual position of the clutch is less than a preset open-loop position threshold, the difference between the actual position and the target position is input into a linear controller, and an initial duty cycle is output. If the initial duty cycle is positive, the large intake valve and the small intake valve can be used as target solenoid valves and opened at the same time, or the large intake valve or the small intake valve can be used as the target solenoid valve to open. If the initial duty cycle is negative, the large exhaust valve and the small exhaust valve can be used as target solenoid valves and opened at the same time, or the large exhaust valve or the small exhaust valve can be used as the target solenoid valve to open. The small exhaust valve is opened as the target solenoid valve; when the position difference between the target position and the actual position of the clutch is not less than the preset open-loop position threshold, the difference between the actual position and the target position is input into the linear controller, and the initial duty cycle is output. If the initial duty cycle is positive, the large intake valve or the small intake valve can be opened as the target solenoid valve, or the large intake valve and the small intake valve can be opened as the target solenoid valve at the same time. If the initial duty cycle is negative, the large exhaust valve or the small exhaust valve can be opened as the target solenoid valve, or the large exhaust valve and the small exhaust valve can be opened as the target solenoid valve at the same time.

[0088] The clutch position control method provided in this embodiment can determine the target solenoid valve according to the actual position and target position of the clutch, thereby determining the target compensation duty cycle in the target solenoid valve compensation lookup table corresponding to the target solenoid valve, and controlling the clutch to reach the target position through the target compensation duty cycle, so that the clutch can accurately reach the target position, thereby improving the accuracy of the clutch position control, and can control the clutch to reach the target position using the preset open-loop duty cycle when the position difference between the target position and the actual position of the clutch is not less than the preset open-loop position threshold, thereby ensuring that the clutch can reach the target position more quickly and improving the efficiency of the clutch position control.

[0089] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a portion of steps or stages in other steps.

[0090] Based on the same inventive concept, embodiments of the present application further provide a clutch position control device for implementing the clutch position control method described above. The solution provided by this device is similar to the solution described in the method described above. Therefore, the specific limitations of one or more clutch position control device embodiments provided below can be found in the above-described limitations of the clutch position control method and will not be further elaborated here.

[0091] See also Figure 7 , Figure 7 : This is a structural block diagram of a clutch position control device provided in an embodiment of the present application. The device 700 includes: an initial output module 701, a solenoid valve determination module 702, a target determination module 703 and a control module 704, wherein:

[0092] Initial output module 701 is used to obtain the actual position and target position of the clutch when the vehicle is started, input the actual position and target position into the linear controller, and output the initial duty cycle; wherein the target position is determined based on the clutch position requirement when the vehicle starts or shifts;

[0093] The solenoid valve determination module 702 is configured to determine a target solenoid valve according to an initial duty cycle;

[0094] a target determination module 703 for determining a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve using the absolute value of the initial duty cycle and the actual position;

[0095] The control module 704 is configured to control the clutch to reach a target position through a target compensation duty cycle.

[0096] The clutch position control device provided in this embodiment uses an initial output module to obtain the actual position of the clutch and a target position determined based on the clutch position requirements when the vehicle starts or shifts gears. The actual position and target position are input into a linear controller, which outputs an initial duty cycle. The solenoid valve determination module determines the target solenoid valve based on the initial duty cycle. The target determination module uses the absolute value of the initial duty cycle and the actual position of the clutch to determine the target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve. The control module controls the clutch to reach the target position using the target compensation duty cycle. Compared to conventional technologies with low clutch position control accuracy, the present application can determine the target solenoid valve based on the actual position and target position of the clutch, thereby determining the target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve. The target compensation duty cycle is used to control the clutch to reach the target position, allowing the clutch to accurately reach the target position and improving the accuracy of clutch position control.

[0097] Optionally, the device 700 further includes a table lookup determination module, which is used for target solenoid valves including a large intake valve, a small intake valve, a large intake valve and a small intake valve, a large exhaust valve, a small exhaust valve, a large exhaust valve and a small exhaust valve; for any target solenoid valve, the target solenoid valve is collected according to a preset sampling period to control the clutch at different duty cycles. The movement displacement values and corresponding movement moments of the clutch are taken as the vertical coordinates, and the product of the corresponding movement moments and the corresponding duty cycles at different duty cycles is taken as the horizontal coordinates, and the simulated displacement values at different duty cycles are obtained by curve fitting. A fitting curve is obtained; for a fitting curve under any duty cycle, a preset number of data points with the same spacing are determined on the fitting curve, and the slope between two adjacent data points is obtained; a slope inflection point is determined according to the value of each slope, and the duty cycle is divided by the value of the slope corresponding to the slope inflection point to obtain the compensation duty cycle; the smaller value between the compensation duty cycle and the preset maximum duty cycle is selected as the target solenoid valve compensation duty cycle, and the target solenoid valve compensation duty cycle corresponds to the duty cycle and the movement displacement value corresponding to the slope inflection point; based on the target solenoid valve compensation duty cycle, the duty cycle corresponding to the slope inflection point and the movement displacement value, a target solenoid valve compensation lookup table is obtained.

