Control method, control device, processor and vehicle for a pneumatic clutch

Abstract

The application provides a control method and device of a pneumatic clutch, a processor and a vehicle, and relates to the technical field of vehicle control, and solves the problem that it is difficult to ensure driving comfort when the pneumatic clutch performs a joint action or a separation action in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of clutch control, in particular to a control method and control device of a pneumatic clutch, a computer readable storage medium, a processor and a vehicle. BACKGROUND

[0002] In the product development process, software and calibration data optimization is extremely important, especially in today's increasingly high standard of living, whether it is a commercial vehicle or a passenger car, people have put forward higher requirements for driving comfort.

[0003] The current clutch control scheme is generally controlled by PID.

[0004] Figure 1 is the performance of the relevant signals when the clutch is closed, as shown in the figure, the clutch pneumatic actuator closing process, the clutch receives the closing instruction, the demand position will first eliminate the air gap to the sliding friction point near, and then slowly close near the sliding friction point, after the sliding friction point, at this time, the torque transmitted by the engine can be completely transmitted, at this time, it can be quickly closed, that is, the "fast-slow-fast" way. But due to the compressibility of gas, it is difficult to debug the comfort, especially the data coverage, there are slight differences on different cars. Figure 1 From the figure, it can be seen that the output shaft speed change rate changes, at this time, there is an uncomfortable feeling on the car. At the same time, it is observed that the closing time has a high impact on comfort, the faster the closing, the more difficult it is to ensure comfort.

[0005] SUMMARY

[0006] The main purpose of the present application is to provide a control method and control device of a pneumatic clutch, a computer readable storage medium, a processor and a vehicle, to at least solve the problem that the existing technology is difficult to ensure comfort when the pneumatic clutch performs engagement or separation action.

[0007] ​In order to achieve the above object, according to one aspect of the present application, a control method of a pneumatic clutch is provided, the method comprising: obtaining an output shaft speed change rate and an action time, the output shaft speed change rate being an absolute value of a maximum speed change rate of an output shaft of the pneumatic clutch during an engagement action or a separation action, the action time being a time of a process of performing the engagement action or the separation action; determining a target correction coefficient in a case where the output shaft speed change rate is not within a first predetermined range and / or the action time is not within a second predetermined range, the target correction coefficient being a correction coefficient of a duty cycle of a solenoid valve corresponding to the engagement action or the separation action, the solenoid valve corresponding to the engagement action being a combination valve of the pneumatic clutch, the solenoid valve corresponding to the separation action being a separation valve of the pneumatic clutch; correcting the duty cycle of the solenoid valve corresponding to the engagement action or the separation action according to the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the engagement action or the separation action is performed next time.

[0008] Optionally, in a case where the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, the target correction coefficient is determined, and the method comprises: determining the target correction coefficient as a constant greater than 1 in a case where the action time is not within the second predetermined range; determining the target correction coefficient as a constant less than 1 in a case where the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range.

[0009] Optionally, in a case where the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, the target correction coefficient is determined, and the method comprises: establishing a target correction coefficient table, the target correction coefficient table being a comparison table of a combination of the output shaft speed change rate and the action time and the target correction coefficient; determining the target correction coefficient according to the output shaft speed change rate and the action time by searching the target correction coefficient table in a case where the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range.

[0010] Optionally, after the output shaft speed change rate and the action time are obtained, the method comprises: determining the target correction coefficient as 1 in a case where the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range.

[0011] Optionally, after the output shaft speed change rate and the action time are obtained, the method comprises: in the case that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range during at least N consecutive actions, determining that the target correction coefficient is 1; in the case that the number of times that the output shaft speed change rate is within the first predetermined range is less than N or the number of times that the action time is within the second predetermined range is less than N, determining the target correction coefficient according to the target correction coefficient table corresponding to the output shaft speed change rate and the action time.

[0012] Optionally, the engagement valve of the pneumatic clutch comprises a fast engagement valve and a slow engagement valve, the exhaust rate of the fast engagement valve is greater than the exhaust rate of the slow engagement valve, and the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action is corrected according to the target correction coefficient, and the method comprises: in the case that the pneumatic clutch performs the engagement action, the duty cycles of the fast engagement valve and the slow engagement valve are corrected according to the target correction coefficient.

[0013] Optionally, the disengagement valve of the pneumatic clutch comprises a fast disengagement valve and a slow disengagement valve, the inflation rate of the fast disengagement valve is greater than the inflation rate of the slow disengagement valve, and the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action is corrected according to the target correction coefficient, and the method comprises: in the case that the pneumatic clutch performs the disengagement action, the duty cycles of the fast disengagement valve and the slow disengagement valve are corrected according to the target correction coefficient.

[0014] According to another aspect of the present application, a control device of a pneumatic clutch is provided, the device comprising: an acquisition unit configured to acquire an output shaft speed change rate and an action time, the output shaft speed change rate being an absolute value of a maximum speed change rate of an output shaft of the pneumatic clutch during an engagement action or a disengagement action, and the action time being a time of the engagement action or the disengagement action; a determination unit configured to determine a target correction coefficient in the case that the output shaft speed change rate is not within a first predetermined range and / or the action time is not within a second predetermined range, the target correction coefficient being a correction coefficient of a duty cycle of a solenoid valve corresponding to the engagement action or the disengagement action, the solenoid valve corresponding to the engagement action being an engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement action being a disengagement valve of the pneumatic clutch; and a correction unit configured to correct the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action according to the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the engagement action or the disengagement action is performed next time.

[0015] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0016] According to another aspect of this application, a processor is provided for running a program, wherein the program, when running, performs any of the methods described.

[0017] According to another aspect of this application, a vehicle is provided, comprising: a pneumatic clutch, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods described.

