Gear self-learning method, system, gearbox, vehicle and electronic device

Abstract

The present application relates to the technical field of gearbox, and provides a gear self-learning method, system, gearbox, vehicle and electronic device, the method comprises the following steps: in response to a self-learning instruction, controlling the shift fork to move to the target gear direction; determining the gear-in state of the shift fork; when the gear-in state is at the KP stall, repeating a preset gear-in process until the shift fork successfully gears in; when the gear-in state is successful gear-in, recording the gear-in voltage value; the position of the shift fork determined based on the gear-in voltage value is used as the gear position matched with the target gear corresponding to the present gear-in operation. The present application is used to solve the defect that the impact is obvious when the gear self-learning is performed after the gearbox is installed in the vehicle due to the fact that the output end needs to continuously output torque during the gear self-learning process, so that the driving motor can work in time during the gear self-learning, thereby making the learning process have small disturbance, shortening the self-learning time, and improving the learning success rate.

Description

Technical Field

[0001] This invention relates to the field of transmission technology, and more particularly to a gear position self-learning method, system, transmission, vehicle, and electronic equipment. Background Technology

[0002] Throughout the entire lifecycle of an automatic mechanical transmission (AMT), gear positions may change due to machining, installation deviations, and wear during operation. Therefore, the control strategy for AMT needs to have the ability to learn gear positions in order to ensure shifting quality and extend product life.

[0003] Currently, gear learning for the electric shift mechanism of AMT mainly involves identifying the voltage value of the sensor after shifting gears during the process of setting gear cycles and adjusting the duty cycle of the shift motor to complete the gear shifting action.

[0004] However, when using this gear learning method, the drive motor needs to continuously output a certain torque or coordinate with gear shifting for torque clearing, speed adjustment, etc., in order to smoothly shift gears. Therefore, when the gear shift fork drives the sliding sleeve to the KP position or the gear position, the transmission output shaft still outputs a certain torque to the subsequent transmission device, which causes a certain degree of vehicle body shaking, making the self-learning impact of the transmission after installation obvious. Summary of the Invention

[0005] This invention provides a gear position self-learning method, system, transmission, vehicle, and electronic device to solve the defect in the prior art where the transmission needs to continuously output torque during the gear position self-learning process, resulting in significant impact when performing gear position self-learning after the transmission is installed in the vehicle. This invention enables the drive motor to work in a timely manner during gear position self-learning, thereby reducing disturbances in the learning process, shortening the self-learning time, and improving the learning success rate.

[0006] This invention provides a gear shift self-learning method, comprising:

[0007] In response to the self-learning command, the shift fork is controlled to move toward the target gear.

[0008] Determine the gear shift state of the shift fork, which includes: stalling at the half-engagement point KP of the claw clutch and successful gear shift;

[0009] When the gear shifting state is stalled at KP, the preset gear shifting process is repeated until the shift fork successfully engages the gear. The preset gear shifting process includes: controlling the shift fork to return to the zero position and controlling the drive motor to output a preset torque. The duration for which the drive motor outputs the preset torque is the sum of the time required for the shift fork to return from KP to the zero position and then return to KP again and the preset duration.

[0010] When the gear engagement state is successful, the gear engagement voltage value is recorded;

[0011] The position of the shift fork, determined based on the gear shift voltage value, is used as the gear position that matches the target gear for this gear shift operation.

[0012] The gear self-learning method according to the present invention further includes:

[0013] For each target gear, the shift fork is controlled to shift gears cyclically a preset number of times, and the voltage value of the gear is recorded each time it shifts gears.

[0014] The position of the shift fork, determined based on the average of the sum of the gear voltage values, is used as the gear position matching the corresponding target gear.

[0015] According to the gear self-learning method of the present invention, when the gear engagement state is successful gear engagement, recording the gear engagement voltage value includes:

[0016] When the gear shifting state is successful, the gear shifting motor is controlled to stop working;

[0017] Record the voltage value when the shift motor stops working, and use it as the shift voltage value.

[0018] The gear self-learning method according to the present invention further includes:

[0019] The voltage values ​​at which the same shift fork is shifted to the two target gears corresponding to the shift fork are obtained and used as the first voltage value and the second voltage value, respectively.