[0098] Optionally, the device 700 further includes:

[0099] The open-loop control module is used to obtain the position difference between the target position and the actual position. When the position difference is not less than a preset open-loop position threshold, the clutch is controlled to reach the target position using a preset open-loop duty cycle.

[0100] Optional open-loop control module includes:

[0101] The solenoid valve opening control unit is used to control the target solenoid valve to open when the position difference is not less than a preset open-loop threshold;

[0102] a duration determination unit, configured to determine an actual compensation valve opening duration in a target open-loop compensation lookup table corresponding to a target solenoid valve according to an actual position, determine a target compensation valve opening duration in a target open-loop compensation lookup table corresponding to a target solenoid valve according to a target position, and calculate a duration difference between the target compensation valve opening duration and the actual compensation valve opening duration;

[0103] The solenoid valve closing control unit is used to obtain the opening time of the target solenoid valve, and control the target solenoid valve to close when the opening time is greater than the time difference or the position difference is less than the preset open-loop threshold.

[0104] Optionally, the open-loop control module includes an open-loop table lookup determination unit, which is used to obtain a fitting curve of the target solenoid valve under a preset open-loop duty cycle for any target solenoid valve, and determine a preset number of data points with the same spacing on the fitting curve under the preset open-loop duty cycle; determine inverse function data points corresponding to the preset number of data points on the inverse function curve of the fitting curve under the preset open-loop duty cycle; when the vertical coordinate values of the inverse function data points are not greater than the preset values, the preset coefficient value is used as the first open-loop scaling coefficient value, and the first open-loop scaling coefficient is The coefficient value is used as the target open-loop scaling coefficient value; when the vertical coordinate value of the inverse function data point is greater than the preset value, the maximum vertical coordinate value in the inverse function data point is obtained, and the maximum vertical coordinate value is divided by the preset value as the second open-loop scaling coefficient value, and the second open-loop scaling coefficient value is used as the target open-loop scaling coefficient value; the vertical coordinate value of the inverse function data point is divided by the preset value and multiplied by the target open-loop scaling coefficient value to obtain the valve opening time, and the valve opening time corresponds to the horizontal coordinate of the inverse function data point; based on the valve opening time and the horizontal coordinate of the inverse function data point, the target open-loop compensation lookup table is obtained.

[0105] Optionally, the solenoid valve determination module 702 includes:

[0106] a first solenoid valve determination unit, configured to use the large intake valve and the small intake valve as target solenoid valves if the initial duty cycle is a positive value;

[0107] The second solenoid valve determination unit is configured to use the large exhaust valve and the small exhaust valve as target solenoid valves if the initial duty cycle is a negative value.

[0108] Each module in the clutch position control device can be implemented in whole or in part through software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0109] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O) and a communication interface. The processor, memory and input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the target solenoid valve compensation lookup table and the target open-loop compensation lookup table. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a clutch position control method is implemented.

[0110] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0111] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the clutch position control method provided in the above embodiment are implemented:

[0112] When the vehicle is started, the actual and target clutch positions are acquired, input into a linear controller, and an initial duty cycle is output; the target position is determined based on the clutch position requirements when the vehicle starts or shifts gears.

[0113] determining a target solenoid valve according to an initial duty cycle;

[0114] Determining a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve using the absolute value of the initial duty cycle and the actual position;

[0115] The clutch is controlled to reach the target position through the target compensation duty cycle.

