Pneumatic amt gear engagement control method

Abstract

The present application belongs to the field of vehicle technology, and discloses a kind of pneumatic AMT gear control method, including according to the initial air pressure value of shift cylinder and target gear, the air filling duration of the basis cylinder of shift actuator is determined, the working condition characteristic value capable of reflecting the motion working condition of shift actuator in the process of gear engagement is monitored;According to the air filling duration correction of shift actuator cylinder of preset interval time cycle, according to the initial air pressure value of shift cylinder, target gear and current cylinder air filling duration, the theoretical value of current time working condition characteristic value is determined;According to the difference between current cylinder air filling duration and the actual value of current time working condition characteristic value and the theoretical value of current time working condition characteristic value, the basis cylinder air filling duration is corrected, and the first corrected cylinder air filling duration of the air filling duration correction of shift actuator cylinder of this time is obtained;If current cylinder air filling duration is not less than the first corrected cylinder air filling duration, stop filling air into shift cylinder.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a pneumatic AMT gear shifting control method. Background Technology

[0002] During the shifting process of a pneumatic AMT, the volume inside the cylinder gradually increases as the shifting position moves. In order to maintain the pressure inside the shifting cylinder, the inflation of the cylinder usually stops only after the shifting position reaches the target position. In other words, the force driving the shifting actuator does not decrease during the entire shifting process. Therefore, the shifting actuator is in an accelerated state until it reaches the target position. Moreover, the shifting actuator is equipped with mechanical limiters. When the shifting actuator reaches the limit position, it has a large inertia, which causes excessive mechanical impact noise and impact force. This will reduce the life of related parts and is not conducive to reducing the overall NVH (noise, vibration and harshness) of the vehicle.

[0003] To address the aforementioned problems in the gear shifting process of a pneumatic AMT, the existing patented motion control method and device for AMT gear shifting actuator (201410812088.7) uses a preset MAP. During gear shifting, it queries the preset MAP table based on the initial air pressure value of the gear shifting cylinder and the target gear. Based on the obtained cylinder charging time, it controls the charging time of the shifting cylinder, thereby shortening the charging time of the shifting cylinder and reducing the speed of the gear shifting actuator when reaching the limit position.

[0004] However, the control method disclosed in the patented AMT shift actuator motion control method and device cannot be applied to complex vehicle operating conditions, resulting in a decrease in shift success rate. The specific explanation is as follows: (1) The range of the X-axis and Y-axis of the preset MAP is limited. When the input of the X-axis or Y-axis is not within the preset range, only the nearest value in the table or the difference method can be used as the input, resulting in inaccurate output. When the cylinder charging time of the output is too small, the shift success rate will decrease. When the cylinder charging time of the output is too large, the speed of the shift actuator when it reaches the limit position will be too large, which will lead to the shift actuator reaching the limit position. (1) The inertia at the extreme position is too large; (2) When the preset MAP is calibrated at the test bench, it is a static test. When the vehicle is on a slope or braking, the residual stress transmitted from the wheel end to the gearbox output end increases the resistance of the actuator during the gear shifting process, which leads to the output value obtained by querying the preset MAP being too small, which easily causes the gear shifting failure; (3) As the operating mileage increases, the amount of impurities such as iron filings in the gearbox oil will increase, and the physical properties such as viscosity will also change, causing the friction force on the actuator during the gear shifting process to change. The preset MAP does not take this factor into account, which leads to a decrease in the gear shifting success rate.

[0005] Therefore, there is an urgent need for a pneumatic AMT gear shifting control method to solve the above problems. Summary of the Invention

[0006] The purpose of this invention is to provide a pneumatic AMT gear shifting control method that reduces the mechanical impact force and noise when the gear shifting actuator reaches its limit position, while improving the gear shifting success rate.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] Pneumatic AMT gear shifting control methods include:

[0009] Upon receiving a shift command, based on the initial air pressure value, initial gear, and target gear of the shift cylinder at the moment the shift command is received, the first preset MAP is queried to determine the charging time of the basic cylinder of the shift actuator, air is charged into the shift cylinder, and the working condition characterization value that can reflect the working condition of the shift actuator during the shifting process is monitored.

[0010] The cylinder charging time of the gear shifting actuator is cyclically corrected according to a preset interval.

[0011] The correction for the cylinder charging time of the gear shift actuator includes:

[0012] Based on the initial air pressure value, initial gear, target gear, and current cylinder charging time of the shift cylinder, the second preset MAP is queried to determine the theoretical value of the current working condition characterization value, and the difference between the actual value of the current working condition characterization value and the theoretical value of the current working condition characterization value is calculated.

[0013] The basic cylinder charging time is corrected based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, to obtain the first corrected cylinder charging time of the shift actuator cylinder for this gear shifting actuator.

[0014] The cylinder charging process for shifting gears is controlled based on the correction results of the cylinder charging time for each shifting actuator, including:

[0015] If the current cylinder charging time is less than the first corrected cylinder charging time after the current shift actuator cylinder charging time correction, then continue charging the shift cylinder; if the current cylinder charging time is not less than the first corrected cylinder charging time after the current shift actuator cylinder charging time correction, then stop charging the shift cylinder.

[0016] Preferably, the operating condition characterization value is any one of the speed, displacement, and position of the shift actuator.

[0017] Preferably, the basic cylinder charging time is corrected based on the initial gear position, target gear position, current cylinder charging time, and the difference between the actual value and the theoretical value of the current operating condition characterization value. This results in the first corrected cylinder charging time for this gear shift actuator, including:

[0018] Based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, the third preset MAP is queried to determine the first correction coefficient of the cylinder charging time for this gear shift actuator cylinder charging time correction.

[0019] The base cylinder charging time is corrected based on the first correction coefficient of the cylinder charging time correction for this shift actuator, resulting in the first corrected cylinder charging time. The first corrected cylinder charging time of this shift actuator is equal to the product of the base cylinder charging time and the first correction coefficient of the cylinder charging time correction for this shift actuator.