[0018] The technical scheme of the present application is applied to: firstly, obtaining an output shaft speed change rate and an action time, the output shaft speed change rate being an absolute value of a maximum speed change rate of an output shaft of the pneumatic clutch during execution of a coupling action or a separation action, and the action time being a time during which the coupling action or the separation action is executed; then, in a case where the output shaft speed change rate is not within a first predetermined range and / or the action time is not within a second predetermined range, determining a target correction coefficient, the target correction coefficient being a correction coefficient of a duty cycle of a solenoid valve corresponding to the coupling action or the separation action, the solenoid valve corresponding to the coupling action being a coupling valve of the pneumatic clutch, and the solenoid valve corresponding to the separation action being a separation valve of the pneumatic clutch; and finally, correcting the duty cycle of the solenoid valve corresponding to the coupling action or the separation action according to the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the coupling action or the separation action is executed next. During gear shifting, i.e. during execution of the coupling action or the separation action of the pneumatic clutch, the greater the output shaft speed change rate, the greater the impact of the clutch and the worse the driving comfort, and the longer the action time, the longer the sliding wear of the clutch and the worse the driving comfort. In a case where the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, i.e. the impact of the clutch is greater or the sliding wear of the clutch is longer, the duty cycle of the solenoid valve of the pneumatic clutch is corrected by the target correction coefficient to control the inflation or exhaust speed of the solenoid valve, so as to adjust the action time, so that the change of the action time further affects the output shaft speed change rate, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the coupling action or the separation action is executed next, and the driving comfort is ensured. The problem that the driving comfort cannot be ensured during execution of the coupling action or the separation action of the pneumatic clutch in the prior art is solved. BRIEF DESCRIPTION OF DRAWINGS

[0019] The accompanying drawings, which form a part of the present description, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of the present application, and their

[0020] Figure 1 Related signals during clutch closing in the prior art are shown;

[0021] Figure 2 A hardware structure block diagram of a mobile terminal for executing a control method of a pneumatic clutch according to an embodiment of the present application is shown;

[0022] Figure 3 A flowchart of a control method of a pneumatic clutch according to an embodiment of the present application is shown.

[0023] Figure 4 A schematic diagram of action time corresponding to subjective feeling of output shaft change rate is shown according to an embodiment of the present application;

[0024] Figure 5 A working principle diagram of a clutch actuator is shown according to an embodiment of the present application;

[0025] Figure 6 A flow chart of steps of a specific implementation of an engagement process is shown according to an embodiment of the present application;

[0026] Figure 7 A structure block diagram of a control device of a pneumatic clutch is shown according to an embodiment of the present application;

[0027] Figure 8 A structure diagram of a hybrid system is shown according to an embodiment of the present application.

[0028] Among the above figures, the following reference signs are included:

[0029] 10, engine; 20, clutch; 30, drive motor; 40, transmission. DETAILED DESCRIPTION

[0030] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict. The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0031] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should belong to the scope of protection of the present application.

[0032] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those clearly listed steps or units, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0033] For the convenience of description, the following describes some nouns or terms related to the embodiments of the present application:

[0034] Drive Ability: Drive Ability, as the name implies, is driving performance, including power output smoothness during acceleration, power output smoothness during climbing, power output stability during shifting, vehicle body stability during driving, vehicle body stability during deceleration, driving performance on bad roads, driving performance in extreme situations, etc.

[0035] AMT: AMT is an automatic control mechanism equipped with an electronic unit under the condition that the basic structure of the original mechanical manual transmission is unchanged, which replaces the original manual operation of clutch separation and engagement, gear shifting and adjustment of engine and motor speed and torque, etc. to realize automatic operation of the shifting process.

[0036] P2 hybrid system: P2 hybrid system is a parallel hybrid system, P represents the position of the driving motor in the hybrid system, and "2" represents after the internal combustion engine and before the transmission.

[0037] AMT actuator: The driving mode of AMT actuator can be divided into electric, pneumatic, hydraulic and hybrid. Electric type uses small motor as driving actuator. Pneumatic type uses cylinder as driving actuator. Hydraulic type uses oil cylinder as driving actuator. Hybrid type means using the above power actuators in the same AMT execution system.

[0038] Clutch: Clutch is mainly used for the connection between shafts, but not dead connection, but live connection. Most of the clutches for vehicles are friction clutches. The clutch for vehicle has a big function - to form a speed difference connection between the engine and the transmission input shaft.

[0039] As introduced in the background, it is difficult to ensure driving comfort in the prior art when the pneumatic clutch performs engagement or disengagement action. To solve the problem that comfort is not guaranteed during shifting, the embodiments of the present application provide a control method, control device, computer readable storage medium, processor and vehicle for a pneumatic clutch.

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application.

[0041] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking the running on a mobile terminal as an example, Figure 2 is a hardware structure block diagram of a mobile terminal of a control method for a pneumatic clutch according to an embodiment of the present application. As shown in Figure 2As shown, a mobile terminal may include one or more ( Figure 2 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 2 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 2 The more or fewer components shown, or having the same Figure 2 The different configurations shown.

[0042] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0043] This embodiment provides a control method for a pneumatic clutch that operates on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0044] Figure 3 This is a flowchart of a control method for a pneumatic clutch according to an embodiment of this application. Figure 3As shown, the method includes the following steps:

[0045] Step S201: Obtain the output shaft speed change rate and the action time. The output shaft speed change rate is the absolute value of the maximum speed change rate of the pneumatic clutch output shaft during the engagement or disengagement process. The action time is the time taken to perform the engagement or disengagement process.