[0116] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0117] The target solenoid valves include a large intake valve, a small intake valve, a large intake valve and a small intake valve, a large exhaust valve, a small exhaust valve, a large exhaust valve and a small exhaust valve; for any target solenoid valve, the displacement values and corresponding movement times of the clutch controlled by the target solenoid valve at different duty cycles are collected according to a preset sampling period;

[0118] The displacement values under different duty cycles are used as the ordinate, and the product of the corresponding movement time and the corresponding duty cycle under different duty cycles is used as the abscissa, and the fitting curves under different duty cycles are obtained by curve fitting;

[0119] For a fitting curve under any duty cycle, a preset number of data points with the same spacing are determined on the fitting curve, and the slope between two adjacent data points is obtained;

[0120] Determine the slope inflection point according to the value of each slope, and divide the duty cycle by the slope value corresponding to the slope inflection point to obtain the compensated duty cycle;

[0121] The smaller value between the compensation duty cycle and the preset maximum duty cycle is selected as the target solenoid valve compensation duty cycle, and the target solenoid valve compensation duty cycle corresponds to the duty cycle corresponding to the slope inflection point and the movement displacement value;

[0122] Based on the target solenoid valve compensation duty cycle, the duty cycle corresponding to the slope inflection point, and the movement displacement value, a target solenoid valve compensation lookup table is obtained.

[0123] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0124] The position difference between the target position and the actual position is obtained. When the position difference is not less than a preset open-loop position threshold, the clutch is controlled to reach the target position using a preset open-loop duty cycle.

[0125] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0126] When the position difference is not less than the preset open-loop threshold, the target solenoid valve is controlled to open;

[0127] Determine the actual compensation valve opening time in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the actual position, determine the target compensation valve opening time in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the target position, and calculate the time difference between the target compensation valve opening time and the actual compensation valve opening time;

[0128] The opening duration of the target solenoid valve is obtained, and when the opening duration is greater than the duration difference or the position difference is less than a preset open-loop threshold, the target solenoid valve is controlled to close.

[0129] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0130] For any target solenoid valve, obtain a fitting curve of the target solenoid valve at a preset open-loop duty cycle, and determine a preset number of data points with the same spacing on the fitting curve at the preset open-loop duty cycle;

[0131] Determining inverse function data points corresponding to a preset number of data points on an inverse function curve of the fitting curve under a preset open-loop duty cycle;

[0132] When the vertical coordinate values of the inverse function data points are not greater than the preset values, the preset coefficient value is used as the first open-loop scaling coefficient value, and the first open-loop scaling coefficient value is used as the target open-loop scaling coefficient value;

[0133] When the ordinate value of the inverse function data point is greater than the preset value, obtaining the maximum ordinate value among the inverse function data points, dividing the maximum ordinate value by the preset value as the second open-loop scaling coefficient value, and using the second open-loop scaling coefficient value as the target open-loop scaling coefficient value;

[0134] The vertical coordinate value of the inverse function data point is divided by the preset value and multiplied by the target open-loop scaling coefficient value to obtain the valve opening time, and the valve opening time corresponds to the horizontal coordinate of the inverse function data point;

[0135] Based on the valve opening time and the horizontal coordinates of the inverse function data points, the target open-loop compensation lookup table is obtained.

[0136] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0137] If the initial duty cycle is positive, the large intake valve and the small intake valve are used as target solenoid valves;

[0138] If the initial duty cycle is negative, the large exhaust valve and the small exhaust valve are used as target solenoid valves.

[0139] The implementation principle and technical effects of the above embodiment are similar to those of the above method embodiment and will not be repeated here.

[0140] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the clutch position control method provided in the above embodiment are implemented:

[0141] When the vehicle is started, the actual and target clutch positions are acquired, input into a linear controller, and an initial duty cycle is output; the target position is determined based on the clutch position requirements when the vehicle starts or shifts gears.

[0142] determining a target solenoid valve according to an initial duty cycle;

[0143] Determining a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve using the absolute value of the initial duty cycle and the actual position;

[0144] The clutch is controlled to reach the target position through the target compensation duty cycle.

[0145] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0146] The target solenoid valves include a large intake valve, a small intake valve, a large intake valve and a small intake valve, a large exhaust valve, a small exhaust valve, a large exhaust valve and a small exhaust valve; for any target solenoid valve, the displacement values and corresponding movement times of the clutch controlled by the target solenoid valve at different duty cycles are collected according to a preset sampling period;

[0147] The displacement values under different duty cycles are used as the ordinate, and the product of the corresponding movement time and the corresponding duty cycle under different duty cycles is used as the abscissa, and the fitting curves under different duty cycles are obtained by curve fitting;

[0148] For a fitting curve under any duty cycle, a preset number of data points with the same spacing are determined on the fitting curve, and the slope between two adjacent data points is obtained;

[0149] Determine the slope inflection point according to the value of each slope, and divide the duty cycle by the slope value corresponding to the slope inflection point to obtain the compensated duty cycle;

[0150] The smaller value between the compensation duty cycle and the preset maximum duty cycle is selected as the target solenoid valve compensation duty cycle, and the target solenoid valve compensation duty cycle corresponds to the duty cycle corresponding to the slope inflection point and the movement displacement value;

[0151] Based on the target solenoid valve compensation duty cycle, the duty cycle corresponding to the slope inflection point, and the movement displacement value, a target solenoid valve compensation lookup table is obtained.