[0020] Calculate the difference between the average of the first and second threshold voltage values ​​and the preset zero voltage value corresponding to the zero position;

[0021] Determine whether the difference exceeds the preset zero-position allowable deviation range;

[0022] If the limit is exceeded, a fault alarm will be triggered;

[0023] If the value is not exceeded, the position of the zero position is corrected based on the difference.

[0024] The gear self-learning method according to the present invention further includes:

[0025] The total travel between the two target gears is determined based on the voltage values ​​at which the same shift fork is engaged to the two target gears corresponding to the shift fork.

[0026] Determine whether the total travel exceeds the preset travel allowable deviation range;

[0027] If the limit is exceeded, a fault alarm will be triggered;

[0028] If the value is not exceeded, the position of the shift fork, determined based on the gear shift voltage value, will be used as the gear position matching the target gear for this gear shift operation.

[0029] The present invention also provides a gear self-learning system, comprising:

[0030] The command response module is used to respond to self-learning commands and control the shift fork to move towards the target gear.

[0031] The state determination module is used to determine the gear shifting state of the shift fork, which includes: stalling at the half engagement point KP of the claw clutch and successful gear shifting.

[0032] The self-learning module is used to repeat a preset shifting process when the shifting state is stalled at KP until the shift fork successfully shifts into gear, and to record the gear-up voltage value when the shifting state is successfully shifted into gear; wherein, the preset shifting process includes: controlling the shift fork to return to the zero position and controlling the drive motor to output a preset torque, and the duration for which the drive motor outputs the preset torque is the sum of the time required for the shift fork to return from KP to the zero position and then to KP again and the preset duration;

[0033] The result execution module is used to take the position of the shift fork determined based on the gear shift voltage value as the gear position that matches the target gear corresponding to this gear shift operation.

[0034] The present invention also provides a gearbox, including a gearbox body, an angle sensor and a gear self-learning system as described above, wherein the angle sensor is mounted on the gear shifting mechanism of the gearbox.

[0035] The present invention also provides a vehicle including the gearbox described above.

[0036] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the gear self-learning method as described above.

[0037] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the gear self-learning method as described above.

[0038] This invention provides a gear position self-learning method, system, transmission, vehicle, and electronic device. During gear position self-learning, the shift fork is controlled to move towards the target gear. It then determines whether the shift fork is stalled at KP or has successfully engaged the gear. If the shift fork stalls at KP, a preset engagement process is used, i.e., the shift fork is controlled to return to the zero position. Before the shift fork engages again, the drive motor outputs a preset torque to change the relative position between the sliding sleeve and the engagement teeth until the shift fork successfully engages the gear. When the shift fork successfully engages the gear, the gear voltage value is recorded, and the position of the shift fork determined based on the gear voltage value is used as the gear position matching the target gear for this engagement operation. This ensures that during gear position self-learning, the drive motor only outputs torque when it detects the shift fork stalling at KP, avoiding the self-learning shock caused by the drive motor continuously outputting torque during gear position learning, thus minimizing disturbances in the learning process. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0040] Figure 1 This is a flowchart illustrating a gear self-learning method provided in an embodiment of the present invention;

[0041] Figure 2 This is a diagram showing the relationship between the position of the shift fork shaft and the voltage in a 2-speed gearbox.

[0042] Figure 3 This is a learning sequence diagram of gear self-learning using the gear self-learning method provided in the embodiments of the present invention;

[0043] Figure 4 This is a schematic diagram of the process of performing gear self-learning using the gear self-learning method provided in the embodiments of the present invention;

[0044] Figure 5 This is a schematic diagram of the structure of a gear self-learning system provided in an embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

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

[0047] The following is combined with Figures 1 to 4 This invention describes a gear shift self-learning method, which is executed based on the vehicle's TCU (Transmission Control Unit). Figure 1 As shown, the method includes the following steps:

[0048] 101. In response to the self-learning command, control the shift fork to move towards the target gear;

[0049] Understandably, after the TCU receives the self-learning command and confirms that gear self-learning has started, it responds to the self-learning command by controlling the shift fork to move towards the target gear.

[0050] Specifically, the self-learning instruction may include the initial gear shift direction of the shift fork and the target gear, as well as the number of times the gear will be shifted to the target gear during the self-learning process.

