Transmission system gap parameter determination method, device and vehicle

Abstract

This invention provides a method, apparatus, and vehicle for determining transmission system clearance parameters, relating to the field of transmission system control technology. The method includes: receiving a brake lock-up signal and confirming that the transmission system output is fixed; initializing the resolver position; executing at least one negative and positive torque output to control the resolver position change, causing a clearance change in the transmission system, and acquiring real-time torque, time, and real-time resolver position; calculating and determining the clearance parameters based on the real-time torque, time, and real-time resolver position, thus solving the problem of the lack of existing methods for accurately determining transmission clearance parameters.

Description

Technical Field

[0001] This invention relates to the field of transmission system control technology, and in particular to a method, device, and vehicle for determining transmission system clearance parameters. Background Technology

[0002] During the start-up, acceleration, and deceleration of electric vehicles, the motor torque typically crosses zero, causing mechanical shock in the transmission system due to backlash, resulting in vibration and abnormal noise. Common optimization methods include damping adjustment and gear engagement strategies. These methods, such as gear engagement strategies, typically use gear engagement torque to ensure a tight meshing between the driving and driven gears, thus eliminating the influence of backlash. All of these methods rely on controlling the transmission backlash, requiring accurate determination of parameters such as the size of the transmission system backlash. Summary of the Invention

[0003] In order to overcome the above-mentioned technical defects, the purpose of this invention is to provide a method, device and vehicle for determining transmission system clearance parameters, and to solve the problem of the lack of existing methods for accurately determining transmission clearance parameters.

[0004] This invention discloses a method for determining the clearance parameters of a transmission system, comprising:

[0005] Receive brake lock-up signal to confirm that the output end of the transmission system is fixed;

[0006] Initialize the resolver position;

[0007] Execute at least one negative and positive torque output to control the change in resolver position, causing a change in the backlash of the transmission system, and collect real-time torque, time, and real-time resolver position;

[0008] The gap parameters are determined based on the real-time torque, time, and real-time refractive position.

[0009] Preferably, the given torque is set to increase by a preset step based on the initial torque;

[0010] The given torque does not exceed the preset torque upper limit.

[0011] Preferably, the given torque is increased from 0 Nm in increments of 1 Nm / s, and a preset torque upper limit is set to 10 Nm.

[0012] Preferably, the initialization of the resolver position includes:

[0013] Output a preset positive / negative torque. When the resolver position starts to change, keep the torque constant until the resolver position stops changing, thus determining the initial resolver position.

[0014] Preferably, the acquisition of real-time torque, time, and real-time resolver position includes:

[0015] Execute the output of the negative given torque. When the resolver position starts to change, record the first resolver position and the first moment. Keep the torque constant and record the first torque. Until the resolver position stops changing, record the second resolver position and the second moment.

[0016] Execute the output of the given positive torque. When the resolver position starts to change, record the third resolver position and the third moment. Keep the torque constant and record the second torque. Continue until the resolver position stops changing and record the fourth resolver position and the fourth moment.

[0017] Preferably, the step of calculating and determining the gap parameter based on the real-time torque, time, and real-time resolver position includes:

[0018] Obtain the number of polar pairs of the rotary transformer;

[0019] Calculate the first distance between the first and second resolver positions and the second distance between the third and fourth resolver positions;

[0020] The transmission gap is determined based on the average of the first and second distances and the number of resolver pole pairs.

[0021] Preferably, the step of calculating and determining the gap parameter based on the real-time torque, time, and real-time resolver position further includes:

[0022] The minimum torque value for eliminating the gap is determined based on the average of the first torque and the second torque.

[0023] And / or, calculate a first time period based on a first time point and a second time point, calculate a second time period based on a third time point and a fourth time point, and determine the time to eliminate the gap based on the average of the first time period and the second time period.

[0024] Preferably, it further includes:

[0025] Before receiving a brake lock-up signal, confirm the vehicle system's operating status;

[0026] After collecting real-time torque, time, and real-time resolver position, the vehicle system operation status is restored.

[0027] The present invention also provides a device for determining the clearance parameters of a transmission system, comprising:

[0028] The preprocessing module is used to receive the brake lock-up signal and confirm that the output of the transmission system is fixed.

