A Displacement Control Method, Device and Vehicle for an AMT Clutch Execution System

Abstract

The present invention relates to the technical field of AMT clutches, and particularly relates to a displacement control method, device and vehicle for an AMT clutch actuator system. The displacement control method for the AMT clutch actuator system includes the following steps: obtaining the current position, target position and execution time to reach the target position of the clutch actuator; determining the charging and discharging flow rates of the clutch actuator cylinder according to the target position, current position and execution time; and based on a calibrated flow rate-position strategy table, determining a charging and discharging strategy to control the clutch actuator to execute according to the target position and the charging and discharging flow rates. It can solve the problems in the prior art that when PID control is adopted, the introduction of error integral feedback makes the closed loop become sluggish, is prone to oscillation, is liable to cause control quantity saturation caused by integral saturation, resulting in complex control calculation and easy oscillation.

Description

Technical Field

[0001] The present invention relates to the technical field of AMT clutches, and in particular to a displacement control method, device and vehicle for an AMT clutch actuator system. Background Art

[0002] Explanation of the structural principle of the clutch system: As Figure 1 shown, a conventional clutch system includes a clutch pressure plate 1, a clutch release bearing 2, a clutch driven disc assembly 3, a release fork 4 and a clutch actuator 5. During the separation process, the clutch actuator intakes air to push its piston forward, drives the release bearing to move backward through the fork, and thus drives the rearward movement of the separation fingers of the pressure plate to realize clutch separation. During the engagement process, the clutch actuator exhausts air, and under the action of the diaphragm spring of the clutch pressure plate, the piston moves backward, drives the release bearing to move forward through the fork, and thus realizes the forward movement of the pressure plate to realize clutch engagement.

[0003] Explanation of the principle of the clutch actuator mechanism: As Figure 2 shown, a general clutch actuator includes an actuator cylinder, 4 solenoid valves (intake large valve 61 and intake small valve 62, and exhaust large valve 71 and exhaust small valve 72), and a displacement sensor. During the intake process, the intake solenoid valve receives the command from the ECU and starts to work, and the gas enters the actuator cylinder through the intake solenoid valve; during the exhaust process, the exhaust solenoid valve receives the command from the ECU and starts to work, and the gas in the actuator cylinder is discharged to the atmosphere through the exhaust solenoid valve.

[0004] In the prior art, the clutch displacement control strategy is controlled by PID regulation. In PID control, the role of the error integral feedback is to eliminate the static error and improve the accuracy of the system response. However, at the same time, the introduction of the error integral feedback makes the closed loop become sluggish, prone to oscillation, and prone to the saturation of the control quantity caused by integral saturation, resulting in complex control calculations and easy oscillation problems. Summary of the Invention

[0005] Aiming at the defects existing in the prior art, the purpose of the present invention is to provide a displacement control method, device and vehicle for an AMT clutch actuator system, which can solve the problems in the prior art that when using PID control, the introduction of error integral feedback makes the closed loop become sluggish, prone to oscillation, prone to the saturation of the control quantity caused by integral saturation, resulting in complex control calculations and easy oscillation.

[0006] To achieve the above object, the technical solution adopted by the present invention is:

[0007] On the one hand, the present invention provides a displacement control method for an AMT clutch actuator system, including the following steps:

[0008] Obtain the current position, target position of the clutch actuator and the execution time to reach the target position;

[0009] Determine the charging and discharging flow rates to the clutch actuator cylinder according to the target position, the current position, and the execution time;

[0010] Based on the calibrated flow rate - position strategy table, determine the charging and discharging strategy according to the target position and the charging and discharging flow rates, and control the clutch actuator to execute.

[0011] In some alternative solutions, the determining the charging and discharging flow rates to the clutch actuator cylinder according to the target position, the current position, and the execution time includes:

[0012] Determine the charging and discharging flow rate Q according to the formula Q=(V m - V p ) / t = [(P m + P0) / P0 * L m - (P1 + P0) / P0 * L1] * S / t ;

[0013] Wherein, V m is the volume of the corresponding gas in the cylinder at the target position under standard air pressure, V p is the volume of the corresponding gas in the cylinder at the current position under standard air pressure, P0 is the standard air pressure, P m is the air pressure corresponding to the cylinder at the target position, P1 is the air pressure corresponding to the cylinder at the current position, S is the cylinder acting area, L m is the target position of the clutch actuator, L1 is the current position of the clutch actuator, and t is the time for the clutch actuator to execute from the current position to the target position.