[0020] Preferably, when the difference between the actual value of the current operating condition characterization value and the theoretical value of the current operating condition characterization value is zero, the first correction coefficient of the cylinder charging time for the current shift actuator cylinder charging time correction is equal to one. Moreover, during the same shift, the first correction coefficient of the cylinder charging time for the current shift actuator cylinder charging time correction increases as the difference between the actual value of the current operating condition characterization value and the theoretical value of the current operating condition characterization value increases, and decreases as the difference decreases.

[0021] As a preferred option, it also includes:

[0022] Based on the result of each shift actuator cylinder charging time correction, the base cylinder charging time, and the current cylinder charging time, the termination condition for the shift actuator cylinder charging time correction cycle is determined, including:

[0023] If the first corrected cylinder charging time of the shift actuator cylinder charging time correction is not greater than the basic cylinder charging time, and the current cylinder charging time is not less than the first corrected cylinder charging time of the shift actuator cylinder charging time correction, then the shift actuator cylinder charging time correction cycle terminates.

[0024] If the first corrected cylinder charging time of the shift actuator cylinder charging time correction is greater than the basic cylinder charging time, and the current cylinder charging time is not less than the basic cylinder charging time, then the shift actuator cylinder charging time correction cycle terminates, and the first corrected cylinder charging time of the last shift actuator cylinder charging time correction is taken as the final cylinder charging time for this shift.

[0025] Pneumatic AMT gear shifting control methods include:

[0026] Record the number of times the driver failed to shift gears in a single cycle.

[0027] Upon receiving a shift command, based on the initial air pressure value, initial gear, and target gear of the shift cylinder at the moment the shift command is received, the first preset MAP is queried to determine the basic cylinder charging time, air is charged into the shift cylinder, and the working condition characterization value that can reflect the working condition of the shift actuator during the shifting process is monitored.

[0028] The cylinder charging time of the gear shifting actuator is cyclically corrected according to a preset interval.

[0029] The correction for the cylinder charging time of the gear shift actuator includes:

[0030] Based on the initial air pressure value, initial gear, target gear, and current cylinder charging time of the shift cylinder, the second preset MAP is queried to determine the theoretical value of the current working condition characterization value, and the difference between the actual value of the current working condition characterization value and the theoretical value of the current working condition characterization value is calculated.

[0031] The basic cylinder charging time is corrected based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, to obtain the first corrected cylinder charging time of the shift actuator cylinder for this gear shifting actuator.

[0032] Based on the number of failed gear shifts in this driving cycle, the first corrected cylinder charging time of the gear shift actuator cylinder is corrected to obtain the second corrected cylinder charging time of the gear shift actuator cylinder.

[0033] The cylinder charging process for shifting gears is controlled based on the correction results of the cylinder charging time for each shifting actuator, including:

[0034] If the current cylinder charging time is less than the second corrected cylinder charging time after the current shift actuator cylinder charging time correction, then continue to charge the shift cylinder.

[0035] If the current cylinder charging time is not less than the second corrected cylinder charging time after the current shift actuator cylinder charging time correction, then stop charging the shift cylinder.

[0036] Preferably, the basic cylinder charging time is corrected based on the initial gear position, target gear position, current cylinder charging time, and the difference between the actual value and the theoretical value of the current operating condition characterization value. This results in the first corrected cylinder charging time for this gear shift actuator, including:

[0037] Based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, the third preset MAP is queried to determine the first correction coefficient of the cylinder charging time for this gear shift actuator cylinder charging time correction.

[0038] The base cylinder charging time is corrected based on the first correction coefficient of the cylinder charging time correction for this shift actuator, resulting in the first corrected cylinder charging time. The first corrected cylinder charging time of this shift actuator is equal to the product of the base cylinder charging time and the first correction coefficient of the cylinder charging time correction for this shift actuator.

[0039] Preferably, the first corrected cylinder charging time of the shift actuator cylinder is corrected based on the number of failed shifts in the current driving cycle, resulting in the second corrected cylinder charging time of the shift actuator cylinder, including:

[0040] Based on the current number of failed gear shifts in this driving cycle, the preset CUR is queried to obtain the second correction coefficient for the cylinder charging time correction of the gear shift actuator in this driving cycle.

[0041] The cylinder charging time of the shift actuator is corrected by the second correction coefficient based on the first correction coefficient, resulting in the second correction cylinder charging time. The second correction cylinder charging time is equal to the product of the second correction coefficient and the first correction cylinder charging time.

[0042] Preferably, when the number of failed gear shifts in this driving cycle is zero, the second correction coefficient for the cylinder charging time correction of the gear shift actuator is equal to one, and the second correction coefficient for the cylinder charging time correction of the gear shift actuator increases as the number of failed gear shifts in this driving cycle increases.

[0043] As a preferred option, it also includes:

[0044] Based on the result of each shift actuator cylinder charging time correction, the base cylinder charging time, and the current cylinder charging time, the termination condition for the shift actuator cylinder charging time correction cycle is determined, including:

[0045] If the second corrected cylinder charging time of the shift actuator cylinder is not greater than the basic cylinder charging time, and the current cylinder charging time is not less than the second corrected cylinder charging time of the shift actuator cylinder charging time correction cycle, then the shift actuator cylinder charging time correction cycle will terminate.

[0046] If the second corrected cylinder charging time of the shift actuator cylinder charging time correction is greater than the basic cylinder charging time, and the current cylinder charging time is not less than the basic cylinder charging time, then the shift actuator cylinder charging time correction cycle terminates, and the second corrected cylinder charging time of the last shift actuator cylinder charging time correction is taken as the final cylinder charging time for this shift.