[0029] The first processing module is used to initialize the resolver position;

[0030] The second processing module is used to execute at least one negative and positive given torque output, control the change of resolver position, so that the transmission system produces a change in clearance, and collect real-time torque, time and real-time resolver position.

[0031] The calculation module is used to calculate and determine the gap parameters based on the real-time torque, time, and real-time resolver position.

[0032] The present invention also provides a vehicle, including a transmission system and a control system, and applies a transmission system clearance parameter determination device.

[0033] Compared with existing technologies, the above technical solution has the following advantages:

[0034] The transmission clearance parameter determination method provided in this embodiment involves braking the vehicle and initializing the transmission system's resolver position with a given torque. Then, at least sequential positive and negative torque outputs are executed. When the resolver position shifts significantly, the time, resolver position, and torque are recorded. This process is repeated until the resolver position stops changing, and the time and resolver position at this point are recorded. Based on the aforementioned collected information such as time, real-time resolver position, and real-time torque, clearance parameters such as the transmission clearance, the time required to eliminate the clearance, and the minimum torque value required to eliminate the clearance are determined. This provides a parameter basis for vibration debugging and data support for subsequent vibration / abnormal noise elimination. The method is simple to operate and highly accurate, solving the problem of the lack of existing methods for accurately determining transmission clearance parameters. Attached Figure Description

[0035] Figure 1 This is a flowchart of an embodiment of the method for determining the clearance parameters of a transmission system according to the present invention;

[0036] Figure 2 This is a schematic diagram illustrating the real-time torque, time, and real-time resolver position changes in Embodiment 1 of the method for determining the clearance parameters of a transmission system according to the present invention.

[0037] Figure 3 This is a schematic diagram of the control flow in Embodiment 1, Embodiment 2 of the device, or Embodiment 3 of the vehicle of the present invention, in which the method for determining the clearance parameters of the transmission system is integrated into the motor controller program;

[0038] Figure 4 This is a schematic diagram of a second embodiment of the transmission system clearance parameter determination device of the present invention.

[0039] Figure label:

[0040] 5-Transmission system clearance parameter determination device; 51-Preprocessing module; 52-First processing module; 53-Second processing module; 53-Calculation module. Detailed Implementation

[0041] The advantages of the present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments.

[0042] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0043] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0044] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0045] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0046] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0047] In the following description, suffixes such as "module," "part," or "unit" used to denote elements are used only for the convenience of the description of the invention and have no specific meaning in themselves. Therefore, "module" and "part" can be used interchangeably.

[0048] Example 1: This example discloses a method for determining transmission system clearance parameters. The parameter determination method provided in this embodiment, through the control of positive and negative torques and adjustment of the change in the position of the revolute (periodic change), can accurately obtain parameters such as the size of the transmission clearance, the minimum torque required to eliminate the clearance, and the time required to eliminate the clearance on the entire vehicle. These parameters are then provided to gear alignment strategies or vehicle calibration to optimize vehicle noise and vibration issues. For ease of understanding, the aforementioned transmission system clearance mainly refers to the clearance between transmission components, including rolling and sliding clearances, including but not limited to unnecessary clearances between gears such as driving wheels and driven wheels, or transmission shafts. After applying torque, the clearance between adjacent transmission components gradually increases or decreases. The clearances described below are all transmission clearances, specifically as follows... Figure 1 As shown, it includes:

[0049] S100: Receives brake lock-up signal to confirm that the output of the transmission system is fixed;

[0050] In the above steps, the brake lock-up signal is issued by the vehicle's control system. Brake lock-up means that the vehicle's brakes tighten the tires, and there is no relative movement between the tires and the brakes, thus ensuring that the vehicle will not move or shift. This reduces the safety hazards caused by vehicle movement during the clearance parameter determination process. The action of confirming that the transmission system output is fixed can be achieved by confirming that the transmission system output is zero through feedback signals from various modules under the vehicle control system. When executing the transmission system clearance parameter determination method of this embodiment, a brake lock-up request is sent to the upper-level controller, and a feedback brake lock-up signal is received. After confirming that the transmission system output is fixed, the following steps S200-S400 are executed. That is, after confirming that the vehicle will not move, the resolver position is adjusted to obtain the clearance parameter, improving the safety of the method's operation.