[0014] In some alternative solutions, the determining the charging and discharging strategy according to the target position and the charging and discharging flow rates based on the calibrated flow rate - position strategy table includes:

[0015] According to the target position and the charging and discharging flow rates, select the charging and discharging strategy for the clutch actuator cylinder from the calibrated flow rate - position strategy table, where the flow rate - position strategy table is a relationship table of the charging and discharging flow rates, the target positions, and the charging and discharging strategies;

[0016] Control the clutch actuator to execute according to the selected charging and discharging strategy for the clutch actuator cylinder.

[0017] In some alternative solutions, the flow rate - position strategy table includes a charging flow rate - position strategy table and a discharging flow rate - position strategy table.

[0018] In some alternative solutions, the calibration of the charging flow rate - position strategy table includes the following steps:

[0019] Formulate different charging strategies, and each charging strategy corresponds to a different opening degree of the charging valve;

[0020] Place the clutch actuator in the fully engaged position of the clutch, and sequentially inflate the clutch actuator with the opening degrees of the inflation valves corresponding to different inflation strategies. Each inflation strategy causes the clutch actuator to move from the fully engaged position of the clutch to the fully disengaged position;

[0021] Record the inflation flow rates of the clutch actuator at different positions during the inflation process of each inflation strategy;

[0022] Based on the inflation flow rates of the clutch actuator at different positions during the inflation process of each inflation strategy, formulate an inflation flow rate position strategy table for the inflation strategies corresponding to different inflation flow rates and target positions.

[0023] In some alternative solutions, when formulating the inflation flow rate position strategy table for the inflation and exhaust strategies corresponding to different inflation flow rates and target positions, the inflation flow rate is divided into 6 - 8 segments from 0 to the maximum inflation flow rate, and the target position is divided into 10 - 12 segments from the fully engaged position of the clutch to the fully disengaged position.

[0024] In some alternative solutions, the calibration of the exhaust flow rate position strategy table includes the following steps:

[0025] Formulate different exhaust strategies, and each exhaust strategy corresponds to a different opening degree of the exhaust valve;

[0026] Place the clutch actuator in the fully engaged position of the clutch, and sequentially exhaust the clutch actuator with the opening degrees of the exhaust valves corresponding to different exhaust strategies. Each exhaust strategy causes the clutch actuator to move from the fully disengaged position of the clutch to the fully engaged position;

[0027] Record the exhaust flow rates of the clutch actuator at different positions during the exhaust process of each exhaust strategy;

[0028] Based on the exhaust flow rates of the clutch actuator at different positions during the exhaust process of each exhaust strategy, formulate an exhaust flow rate position strategy table for the exhaust strategies corresponding to different exhaust flow rates and target positions.

[0029] In some alternative solutions, when formulating the exhaust flow rate position strategy table for the inflation and exhaust strategies corresponding to different inflation flow rates and target positions, the inflation flow rate is divided into 6 - 8 segments from 0 to the maximum inflation flow rate, and the target position is divided into 10 - 12 segments from the fully disengaged position of the clutch to the fully engaged position.

[0030] In a second aspect, the present invention further provides a displacement control device for an AMT clutch execution system, including:

[0031] A data acquisition module, which is used to acquire the current position, target position, and execution time to the target position of the clutch actuator;

[0032] A charging and discharging flow rate determining module, which is configured to determine the charging and discharging flow rates to the clutch actuator cylinder according to the target position, the current position, and the execution time;

[0033] An analysis module, which is configured to determine a charging and discharging strategy to control the clutch actuator to execute based on a calibrated flow rate-position strategy table according to the target position and the charging flow rate.

[0034] In a second aspect, the present invention further provides a vehicle, including the above AMT clutch actuator system displacement control device.