[0047] The beneficial effects of this invention are:

[0048] The pneumatic AMT gear shifting control method provided by this invention determines the basic cylinder charging time of the gear shifting actuator by querying a first preset MAP during gear shifting. Furthermore, during the movement of the gear shifting actuator towards the target gear, the cylinder charging time of the gear shifting actuator is continuously and cyclically corrected. Since the difference between the actual value and the theoretical value of the current operating condition characterization reflects the difference between the resistance experienced by the gear shifting actuator during this gear shift and the resistance experienced by the gear shifting actuator corresponding to the basic cylinder charging time, the basic cylinder charging time is corrected based on the current cylinder charging time and the difference between the actual and theoretical values ​​of the current operating condition characterization. The resulting first corrected cylinder charging time, compared to the basic cylinder charging time, better reflects the actual situation of this gear shift, thereby reducing the mechanical impact force and noise when the gear shifting actuator reaches its limit position while improving the gear shifting success rate. Attached Figure Description

[0049] Figure 1 This is a flowchart of the pneumatic AMT gear shifting control method provided in Embodiment 1 of the present invention;

[0050] Figure 2 This is a flowchart of the cylinder charging time correction for the gear shifting actuator provided in Embodiment 1 of the present invention;

[0051] Figure 3 This is a flowchart of the correction of the basic cylinder inflation time provided in Embodiment 1 of the present invention;

[0052] Figure 4 This is a flowchart of the process of controlling the cylinder charging process of the shifting actuator based on the result of the correction of the cylinder charging time of each shifting actuator according to Embodiment 1 of the present invention;

[0053] Figure 5 This is a flowchart of the pneumatic AMT gear shifting control method provided in Embodiment 2 of the present invention;

[0054] Figure 6 This is a flowchart of the cylinder charging time correction for the gear shifting actuator provided in Embodiment 2 of the present invention;

[0055] Figure 7 This is a flowchart of the correction of the basic cylinder inflation time provided in Embodiment 2 of the present invention;

[0056] Figure 8 This is a flowchart of the process for correcting the inflation time of the first modified cylinder, provided in Embodiment 2 of the present invention;

[0057] Figure 9 This is a flowchart of the process of controlling the cylinder charging process of the shifting actuator based on the result of the correction of the cylinder charging time of each shifting actuator according to Embodiment 2 of the present invention. Detailed Implementation

[0058] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0059] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0060] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the first feature can include direct contact between the second and first features, or contact between the second and first features through another feature between them. Furthermore, "above," "over," and "on top" of the first feature includes the second feature directly above or diagonally above the first feature, or simply indicates that the second feature is at a higher horizontal level than the first feature. "Below," "below," and "under" the first feature includes the second feature directly below or diagonally below the first feature, or simply indicates that the second feature is at a lower horizontal level than the first feature.

[0061] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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 the present invention. In addition, the terms "second" and "first" are used only for distinction in description and have no special meaning.

[0062] Example 1

[0063] like Figure 1-4 As shown, this embodiment provides a pneumatic AMT gear shifting control method, including:

[0064] Upon receiving a shift command, based on the initial air pressure value, initial gear, and target gear of the shift cylinder, the first preset MAP is queried to determine the charging time of the basic cylinder of the shift actuator, air is charged into the shift cylinder, and the working condition characterization value that can reflect the working condition of the shift actuator during the shifting process is monitored.

[0065] The cylinder charging time of the gear shifting actuator is cyclically corrected according to a preset interval.

[0066] The correction for the cylinder charging time of the gear shift actuator includes:

[0067] Based on the initial air pressure value, initial gear, target gear, and current cylinder charging duration of the shift cylinder at the moment the shift command is received, the second preset MAP is queried to determine the theoretical value of the current working condition characterization value. The difference between the actual value of the current working condition characterization value and the theoretical value of the current working condition characterization value is calculated. The current cylinder charging duration is the duration from the start of the shift cylinder charging in this shift to the current moment.

[0068] The basic cylinder charging time is corrected based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, to obtain the first corrected cylinder charging time of the shift actuator cylinder for this gear shifting actuator.

[0069] The cylinder charging process is controlled based on the result of each adjustment to the cylinder charging time of the shift actuator. Specifically, if the current cylinder charging time is less than the first adjusted cylinder charging time after this adjustment, charging continues; if the current cylinder charging time is not less than the first adjusted cylinder charging time after this adjustment, charging stops. The cylinder charging time is the time it takes to charge the shift cylinder. After a certain adjustment to the cylinder charging time, if the first adjusted cylinder charging time is less than or equal to the current shift time, charging stops.

[0070] The first preset MAP is obtained through bench testing. In the bench test, under a certain initial air pressure value of the shift cylinder, the charging time of a shift cylinder that achieves a satisfactory shifting success rate from one gear to another is used as the base cylinder charging time. In this embodiment, the shortest shift cylinder charging time that achieves the satisfactory shifting success rate is used as the base cylinder charging time to minimize the impact noise and force when the shifting actuator reaches its limit position. In other embodiments, the charging time of other shift cylinders that achieve the satisfactory shifting success rate can also be used as the base cylinder charging time. For example, the charging time of the shift cylinder required for the shifting actuator to move from the position corresponding to the current gear to a certain preset position, which is close to the position corresponding to the target gear, can be used as the base cylinder charging time.

[0071] The pneumatic AMT gear shifting control method provided in this embodiment determines the basic cylinder charging time of the gear shifting actuator by querying a first preset MAP during gear shifting. Furthermore, as the gear shifting actuator moves towards the target gear, the cylinder charging time of the gear shifting actuator is continuously corrected cyclically. Since the difference between the actual value and the theoretical value of the current operating condition characterization reflects the difference between the resistance experienced by the gear shifting actuator during this gear shift and the resistance experienced by the gear shifting actuator corresponding to the basic cylinder charging time, the basic cylinder charging time is corrected based on the current cylinder charging time and the difference between the actual and theoretical values ​​of the current operating condition characterization. The resulting first corrected cylinder charging time, compared to the basic cylinder charging time, better reflects the actual situation of this gear shift, thereby reducing the mechanical impact force and noise when the gear shifting actuator reaches its limit position while improving the gear shifting success rate.