[0046] Specifically, during gear shifting, i.e., when the pneumatic clutch engages or disengages, a greater rate of change in output shaft speed indicates greater clutch impact and poorer driving comfort. A longer engagement time also leads to prolonged clutch slippage, further reducing driving comfort. For example... Figure 4 As shown, this application presents a schematic diagram illustrating the subjective feelings corresponding to the action time and output shaft change rate, based on the influence of the output shaft change rate and clutch actuation time on comfort.

[0047] Step S202: When the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, a target correction coefficient is determined. The target correction coefficient is the correction coefficient of the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action. The solenoid valve corresponding to the engagement action is the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement action is the disengagement valve of the pneumatic clutch.

[0048] Specifically, such as Figure 4 As shown, the first predetermined range is the maximum allowable range of the output shaft change rate under a subjectively acceptable state, corresponding to the range where ΔOS < ΔOS2; similarly, the second predetermined range is the maximum range of clutch actuation time under a subjectively acceptable state, corresponding to the time range where t < t2. Figure 4 As shown, when the output shaft speed change rate and / or clutch actuation time exceed the predetermined range, it indicates that the current subjective comfort level is "average", "poor", or "very poor". The duty cycle of the solenoid valve needs to be corrected to control the output shaft speed change rate and clutch actuation time. Before this, the correction coefficient of the solenoid valve needs to be determined. When the clutch engages, the solenoid valve is the engagement valve of the pneumatic clutch. When the clutch disengages, the solenoid valve is the disengagement valve of the pneumatic clutch.

[0049] Step S203: The duty cycle of the solenoid valve corresponding to the engagement or disengagement action is corrected according to the target correction coefficient, so that when the engagement or disengagement action is performed again, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range.

[0050] Specifically, when the subjective feeling is not good, the shift process needs to be corrected, and the duty cycle of the solenoid valve is corrected according to the above-mentioned correction coefficient. As shown in FIG. 8, after correction, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, and further when the next shift is performed, the subjective feeling should be in the state of "good" or "very good". Figure 4

[0051] By the above-mentioned embodiment, first, the output shaft speed change rate and the action time are obtained, the output shaft speed change rate is the absolute value of the maximum speed change rate of the output shaft of the pneumatic clutch during the execution of the engagement action or the disengagement action, and the action time is the time for executing the engagement action or the disengagement action; then, in the case that the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, a target correction coefficient is determined, the target correction coefficient is a correction coefficient of the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action, the solenoid valve corresponding to the engagement action is the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement action is the disengagement valve of the pneumatic clutch; finally, the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action is corrected according to the target correction coefficient, so that when the engagement action or the disengagement action is performed next time, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range. In the shift process, that is, during the execution of the engagement action or the disengagement action of the pneumatic clutch, the greater the output shaft speed change rate, the greater the clutch impact and the worse the driving comfort, and the longer the action time, the longer the clutch slip and the worse the driving comfort. In the case that the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, that is, the clutch impact is large or the clutch slip is long, the duty cycle of the solenoid valve of the pneumatic clutch is corrected by the target correction coefficient to control the charging or discharging speed of the solenoid valve, so as to adjust the action time, so that the change of the action time further affects the output shaft speed change rate, so that when the engagement action or the disengagement action is performed next time, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, and the driving comfort is ensured, solving the problem in the prior art that it is difficult to ensure the driving comfort during the execution of the engagement action or the disengagement action of the pneumatic clutch.

[0052] In an alternative embodiment, in order to determine the correction coefficient of the duty cycle of the solenoid valve, after step S201, the method further comprises:

[0053] Step S301, in the case that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be 1.​

[0054] Specifically, during gear shifting, when the output shaft speed change rate is within a first predetermined range and the clutch actuation time is within a second predetermined range, such as Figure 4 As shown, when the driver's subjective feeling is "good" or "very good", there is no need to correct the duty cycle of the solenoid valve, so the correction factor is 1.

[0055] In one optional implementation, to avoid accidental errors in determining the solenoid valve duty cycle correction coefficient, the specific implementation method of step S301 after step S201 includes:

[0056] Step S3011: If the output shaft speed change rate is within the first predetermined range and the operation time is within the second predetermined range for at least N consecutive operation processes, the target correction coefficient is determined to be 1.

[0057] Step S3012: If the number of consecutive times the output shaft speed change rate is within the first predetermined range is less than N times or the number of consecutive times the action time is within the second predetermined range is less than N times, the target correction coefficient is determined by referring to the target correction coefficient table based on the output shaft speed change rate and the action time.

[0058] Specifically, non-calibrated parameters such as road surface bumps may affect the output shaft speed change rate and clutch actuation time. These effects are not parameters that the vehicle's performance should have. Therefore, data from at least N consecutive tests are selected to eliminate the influence of non-calibrated parameters on calibrated parameters and ensure the accuracy of the solenoid valve's duty cycle correction coefficient.

[0059] In an optional implementation, to determine the duty cycle correction coefficient of the solenoid valve under different output shaft speed change rates and clutch actuation times, step S202 above includes:

[0060] Step S2021: If the above-mentioned action time is not within the above-mentioned second predetermined range, determine that the above-mentioned target correction coefficient is a constant greater than 1;

[0061] Step S2022: If the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be a constant less than 1.

[0062] Step S2023: Establish a target correction coefficient table. The target correction coefficient table is a comparison table of the combination of the output shaft speed change rate and the action time with the target correction coefficient.

[0063] Step S2024: If the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, determine the target correction coefficient by referring to the target correction coefficient table based on the output shaft speed change rate and the action time.