[0152] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0153] The position difference between the target position and the actual position is obtained. When the position difference is not less than a preset open-loop position threshold, the clutch is controlled to reach the target position using a preset open-loop duty cycle.

[0154] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0155] When the difference is not less than the preset open-loop threshold, the target solenoid valve is controlled to open;

[0156] Determine the actual compensation valve opening time in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the actual position, determine the target compensation valve opening time in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the target position, and calculate the time difference between the target compensation valve opening time and the actual compensation valve opening time;

[0157] The opening time of the target solenoid valve is obtained, and when the opening time is greater than the time difference or the difference is less than a preset open-loop threshold, the target solenoid valve is controlled to close.

[0158] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0159] For any target solenoid valve, obtain a fitting curve of the target solenoid valve at a preset open-loop duty cycle, and determine a preset number of data points with the same spacing on the fitting curve at the preset open-loop duty cycle;

[0160] Determining inverse function data points corresponding to a preset number of data points on an inverse function curve of the fitting curve under a preset open-loop duty cycle;

[0161] When the vertical coordinate values of the inverse function data points are not greater than the preset values, the preset coefficient value is used as the first open-loop scaling coefficient value, and the first open-loop scaling coefficient value is used as the target open-loop scaling coefficient value;

[0162] When the ordinate value of the inverse function data point is greater than the preset value, obtaining the maximum ordinate value among the inverse function data points, dividing the maximum ordinate value by the preset value as the second open-loop scaling coefficient value, and using the second open-loop scaling coefficient value as the target open-loop scaling coefficient value;

[0163] The vertical coordinate value of the inverse function data point is divided by the preset value and multiplied by the target open-loop scaling coefficient value to obtain the valve opening time, and the valve opening time corresponds to the horizontal coordinate of the inverse function data point;

[0164] Based on the valve opening time and the horizontal coordinates of the inverse function data points, the target open-loop compensation lookup table is obtained.

[0165] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0166] If the initial duty cycle is positive, the large intake valve and the small intake valve are used as target solenoid valves;

[0167] If the initial duty cycle is negative, the large exhaust valve and the small exhaust valve are used as target solenoid valves.

[0168] The implementation principle and technical effects of the above embodiment are similar to those of the above method embodiment and will not be repeated here.

[0169] In one embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps of the clutch position control method provided in the above embodiment are implemented:

[0170] When the vehicle is started, the actual and target clutch positions are acquired, input into a linear controller, and an initial duty cycle is output; the target position is determined based on the clutch position requirements when the vehicle starts or shifts gears.

[0171] determining a target solenoid valve according to an initial duty cycle;

[0172] Determining a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve using the absolute value of the initial duty cycle and the actual position;

[0173] The clutch is controlled to reach the target position through the target compensation duty cycle.

[0174] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0175] The target solenoid valves include a large intake valve, a small intake valve, a large intake valve and a small intake valve, a large exhaust valve, a small exhaust valve, a large exhaust valve and a small exhaust valve; for any target solenoid valve, the displacement values and corresponding movement times of the clutch controlled by the target solenoid valve at different duty cycles are collected according to a preset sampling period;

[0176] The displacement values under different duty cycles are used as the ordinate, and the product of the corresponding movement time and the corresponding duty cycle under different duty cycles is used as the abscissa, and the fitting curves under different duty cycles are obtained by curve fitting;

[0177] For a fitting curve under any duty cycle, a preset number of data points with the same spacing are determined on the fitting curve, and the slope between two adjacent data points is obtained;

[0178] Determine the slope inflection point according to the value of each slope, and divide the duty cycle by the slope value corresponding to the slope inflection point to obtain the compensated duty cycle;

[0179] The smaller value between the compensation duty cycle and the preset maximum duty cycle is selected as the target solenoid valve compensation duty cycle, and the target solenoid valve compensation duty cycle corresponds to the duty cycle corresponding to the slope inflection point and the movement displacement value;

[0180] Based on the target solenoid valve compensation duty cycle, the duty cycle corresponding to the slope inflection point, and the movement displacement value, a target solenoid valve compensation lookup table is obtained.