[0072] Optionally, based on the initial air pressure value, initial gear, and target gear of the shift cylinder, the first preset MAP is queried to determine the basic cylinder charging time, including: when the initial air pressure value of the shift cylinder is not within the initial air pressure range described by the first preset MAP, the cylinder charging time corresponding to the air pressure value closest to the initial air pressure value of the shift cylinder in the first preset MAP is used as the basic cylinder charging time. Bench tests cannot test the initial air pressure values ​​of all shift cylinders and pre-store the data on the vehicle. Only the initial air pressure values ​​of certain shift cylinders can be selected for bench testing and a first preset MAP can be created. In this embodiment, when the initial air pressure value of the shift cylinder is not within the initial air pressure range described by the first preset MAP, the cylinder charging time corresponding to the initial air pressure value of the shift cylinder closest to the shift cylinder in the first preset MAP is used as the base cylinder charging time. In other embodiments, when the initial air pressure value of the shift cylinder is not within the initial air pressure range described by the first preset MAP, the base cylinder charging time corresponding to the initial air pressure value of the shift cylinder at the time of the shift command can also be obtained by interpolation calculation.

[0073] Optionally, the operating condition characterization value can be any one of the speed, displacement, and position of the shift actuator. After gear engagement begins, the speed, displacement, and position of the shift actuator at a certain moment can all reflect the magnitude of the resistance experienced by the shift actuator from the start of gear engagement to the current moment. Therefore, speed, displacement, and position can all be used as operating condition characterization values. In this embodiment, the operating condition characterization value is the speed of the shift actuator.

[0074] Optionally, based on the initial air pressure value, initial gear, target gear, and current cylinder charging duration of the shift cylinder, a second preset MAP is consulted to determine the theoretical value of the current operating condition characterization value. Specifically, this includes: determining the corresponding second preset MAP based on the initial gear and target gear; and consulting the corresponding second preset MAP based on the initial air pressure value and current cylinder charging duration of the shift cylinder to determine the theoretical value of the current operating condition characterization value. In this embodiment, the second preset MAP includes the correspondence between the initial air pressure value of the shift cylinder, the current cylinder charging duration, and the current theoretical speed of the shift actuator. The second preset MAP is obtained through bench testing and is pre-stored in the vehicle. There are multiple second preset MAPs, each corresponding to an initial gear shift to a target gear shift. For example, one second preset MAP corresponds to shifting from second to third gear, and another second preset MAP corresponds to shifting from first to third gear. Each shift selection corresponds to a second preset MAP. The second preset MAP to be called can be determined by the initial gear and the target gear. In the second preset MAP, the theoretical value of the current working condition characterization value can be retrieved by the initial air pressure value of the shift cylinder and the current cylinder charging time.

[0075] Optionally, the base cylinder charging time is corrected based on the initial gear, target gear, current cylinder charging time, and the difference between the actual and theoretical values ​​of the current operating condition characterization value. This results in the first corrected cylinder charging time for this shift actuator cylinder charging time correction. Specifically, this includes: querying a third preset MAP based on the difference between the initial gear, target gear, current cylinder charging time, and the actual and theoretical values ​​of the current operating condition characterization value. The process involves determining a first correction coefficient for the cylinder charging time of the shift actuator. Based on this first correction coefficient, the base cylinder charging time is corrected to obtain the first corrected cylinder charging time, which is equal to the product of the base cylinder charging time and the first correction coefficient. The third preset MAP includes the current cylinder charging time, the difference between the actual and theoretical values ​​of the current operating condition characterization values, and the correspondence between these values ​​and the first correction coefficient. The third preset MAP is obtained through bench testing and is pre-stored in the vehicle. There are multiple third preset MAPs, each corresponding to an initial gear shift to a target gear shift. For example, one third preset MAP corresponds to shifting from second to third gear, and another third preset MAP corresponds to shifting from first to third gear. Each shift selection corresponds to a third preset MAP. The third preset MAP to be called can be determined by the initial gear and the target gear. In the third preset MAP, the theoretical value of the current operating condition can be retrieved by the difference between the actual value of the current cylinder charging duration and the theoretical value of the current operating condition.

[0076] Optionally, based on the initial gear, target gear, current cylinder charging time, and the difference between the actual and theoretical values ​​of the current operating condition characterization value, a third preset MAP is consulted to determine the first correction coefficient for the cylinder charging time of the shift actuator. This further includes: if the difference between the theoretical and actual values ​​of the current operating condition characterization value is not within the range described by the third preset MAP, the correction coefficient corresponding to the difference between the theoretical and actual values ​​of the current operating condition characterization value closest to the current operating condition characterization value in the third preset MAP is used as the first correction coefficient for the cylinder charging time of the shift actuator. In other embodiments, if the difference between the theoretical and actual values ​​of the current operating condition characterization value is not within the range described by the third preset MAP, interpolation can also be used to obtain the first correction coefficient for the cylinder charging time corresponding to the difference between the theoretical and actual values ​​of the current operating condition characterization value.

[0077] Optionally, when the difference between the actual value and the theoretical value of the current operating condition characterization value is zero, the first correction coefficient for the cylinder charging time of the shift actuator is equal to one. Furthermore, during the same shift, this first correction coefficient increases as the difference between the actual and theoretical values ​​of the current operating condition characterization value increases and decreases as the difference increases. If the difference between the actual and theoretical values ​​of the operating condition characterization value is zero, it means that the resistance experienced by the shift actuator from the start of shifting to the current moment is the same as the resistance experienced by the shift actuator corresponding to the basic cylinder charging time during the bench test. Therefore, no correction is needed, and the first correction coefficient for the cylinder charging time is one. A positive difference indicates that the resistance experienced by the shift actuator during this shifting from the start of shifting to the current moment is greater than the resistance experienced by the shift actuator corresponding to the basic cylinder charging time. The first correction coefficient for cylinder charging time is greater than one, and the larger the difference, the larger the first correction coefficient for cylinder charging time, in order to improve the success rate of gear engagement. A negative difference indicates that the resistance experienced by the gear shifting actuator during this gear engagement from the start of engagement to the current moment is less than the resistance experienced by the gear shifting actuator corresponding to the basic cylinder charging time. The first correction coefficient for cylinder charging time is less than one, and the smaller the difference, the smaller the first correction coefficient for cylinder charging time, in order to avoid excessive impact force when the gear shifting actuator reaches the limit position. It should be noted that the first correction coefficient for cylinder charging time is always a positive value.