[0064] Specifically, step S301 determines the case where the correction coefficient is 1. Taking engagement as an example, when both the fast-closing and slow-closing solenoid valves are open simultaneously with a large duty cycle, the action is faster; otherwise, it is slower. Therefore, if the action time is not within the second predetermined range, the action time should be shortened and the duty cycle of the two solenoid valves increased, so the correction coefficient is greater than 1. If the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range, the action time should be extended and the duty cycle of the two solenoid valves decreased, thereby reducing the output shaft speed change rate, so the correction coefficient is less than 1. Based on this, a correction coefficient table is established according to different combinations of output shaft speed change rate and clutch action time, as shown in Table 1. The horizontal axis represents the output shaft speed change rate ΔOS (m / s^2), and the vertical axis represents the action time t (s). After the correction coefficient table is established, when the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, and the solenoid valve needs to be corrected, the corresponding correction coefficient can be found based on the real-time output shaft speed change rate and action time to correct the solenoid valve duty cycle.

[0065] Table 1

[0066]

[0067] In one optional implementation, since the gear shifting process is divided into two different processes—engagement and disengagement—the specific implementation method of step S203 above includes:

[0068] Step S2031: When the pneumatic clutch performs the engagement action, the duty cycle of the fast-closing valve and the slow-closing valve is corrected according to the target correction coefficient.

[0069] Step S2032: When the pneumatic clutch performs the separation action, the duty cycle of the fast release valve and the slow release valve is corrected according to the target correction coefficient.

[0070] Specifically, the actuator of the clutch comprises: a combination valve including a fast combination valve and a slow combination valve; a separation valve including a fast separation valve and a slow separation valve; a clutch displacement sensor; a single check valve; and an electronic controller unit. The exhaust rate of the fast combination valve is greater than that of the slow combination valve, and the exhaust rate of the fast separation valve is greater than that of the slow separation valve. During gear shifting, when the fast combination valve and the slow combination valve are opened to perform the exhaust operation, the clutch is engaged, and when the fast separation valve and the slow separation valve are opened to perform the charging operation, the clutch is separated. When both valves are opened and the duty ratio is large, the action is fast, otherwise, the action is slow. Figure 5 As shown in the figure, the clutch is controlled by PID. The principle is that the controller controls the duty ratio of the clutch solenoid valve according to the difference between the target position of the clutch received and the actual displacement measured by the clutch displacement sensor. When the target position is greater than the actual position, the separation valve of the clutch is opened, the combination valve is opened, and the actual position is controlled to the target position. When the target position is less than the actual position, the combination valve of the clutch is opened, the separation valve is closed, and the actual position is controlled to the target position. Therefore, in the case of engaging action, the duty ratio of the fast combination valve and the slow combination valve is corrected, and in the case of separating action, the duty ratio of the fast separation valve and the slow separation valve is corrected.

[0071] In order for those skilled in the art to more clearly understand the technical solutions of the present application, the implementation process of the control method of the pneumatic clutch will be described in detail below with specific examples.

[0072] The present embodiment relates to a specific control method of a pneumatic clutch, as shown in the flow chart Figure 6 The method comprises the following steps:

[0073] Step S1: Collect the output shaft speed and monitor the clutch position through the clutch position sensor;

[0074] Step S2: Determine the engagement or separation state of the clutch according to the output shaft speed and the clutch position:

[0075] Step S3: If the clutch is not in the engagement state, execute the clutch separation control logic;

[0076] Step S4: If the clutch is in the engagement state, collect the output shaft speed OS and the clutch action time t at this time, and calculate the output shaft speed OS to obtain the output shaft speed change rate ΔOS;

[0077] Step S5: Determine the falling point of the clutch action time t and the output shaft speed change rate ΔOS according to the schematic diagram of the corresponding subjective feeling of the clutch action time and the output shaft speed change rate;

[0078] Step S6: If it falls in the range of ΔOS2 and t2 for three times in succession, keep the control parameters unchanged;

[0079] Step S7: If the clutch action time is out of the range of ΔOS2 and t2 for three times in succession, the clutch action time is judged.

[0080] Step S8: If the clutch action time is out of the range of ΔOS2 and t2 for three times in succession, the clutch action time is judged.

[0081] Step S9: If the clutch action time is out of the range of ΔOS2 and t2 for three times in succession, the clutch action time is judged.

[0082] Step S10: If the shift time is too short and the impact is too large, the fast engagement valve can not output the duty ratio, and only the slow engagement valve is used for control, which can be corrected by calibration table 1.

[0083] It should be noted that the above process steps are taken as an example of clutch engagement, and if it is in the separation action, the principle is the same.

[0084] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from here.

[0085] The embodiment of the present application also provides a control device for a pneumatic clutch. It should be noted that the control device for the pneumatic clutch of the embodiment of the present application can be used to execute the control method for the pneumatic clutch provided by the embodiment of the present application. The device is used to realize the above-mentioned embodiments and preferred embodiments, and those which have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware can also be implemented and conceived.

[0086] The control device for the pneumatic clutch provided by the embodiment of the present application is described below.

[0087] Figure 7 is a schematic diagram of the control device for the pneumatic clutch according to the embodiment of the present application. As shown in Figure 7 , the device includes:

[0088] The acquisition unit 100 is used to acquire the output shaft speed change rate and the action time, the output shaft speed change rate being the absolute value of the maximum speed change rate of the output shaft of the pneumatic clutch during the execution of the engagement action or the separation action, and the action time being the time during which the engagement action or the separation action is executed.

[0089] Specifically, in the shifting process, i.e. in the engaging action or disengaging action of the pneumatic clutch, the greater the output shaft speed change rate, the greater the clutch impact, the worse the driving comfort, the longer the action time, the longer the clutch slip, the worse the driving comfort. As shown in Figure 4 According to the influence of the output shaft change rate and the clutch action time on comfort, the present application summarizes the schematic diagram of the corresponding subjective feeling of the action time and the output shaft change rate.