[0051] S200: Initialize the resolver position;

[0052] In the above steps, the function of initializing the resolver position is to move the transmission component to one side of the gap, so that after applying a positive / negative torque in the following process, the transmission component moves from one side of the gap to the other side, that is, the gap between a certain transmission component and one side transmission component A increases, while the gap with the other side transmission component B decreases.

[0053] Specifically, the initialization of the resolver position includes: outputting a preset positive / negative torque; maintaining the torque constant when the resolver position begins to change until the resolver position stops changing, thus determining the initial resolver position. It should be noted that the preset torque can be the same as or different from the given torque. For example, for a positive torque, the torque increases from 0 Nm at a slope of 1 Nm / s (with a safety upper limit of 10 Nm). When the resolver position shifts significantly, the torque is maintained, gradually reducing the transmission gap until the resolver position stops changing, and the resolver position at this point is recorded. The resolver position can be acquired in real time using a resolver sensor, a position sensor that accurately detects the rotor's position, direction, and speed. When the resolver position shifts significantly, the transmission system gap begins to change. When the resolver position stops changing, for a given transmission component, it is located on one side of the gap between it and its adjacent transmission components.

[0054] S300: Executes at least one negative and positive given torque output, controls the change in resolver position, causes a change in the backlash of the transmission system, and collects real-time torque, time, and real-time resolver position;

[0055] In the above steps, at least sequentially negative and positive torque outputs are performed, causing a transmission component in the transmission system to move from one side of the transmission gap to the other side at least once back and forth, so that the gap parameters can be determined in step S400 below. Note that the given torque is set to increase at a preset step size based on the initial torque; the given torque does not exceed a preset torque upper limit. Specifically, as an example and not a limitation, the given torque increases from 0 Nm at a step size of 1 Nm / s, and the preset torque upper limit is set to 10 Nm. The given torque can also be adjusted according to the actual application of the transmission system, including but not limited to adjusting the preset step size, initial torque, and preset torque upper limit, and the torque change can also be set to be non-linear. In this embodiment, setting the above parameters facilitates operation and is beneficial for accurately controlling the torque output based on the changes in the resolver position, thereby improving the accuracy of subsequent determination of the gap parameters.

[0056] Specifically, the aforementioned acquisition of real-time torque, time, and real-time resolver position can be any data collected during the given torque output process, or data related to changes in resolver position. Based on this, it includes: executing a negative given torque output (torque increases from 0 Nm at a slope of 1 Nm / s (with a safety upper limit of 10 Nm)), recording the first resolver position P1 and the first time t1 when the resolver position begins to change, keeping the torque constant to gradually reduce the transmission system clearance, recording the first torque T1, until the resolver position stops changing, and recording the second resolver position P2 and the second time t2; executing a positive given torque output (torque increases from 0 Nm at a slope of 1 Nm / s (with a safety upper limit of 10 Nm)), recording the third resolver position P3 and the third time t3 when the resolver position begins to change, keeping the torque constant to gradually reduce the transmission system clearance, recording the second torque T2, until the resolver position stops changing, and recording the fourth resolver position P4 and the fourth time t4.

[0057] In the above steps, the given torque is increased by a preset step size until the resolver position begins to change, and then remains unchanged until the resolver position stops changing. At this time, the length of the resolver position change should be the distance of a gap. However, in order to further increase the certainty of the determined gap parameters, torques in different directions are applied so that for a certain transmission component, it moves from one side of the gap between it and the adjacent transmission component to the other side, and then moves back from the other side in the opposite direction. During this process, parameters such as time, position, and torque are continuously collected.

[0058] It should be noted that in this embodiment, regardless of whether a positive or negative torque (given torque) is applied, the transmission system clearance gradually decreases; only the direction of movement of the transmission components is inconsistent, i.e., the direction of clearance change is inconsistent. Furthermore, the direction of torque output is adjusted according to the torque direction in the initialization resolver position described above. Specifically, if a positive preset torque is output during the initialization resolver position process, then in this step, a negative given torque is applied first, followed by a positive given torque, and vice versa. That is, during the initialization process, after the transmission component moves to one side of the clearance formed by its adjacent transmission component, the given torque drives the transmission component to move to the other side. This reduces the possibility of failure to collect transmission clearance-related parameters due to a consistent torque direction but an unchanged resolver position, which could lead to failure in determining the clearance parameters.