[0078] Optionally, the pneumatic AMT shift control method provided in this embodiment further includes: determining the termination condition of the shift actuator cylinder charging time correction cycle based on the result of each shift actuator cylinder charging time correction, the basic cylinder charging time, and the current cylinder charging time. Based on the result of each adjustment to the cylinder charging time of the shift actuator, the base cylinder charging time, and the current cylinder charging time, a condition for terminating the shift actuator cylinder charging time adjustment cycle is determined. Specifically, this includes: if the first adjusted cylinder charging time after the current shift actuator cylinder charging time adjustment is not greater than the base cylinder charging time, and the current cylinder charging time is not less than the first adjusted cylinder charging time after the current shift actuator cylinder charging time adjustment, then the shift actuator cylinder charging time adjustment cycle terminates; if the first adjusted cylinder charging time after the current shift actuator cylinder charging time adjustment is greater than the base cylinder charging time, and the current cylinder charging time is not less than the base cylinder charging time, then the shift actuator cylinder charging time adjustment cycle terminates, and the first adjusted cylinder charging time obtained from this shift actuator cylinder charging time adjustment is used as the final cylinder charging time for this gear shift. Since the gear shifting cylinder charging process in the bench test has ended when the gear shifting time exceeds the basic cylinder charging time, the difference between the actual value of the current cylinder charging time and the theoretical value of the current operating condition characterization value can no longer accurately reflect the difference between the resistance experienced by the gear shifting actuator in this gear shifting test and the resistance experienced by the gear shifting actuator corresponding to the basic cylinder charging time in the bench test. Therefore, when the first corrected cylinder charging time is greater than the basic cylinder charging time, if the current cylinder charging time is not less than the basic cylinder charging time... The charging time refers to the termination of the cylinder charging time correction cycle for the shift actuator, and the first corrected cylinder charging time after the last cylinder charging time correction is used as the final cylinder charging time for this shift. When the resistance of this shift is not greater than the shift resistance corresponding to the basic cylinder charging time, the first corrected cylinder charging time will be less than or equal to the basic cylinder charging time. The shift actuator cylinder charging time correction cycle can be terminated only when the current cylinder charging time is not less than the first corrected cylinder charging time after the current cylinder charging time correction.

[0079] Example 2

[0080] like Figure 5-9 As shown, this embodiment provides a pneumatic AMT gear shifting control method, including:

[0081] Record the number of times gear shifting failed in this driving cycle. If gear shifting fails once in this driving cycle, the number of failed gear shifting samples in this driving cycle will be incremented by one.

[0082] Upon receiving a shift command, based on the initial air pressure value, initial gear, and target gear of the shift cylinder at the moment the shift command is received, the first preset MAP is queried to determine the basic cylinder charging time, air is charged into the shift cylinder, and the working condition characterization value that can reflect the working condition of the shift actuator during the shifting process is monitored. It should be noted that in this field, a pre-stored table that determines one output from two inputs is generally called a MAP.

[0083] The cylinder charging time of the gear shifting actuator is cyclically corrected according to a preset interval.

[0084] The correction for the cylinder charging time of the gear shift actuator includes:

[0085] Based on the initial air pressure value, initial gear, target gear, and current cylinder charging duration of the shift cylinder at the moment the shift command is received, the second preset MAP is queried to determine the theoretical value of the current working condition characterization value. The difference between the actual value of the current working condition characterization value and the theoretical value of the current working condition characterization value is calculated. The current cylinder charging duration is the duration from the start of the shift cylinder charging in this shift to the current moment.

[0086] The basic cylinder charging time is corrected based on the difference between the actual value of the current cylinder charging time and the theoretical value of the current working condition characterization value. This results in the first corrected cylinder charging time of the shift actuator cylinder.

[0087] Based on the number of failed gear shifts in this driving cycle, the first corrected cylinder charging time of the gear shift actuator cylinder is corrected to obtain the second corrected cylinder charging time of the gear shift actuator cylinder.

[0088] The cylinder charging process for shifting gears is controlled based on the correction results of the cylinder charging time for each shifting actuator, including:

[0089] If the current cylinder charging time is less than the second corrected cylinder charging time after the current shift actuator cylinder charging time correction, then charging into the shift cylinder continues; if the current cylinder charging time is not less than the second corrected cylinder charging time after the current shift actuator cylinder charging time correction, then charging into the shift cylinder stops. The cylinder charging time is the time it takes to charge the shift cylinder. After a certain shift actuator cylinder charging time correction, if the second corrected cylinder charging time is less than or equal to the current shift time, then charging into the shift cylinder stops.

[0090] The first preset MAP is obtained through bench testing. In the bench test, under a certain initial air pressure value of the shift cylinder, the charging time of a shift cylinder that achieves a satisfactory shifting success rate from one gear to another is used as the base cylinder charging time. In this embodiment, the shortest shift cylinder charging time that achieves the satisfactory shifting success rate is used as the base cylinder charging time to minimize the impact noise and force when the shifting actuator reaches its limit position. In other embodiments, the charging time of other shift cylinders that achieve the satisfactory shifting success rate can also be used as the base cylinder charging time. For example, the charging time of the shift cylinder required for the shifting actuator to move from the position corresponding to the current gear to a certain preset position, which is close to the position corresponding to the target gear, can be used as the base cylinder charging time.

[0091] The pneumatic AMT gear shifting control method provided in this embodiment determines the basic cylinder charging time of the gear shifting actuator by querying a first preset MAP during gear shifting. Furthermore, during the movement of the gear shifting actuator towards the target gear, the cylinder charging time of the gear shifting actuator is continuously and cyclically corrected. Since the difference between the actual value and the theoretical value of the current operating condition characterization reflects the difference between the resistance experienced by the gear shifting actuator during this gear shift and the resistance experienced by the gear shifting actuator corresponding to the basic cylinder charging time, the basic cylinder charging time is corrected based on the current cylinder charging time and the difference between the actual and theoretical values ​​of the current operating condition characterization. The resulting first corrected cylinder charging time is more consistent with the actual situation of this gear shifting compared to the basic cylinder charging time. Furthermore, the number of failed gear shifts in this driving cycle reflects the rationality of the correction force of the first correction cylinder charging time. If there are too many failed gear shifts in this driving cycle, it indicates that the correction force of the first correction cylinder charging time is too small. Therefore, based on the number of failed gear shifts in this driving cycle, the charging time of the first correction cylinder should be corrected again to further improve the success rate of gear shifting.