[0035] Compared with the prior art, the advantages of the present invention are as follows: This technical solution first obtains the current position, the target position, and the execution time to reach the target position of the clutch actuator; determines the charging and discharging flow rates to the clutch actuator cylinder according to the target position, the current position, and the execution time; the flow rate-position strategy table is a relationship table of the charging and discharging flow rates, the target position, and the charging and discharging strategies. After obtaining the target position and the charging and discharging flow rates, the charging and discharging strategy of the clutch actuator cylinder can be selected from the calibrated flow rate-position strategy table according to the target position and the charging and discharging flow rates. According to the selected charging and discharging strategy of the clutch actuator cylinder, controlling the clutch actuator to execute can directly control the clutch to reach the target position. In this way, by using the calibrated flow rate-position strategy table, the charging and discharging strategy of the clutch actuator cylinder can be selected from the flow rate-position strategy table according to the target position and the charging and discharging flow rates during control. This method has a simpler control logic, is easier to stabilize, has a high control efficiency, and requires less hardware compared with the PID regulation method in the prior art. Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 It is a schematic diagram of the structure principle of the clutch system in the embodiment of the present invention;

[0038] Figure 2 It is a schematic diagram of the principle of the clutch actuator in the embodiment of the present invention;

[0039] Figure 3 It is a schematic diagram of the clutch separation characteristics in the embodiment of the present invention;

[0040] Figure 4 It is a flowchart of the AMT clutch actuator system displacement control method in the embodiment of the present invention.

[0041] In the figure: 1. Clutch pressure plate; 2. Clutch release bearing; 3. Clutch driven plate assembly; 4. Release fork; 5. Clutch actuator; 61. Intake large valve; 62. Intake small valve; 71. Exhaust large valve; 72. Exhaust small valve. Specific embodiments

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts fall within the scope of protection of this application.

[0043] The following further elaborates on the embodiments of the present invention with reference to the accompanying drawings.

[0044] As Figure 4 shown, on the one hand, the present invention provides a method for controlling the displacement of an AMT clutch actuator system, including the following steps:

[0045] S1: Obtain the current position, target position, and execution time to reach the target position of the clutch actuator.

[0046] In this example, the automatic transmission control unit TCU formulates an instruction for the clutch actuator to execute from the current position to the target position based on the information of the accelerator and brake pedals, as well as the execution time of the instruction for the clutch actuator to execute from the current position to the target position.

[0047] S2: Determine the air intake and exhaust flow rates to the cylinder of the clutch actuator according to the target position, current position, and execution time.

[0048] In some alternative embodiments, according to the formula Q = (V m -V p ) / t = [(P m +P0) / P0*L m -(P1+P0) / P0*L1]*S / t , determine the air intake and exhaust flow rate Q.

[0049] Among them, V m is the volume of the corresponding gas in the cylinder at the target position under standard air pressure, V p is the volume of the corresponding gas in the cylinder at the current position under standard air pressure, P0 is the standard air pressure, P m is the air pressure corresponding to the cylinder at the target position, P1 is the air pressure corresponding to the cylinder at the current position, S is the cylinder acting area, L m$L_0$ is the target position of the clutch actuator, $L_1$ is the current position of the clutch actuator, and $t$ is the time for the clutch actuator to move from the current position to the target position.

[0050] The basic principle of determining the air charging and discharging flow rate of the clutch actuator cylinder according to the target position, current position, and execution time is as follows:

[0051] Controlling the clutch displacement means controlling the position of the piston of the clutch actuator.

[0052] Explanation of the current standard volume calculation: As shown in the mechanism in Figure 1 , the current position $L_1$ of the clutch actuator directly determines the separation position $L_2$ of the clutch assembly through the rigid connection of the release fork and the release bearing. The separation position $L_2$ of the clutch assembly can then determine the separation force $F$ of the clutch through the separation characteristics of the clutch (such as Figure 3 ). According to the physical relationship between air pressure and force, the separation force $F =$ air pressure $P\times$ cylinder acting area $S$. Thus, the cylinder air pressure $P_1$ corresponding to the current clutch actuator position $L_1$ can also be obtained. And according to the cylinder acting area $S$ and the actuator position $L_1$, the current gas volume $V$ under the air pressure $P$ can also be calculated as $V = L_1\times S$. To facilitate the calculation and control of the gas volume, we need to convert the high-pressure gas volume into the volume under the standard air pressure, that is, the standard volume $V_1$ at the current position $= (P_1 + P_0) / P_0\times L_1\times S$. p $= L_1\times S$. And to facilitate the calculation and control of the gas volume, we need to convert the high-pressure gas volume into the volume under the standard air pressure, that is, the standard volume $V_1$ at the current position $= (P_1 + P_0) / P_0\times L_1\times S$.