[0051] More specifically, the self-learning command can be generated by the driver. For example, a button can be set on the vehicle to trigger gear self-learning. After the driver presses the button, the TCU can respond to the self-learning command and control the shift fork to move according to the initial shift fork movement direction and target gear included in the self-learning command when it determines that the current state of the vehicle meets the gear self-learning requirements. Alternatively, it can be automatically triggered by the vehicle when preset conditions are met. For example, preset conditions may be: the vehicle has driven a certain mileage since the last gear self-learning, or the vehicle has been in gear self-learning for a certain duration.

[0052] 102. Determine the gear shifting state of the shift fork, the gear shifting state including: stalling at the half engagement point KP of the claw clutch and successful gear shifting;

[0053] Understandably, during the shift fork's shifting process, the teeth on the sliding sleeve and the teeth on the engaging gear can only engage when they are misaligned, thus successfully shifting gears. When the teeth are aligned, they cannot engage; the shift fork will remain at KP (Kiss Point) and cannot continue forward to the position where the sliding sleeve and engaging teeth are fully engaged. At this point, current flows through the shift motor, but the shift fork cannot move and is in a stalled state. Therefore, when controlling the shift fork for shifting, the possible shifting states include both stalling at KP and successful shifting.

[0054] 103. When the gear shifting state is stalled at KP, repeat the preset gear shifting process until the shift fork successfully engages the gear. The preset gear shifting process includes: controlling the shift fork to return to the zero position and controlling the drive motor to output a preset torque. The duration for which the drive motor outputs the preset torque is the sum of the time required for the shift fork to return from KP to the zero position and then to KP again and the preset duration.

[0055] It should be noted that the zero position of the shift fork corresponds to the zero position between gears of the transmission, that is, the N gear of the transmission. Every time the transmission is shifted into a gear, it must first shift back to N gear and then move from N gear to the target gear.

[0056] Specifically, when the shift fork is stalled at KP, current flows through the shift motor, but the shift fork cannot move and therefore cannot shift gears. By applying a preset torque to the drive motor when the shift fork returns to the zero position or is not at KP, the drive motor can be made to rotate. At the same time, the sliding sleeve is driven to rotate, while the engagement gear does not rotate. Therefore, the relative position between the teeth of the sliding sleeve and the engagement gear can be changed, thereby increasing the possibility of the sliding sleeve and the engagement gear fully meshing.

[0057] It is understandable that the preset torque is a torque value determined based on experience and the condition of the transmission itself, and this torque value is less than the output torque of the drive motor when the vehicle is driving normally.

[0058] In one embodiment, the stability of the voltage value detected by an angle sensor installed on the gearbox shift mechanism can be used to determine whether the shift fork has stopped moving. Then, based on a preset voltage range within which the stable voltage value falls, it can be determined whether the shift fork has reached the target gear position or stalled at KP. For example: Figure 2 The diagram shows the relationship between the shift fork shaft position and voltage in a 2-speed transmission. When the voltage value of the shift fork is within the 1st gear tooth-to-tooth range and the change within 50ms is less than 20mV, it can be determined that the shift fork is stalled at LOW KP. The preset voltage ranges corresponding to position intervals such as the 1st gear end position, low kiss point (Low KP), shift fork zero position, 2nd gear high kiss point (High KP), and 2nd gear end position can be set based on the characteristics of the angle sensor, mechanical structure parameters, and other factors, combined with experience, experiments, or estimations. Specific setting methods are existing conventional technologies and will not be elaborated upon here.

[0059] More specifically, the preset duration is a relatively short duration. By controlling the drive motor to return from the zero position to the zero position, and within the total duration of the time required to return to the zero position and reach KP again, plus the preset duration, the preset torque is continuously output. This ensures that the duration for which the drive motor outputs the preset torque is slightly longer than the time for the shift fork to return to the zero position and reach KP again. Therefore, when the shift fork reaches KP again and the teeth of the sliding sleeve and the engaging gear are still relative, the relative position between the teeth of the sliding sleeve and the engaging gear can continue to change based on the rotation of the sliding sleeve. This not only increases the success rate of meshing between the sliding sleeve teeth and the engaging gear and improves the gear self-learning efficiency, but also reduces the wear and impact on the teeth caused by the prolonged rotation of the sliding sleeve when the teeth of the sliding sleeve and the engaging gear are still relative, thereby improving the service life of the sliding sleeve and the engaging teeth.