[0092] Optionally, based on the initial air pressure value, initial gear, and target gear of the shift cylinder, a first preset MAP is consulted to determine the basic cylinder charging time. This includes: when the initial air pressure value of the shift cylinder is not in the pre-stored data of the first preset MAP, the cylinder charging time corresponding to the air pressure value closest to the initial air pressure value of the shift cylinder in the first preset MAP is used as the basic cylinder charging time. Bench tests cannot test and pre-store the initial air pressure values ​​of all shift cylinders on the vehicle; only the initial air pressure values ​​of certain shift cylinders can be selected for bench testing and data storage. In this embodiment, when the initial air pressure value of the shift cylinder is not in the pre-stored data of the first preset MAP, the cylinder charging time corresponding to the air pressure value closest to the initial air pressure value of the shift cylinder in the first preset MAP is used as the basic cylinder charging time. In other embodiments, when the initial air pressure value of the shift cylinder is not in the pre-stored data of the first preset MAP, the basic cylinder charging time corresponding to the initial air pressure value of the shift cylinder at the moment of the shift command can also be obtained by interpolation calculation.

[0093] Optionally, the operating condition characterization value can be any one of the speed, displacement, and position of the shift actuator. After gear engagement begins, the speed, displacement, and position of the shift actuator at a certain moment can all reflect the magnitude of the resistance experienced by the shift actuator from the start of gear engagement to the current moment. Therefore, speed, displacement, and position can all be used as operating condition characterization values. In this embodiment, the operating condition characterization value is the speed of the shift actuator.

[0094] Optionally, based on the initial air pressure value, initial gear, target gear, and current cylinder charging duration of the shift cylinder, a second preset MAP is consulted to determine the theoretical value of the current operating condition characterization value. Specifically, this includes: determining the corresponding second preset MAP based on the initial gear and target gear; and consulting the corresponding second preset MAP based on the initial air pressure value and current cylinder charging duration of the shift cylinder to determine the theoretical value of the current operating condition characterization value. In this embodiment, the second preset MAP includes the correspondence between the initial air pressure value of the shift cylinder, the current cylinder charging duration, and the current theoretical speed of the shift actuator. The second preset MAP is obtained through bench testing and is pre-stored in the vehicle. There are multiple second preset MAPs, each corresponding to an initial gear shift to a target gear shift. For example, one second preset MAP corresponds to shifting from second to third gear, and another second preset MAP corresponds to shifting from first to third gear. Each shift selection corresponds to a second preset MAP. The second preset MAP to be called can be determined by the initial gear and the target gear. In the second preset MAP, the theoretical value of the current working condition characterization value can be retrieved by the initial air pressure value of the shift cylinder and the current cylinder charging time.

[0095] Optionally, the base cylinder charging time is corrected based on the initial gear, target gear, current cylinder charging time, and the difference between the actual and theoretical values ​​of the current operating condition characterization value. This results in the first corrected cylinder charging time for this shift actuator cylinder charging time correction. Specifically, this includes: querying a third preset MAP based on the difference between the initial gear, target gear, current cylinder charging time, and the actual and theoretical values ​​of the current operating condition characterization value. The process involves determining a first correction coefficient for the cylinder charging time of the shift actuator. Based on this first correction coefficient, the base cylinder charging time is corrected to obtain the first corrected cylinder charging time, which is equal to the product of the base cylinder charging time and the first correction coefficient. The third preset MAP includes the current cylinder charging time, the difference between the actual and theoretical values ​​of the current operating condition characterization values, and the correspondence between these values ​​and the first correction coefficient. The third preset MAP is obtained through bench testing and is pre-stored in the vehicle. There are multiple third preset MAPs, each corresponding to an initial gear shift to a target gear shift. For example, one third preset MAP corresponds to shifting from second to third gear, and another third preset MAP corresponds to shifting from first to third gear. Each shift selection corresponds to a third preset MAP. The third preset MAP to be called can be determined by the initial gear and the target gear. In the third preset MAP, the theoretical value of the current operating condition can be retrieved by the difference between the actual value of the current cylinder charging duration and the theoretical value of the current operating condition.

[0096] Optionally, based on the initial gear, target gear, current cylinder charging time, and the difference between the actual value and the theoretical value of the current operating condition characterization value, a third preset MAP is consulted to determine the first correction coefficient for the cylinder charging time of the shift actuator. This further includes: if the difference between the theoretical and actual values ​​of the current operating condition characterization value is not within the range described by the third preset MAP, the correction coefficient corresponding to the difference between the theoretical and actual values ​​of the current operating condition characterization value closest to the current operating condition characterization value in the third preset MAP is used as the first correction coefficient for the cylinder charging time of the shift actuator. In other embodiments, if the difference between the theoretical and actual values ​​of the current operating condition characterization value is not within the range described by the third preset MAP, interpolation can also be used to obtain the first correction coefficient for the cylinder charging time corresponding to the difference between the theoretical and actual values ​​of the current operating condition characterization value.

[0097] Optionally, when the difference between the actual value and the theoretical value of the current operating condition characterization value is zero, the first correction coefficient for the cylinder charging time of the shift actuator is equal to one. Furthermore, during the same shift, this first correction coefficient increases as the difference between the actual and theoretical values ​​of the current operating condition characterization value increases and decreases as the difference increases. If the difference between the theoretical and actual values ​​of the previous operating condition characterization value is zero, it means that the resistance experienced by the shift actuator from the start of shifting to the current moment is the same as the resistance experienced by the shift actuator corresponding to the basic cylinder charging time during the bench test. Therefore, no correction is needed, and the first correction coefficient for the cylinder charging time is one. A positive difference indicates that the resistance experienced by the shift actuator during this shifting from the start of shifting to the current moment is greater than the resistance experienced by the shift actuator corresponding to the basic cylinder charging time. The first correction coefficient for cylinder charging time is greater than one, and the larger the difference, the larger the first correction coefficient for cylinder charging time, in order to improve the success rate of gear engagement. A negative difference indicates that the resistance experienced by the gear shifting actuator during this gear engagement from the start of engagement to the current moment is less than the resistance experienced by the gear shifting actuator corresponding to the basic cylinder charging time. The first correction coefficient for cylinder charging time is less than one, and the smaller the difference, the smaller the first correction coefficient for cylinder charging time, in order to avoid excessive impact force when the gear shifting actuator reaches the limit position. It should be noted that the first correction coefficient for cylinder charging time is always a positive value.