[0053] Explanation of the target standard volume calculation: Similarly, when our target position is $L_m$, our target position standard volume is $V_m = (P$ m $+ P_0) / P_0\times L$ m $\times S$

[0054] Explanation of the theoretical flow rate calculation: In the clutch displacement control, generally, in addition to the target displacement, a time $t$ to reach the target position is also required. Thus, we can calculate that in time $t$, from the current position $L_1$ to the target position $L$ m , the standard volume changes by $V$ m $- V$ p , and the required flow rate $Q$ per unit time during this period $= (V$ m $- V$ p )$ / t = [(P$ m $+ P_0) / P_0\times L$ m $- (P_1 + P_0) / P_0\times L_1]\times S / t$.

[0055] S3: Based on the calibrated flow rate-position strategy table, determine the air charging and discharging strategy to control the clutch actuator to execute according to the target position and the air charging and discharging flow rate.

[0056] In some alternative embodiments, step S3 specifically includes:

[0057] S31: Select the charging and discharging strategy of the clutch actuator cylinder from the calibrated flow rate position strategy table according to the target position and the charging and discharging flow rate. The flow rate position strategy table is a relationship table of the charging and discharging flow rate, the target position, and the charging and discharging strategy.

[0058] In this example, the flow rate position strategy table includes a charging flow rate position strategy table and a discharging flow rate position strategy table.

[0059] When inflating the cylinder of the clutch actuator to move the clutch actuator from the fully engaged position of the clutch to the fully disengaged position, the charging flow rate position strategy table is adopted; when discharging the cylinder of the clutch actuator to move the clutch actuator from the fully disengaged position of the clutch to the fully engaged position, the discharging flow rate position strategy table is adopted.

[0060] The calibration of the charging flow rate position strategy table includes the following steps:

[0061] A1: Develop different charging strategies, and each charging strategy corresponds to a different opening degree of the charging valve.

[0062] As Figure 2 shown, in this embodiment, both the charging and discharging of the clutch actuator cylinder are realized through two valves. When inflating the clutch actuator cylinder, it is realized through two charging valves, including the large intake valve 61 and the small intake valve 62. When discharging the clutch actuator cylinder, it is realized through two discharging valves, including the large exhaust valve 71 and the small exhaust valve 72.

[0063] When developing different charging strategies, different charging speeds are achieved by opening the two charging valves to different opening degrees.

[0064] A2: Place the clutch actuator in the fully engaged position of the clutch, and sequentially inflate the clutch actuator with the opening degrees of the charging valves corresponding to different charging strategies. Each charging strategy moves the clutch actuator from the fully engaged position of the clutch to the fully disengaged position.

[0065] A3: Record the charging flow rate of the clutch actuator at different positions during the charging process of each charging strategy.

[0066] In some alternative embodiments, when developing the charging flow rate position strategy table for the charging and discharging strategies corresponding to different charging flow rates and target positions, the charging flow rate is divided into 6 - 8 segments from 0 to the maximum charging flow rate, and the target position is divided into 10 - 12 segments from the fully engaged position of the clutch to the fully disengaged position. In this example, the target position is divided into 11 segments from the fully engaged position of the clutch to the fully disengaged position, that is, when calibrating, the charging flow rates at 11 position points are calibrated.

[0067] In some alternative embodiments, generally 6 - 8 inflation strategies are formulated. In this example, 7 inflation strategies are formulated. During the test, when using the first inflation strategy, i.e., Strategy 1, first place the clutch actuator in the position where the clutch is fully engaged. Adjust the inflation valve to the first inflation strategy, and make the clutch actuator move from the fully - engaged position of the clutch to the fully - disengaged position. Calibrate the inflation flow rates at 11 position points, which are respectively flow rates x11, x21, x31, x41, x51, x61, x71, x81, x91, x101, x111. In the same way, test and record the inflation flow rates at the corresponding 11 position points for the remaining Strategies 2 - 7.

[0068] Electromagnetic Valve Flow Rate Calibration Test Table

[0069]

[0070] A4: According to the inflation flow rates of the clutch actuator at different positions during the inflation process of each inflation strategy, formulate an inflation flow rate - position strategy table corresponding to different inflation flow rates and target positions.

[0071] In this embodiment, the inflation flow rate is divided into 6 - 8 stages from 0 to the maximum inflation flow rate, that is, 6 inflation flow rate grading points are used.