[0060] 104. When the gear engagement state is successful, record the gear engagement voltage value;

[0061] It is understandable that when the gear shift is successful, it means that the shift fork has reached the target gear position. Therefore, by recording the gear shift voltage value, the gear position that matches the corresponding target gear can be obtained.

[0062] 105. The position of the shift fork determined based on the gear shift voltage value shall be used as the gear position that matches the target gear position corresponding to this gear shift operation.

[0063] The gear self-learning method provided in this embodiment of the invention determines the shift fork's engagement state during gear self-learning and controls the output torque of the drive motor when the shift fork is blocked at KP. This avoids the significant impact caused by the continuous output torque of the drive motor during self-learning after the gearbox is installed in the vehicle. At the same time, by setting the preset engagement process, the gear self-learning time is effectively shortened and the learning success rate is improved.

[0064] Based on the above embodiments, the gear self-learning method provided by this invention further includes:

[0065] For each target gear, the shift fork is controlled to shift gears cyclically a preset number of times, and the voltage value of the gear is recorded each time it shifts gears.

[0066] The position of the shift fork, determined based on the average of the sum of the gear voltage values, is used as the gear position matching the corresponding target gear.

[0067] Specifically, for each target gear, the shift fork is controlled to shift gears cyclically a preset number of times. The shift fork position, determined by the average of the voltage values ​​recorded for each shift, is then used as the gear position to match the corresponding target gear, which can improve the accuracy of the learned shift fork position.

[0068] More specifically, the preset number of times can be set as needed, such as 3 times, 5 times, etc., without any specific limitation here.

[0069] Based on the above embodiments, when the gear engagement state is successful, recording the gear engagement voltage value includes:

[0070] When the gear shifting state is successful, the gear shifting motor is controlled to stop working;

[0071] Record the voltage value when the shift motor stops working, and use it as the shift voltage value.

[0072] Understandably, if the shift motor continues to output duty cycle after the shift fork successfully engages a gear, the shift fork will not be able to rebound, meaning it will not be able to reach the middle position of the target gear.

[0073] Specifically, after the shift fork engages a gear, the shift motor is stopped, i.e., the shift motor's duty cycle is removed, allowing the shift fork to spring back to the actual gear position corresponding to the target gear. The voltage value at this time is recorded as the gear engagement voltage value, which can improve the accuracy of self-learning.

[0074] It is understandable that the current position of the shift fork can be obtained, and then the duty cycle of the shift fork returning to zero position can be calculated based on the current position of the shift fork, that is, the duty cycle of the shift motor.

[0075] Based on the above embodiments, the gear self-learning method provided by this invention further includes:

[0076] The voltage values ​​at which the same shift fork is shifted to the two target gears corresponding to the shift fork are obtained and used as the first voltage value and the second voltage value, respectively.

[0077] Calculate the difference between the average of the first and second threshold voltage values ​​and the preset zero voltage value corresponding to the zero position;

[0078] Determine whether the difference exceeds the preset zero-position allowable deviation range;

[0079] If the limit is exceeded, a fault alarm will be triggered;

[0080] If the value is not exceeded, the position of the zero position is corrected based on the difference.

[0081] Specifically, when there is a deviation in the installation, the neutral (N) position of the transmission will also be deviated. By learning the neutral position of the transmission, the installation deviation of the transmission's shifting mechanism can be identified. By adding the zero-position deviation of the transmission when converting the voltage value into a displacement value using the sensor characteristic curve, the influence can be eliminated, making the calculated shift fork position match the actual position, thereby ensuring product consistency.

[0082] More specifically, in the case of Figure 2 Taking the two-speed gearbox shown as an example, the average value of the shift voltage values ​​of the two gears on the same shift fork shaft, namely 1st gear and 2nd gear, obtained through gear self-learning, corresponds to the actual voltage value of the shift fork zero position, namely N gear. Therefore, when the actual voltage value calculated from the shift voltage values ​​of 1st gear and 2nd gear is not equal to the calibrated voltage value of N gear, it indicates that there is a zero position deviation in the shift mechanism.