[0059] like Figure 2As shown, with the change of torque, the revolute position changes after time t1 and stops changing at time t2, while the torque remains constant during this process. Then, the torque direction is switched and the torque is changed, and the revolute position changes again after time t3 and stops changing after time t4. It can also be seen that the revolute position changes in opposite directions between t2-t1 and t4-t3, presenting an approximately symmetrical structure within one cycle. Based on this, the gap parameter can be determined according to the changes between t2-t1 and t4-t3.

[0060] S400: The gap parameters are determined based on the real-time torque, time, and real-time resolver position.

[0061] In this embodiment, it should be noted that the above-mentioned clearance parameters include, but are not limited to, parameters such as the size of the transmission (system) clearance, the minimum torque required to eliminate the transmission clearance, and the time required to eliminate the clearance. In order to facilitate the subsequent implementation of gear-aligning strategies and other measures to determine the size of the transmission clearance, and to further facilitate measures to eliminate vibration / abnormal noise, the above-mentioned minimum torque or time parameters can also be determined.

[0062] Specifically, to determine the clearance size, the step of calculating the clearance parameters based on the real-time torque, time, and real-time resolver position includes: obtaining the number of resolver pole pairs; calculating the first distance between the first resolver position and the second resolver position, and the second distance between the third resolver position and the fourth resolver position; and determining the transmission clearance based on the average of the first distance and the second distance and the number of resolver pole pairs.

[0063] In this embodiment, the first distance and the second distance should be consistent without error. However, due to potential data errors caused by the resolver sensor or transmission components, the average of the first and second distances is calculated to further improve the accuracy of the transmission gap. Specifically, based on the above, the transmission gap is determined according to the ratio of the resolver position change to the number of resolver pole pairs. The calculation is performed using the following formula: θ=((|P1-P2|)+(|P4-P3|)) / 2 / P; where P is the number of resolver pole pairs and θ is the transmission gap (motor mechanical angle). It should be noted that the formula for calculating θ results in different resolver position changes due to the different positive / negative directions of the given torque. Consequently, the distance between the first resolver position P1 and the second resolver position P2 is uncertain. The first distance is obtained using |P1-P2|, and the second distance is determined similarly.

[0064] Furthermore, in order to determine parameters such as minimum torque or time, the step of calculating the gap parameter based on the real-time torque, time, and real-time resolver position may further include: determining the minimum torque value for eliminating the gap based on the average of the first torque and the second torque; and / or, calculating a first time period based on the first moment and the second moment, calculating a second time period based on the third moment and the fourth moment, and determining the time for eliminating the gap based on the average of the first time period and the second time period.

[0065] That is, the minimum torque value for eliminating the backlash is calculated based on: Tmin = (|T1| + |T2|) / 2. This means taking the average torque required at each change in resolver position and considering it as the minimum torque value needed to eliminate the transmission backlash. Considering that the given torque can be positive or negative, resulting in positive or negative values ​​for T1 and T2, the average of the absolute values ​​of the first and second torques is calculated. Then, the time required to eliminate the transmission backlash is calculated based on Δt = ((t2 - t1) + (t4 - t3)) / 2. It should be noted that in this embodiment, multiple positive / negative torque outputs can be performed, and the resolver position and time at different torque output states can be recorded to obtain the average of multiple times, torques, or resolver positions, further improving the accuracy of the determined transmission system backlash.

[0066] Further, as a supplement, such as Figure 3 As shown, the transmission system clearance parameter determination method provided in this embodiment may further include: confirming the vehicle system operating status before receiving the brake lock-up signal; and restoring the vehicle system operating status after acquiring real-time torque, time, and real-time resolver position. That is, before executing the transmission system clearance parameter determination method provided in this embodiment, it is confirmed that all systems of the vehicle are operating normally. Specifically, this includes, but is not limited to, checking the operating status commands fed back by each system. After acquiring the corresponding torque, time, resolver position, and other data, the vehicle's operating status is restarted to restore it to the state before braking, in order to ensure the normal operation of the vehicle. The clearance parameter calculation process can be performed autonomously after / while the vehicle is running. In other words, the method provided in this embodiment is packaged as an automatic test program and integrated into the motor controller program, which can be directly executed on the vehicle to obtain relevant parameters (including but not limited to the aforementioned torque, time, resolver position, etc.). It is simple and easy to implement, providing a parameter basis for vibration debugging; and it is applicable to different vehicle models and electronic controls, exhibiting strong versatility.