[0072] In addition, according to Figure 3 the separation characteristics, it can be seen that the separation force is basically divided into two stages during the whole process. One is the linearly increasing stage, and the other is the basically maintaining stage. The flow rate characteristics of these two stages are different. Therefore, divide the positions 1 - 11 into two regions at the inflection point of the two stages (assumed to be position 6). Region 1 is positions 1 - 6 and Region 2 is positions 6 - 11. Since the separation force in Region 2 is basically constant, its pressure Pm = P1 can be set. According to the above formula Q = [(Pm + P0) / P0 * Lm - (P1 + P0) / P0 * L1] * S / t = [(Pm + P0) / P0 * (Lm - L1)] * S / t = (Pm + P0) / P0 * S * (Lm - L1) / t, where (Pm + P0) / P0 * S is basically a constant for a clutch, and the following (Lm - L1) / t is the required piston movement speed.

[0073] As can be seen from Region 1, the separation force and position are basically linearly related. Therefore, we can set the pressure Pm = k * Lm and P1 = k * L1. According to the flow formula Q = [(Pm + P0) / P0 * Lm - (P1 + P0) / P0 * L1] * S / t = [(k * Lm + P0) / P0 * Lm - (k * L1 + P0) / P0 * L1] * S / t = (1 / Lm - 1 / L1) * S / t = (L1 - Lm) / t * (S / Lm / L1). From this formula, we can see that in Region 1, the flow rate is not only related to the piston movement speed (L1 - Lm) / t, but also related to the absolute position Lm * L1 of the piston.

[0074] Selection of valve opening strategy: According to the calculated required Q and the target position, an appropriate development strategy for the PWM solenoid valve can be selected. For this purpose, it is necessary to first measure the flow rates corresponding to different duty cycles under various working conditions in the laboratory (see the flow calibration test table of the electromagnetic valve), and then inversely select the development strategy according to the calculated required flow rate Q to obtain the charging air flow velocity position strategy table.

[0075] Charging air flow velocity position strategy table

[0076]

[0077] In Region 2, since the piston movement speed and the flow rate are linearly proportional. Therefore, the valve opening strategy in Region 2 can be divided into a one-dimensional table according to the flow rate results (see the corresponding columns at positions 6 to 11 in the exhaust gas flow velocity position strategy table). That is, the position regions with basically equal charging air flow velocities are merged, which can improve the control efficiency.

[0078] In Region 1, since the flow rate is not only related to the piston movement speed (L1 - Lm) / t, but also related to the absolute position Lm * L1 of the piston, more position grids need to be divided, and the valve opening strategy is confirmed using two dimensions of flow rate and position (see positions 5 - 6, positions 4 - 5, positions 3 - 4, positions 2 - 3, positions 1 - 2, positions 0 - 1 in the exhaust gas flow velocity position strategy table).

[0079] According to the actual development strategy, a corresponding flow rate will be generated, causing the actuator piston to move towards the target position. When the position finally reaches Lm, that is, Lm = L1, the calculated flow rate Q = 0, and the entire control process ends.

[0080] The calibration of the exhaust gas flow velocity position strategy table includes the following steps:

[0081] B1: Develop different exhaust strategies, and each exhaust strategy corresponds to a different exhaust valve opening.

[0082] In this example, when exhausting the air in the clutch actuator cylinder, it is achieved through two exhaust valves. When formulating different exhaust strategies, different exhaust speeds are achieved by opening the two exhaust valves to different degrees.

[0083] B2: Place the clutch actuator in the position where the clutch is fully engaged, and exhaust the clutch actuator in sequence at the exhaust valve opening degrees corresponding to different exhaust strategies. Each exhaust strategy makes the clutch actuator move from the fully disengaged position of the clutch to the fully engaged position.

[0084] In some alternative embodiments, when formulating the exhaust flow rate position strategy table for different charging flow rates and the charging and exhaust flow rates corresponding to the target positions, the charging flow rate is divided into 6 - 8 segments from 0 to the maximum charging flow rate, and the target position is divided into 10 - 12 segments from the fully disengaged position of the clutch to the fully engaged position.

[0085] In this example, the target position is divided into 11 segments from the fully disengaged position of the clutch to the fully engaged position, that is, during calibration, the exhaust flow rates at 11 position points are calibrated.

[0086] B3: Record the exhaust flow rates of the clutch actuator at different positions during the exhaust process of each exhaust strategy.