[0181] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0182] The position difference between the target position and the actual position is obtained. When the position difference is not less than a preset open-loop position threshold, the clutch is controlled to reach the target position using a preset open-loop duty cycle.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0184] When the position difference is not less than the preset open-loop threshold, the target solenoid valve is controlled to open;

[0185] Determine the actual compensation valve opening time in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the actual position, determine the target compensation valve opening time in the target open-loop compensation lookup table corresponding to the target solenoid valve according to the target position, and calculate the time difference between the target compensation valve opening time and the actual compensation valve opening time;

[0186] The opening duration of the target solenoid valve is obtained, and when the opening duration is greater than the duration difference or the position difference is less than a preset open-loop threshold, the target solenoid valve is controlled to close.

[0187] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0188] For any target solenoid valve, obtain a fitting curve of the target solenoid valve at a preset open-loop duty cycle, and determine a preset number of data points with the same spacing on the fitting curve at the preset open-loop duty cycle;

[0189] Determining inverse function data points corresponding to a preset number of data points on an inverse function curve of the fitting curve under a preset open-loop duty cycle;

[0190] When the vertical coordinate values of the inverse function data points are not greater than the preset values, the preset coefficient value is used as the first open-loop scaling coefficient value, and the first open-loop scaling coefficient value is used as the target open-loop scaling coefficient value;

[0191] When the ordinate value of the inverse function data point is greater than the preset value, obtaining the maximum ordinate value among the inverse function data points, dividing the maximum ordinate value by the preset value as the second open-loop scaling coefficient value, and using the second open-loop scaling coefficient value as the target open-loop scaling coefficient value;

[0192] The vertical coordinate value of the inverse function data point is divided by the preset value and multiplied by the target open-loop scaling coefficient value to obtain the valve opening time, and the valve opening time corresponds to the horizontal coordinate of the inverse function data point;

[0193] Based on the valve opening time and the horizontal coordinates of the inverse function data points, the target open-loop compensation lookup table is obtained.

[0194] In one embodiment, when the computer program is executed by a processor, the following steps are further implemented:

[0195] If the initial duty cycle is positive, the large intake valve and the small intake valve are used as target solenoid valves;

[0196] If the initial duty cycle is negative, the large exhaust valve and the small exhaust valve are used as target solenoid valves.

[0197] The implementation principle and technical effects of the above embodiment are similar to those of the above method embodiment and will not be repeated here.

[0198] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processor involved in the various embodiments provided herein may be, but are not limited to, a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, and the like.

[0199] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0200] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A clutch position control method, characterized in that: The method comprises: When the vehicle is started, the actual position and target position of the clutch are obtained, the actual position and target position are input into a linear controller, and an initial duty cycle is output; wherein the target position is determined based on the clutch position requirement when the vehicle starts or shifts gears; determining a target solenoid valve according to the initial duty cycle; Determining a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve using the absolute value of the initial duty cycle and the actual position; controlling the clutch to reach the target position by using the target compensation duty cycle; The target solenoid valve includes a large intake valve, a small intake valve, a large intake valve and a small intake valve, a large exhaust valve, a small exhaust valve, a large exhaust valve and a small exhaust valve; the target solenoid valve compensation table determination method includes: For any target solenoid valve, collecting the displacement values and corresponding movement moments of the target solenoid valve controlling the clutch at different duty cycles according to a preset sampling period; The displacement values under different duty cycles are used as the ordinate, and the product of the corresponding movement time and the corresponding duty cycle under different duty cycles is used as the abscissa, and the fitting curves under different duty cycles are obtained by curve fitting; For a fitting curve under any duty cycle, determining a preset number of data points with the same spacing on the fitting curve, and obtaining the slope between two adjacent data points; Determine a slope inflection point according to the values of each slope, and divide the duty cycle by the value of the slope corresponding to the slope inflection point to obtain a compensated duty cycle; Selecting a smaller value between the compensation duty cycle and a preset maximum duty cycle as a target solenoid valve compensation duty cycle, wherein the target solenoid valve compensation duty cycle corresponds to the duty cycle and the movement displacement value corresponding to the slope inflection point; A target solenoid valve compensation lookup table is obtained based on the target solenoid valve compensation duty cycle, the duty cycle corresponding to the slope inflection point, and the movement displacement value.