[0090] The first determination unit 200 is configured to determine a target correction coefficient when the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range. The target correction coefficient is a correction coefficient of the duty cycle of the electromagnetic valve corresponding to the engaging action or the disengaging action. The electromagnetic valve corresponding to the engaging action is the engaging valve of the pneumatic clutch, and the electromagnetic valve corresponding to the disengaging action is the disengaging valve of the pneumatic clutch.

[0091] Specifically, as shown in Figure 4 The first predetermined range is the maximum allowable range of the output shaft change rate when the subjective feeling is in an acceptable state, i.e. the range corresponding to ΔOS < ΔOS2. Similarly, the second predetermined range is the longest time range of the clutch action time when the subjective feeling is in an acceptable state, i.e. the time range corresponding to t < t2. As shown in Figure 4 When the output shaft speed change rate and / or the clutch action time exceeds the predetermined range, it indicates that the current subjective comfort is "general", "poor" or "very poor", and the duty cycle of the electromagnetic valve needs to be corrected, so as to control the output shaft speed change rate and the clutch action time. Before that, the correction coefficient of the electromagnetic valve needs to be determined. When the clutch performs the engaging action, the electromagnetic valve is the engaging valve of the pneumatic clutch, and when the clutch performs the disengaging action, the electromagnetic valve is the disengaging valve of the pneumatic clutch.

[0092] The correction unit 300 corrects the duty cycle of the electromagnetic valve corresponding to the engaging action or the disengaging action according to the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the engaging action or the disengaging action is performed next time.

[0093] Specifically, when the subjective feeling is not good, the shifting process needs to be corrected, and the duty cycle of the electromagnetic valve is corrected according to the determined correction coefficient. As shown in Figure 4 After correction, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, so that the subjective feeling is in the "good" or "very good" state when the next shifting is performed.

[0094] In the above embodiments, the acquisition unit acquires the output shaft speed change rate and the actuation time. The output shaft speed change rate is the absolute value of the maximum speed change rate of the pneumatic clutch output shaft during the engagement or disengagement process. The actuation time is the time taken to perform the engagement or disengagement process. The determination unit determines a target correction coefficient when the output shaft speed change rate is not within a first predetermined range and / or the actuation time is not within a second predetermined range. The target correction coefficient is a correction coefficient for the duty cycle of the solenoid valve corresponding to the engagement or disengagement process. The solenoid valve corresponding to the engagement process is the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement process is the disengagement valve of the pneumatic clutch. The correction unit corrects the duty cycle of the solenoid valve corresponding to the engagement or disengagement process based on the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the actuation time is within the second predetermined range when the engagement or disengagement process is performed next time. During gear shifting, i.e., when the pneumatic clutch engages or disengages, a greater rate of change in output shaft speed indicates greater clutch impact and poorer driving comfort. A longer actuation time also leads to prolonged clutch slippage, further reducing driving comfort. This device addresses situations where the output shaft speed change rate is outside a first predetermined range and / or the actuation time is outside a second predetermined range—meaning significant clutch impact or prolonged clutch slippage—by correcting the duty cycle of the pneumatic clutch's solenoid valve using a target correction coefficient. This controls the solenoid valve's charging or venting speed, adjusting the actuation time. The change in actuation time further influences the output shaft speed change rate, ensuring that the next engagement or disengagement operation falls within the first predetermined range and the actuation time falls within the second predetermined range, thus guaranteeing driving comfort. This solves the problem in existing technologies where pneumatic clutches struggle to ensure driving comfort during engagement or disengagement.

[0095] In an optional embodiment, to determine the duty cycle correction factor of the solenoid valve, the above-mentioned device further includes:

[0096] The second determining unit is used to determine the target correction coefficient as 1 after acquiring the output shaft speed change rate and the action time, provided that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range.

[0097] Specifically, during gear shifting, when the output shaft speed change rate is within a first predetermined range and the clutch actuation time is within a second predetermined range, such as Figure 4 As shown, when the driver's subjective feeling is "good" or "very good", there is no need to correct the duty cycle of the solenoid valve, so the correction factor is 1.

[0098] In an alternative embodiment, in order to avoid accidental determination of the electromagnetic valve duty cycle correction factor, the second determination unit specifically comprises:

[0099] The first determination module is configured to determine the target correction factor as 1 when the output shaft speed variation rate is within the first predetermined range and the action time is within the second predetermined range during at least N consecutive actions.

[0100] The first query module is configured to determine the target correction factor according to the output shaft speed variation rate and the action time from the target correction factor table when the number of times that the output shaft speed variation rate is within the first predetermined range is less than N or the number of times that the action time is within the second predetermined range is less than N.

[0101] Specifically, road bumps and other non-calibration parameters may affect the output shaft speed variation rate and the clutch action time, and such effects are not parameters that the vehicle itself should have. Therefore, data of at least N consecutive times are selected to exclude the influence of non-calibration parameters on calibration parameters, and the accuracy of the duty cycle correction factor of the electromagnetic valve is ensured.

[0102] In an alternative embodiment, in order to determine the duty cycle correction factor of the electromagnetic valve under different output shaft speed variation rates and clutch action times, the first determination unit comprises:

[0103] The second determination module is configured to determine the target correction factor to be greater than 1 when the action time is not within the second predetermined range.

[0104] The third determination module is configured to determine the target correction factor to be less than 1 when the output shaft speed variation rate is not within the first predetermined range and the action time is within the second predetermined range.

[0105] The generation module is configured to establish a target correction factor table, which is a comparison table of combinations of the output shaft speed variation rate and the action time and the target correction factor.