[0083] Furthermore, the preset zero-position allowable deviation range represents the permissible zero-position deviation. By comparing the difference between the calibrated voltage value and the actual voltage value with the preset zero-position allowable deviation range, if the difference exceeds the preset zero-position allowable deviation range, it indicates that there is an installation process problem or manufacturing defect in the shifting structure. By triggering a fault alarm, corresponding fault information can be output for relevant personnel to troubleshoot. When the difference does not exceed the preset zero-position allowable deviation range, the difference can be used to correct the actual position of the shift fork, thereby improving the accuracy of the shift fork position obtained through self-learning.

[0084] Based on the above embodiments, the gear self-learning method provided by this invention further includes:

[0085] The total travel between the two target gears is determined based on the voltage values ​​at which the same shift fork is engaged to the two target gears corresponding to the shift fork.

[0086] Determine whether the total travel exceeds the preset travel allowable deviation range;

[0087] If the limit is exceeded, a fault alarm will be triggered;

[0088] If the value is not exceeded, the position of the shift fork, determined based on the gear shift voltage value, will be used as the gear position matching the target gear for this gear shift operation.

[0089] Specifically, still in the case of Figure 2 Taking the two-speed gearbox shown as an example, the total travel between first and second gear can be calculated by using the shift voltage values ​​of first and second gear on the same shift fork shaft obtained through gear self-learning.

[0090] Furthermore, the preset travel allowable deviation range represents the permissible travel deviation. By comparing the total travel between gear 1 and gear 2 calculated based on the gear shift voltage value with the preset travel allowable deviation range, if the calculated total travel exceeds the preset travel allowable deviation range, it indicates that the gear shift voltage value obtained through self-learning is unreasonable. By triggering a fault alarm, corresponding fault information can be output for relevant personnel to troubleshoot. When the calculated total travel does not exceed the preset travel allowable deviation range, it indicates that the shift fork position corresponding to the learned value obtained through self-learning is reasonable. This achieves the purpose of verifying the self-learning effect and avoids the problem of not being able to identify potential mechanical structural problems (such as not meeting mechanical tolerance requirements) due to the gear travel learning value not being verified.

[0091] Furthermore, the preset zero-position allowable deviation range and the preset stroke allowable deviation range are both allowable deviation ranges set based on the mechanical data of the gearbox, prototype statistics, etc., and can be used to determine whether the learning value is reasonable.

[0092] In one embodiment, the gear self-learning method provided in the above embodiments of the present invention is used to, for example... Figure 2 The process of gear position self-learning for the shift mechanism of the 2-speed transmission shown is as follows: it can be understood that when using the gear position self-learning method provided in the embodiment of the present invention for gear position self-learning, the vehicle must be in a stationary state. That is, after the battery power is turned on, the vehicle is controlled to be in a Ready state, and then the vehicle is kept stationary with the handbrake released. For example, it can be determined whether the vehicle is stationary by detecting whether the vehicle speed is less than a preset speed, such as 5 km / h.

[0093] Simultaneously, after confirming that gear self-learning has been triggered, it is necessary to determine whether the self-learning conditions are met. Then, if the conditions are met, gear self-learning begins. These self-learning conditions include at least: the angle sensor and speed sensor are functioning normally without faults, and the drive motor controller does not report any faults.

[0094] The gear self-learning method provided in this embodiment of the invention is then used, and the learning timing diagram for gear self-learning is as follows: Figure 3 As shown, the learning method based on this learning sequence diagram is as follows: Figure 4 As shown, the main steps include:

[0095] 401. Self-learning instruction confirmed;

[0096] 402. Obtain the angle sensor voltage corresponding to the shift fork position range: 1st gear End Position, Low KP, shift fork zero position, High KP, and 2nd gear End Position range, and calculate the duty cycle of shift fork returning to zero position based on the current position;

[0097] 403. According to the preset initial movement direction of the shift fork, the target gear, and the number of cycles, control the shift fork to move towards the target gear;

[0098] 404. Determine if the gear shift was successful; if yes, proceed to step 4051; otherwise, proceed to step 4052.

[0099] 4051. Record the voltage value at the set point;

[0100] 4052. After controlling the shift fork to return to the zero position and causing the drive motor to output the preset torque, return to step 403;

[0101] 406. Based on the voltage values ​​of advancing to the next gear 1 and 2, verify whether the learning value is reasonable; if reasonable, proceed to step 407; otherwise, return to step 403.