[0087] In some alternative embodiments, generally 6 - 8 exhaust strategies are formulated. In this example, 7 exhaust strategies are formulated. During the test, when adopting the first exhaust strategy, that is, Strategy 1, first place the clutch actuator in the fully disengaged position of the clutch, adjust the charging valve to the first charging strategy, and make the clutch actuator move from the fully disengaged position of the clutch to the fully engaged position. The charging flow rates at the 11 calibrated position points are respectively flow rates x111, x101, x91, x81, x71, x61, x51, x41, x31, x21, x11. In the same way, the exhaust flow rates at the 11 position points corresponding to the remaining Strategies 2 - 7 are respectively tested and recorded.

[0088] B4: According to the exhaust flow rates of the clutch actuator at different positions during the exhaust process of each exhaust strategy, formulate the exhaust flow rate position strategy table for different exhaust flow rates and the exhaust strategies corresponding to the target positions.

[0089] In this embodiment, the process of obtaining the exhaust flow rate position strategy table is similar to the calibration steps of the charging flow rate position strategy table.

[0090] S32: Control the clutch actuator to execute according to the selected charging and exhaust strategies of the clutch actuator cylinder.

[0091] In this embodiment, the flow velocity position strategy table is a relationship table of the charging and discharging flow velocity, the target position, and the charging and discharging strategy. After obtaining the target position and the charging and discharging flow velocity, the charging and discharging strategy of the clutch actuator cylinder can be selected from the calibrated flow velocity position strategy table according to the target position and the charging and discharging flow velocity. According to the selected charging and discharging strategy of the clutch actuator cylinder, controlling the clutch actuator to execute can directly control the clutch to reach the target position. By using the calibrated flow velocity position strategy table in this way, the charging and discharging strategy of the clutch actuator cylinder can be selected from the flow velocity position strategy table according to the target position and the charging and discharging flow velocity during control. Compared with the PID regulation method in the prior art, this method has a simpler control logic, is easier to stabilize, has a high control efficiency, and requires less hardware.

[0092] On the other hand, the present invention also provides a displacement control device for an AMT clutch actuator system, including: a data acquisition module, a charging and discharging flow velocity determination module, and an analysis module.

[0093] The data acquisition module is used to acquire the current position, the target position, and the execution time for the clutch actuator to reach the target position; the charging and discharging flow velocity determination module is used to determine the charging and discharging flow velocity of the clutch actuator cylinder according to the target position, the current position, and the execution time; the analysis module is used to determine the charging and discharging strategy based on the calibrated flow velocity position strategy table, and control the clutch actuator to execute according to the target position and the charging flow velocity.

[0094] On yet another aspect, the present invention also provides a vehicle, including the above-mentioned displacement control device for an AMT clutch actuator system.

[0095] In summary, this technical solution first acquires the current position, the target position, and the execution time for the clutch actuator to reach the target position; determines the charging and discharging flow velocity of the clutch actuator cylinder according to the target position, the current position, and the execution time; the flow velocity position strategy table is a relationship table of the charging and discharging flow velocity, the target position, and the charging and discharging strategy. After obtaining the target position and the charging and discharging flow velocity, the charging and discharging strategy of the clutch actuator cylinder can be selected from the calibrated flow velocity position strategy table according to the target position and the charging and discharging flow velocity. According to the selected charging and discharging strategy of the clutch actuator cylinder, controlling the clutch actuator to execute can directly control the clutch to reach the target position. By using the calibrated flow velocity position strategy table in this way, the charging and discharging strategy of the clutch actuator cylinder can be selected from the flow velocity position strategy table according to the target position and the charging and discharging flow velocity during control. Compared with the PID regulation method in the prior art, this method has a simpler control logic, is easier to stabilize, has a high control efficiency, and requires less hardware.

[0096] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and defined, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0097] It should be noted that in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device including the said element.

[0098] The above are only specific embodiments of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but rather to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A displacement control method for an AMT clutch actuator system, characterized in that It includes the following steps: Obtain the current position, target position of the clutch actuator, and the execution time to reach the target position; Determine the charging and discharging flow rates to the cylinder of the clutch actuator based on the target position, current position, and execution time; Based on the calibrated flow rate - position strategy table, determine the charging and discharging strategy to control the clutch actuator to execute according to the target position and the charging and discharging flow rates; The step of determining the charging and discharging strategy to control the clutch actuator to execute based on the calibrated flow rate - position strategy table according to the target position and the charging and discharging flow rates includes: Select the charging and discharging strategy for the cylinder of the clutch actuator from the calibrated flow rate - position strategy table according to the target position and the charging and discharging flow rates. The flow rate - position strategy table is a relationship table of charging and discharging flow rates, target positions, and charging and discharging strategies; Control the clutch actuator to execute according to the selected charging and discharging strategy for the cylinder of the clutch actuator.