2. The method according to claim 1, characterized in that The method further comprises: A position difference between the target position and the actual position is obtained, and when the position difference is not less than a preset open-loop position threshold, the clutch is controlled to reach the target position using a preset open-loop duty cycle.

3. The method according to claim 2, characterized in that The method further comprises: When the difference is not less than a preset open-loop threshold, controlling the target solenoid valve to open; Determine an actual compensation valve opening time in a target open-loop compensation lookup table corresponding to the target solenoid valve according to the actual position, determine a target compensation valve opening time in a target open-loop compensation lookup table corresponding to the target solenoid valve according to the target position, and calculate a time difference between the target compensation valve opening time and the actual compensation valve opening time; The opening duration of the target solenoid valve is obtained, and when the opening duration is greater than the duration difference or when the difference is less than a preset open-loop threshold, the target solenoid valve is controlled to be closed.

4. The method according to claim 3, characterized in that The target open-loop compensation table lookup method includes: For any target solenoid valve, obtaining a fitting curve of the target solenoid valve at a preset open-loop duty cycle, and determining a preset number of data points with the same spacing on the fitting curve at the preset open-loop duty cycle; Determining inverse function data points corresponding to the preset number of data points on an inverse function curve of the fitting curve under the preset open-loop duty cycle; When the vertical coordinate values of the inverse function data points are not greater than the preset values, the preset coefficient value is used as the first open-loop scaling coefficient value, and the first open-loop scaling coefficient value is used as the target open-loop scaling coefficient value; When the ordinate value of the inverse function data point is greater than a preset value, obtaining a maximum ordinate value among the inverse function data points, dividing the maximum ordinate value by the preset value as a second open-loop scaling coefficient value, and using the second open-loop scaling coefficient value as a target open-loop scaling coefficient value; The vertical coordinate value of the inverse function data point is divided by the preset value and multiplied by the target open-loop scaling coefficient value to obtain the valve opening time, where the valve opening time corresponds to the horizontal coordinate of the inverse function data point; A target open-loop compensation lookup table is obtained based on the valve opening time and the horizontal coordinates of the inverse function data points.

5. The method according to claim 1, wherein The determining of the target solenoid valve according to the initial duty cycle includes: If the initial duty cycle is a positive value, the large intake valve and the small intake valve are used as target solenoid valves; If the initial duty cycle is a negative value, the large exhaust valve and the small exhaust valve are used as target solenoid valves.

6. A clutch position control device, characterized in that: The device comprises: an initial output module, configured to obtain an actual position and a target position of the clutch when the vehicle is started, input the actual position and the target position into a linear controller, and output an initial duty cycle; wherein the target position is determined based on the clutch position requirement when the vehicle is started or shifted; a solenoid valve determination module, configured to determine a target solenoid valve according to the initial duty cycle; the target solenoid valve includes a large intake valve, a small intake valve, a large intake valve and a small intake valve, a large exhaust valve, a small exhaust valve, a large exhaust valve and a small exhaust valve; a target determination module, configured to determine a target compensation duty cycle in a target solenoid valve compensation lookup table corresponding to the target solenoid valve using the absolute value of the initial duty cycle and the actual position; a control module, configured to control the clutch to reach the target position according to the target compensation duty cycle; A table lookup determination module is configured to, for any target solenoid valve, collect, according to a preset sampling period, each displacement value and corresponding displacement moment of the target solenoid valve controlling the clutch at different duty cycles; use each displacement value at different duty cycles as a vertical coordinate and the product of each displacement moment at different duty cycles and the corresponding duty cycle as a horizontal coordinate, and obtain each fitting curve at different duty cycles through curve fitting; for the fitting curve at any duty cycle, determine a preset number of data points with equal spacing on the fitting curve and obtain the slope between two adjacent data points; determine a slope inflection point based on the value of each slope, and obtain a compensation duty cycle by dividing the duty cycle by the slope value corresponding to the slope inflection point; select the smaller value between the compensation duty cycle and a preset maximum duty cycle as the target solenoid valve compensation duty cycle, the target solenoid valve compensation duty cycle corresponding to the duty cycle and displacement value corresponding to the slope inflection point; and obtain a target solenoid valve compensation lookup table based on the target solenoid valve compensation duty cycle, the duty cycle corresponding to the slope inflection point, and the displacement value.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

9. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

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