[0067] The transmission clearance parameter determination method provided in this embodiment involves braking the vehicle and initializing the resolver position of the transmission system with a given torque. Then, at least sequential positive and negative torque outputs are performed, with the torque increasing from 0 Nm at a slope of 1 Nm / s. When the resolver position shifts significantly, real-time data (including real-time torque, time, and real-time resolver position) is recorded via hardware (including but not limited to resolver sensors). This torque is maintained, allowing the transmission clearance to change until the resolver position stops changing. The time and the resolver position at this point are recorded. Based on the aforementioned collected information such as time, resolver position, and torque, the transmission clearance is determined according to the ratio of the resolver position change to the number of resolver pole pairs. The time required to eliminate the clearance is determined based on the time average, and the minimum torque value required to eliminate the clearance is determined based on the torque average. These clearance parameters provide a parameter basis for vibration adjustment and data support for subsequent elimination of vibration / abnormal noise. The method is simple to operate and has high accuracy.

[0068] Example 2: This example also provides a transmission system clearance parameter determination device 5, such as... Figure 4 As shown, it includes:

[0069] Preprocessing module 51 is used to receive the brake lock-up signal and confirm that the output end of the transmission system is fixed;

[0070] The module described above is used to perform vehicle braking, reducing safety hazards during the data acquisition process required for determining the transmission system clearance parameters. Furthermore, it can also perform actions such as: confirming the vehicle system operating status before receiving the brake lock-up signal; and restoring the vehicle system operating status after acquiring data (including but not limited to real-time torque, time, and real-time resolver position). In other words, the clearance parameter determination method is integrated into the motor controller program for direct execution on the vehicle.

[0071] The first processing module 52 is used to initialize the resolver position;

[0072] In this module, the resolver position is initialized in the following way: a preset positive / negative torque is output. When the resolver position starts to change, the torque remains constant until the resolver position stops changing. The initial resolver position is then determined, causing the transmission component to move to one side of the gap so that the gap change can be adjusted and the gap parameters can be determined later.

[0073] The second processing module 53 is used to execute at least one negative and positive given torque output, control the change of resolver position, so that the gear movement of the transmission system produces a backlash change, and collect real-time torque, time and real-time resolver position.

[0074] In the aforementioned module, the gap change is adjusted by outputting a positive / negative torque, and the real-time data is collected for processing by the calculation module. Multiple outputs of the positive / negative torque can be performed, and the resolver position and time are recorded for different torque output states. This improves the accuracy of the calculation results by adding data (real-time torque, time, and real-time resolver position) to the calculation module. It should also be noted that the torque output in this module is adjusted according to the torque direction initialized in the first processing module, and can also be adjusted according to specific actual scenarios.

[0075] The calculation module 54 is used to calculate and determine the gap parameters based on the real-time torque, time, and real-time resolver position.

[0076] In this module, based on the real-time data (including but not limited to real-time torque, time, and real-time resolver position) collected in the second processing module, specifically, when the resolver position moves significantly in the second processing module, the time, resolver position, and torque are recorded until the resolver position stops changing. Under this module, clearance parameters, including but not limited to transmission clearance, the time required to eliminate clearance, and the minimum torque value required to eliminate clearance, are determined.