[0102] 407. Determine the gear position.

[0103] The gear self-learning system provided in this invention can be used in multi-speed gearboxes and other reduction equipment or assembly systems employing electric transmission mechanisms. It can perform gear self-learning not only after the gearbox is installed in a vehicle, but also during vehicle off-line testing. Simultaneously, it can eliminate the influence of installation and processing deviations within a reasonable range, identify defective products, and shorten the self-learning time with minimal disturbance during the learning process.

[0104] The following describes a gear self-learning system provided by the present invention. The gear self-learning system described below can be referred to in correspondence with the gear self-learning method described above.

[0105] The gear self-learning system described in this embodiment of the invention, such as Figure 5 As shown, it includes: an instruction response module 510, a status determination module 520, a self-learning module 530, and a result execution module 540; wherein,

[0106] The instruction response module 510 is used to respond to the self-learning instruction and control the shift fork to move toward the target gear direction;

[0107] The state determination module 520 is used to determine the gear shifting state of the shift fork, which includes: stalling at the half engagement point KP of the claw clutch and successful gear shifting.

[0108] The self-learning module 530 is used to repeat a preset shifting process when the shifting state is stalled at KP until the shift fork successfully shifts into gear, and to record the gear-reaching voltage value when the shifting state is successfully shifted into gear; wherein, the preset shifting process includes: controlling the shift fork to return to the zero position and controlling the drive motor to output a preset torque, and the duration for which the drive motor outputs the preset torque is the sum of the time required for the shift fork to return from KP to the zero position and then to reach KP again and the preset duration;

[0109] The result execution module 540 is used to take the position of the shift fork determined based on the gear shift voltage value as the gear position that matches the target gear corresponding to this gear shift operation.

[0110] The gear self-learning system provided in this embodiment of the invention controls the shift fork to move towards the target gear during gear self-learning. It then determines whether the shift fork is stalled at KP or has successfully engaged the gear. If the shift fork stalls at KP, a preset engagement process is used, i.e., the shift fork is controlled to return to the zero position. Before the shift fork engages again, the drive motor outputs a preset torque to change the relative position between the sliding sleeve and the engagement teeth until the shift fork successfully engages the gear. When the shift fork successfully engages the gear, the gear voltage value is recorded, and the position of the shift fork determined based on the gear voltage value is used as the gear position matching the target gear corresponding to this engagement operation. This ensures that during gear self-learning, the drive motor only needs to output torque when it detects that the shift fork is stalled at KP, avoiding the self-learning shock caused by the drive motor continuously outputting torque during gear learning, thus minimizing disturbances in the learning process.

[0111] Optionally, the instruction response module 510 is further configured to: control the shift fork to shift gears cyclically according to a preset number of times for each target gear;

[0112] The result execution module 540 is specifically used to: take the position of the shift fork determined based on the average value of the sum of the gear voltage values ​​as the gear position that matches the corresponding target gear.

[0113] Optionally, the self-learning module 530 is specifically used for:

[0114] When the gear shifting state is successful, the gear shifting motor is controlled to stop working;

[0115] Record the voltage value when the shift motor stops working, and use it as the shift voltage value.

[0116] Optionally, the result execution module 540 is also used for:

[0117] The voltage values ​​at which the same shift fork is shifted to the two target gears corresponding to the shift fork are obtained and used as the first voltage value and the second voltage value, respectively.

[0118] Calculate the difference between the average of the first and second threshold voltage values ​​and the preset zero voltage value corresponding to the zero position;

[0119] Determine whether the difference exceeds the preset zero-position allowable deviation range;

[0120] If the limit is exceeded, a fault alarm will be triggered;

[0121] If the value is not exceeded, the position of the zero position is corrected based on the difference.

[0122] Optionally, the result execution module 540 is also used for:

[0123] The total travel between the two target gears is determined based on the voltage values ​​at which the same shift fork is engaged to the two target gears corresponding to the shift fork.

[0124] Determine whether the total travel exceeds the preset travel allowable deviation range;

[0125] If the limit is exceeded, a fault alarm will be triggered;

[0126] If the value is not exceeded, the position of the shift fork, determined based on the gear shift voltage value, will be used as the gear position matching the target gear for this gear shift operation.