[0106] The second query module is configured to determine the target correction factor according to the output shaft speed variation rate and the action time from the target correction factor table when the output shaft speed variation rate is not within the first predetermined range and the action time is not within the second predetermined range.

[0107] Specifically, the second determining unit determines the case where the correction coefficient is 1, for example, in the engagement action, the two electromagnetic valves of the fast engagement valve and the slow engagement valve are opened at the same time and the duty cycle is large, the action is fast, otherwise it is slow, therefore, in the case where the action time is not in the second predetermined range, the action time is shortened, the duty cycle of the two electromagnetic valves is increased, so the correction coefficient is greater than 1; in the case where the output shaft speed change rate is not in the first predetermined range and the action time is in the second predetermined range, the action time is prolonged, the duty cycle of the two electromagnetic valves is reduced, and the output shaft speed change rate is further reduced, so the correction coefficient is less than 1. Based on this, a correction coefficient table is established according to different combinations of output shaft speed change rates and clutch action times, as shown in Table 1, the horizontal coordinate is the output shaft speed change rate ΔOS (m / s^2), and the vertical axis is the action time t (s). After the correction coefficient table is established, when the output shaft speed change rate is not in the first predetermined range and the action time is not in the second predetermined range, the electromagnetic valve needs to be corrected, the corresponding correction coefficient can be found according to the real-time output shaft speed change rate and the action time to correct the duty cycle of the electromagnetic valve.

[0108] Table 1

[0109]

[0110] In an optional embodiment, because the shifting process is divided into two different processes of engagement action and separation action, the above-mentioned correction unit specifically comprises:

[0111] A first correction module is configured to correct the duty cycle of the fast engagement valve and the slow engagement valve according to the target correction coefficient when the pneumatic clutch performs the engagement action;

[0112] A second correction module is configured to correct the duty cycle of the fast separation valve and the slow separation valve according to the target correction coefficient when the pneumatic clutch performs the separation action;

[0113] Specifically, the actuator of the clutch comprises: engagement valves including fast engagement valves and slow engagement valves; separation valves including fast separation valves and slow separation valves; a clutch displacement sensor; a single check valve; and an electronic controller unit. The exhaust rate of the fast engagement valve is greater than the exhaust rate of the slow engagement valve, and the exhaust rate of the fast separation valve is greater than the exhaust rate of the slow separation valve. In the shifting process, when the fast engagement valve and the slow engagement valve are opened to perform the exhaust operation, the clutch is engaged, and when the fast separation valve and the slow separation valve are opened to perform the charging operation, the clutch is separated. When the two valves are opened at the same time and the duty cycle is large, the action is fast, otherwise it is slow. Figure 5As shown, the clutch adopts PID control, and the principle is that the controller controls the duty cycle of the clutch electromagnetic valve according to the difference between the target position of the clutch received and the actual displacement measured by the clutch displacement sensor. When the target position is larger than the actual position, the clutch opening valve is opened, and the closing valve is opened, so that the actual position is controlled to the target position. When the target position is smaller than the actual position, the clutch closing valve is opened, and the opening valve is closed, so that the actual position is controlled to the target position. Therefore, in the case of engaging action, the duty cycles of the fast closing valve and the slow closing valve are corrected, and in the case of separation action, the duty cycles of the fast opening valve and the duty valve are corrected.

[0114] The embodiment of the present application also provides a vehicle, comprising: a pneumatic clutch, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs comprise a program for executing any one of the above methods.

[0115] As shown in the figure, Figure 8 The vehicle uses a hybrid system, and the clutch 20 is an important part of the P2 hybrid system. The clutch 20 is a CO clutch and is located between the engine 10 and the drive motor 30. The clutch 20 transmits the torque of the engine 10 to the drive motor 30 and performs a closing action according to the energy mode. The drive motor 30 is connected to the dual-clutch transmission 40 through a shaft.

[0116] The control device of the pneumatic clutch comprises a processor and a memory. The acquisition unit, the first determination unit and the correction unit are all stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory. The modules are all located in the same processor, or the modules are respectively located in different processors in any combination.

[0117] The processor contains a core, and the core calls the corresponding program unit from the memory. The core can be set to one or more, and the comfort of the shifting process is improved by adjusting the core parameters.

[0118] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0119] The embodiment of the present application provides a computer readable storage medium, and the computer readable storage medium comprises a stored program, wherein when the program runs, the device where the computer readable storage medium is located executes the control method of the pneumatic clutch.

[0120] Specifically, the control methods for pneumatic clutches include:

[0121] Step S201: Obtain the output shaft speed change rate and the action time. The output shaft speed change rate is the absolute value of the maximum speed change rate of the pneumatic clutch output shaft during the engagement or disengagement process. The action time is the time taken to perform the engagement or disengagement process.

[0122] Specifically, during gear shifting, i.e., when the pneumatic clutch engages or disengages, a greater rate of change in output shaft speed indicates greater clutch impact and poorer driving comfort. A longer engagement time also leads to prolonged clutch slippage, further reducing driving comfort. For example... Figure 4 As shown, this application summarizes the subjective feelings corresponding to the action time and the output shaft change rate based on the influence of the output shaft change rate and the clutch action time on comfort.

[0123] Step S202: When the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, a target correction coefficient is determined. The target correction coefficient is the correction coefficient of the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action. The solenoid valve corresponding to the engagement action is the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement action is the disengagement valve of the pneumatic clutch.