[0077] By way of example and not limitation, the device provided in this embodiment, on a complete vehicle, uses a preprocessing module to fix the output end (causing brake lock-up); a first processing module applies a positive torque, increasing it from 0 Nm at a slope of 1 Nm / s (with a safety upper limit of 10 Nm); when the reversal position moves significantly, the torque is maintained, gradually reducing the transmission gap until the reversal position stops changing, and the reversal position is recorded at this time; then, a second processing module applies a negative torque, increasing it from 0 Nm at a slope of 1 Nm / s (with a safety upper limit of 10 Nm); when the reversal position moves significantly, the time and reversal position are recorded; the torque is maintained, gradually reducing the transmission gap until the reversal position stops changing, and the time and reversal position are recorded; then, a positive torque is applied, and when the reversal position moves significantly, the time and reversal position are recorded; the torque is maintained, gradually reducing the transmission gap until the reversal position stops changing, and the time and reversal position are recorded. Finally, the transmission clearance is determined by the ratio of the change in resolver position to the number of resolver pole pairs in the calculation module. The average time is calculated to determine the time required to eliminate the clearance, and the average torque is detected to determine the minimum torque value required to eliminate the clearance. This information is provided to the gear alignment strategy or vehicle calibration to optimize vehicle noise and vibration issues in the future.

[0078] Example 3: This example also provides a vehicle, including a transmission system and a control system, and applies a transmission system clearance parameter determination device. It may also include a device for determining transmission system clearance parameters during vehicle operation (see reference). Figure 3 and Figure 4 Other components or modules that determine the clearance parameters can be packaged into an automatic test program and integrated into the motor controller program by the clearance parameter determination device of this transmission system. This program can be directly executed on the vehicle. Thus, in this vehicle, accurate parameters such as the size of the transmission clearance, the minimum torque required to eliminate the transmission clearance, and the time required to eliminate the clearance can be directly obtained. These parameters can be provided to gear alignment strategies or vehicle calibration, or to provide parameter support for strategies to optimize vehicle noise, vibration, and other problems. The operation is simple, requires no additional external equipment, and is beneficial to the safety of vehicle operation.

[0079] It should be noted that the embodiments of the present invention have better implementability and are not intended to limit the present invention in any way. Any person skilled in the art may use the above-disclosed technical content to change or modify it into equivalent effective embodiments. However, any modifications or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A method for determining clearance parameters of a transmission system, characterized in that, include: Receive brake lock-up signal to confirm that the output end of the transmission system is fixed; Initialize the resolver position; Execute at least one negative and positive torque output to control the change in resolver position, causing a change in the clearance of the transmission system, and collect real-time torque, time, and real-time resolver position. The given torque increases by a preset step size until the resolver position begins to change, and then remains constant until the resolver position stops changing. At this time, the length of the resolver position change is the distance of one clearance. Continue to apply torque in different directions, so that for a transmission component, it moves from one side of the clearance between it and an adjacent transmission component to the other side, and then moves back from the other side. During this process, time, position, and torque parameters are continuously collected. If a positive preset torque is output during the above-mentioned resolver position initialization process, then the negative torque is given first and then the positive torque is given in this step, and vice versa. The gap parameters are calculated and determined based on the real-time torque, time, and real-time resolver position. The acquisition of real-time torque, time, and real-time resolver position includes: Execute the output of the negative given torque. When the resolver position starts to change, record the first resolver position and the first moment. Keep the torque constant and record the first torque. Until the resolver position stops changing, record the second resolver position and the second moment. Execute the output of the given positive torque. When the resolver position starts to change, record the third resolver position and the third moment. Keep the torque constant and record the second torque. Continue until the resolver position stops changing and record the fourth resolver position and the fourth moment. The step of calculating and determining the gap parameters based on the real-time torque, time, and real-time revolute position includes: Obtain the number of polar pairs of the rotary transformer; Calculate the first distance between the first and second resolver positions and the second distance between the third and fourth resolver positions; The transmission clearance is determined based on the average of the first distance and the second distance, and the number of resolver pole pairs. The step of determining the gap parameters based on the real-time torque, time, and real-time revolute position further includes: The minimum torque value for eliminating the gap is determined based on the average of the first torque and the second torque. And / or, calculate a first time period based on a first time point and a second time period based on a third time point and a fourth time point, and determine the time to eliminate the gap based on the average of the first time period and the second time period. Includes: Based on: Calculate the minimum torque value to eliminate the backlash, and then based on... Calculate the time required to eliminate transmission backlash, where T1 is the first torque, T2 is the second torque, t1 is the first moment, t2 is the second moment, t3 is the third moment, and t4 is the fourth moment. Perform multiple positive / negative torque outputs and record the resolver position and time for different torque output states to obtain the average of multiple times, torques, or resolver positions. Also includes: Before receiving a brake lock-up signal, confirm the vehicle system's operating status; After collecting real-time torque, time, and real-time resolver position, the vehicle system operating status is restored; and The given torque is set to increase by a preset step based on the initial torque; The given torque does not exceed the preset torque upper limit; The given torque is increased from 0 Nm in increments of 1 Nm / s, and a preset torque upper limit is set to 10 Nm. The given torque is adjusted according to the actual application of the transmission system, including adjusting the preset step size, initial torque, preset torque upper limit, and the torque change is non-linear. The initialization resolver position includes: Output a preset positive / negative torque. When the resolver position starts to change, keep the torque constant until the resolver position stops changing, thus determining the initial resolver position.