[0127] This invention also provides a gearbox, which includes a gearbox body, an angle sensor, and a gear self-learning system as provided in any of the above embodiments, wherein the angle sensor is mounted on the gear shifting mechanism of the gearbox.

[0128] It is understood that the gearbox including the gear self-learning system as described in any of the above embodiments has all the advantages and technical effects of the gear self-learning system described in any of the above embodiments, and will not be repeated here.

[0129] Specifically, the gearbox is a multi-speed gearbox employing an electric drive mechanism.

[0130] This invention also provides a vehicle including a transmission as described in any of the above embodiments.

[0131] It is understood that vehicles including the transmissions described in any of the above embodiments have all the advantages and technical effects of the transmissions described in any of the above embodiments, which will not be repeated here.

[0132] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logic instructions in the memory 630 to execute a gear self-learning method, the method comprising: responding to a self-learning instruction, controlling a shift fork to move towards a target gear; determining the engagement state of the shift fork, the engagement state including: stalling at the claw clutch half-engagement point KP and successful engagement; when the engagement state is stalling at KP, repeating a preset engagement process until the shift fork successfully engages, the preset engagement process including: controlling the shift fork to return to the zero position and controlling the drive motor to output a preset torque, wherein the duration for which the drive motor outputs the preset torque is the sum of the duration required for the shift fork to return from KP to the zero position and then return to KP again and the preset duration; when the engagement state is successful engagement, recording the gear engagement voltage value; and using the position of the shift fork determined based on the gear engagement voltage value as the gear position matching the target gear corresponding to this engagement operation.

[0133] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0134] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the gear self-learning method provided by the above methods, the method comprising: responding to a self-learning instruction, controlling a shift fork to move toward a target gear; determining the gear engagement state of the shift fork, the gear engagement state comprising: stalling at the half-engagement point KP of the pawl clutch and successful gear engagement; wherein the gear engagement state is as follows: When stalled at KP, the preset shifting process is repeated until the shift fork successfully engages the gear. The preset shifting process includes: controlling the shift fork to return to the zero position and controlling the drive motor to output a preset torque, wherein the duration for which the drive motor outputs the preset torque is the sum of the time required for the shift fork to return from KP to the zero position and then to KP again and the preset duration; when the shifting state is successful, the gear engagement voltage value is recorded; and the position of the shift fork determined based on the gear engagement voltage value is used as the gear position matching the target gear corresponding to this shifting operation.

[0135] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a gear self-learning method, the method comprising: responding to a self-learning instruction, controlling a shift fork to move towards a target gear; determining the engagement state of the shift fork, the engagement state including: stalling at the half-engagement point KP of the claw clutch and successful engagement; when the engagement state is stalling at KP, repeating a preset engagement process until the shift fork successfully engages, the preset engagement process including: controlling the shift fork to return to the zero position and controlling the drive motor to output a preset torque, wherein the duration for which the drive motor outputs the preset torque is the sum of the duration required for the shift fork to return from KP to the zero position and then to KP again and the preset duration; when the engagement state is successful engagement, recording the gear engagement voltage value; and using the position of the shift fork determined based on the gear engagement voltage value as the gear position matching the target gear corresponding to the current engagement operation.

[0136] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0137] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gear shift self-learning method, characterized in that, include: In response to the self-learning command, the shift fork is controlled to move toward the target gear. Determine the gear shift state of the shift fork, which includes: stalling at the half-engagement point KP of the claw clutch and successful gear shift; When the gear shifting state is stalled at KP, the preset gear shifting process is repeated until the shift fork successfully engages the gear. The preset gear shifting process includes: controlling the shift fork to return to the zero position and controlling the shift motor to output a preset torque. The duration for which the shift motor outputs the preset torque is the sum of the time required for the shift fork to return from KP to the zero position and then return to KP again and the preset duration. This ensures that the duration for the shift motor to output the preset torque is slightly longer than the time required for the shift fork to return to the zero position and then return to KP again. Therefore, when the shift fork returns to KP again and the teeth of the sliding sleeve and the engagement gear are still relative, the sliding sleeve is rotated so that the relative position of the sliding sleeve and the teeth of the engagement gear continues to change. The preset torque is a torque value determined based on experience and the condition of the transmission itself. This torque value is less than the output torque of the shift motor when the vehicle is driving normally. When the gear shifting state is successful, the shift motor is stopped and the duty cycle of the shift motor is removed, causing the shift fork to spring back and reach the actual gear position of the corresponding target gear. Record the voltage value when the shift motor stops working, and use it as the shift voltage value; The position of the shift fork, determined based on the gear shift voltage value, is used as the gear position that matches the target gear corresponding to this gear shift operation. Specifically, the system determines whether the shift fork has stopped moving by checking whether the voltage value detected by the angle sensor installed on the gearbox shift mechanism is stable. Then, it determines whether the shift fork has reached the target gear position or is stuck at KP based on the preset voltage range into which the stable voltage value falls.