[0098] Optionally, the first corrected cylinder charging time of the shift actuator cylinder charging time is corrected based on the current number of shift failures in this driving cycle to obtain the second corrected cylinder charging time of the shift actuator cylinder charging time. Specifically, this includes: querying the preset CUR based on the current number of shift failures in this driving cycle to obtain the second correction coefficient for the shift actuator cylinder charging time correction; correcting the first corrected cylinder charging time of the shift actuator cylinder charging time correction based on the second correction coefficient to obtain the second corrected cylinder charging time of the shift actuator cylinder charging time correction. The second corrected cylinder charging time of the shift actuator cylinder charging time correction is equal to the product of the second correction coefficient and the first corrected cylinder charging time of the shift actuator cylinder charging time correction. The preset CUR contains the correspondence between the number of failed gear shifts and the second correction coefficient. The preset CUR is obtained through bench testing and is stored in the vehicle. It should be noted that, in this field, a pre-stored data table in which one input determines one output is generally referred to as a CUR.

[0099] Optionally, when the number of failed gear shifts in this driving cycle is zero, the second correction coefficient for the cylinder charging time correction of the gear shift actuator is equal to one, and the second correction coefficient for the cylinder charging time correction of the gear shift actuator increases as the number of failed gear shifts in this driving cycle increases.

[0100] Optionally, the pneumatic AMT shift control method provided in this embodiment further includes: determining the termination condition of the shift actuator cylinder charging time correction cycle based on the result of each shift actuator cylinder charging time correction, the basic cylinder charging time, and the current cylinder charging time. Based on the result of each adjustment to the cylinder charging time of the shift actuator, the basic cylinder charging time, and the current cylinder charging time, a condition for terminating the shift actuator cylinder charging time adjustment cycle is determined. Specifically, this includes: if the second adjusted cylinder charging time after the current shift actuator cylinder charging time adjustment is not greater than the basic cylinder charging time, and the current cylinder charging time is not less than the second adjusted cylinder charging time after the current shift actuator cylinder charging time adjustment, then the current shift actuator cylinder charging time adjustment cycle terminates; if the second adjusted cylinder charging time after the current shift actuator cylinder charging time adjustment is greater than the basic cylinder charging time, and the current cylinder charging time is not less than the basic cylinder charging time, then the current shift actuator cylinder charging time adjustment cycle terminates, and the second adjusted cylinder charging time after the last shift actuator cylinder charging time adjustment is used as the final cylinder charging time for this gear shift. Because the gear shifting cylinder charging process in the bench test has ended when the gear shifting time exceeds the basic cylinder charging time, the difference between the actual value of the current cylinder charging time and the theoretical value of the current operating condition characterization value after exceeding the basic cylinder charging time can no longer accurately reflect the difference between the resistance experienced by the gear shifting actuator in this gear shifting test and the resistance experienced by the gear shifting actuator corresponding to the basic cylinder charging time in the bench test. Therefore, when the second corrected cylinder charging time is longer than the basic cylinder charging time, if the current cylinder... If the inflation time is not less than the basic cylinder inflation time, the shift actuator cylinder inflation time correction cycle is terminated, and the second corrected cylinder inflation time after the last shift actuator cylinder inflation time correction is used as the final cylinder inflation time for this shift. If the second corrected cylinder inflation time is less than or equal to the basic cylinder inflation time, the shift actuator cylinder inflation time correction cycle can be terminated again when the current cylinder inflation time is not less than the second corrected cylinder inflation time after this shift actuator cylinder inflation time correction.

[0101] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A pneumatic AMT gear shifting control method, characterized in that, include: Upon receiving a shift command, based on the initial air pressure value, initial gear, and target gear of the shift cylinder at the moment the shift command is received, the first preset MAP is queried to determine the charging time of the basic cylinder of the shift actuator, air is charged into the shift cylinder, and the working condition characterization value that can reflect the working condition of the shift actuator during the shifting process is monitored. The cylinder charging time of the gear shifting actuator is cyclically corrected according to a preset interval. The correction for the cylinder charging time of the gear shift actuator includes: Based on the initial air pressure value, initial gear, target gear, and current cylinder charging time of the shift cylinder, the second preset MAP is queried to determine the theoretical value of the current working condition characterization value, and the difference between the actual value of the current working condition characterization value and the theoretical value of the current working condition characterization value is calculated. The basic cylinder charging time is corrected based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, to obtain the first corrected cylinder charging time of the shift actuator cylinder for this gear shifting actuator. The cylinder charging process for shifting gears is controlled based on the correction results of the cylinder charging time for each shifting actuator, including: If the current cylinder charging time is less than the first corrected cylinder charging time after the current shift actuator cylinder charging time correction, then continue charging the shift cylinder; if the current cylinder charging time is not less than the first corrected cylinder charging time after the current shift actuator cylinder charging time correction, then stop charging the shift cylinder.

2. The pneumatic AMT gear shifting control method according to claim 1, characterized in that, The operating condition characterization value is any one of the speed, displacement, and position of the shift actuator.

3. The pneumatic AMT gear shifting control method according to claim 1, characterized in that, The base cylinder charging time is corrected based on the initial gear, target gear, current cylinder charging time, and the difference between the actual and theoretical values ​​of the current operating condition characterization values. This results in the first corrected cylinder charging time for this gear shift actuator, including: Based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, the third preset MAP is queried to determine the first correction coefficient of the cylinder charging time for this gear shift actuator cylinder charging time correction. The base cylinder charging time is corrected based on the first correction coefficient of the cylinder charging time correction for this shift actuator, resulting in the first corrected cylinder charging time. The first corrected cylinder charging time of this shift actuator is equal to the product of the base cylinder charging time and the first correction coefficient of the cylinder charging time correction for this shift actuator.