2. A device for determining the clearance parameters of a transmission system, characterized in that, include: The preprocessing module is used to receive the brake lock-up signal and confirm that the output of the transmission system is fixed. The first processing module is used to initialize the resolver position; The second processing module is used to execute at least one negative and positive given torque output, control the change of resolver position, so that the transmission system produces a gap change, and collect real-time torque, time, and real-time resolver position. The given torque is increased by a preset step until the resolver position begins to change, and then remains unchanged until the resolver position stops changing. At this time, the length of the resolver position change is the distance of one gap. Torque in different directions is continued to be applied, so that for a transmission component, it moves from one side of the gap between it and the adjacent transmission component to the other side, and then moves back from the other side. During this process, time, position, and torque parameters are continuously collected. If a positive preset torque is output during the above initialization of resolver position, then the negative given torque is given first and then the positive given torque is given in this step, and vice versa. The calculation module is used to calculate and determine the gap parameters based on the real-time torque, time, and real-time resolver position. The acquisition of real-time torque, time, and real-time resolver position includes: Execute the output of the negative given torque. When the resolver position starts to change, record the first resolver position and the first moment. Keep the torque constant and record the first torque. Until the resolver position stops changing, record the second resolver position and the second moment. Execute the output of the given positive torque. When the resolver position starts to change, record the third resolver position and the third moment. Keep the torque constant and record the second torque. Continue until the resolver position stops changing and record the fourth resolver position and the fourth moment. The step of calculating and determining the gap parameters based on the real-time torque, time, and real-time revolute position includes: Obtain the number of polar pairs of the rotary transformer; Calculate the first distance between the first and second resolver positions and the second distance between the third and fourth resolver positions; The transmission clearance is determined based on the average of the first distance and the second distance, and the number of resolver pole pairs. The step of determining the gap parameters based on the real-time torque, time, and real-time revolute position further includes: The minimum torque value for eliminating the gap is determined based on the average of the first torque and the second torque. And / or, calculate a first time period based on a first time point and a second time period based on a third time point and a fourth time point, and determine the time to eliminate the gap based on the average of the first time period and the second time period. Includes: Based on: Calculate the minimum torque value to eliminate the backlash, and then based on... Calculate the time required to eliminate transmission backlash, where T1 is the first torque, T2 is the second torque, t1 is the first moment, t2 is the second moment, t3 is the third moment, and t4 is the fourth moment. Perform multiple positive / negative torque outputs and record the resolver position and time for different torque output states to obtain the average of multiple times, torques, or resolver positions. Also includes: Before receiving a brake lock-up signal, confirm the vehicle system's operating status; After collecting real-time torque, time, and real-time resolver position, the vehicle system operating status is restored; and The given torque is set to increase by a preset step based on the initial torque; The given torque does not exceed the preset torque upper limit; The given torque is increased from 0 Nm in increments of 1 Nm / s, and a preset torque upper limit is set to 10 Nm. The given torque is adjusted according to the actual application of the transmission system, including adjusting the preset step size, initial torque, preset torque upper limit, and the torque change is non-linear. The initialization resolver position includes: Output a preset positive / negative torque. When the resolver position starts to change, keep the torque constant until the resolver position stops changing, thus determining the initial resolver position.

3. A vehicle, characterized in that: It includes a transmission system and a control system, and applies the transmission system clearance parameter determination device as described in claim 2.

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