2. The displacement control method of the AMT clutch actuator system according to claim 1, characterized in that: The step of determining the charging and discharging flow rates to the cylinder of the clutch actuator based on the target position, current position, and execution time includes: According to the formula Q = (V m - V p ) / t = [(P m + P0) / P0 * L m - (P1 + P0) / P0 * L1] * S / t , determine the charging air flow rate Q ; Among them, V m is the volume of the corresponding gas in the cylinder at the target position under standard atmospheric pressure, V p is the volume of the corresponding gas in the cylinder at the current position under standard atmospheric pressure, P0 is the standard atmospheric pressure, P m is the air pressure corresponding to the cylinder at the target position, P1 is the air pressure corresponding to the cylinder at the current position, S is the cylinder acting area, L m is the target position of the clutch actuator, L1 is the current position of the clutch actuator, and t is the time for the clutch actuator to execute from the current position to the target position.

3. The displacement control method of the AMT clutch actuator system according to claim 1, characterized in that The flow rate - position strategy table includes a charging flow rate - position strategy table and a discharging flow rate - position strategy table.

4. The displacement control method of the AMT clutch actuator system according to claim 3, characterized in that The calibration of the charging flow rate - position strategy table includes the following steps: Formulate different charging strategies, and each charging strategy corresponds to a different charging valve opening; Make the clutch actuator in the position where the clutch is fully engaged, and sequentially charge the clutch actuator with the charging valve openings corresponding to different charging strategies. Each charging strategy makes the clutch actuator move from the fully - engaged position of the clutch to the fully - disengaged position; Record the charging flow rates of the clutch actuator at different positions during the charging process of each charging strategy; According to the charging flow rates of the clutch actuator at different positions during the charging process of each charging strategy, formulate a charging flow rate - position strategy table for different charging flow rates and corresponding charging strategies at the target positions.

5. The displacement control method of the AMT clutch actuator system according to claim 4, characterized in that, When formulating the charging flow rate - position strategy table for different charging flow rates and corresponding charging and discharging strategies at the target positions, divide the charging flow rate into 6 - 8 segments from 0 to the maximum charging flow rate, and divide the target position into 10 - 12 segments from the fully - engaged position of the clutch to the fully - disengaged position.

6. The displacement control method of the AMT clutch execution system according to claim 3, characterized in that, The calibration of the discharging flow rate - position strategy table includes the following steps: Formulate different discharging strategies, and each discharging strategy corresponds to a different discharging valve opening; Make the clutch actuator in the position where the clutch is fully engaged, and sequentially discharge the clutch actuator with the discharging valve openings corresponding to different discharging strategies. Each discharging strategy makes the clutch actuator move from the fully - disengaged position of the clutch to the fully - engaged position; Record the discharging flow rates of the clutch actuator at different positions during the discharging process of each discharging strategy; According to the discharging flow rates of the clutch actuator at different positions during the discharging process of each discharging strategy, formulate a discharging flow rate - position strategy table for different discharging flow rates and corresponding discharging strategies at the target positions.

7. The displacement control method of the AMT clutch execution system according to claim 6, characterized in that When formulating the discharging flow rate - position strategy table for different charging flow rates and corresponding charging and discharging strategies at the target positions, divide the charging flow rate into 6 - 8 segments from 0 to the maximum charging flow rate, and divide the target position into 10 - 12 segments from the fully - disengaged position of the clutch to the fully - engaged position.

8. A displacement control device for an AMT clutch actuator system, characterized in that, It includes: A data acquisition module, which is used to acquire the current position, target position and execution time to the target position of the clutch actuator; A charging and exhausting flow rate determination module, which is used to determine the charging and exhausting flow rates to the cylinder of the clutch actuator according to the target position, current position and execution time; An analysis module, which is used to select the charging and exhausting strategy for the cylinder of the clutch actuator from a calibrated flow rate-position strategy table according to the target position and the charging and exhausting flow rates, where the flow rate-position strategy table is a relationship table of charging and exhausting flow rates, target positions and charging and exhausting strategies; and control the clutch actuator to execute according to the selected charging and exhausting strategy for the cylinder of the clutch actuator.

9. A vehicle, characterized in that, It includes a displacement control device for an AMT clutch actuator system as described in claim 8.

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