4. The pneumatic AMT gear shifting control method according to claim 3, characterized in that, When the difference between the actual value of the current operating condition characterization value and the theoretical value of the current operating condition characterization value is zero, the first correction coefficient of the cylinder charging time of the shift actuator is equal to one. Moreover, during the same shift, the first correction coefficient of the cylinder charging time of the shift actuator increases as the difference between the actual value of the current operating condition characterization value and the theoretical value of the current operating condition characterization value increases, and decreases as the difference decreases.

5. The pneumatic AMT gear shifting control method according to claim 1, characterized in that, Also includes: Based on the result of each shift actuator cylinder charging time correction, the base cylinder charging time, and the current cylinder charging time, the termination condition for the shift actuator cylinder charging time correction cycle is determined, including: If the first corrected cylinder charging time of the shift actuator cylinder charging time correction is not greater than the basic cylinder charging time, and the current cylinder charging time is not less than the first corrected cylinder charging time of the shift actuator cylinder charging time correction, then the shift actuator cylinder charging time correction cycle terminates. If the first corrected cylinder charging time of the shift actuator cylinder charging time correction is greater than the basic cylinder charging time, and the current cylinder charging time is not less than the basic cylinder charging time, then the shift actuator cylinder charging time correction cycle terminates, and the first corrected cylinder charging time of the last shift actuator cylinder charging time correction is taken as the final cylinder charging time for this shift.

6. A pneumatic AMT gear shifting control method, characterized in that, include: Record the number of times the driver failed to shift gears in a single cycle. Upon receiving a shift command, based on the initial air pressure value, initial gear, and target gear of the shift cylinder at the moment the shift command is received, the first preset MAP is queried to determine the basic cylinder charging time, air is charged into the shift cylinder, and the working condition characterization value that can reflect the working condition of the shift actuator during the shifting process is monitored. The cylinder charging time of the gear shifting actuator is cyclically corrected according to a preset interval. The correction for the cylinder charging time of the gear shift actuator includes: Based on the initial air pressure value, initial gear, target gear, and current cylinder charging time of the shift cylinder, the second preset MAP is queried to determine the theoretical value of the current working condition characterization value, and the difference between the actual value of the current working condition characterization value and the theoretical value of the current working condition characterization value is calculated. The basic cylinder charging time is corrected based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, to obtain the first corrected cylinder charging time of the shift actuator cylinder for this gear shifting actuator. Based on the number of failed gear shifts in this driving cycle, the first corrected cylinder charging time of the gear shift actuator cylinder is corrected to obtain the second corrected cylinder charging time of the gear shift actuator cylinder. The cylinder charging process for shifting gears is controlled based on the correction results of the cylinder charging time for each shifting actuator, including: If the current cylinder charging time is less than the second corrected cylinder charging time after the current shift actuator cylinder charging time correction, then continue to charge the shift cylinder. If the current cylinder charging time is not less than the second corrected cylinder charging time after the current shift actuator cylinder charging time correction, then stop charging the shift cylinder.

7. The pneumatic AMT gear shifting control method according to claim 6, characterized in that, The base cylinder charging time is corrected based on the initial gear, target gear, current cylinder charging time, and the difference between the actual and theoretical values ​​of the current operating condition characterization values. This results in the first corrected cylinder charging time for this gear shift actuator, including: Based on the difference between the actual value of the initial gear, the target gear, the current cylinder charging time, and the current working condition characterization value and the theoretical value of the current working condition characterization value, the third preset MAP is queried to determine the first correction coefficient of the cylinder charging time for this gear shift actuator cylinder charging time correction. The base cylinder charging time is corrected based on the first correction coefficient of the cylinder charging time correction for this shift actuator, resulting in the first corrected cylinder charging time. The first corrected cylinder charging time of this shift actuator is equal to the product of the base cylinder charging time and the first correction coefficient of the cylinder charging time correction for this shift actuator.

8. The pneumatic AMT gear shifting control method according to claim 6, characterized in that, Based on the number of failed gear shifts in this driving cycle, the first corrected cylinder charging time of the shift actuator cylinder is adjusted to obtain the second corrected cylinder charging time, which includes: Based on the current number of failed gear shifts in this driving cycle, the preset CUR is queried to obtain the second correction coefficient for the cylinder charging time correction of the gear shift actuator in this driving cycle. The cylinder charging time of the shift actuator is corrected by the second correction coefficient based on the first correction coefficient, resulting in the second correction cylinder charging time. The second correction cylinder charging time is equal to the product of the second correction coefficient and the first correction cylinder charging time.

9. The pneumatic AMT gear shifting control method according to claim 8, characterized in that, When the number of failed gear shifts in this driving cycle is zero, the second correction coefficient for the cylinder charging time of the gear shift actuator is equal to one, and the second correction coefficient for the cylinder charging time of the gear shift actuator increases as the number of failed gear shifts in this driving cycle increases.

10. The pneumatic AMT gear shifting control method according to claim 6, characterized in that, Also includes: Based on the result of each shift actuator cylinder charging time correction, the base cylinder charging time, and the current cylinder charging time, the termination condition for the shift actuator cylinder charging time correction cycle is determined, including: If the second corrected cylinder charging time of the shift actuator cylinder is not greater than the basic cylinder charging time, and the current cylinder charging time is not less than the second corrected cylinder charging time of the shift actuator cylinder charging time correction cycle, then the shift actuator cylinder charging time correction cycle will terminate. If the second corrected cylinder charging time of the shift actuator cylinder charging time correction is greater than the basic cylinder charging time, and the current cylinder charging time is not less than the basic cylinder charging time, then the shift actuator cylinder charging time correction cycle terminates, and the second corrected cylinder charging time of the last shift actuator cylinder charging time correction is taken as the final cylinder charging time for this shift.

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