2. The gear self-learning method according to claim 1, characterized in that, Also includes: For each target gear, the shift fork is controlled to shift gears cyclically a preset number of times, and the voltage value at the gear position is recorded each time it shifts gears. The position of the shift fork, determined based on the average value of the gear shift voltage, is used as the gear position that matches the corresponding target gear.

3. The gear self-learning method according to claim 1, characterized in that, Also includes: The voltage values ​​at which the same shift fork is shifted to the two target gears corresponding to the shift fork are obtained and used as the first voltage value and the second voltage value, respectively. Calculate the difference between the average of the first and second threshold voltage values ​​and the preset zero voltage value corresponding to the zero position; Determine whether the difference exceeds the preset zero-position allowable deviation range; If the limit is exceeded, a fault alarm will be triggered; If the value is not exceeded, the position of the zero position is corrected based on the difference.

4. The gear self-learning method according to claim 1, characterized in that, Also includes: The total travel between the two target gears is determined based on the voltage values ​​at which the same shift fork is engaged to the two target gears corresponding to the shift fork. Determine whether the total travel exceeds the preset travel allowable deviation range; If the limit is exceeded, a fault alarm will be triggered; If the value is not exceeded, the position of the shift fork, determined based on the gear shift voltage value, will be used as the gear position matching the target gear for this gear shift operation.

5. A gear shift self-learning system, characterized in that, include: The command response module is used to respond to self-learning commands and control the shift fork to move towards the target gear. The state determination module is used to determine the gear shifting state of the shift fork, which includes: stalling at the half engagement point KP of the claw clutch and successful gear shifting. The self-learning module is used to repeat a preset gear-shifting process when the gear-shifting state is stalled at KP until the shift fork successfully engages the gear. When the gear-shifting state is successful, it controls the shift motor to stop working, removes the shift motor's duty cycle, and causes the shift fork to rebound, reaching the actual gear position of the corresponding target gear. It records the voltage value when the shift motor stops working and uses it as the gear-reaching voltage value. The preset gear-shifting process includes: controlling the shift fork to return to the zero position and controlling the shift motor to output a preset torque, and the shift motor outputting the preset torque for a certain period of time... The duration is the sum of the time required for the shift fork to return from the zero position to the KP position and then return to the KP position again, and the preset duration. This ensures that the duration for the shift motor to output the preset torque is slightly longer than the time it takes for the shift fork to return to the zero position and then return to the KP position. Therefore, when the shift fork returns to the KP position and the teeth of the sliding sleeve and the engagement gear are still relative, the sliding sleeve is rotated, causing the relative position of the sliding sleeve and the teeth of the engagement gear to continue to change. The preset torque is a torque value determined based on experience and the condition of the transmission itself. This torque value is less than the output torque of the shift motor when the vehicle is driving normally. The result execution module is used to take the position of the shift fork determined based on the gear voltage value as the gear position that matches the target gear corresponding to this gear shifting operation; Specifically, the system determines whether the shift fork has stopped moving by checking whether the voltage value detected by the angle sensor installed on the gearbox shift mechanism is stable. Then, it determines whether the shift fork has reached the target gear position or is stuck at KP based on the preset voltage range into which the stable voltage value falls.

6. A gearbox, characterized in that, It includes a gearbox body, a shift motor, an angle sensor, and a gear self-learning system as described in claim 5, wherein the angle sensor is mounted on the shift mechanism of the gearbox.

7. A vehicle, characterized in that, Including the gearbox as described in claim 6.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the gear self-learning method as described in any one of claims 1 to 4.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the gear self-learning method as described in any one of claims 1 to 4.

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