[0124] Specifically, such as Figure 4 As shown, the first predetermined range is the maximum allowable range of the output shaft change rate under a subjectively acceptable state, corresponding to the range where ΔOS < ΔOS2; similarly, the second predetermined range is the maximum range of clutch actuation time under a subjectively acceptable state, corresponding to the time range where t < t2. Figure 4 As shown, when the output shaft speed change rate and / or clutch actuation time exceed the predetermined range, it indicates that the current subjective comfort level is "average", "poor", or "very poor". The duty cycle of the solenoid valve needs to be corrected to control the output shaft speed change rate and clutch actuation time. Before this, the correction coefficient of the solenoid valve needs to be determined. When the clutch engages, the solenoid valve is the engagement valve of the pneumatic clutch. When the clutch disengages, the solenoid valve is the disengagement valve of the pneumatic clutch.

[0125] Step S203: The duty cycle of the solenoid valve corresponding to the engagement or disengagement action is corrected according to the target correction coefficient, so that when the engagement or disengagement action is performed again, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range.

[0126] Specifically, when the subjective feeling is not good, the shift process needs to be corrected, and the duty cycle of the electromagnetic valve is corrected according to the correction coefficient determined above. As shown in FIG. 8, after correction, the output shaft speed change rate is within the first predetermined range, and the action time is within the second predetermined range, and further, when the next shift is performed, the subjective feeling should be in the "good" or "very good" state. Figure 4

[0127] Optionally, in step S301, when the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be 1.

[0128] Optionally, in step S3011, when the output shaft speed change rate is within the first predetermined range for at least N consecutive action processes and the action time is within the second predetermined range for at least N consecutive action processes, the target correction coefficient is determined to be 1; in step S3012, when the number of consecutive times that the output shaft speed change rate is within the first predetermined range is less than N or the number of consecutive times that the action time is within the second predetermined range is less than N, the target correction coefficient is determined according to the output shaft speed change rate and the action time by searching the target correction coefficient table.

[0129] Optionally, in step S2021, when the action time is not within the second predetermined range, the target correction coefficient is determined to be greater than 1; in step S2022, when the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be less than 1; in step S2023, a target correction coefficient table is established, which is a table for matching the combination of the output shaft speed change rate and the action time with the target correction coefficient; in step S2024, when the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, the target correction coefficient is determined according to the output shaft speed change rate and the action time by searching the target correction coefficient table.

[0130] Optionally, in step S2031, when the pneumatic clutch performs the engagement action, the duty cycles of the fast engagement valve and the slow engagement valve are corrected according to the target correction coefficient; in step S2032, when the pneumatic clutch performs the disengagement action, the duty cycles of the fast disengagement valve and the slow disengagement valve are corrected according to the target correction coefficient.

[0131] The embodiment of the present application provides a processor, which is used for running a program, wherein the processor is used for executing the control method of the pneumatic clutch when the program is running. ​

[0132] Specifically, the control method of the pneumatic clutch comprises:

[0133] In step S201, an output shaft speed change rate and an action time are obtained, the output shaft speed change rate being an absolute value of a maximum speed change rate of an output shaft of the pneumatic clutch during execution of the engagement action or the disengagement action, and the action time being a time during which the engagement action or the disengagement action is executed.

[0134] Specifically, during the gear shifting process, i.e. during execution of the engagement action or the disengagement action of the pneumatic clutch, the greater the output shaft speed change rate, the greater the clutch impact and the worse the driving comfort, and the longer the action time, the longer the clutch slip and the worse the driving comfort. As shown in the table, the present application summarizes a diagram of corresponding subjective feelings of the action time and the output shaft change rate according to the influence of the output shaft change rate and the action time of the clutch on the comfort. Figure 4

[0135] In step S202, a target correction coefficient is determined in a case where the output shaft speed change rate is not within a first predetermined range and / or the action time is not within a second predetermined range, the target correction coefficient being a correction coefficient of a duty cycle of a solenoid valve corresponding to the engagement action or the disengagement action, the solenoid valve corresponding to the engagement action being a combination valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement action being a separation valve of the pneumatic clutch.

[0136] Specifically, as shown in the table, the first predetermined range is a maximum allowable range of the output shaft change rate in a case where the subjective feeling is in an acceptable state, i.e. a range corresponding to ΔOS<ΔOS2; and the second predetermined range is a maximum time range of the clutch action time in a case where the subjective feeling is in an acceptable state, i.e. a time range corresponding to t Figure 4 Figure 4 As shown in the table, when the output shaft speed change rate and / or the clutch action time exceeds the predetermined range, it indicates that the current subjective comfort is “general”, “poor” or “very poor”, and the duty cycle of the solenoid valve needs to be corrected, so as to control the output shaft speed change rate and the clutch action time. Before that, the correction coefficient of the solenoid valve needs to be determined, the solenoid valve being the combination valve of the pneumatic clutch when the clutch performs the engagement action, and the solenoid valve being the separation valve of the pneumatic clutch when the clutch performs the disengagement action.

[0137] In step S203, the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action is corrected according to the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the engagement action or the disengagement action is executed next time.

[0138] ​​Specifically, when the subjective feeling is not good, the shift process needs to be corrected, and the duty cycle of the electromagnetic valve is corrected according to the correction coefficient determined above. As shown in FIG. 8, after correction, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, and further, when the next shift is performed, the subjective feeling should be in the "good" or "very good" state. Figure 4

[0139] Optionally, in step S301, when the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be 1.

[0140] Optionally, in step S3011, when the output shaft speed change rate is within the first predetermined range for at least N consecutive action processes and the action time is within the second predetermined range for at least N consecutive action processes, the target correction coefficient is determined to be 1; in step S3012, when the number of times that the output shaft speed change rate is within the first predetermined range is less than N or the number of times that the action time is within the second predetermined range is less than N, the target correction coefficient is determined according to the output shaft speed change rate and the action time by searching the target correction coefficient table.

[0141] Optionally, in step S2021, when the action time is not within the second predetermined range, the target correction coefficient is determined to be greater than 1; in step S2022, when the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be less than 1; in step S2023, a target correction coefficient table is established, which is a table for matching the combination of the output shaft speed change rate and the action time with the target correction coefficient; in step S2024, when the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, the target correction coefficient is determined according to the output shaft speed change rate and the action time by searching the target correction coefficient table.

[0142] Optionally, in step S2031, when the pneumatic clutch performs the engagement action, the duty cycles of the fast engagement valve and the slow engagement valve are corrected according to the target correction coefficient; in step S2032, when the pneumatic clutch performs the disengagement action, the duty cycles of the fast disengagement valve and the slow disengagement valve are corrected according to the target correction coefficient.

[0143] An embodiment of the present application provides a device, which comprises a processor, a memory, and a program stored in the memory and capable of running on the processor, and the processor implements at least the following steps when executing the program: ​

[0144] Step S201, obtaining an output shaft speed change rate and an action time, the output shaft speed change rate being an absolute value of a maximum speed change rate of an output shaft of the pneumatic clutch during execution of a coupling action or a separation action, and the action time being a time during which the coupling action or the separation action is executed;

[0145] Step S202, in a case where the output shaft speed change rate is not within a first predetermined range and / or the action time is not within a second predetermined range, determining a target correction coefficient, the target correction coefficient being a correction coefficient of a duty cycle of a solenoid valve corresponding to the coupling action or the separation action, the solenoid valve corresponding to the coupling action being a coupling valve of the pneumatic clutch, and the solenoid valve corresponding to the separation action being a separation valve of the pneumatic clutch;

[0146] Step S203, correcting the duty cycle of the solenoid valve corresponding to the coupling action or the separation action according to the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the coupling action or the separation action is executed next time.

[0147] The device herein can be a server, a PC, a PAD, a mobile phone, etc.

[0148] Optionally, in a case where the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, step S301, determining that the target correction coefficient is 1;

[0149] Optionally, in a case where the output shaft speed change rate is within the first predetermined range during at least N consecutive actions and the action time is within the second predetermined range during at least N consecutive actions, step S3011, determining that the target correction coefficient is 1; and in a case where the number of times that the output shaft speed change rate is within the first predetermined range is less than N or the number of times that the action time is within the second predetermined range is less than N, step S3012, determining the target correction coefficient according to the output shaft speed change rate and the action time by searching the target correction coefficient table;

[0150] Optionally, in step S2021, when the action time is not within the second predetermined range, the target correction coefficient is determined to be greater than 1; in step S2022, when the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be less than 1; in step S2023, a target correction coefficient table is established, which is a table for matching the combination of the output shaft speed change rate and the action time with the target correction coefficient; in step S2024, when the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, the target correction coefficient is determined according to the output shaft speed change rate and the action time by searching the target correction coefficient table.

[0151] Optionally, in step S2031, when the pneumatic clutch performs the engagement action, the duty cycles of the fast engagement valve and the slow engagement valve are corrected according to the target correction coefficient; in step S2032, when the pneumatic clutch performs the disengagement action, the duty cycles of the fast disengagement valve and the slow disengagement valve are corrected according to the target correction coefficient.

[0152] The application also provides a computer program product adapted to execute a program for initializing at least the following method steps when executed on a data processing device:

[0153] In step S201, an output shaft speed change rate and an action time are obtained, the output shaft speed change rate being the absolute value of the maximum speed change rate of the output shaft of the pneumatic clutch during the execution of the engagement action or the disengagement action, and the action time being the time for executing the engagement action or the disengagement action.

[0154] In step S202, when the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, a target correction coefficient is determined, the target correction coefficient being a correction coefficient for the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action, the solenoid valve corresponding to the engagement action being the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement action being the disengagement valve of the pneumatic clutch.

[0155] In step S203, the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action is corrected according to the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the engagement action or the disengagement action is executed next time.

[0156] Optionally, in step S301, if the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined as 1.

[0157] Optionally, in step S3011, if the output shaft speed change rate is within the first predetermined range during at least N consecutive actions and the action time is within the second predetermined range during at least N consecutive actions, the target correction coefficient is determined as 1; in step S3012, if the number of times that the output shaft speed change rate is within the first predetermined range is less than N or the number of times that the action time is within the second predetermined range is less than N, the target correction coefficient is determined according to the output shaft speed change rate and the action time by referring to the target correction coefficient table.

[0158] Optionally, in step S2021, if the action time is not within the second predetermined range, the target correction coefficient is determined as greater than 1; in step S2022, if the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined as less than 1; in step S2023, a target correction coefficient table is established, which is a table for matching the combination of the output shaft speed change rate and the action time with the target correction coefficient; in step S2024, if the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, the target correction coefficient is determined according to the output shaft speed change rate and the action time by referring to the target correction coefficient table.

[0159] Optionally, in step S2031, if the pneumatic clutch performs the engagement action, the duty cycles of the fast engagement valve and the slow engagement valve are corrected according to the target correction coefficient; in step S2032, if the pneumatic clutch performs the disengagement action, the duty cycles of the fast disengagement valve and the slow disengagement valve are corrected according to the target correction coefficient.

[0160] Obviously, those skilled in the art should understand that the modules or steps of the present application described above can be realized by general computing devices, which can be concentrated on a single computing device or distributed on a network composed of multiple computing devices, and can be realized by program codes executable by computing devices, so that they can be stored in storage devices and executed by computing devices, and in some cases, the steps shown or described herein can be executed in different orders, or they can be respectively manufactured into individual integrated circuit modules, or multiple modules or steps among them can be manufactured into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

[0161] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0162] The present application is described in reference to the flowchart illustrations and / or block diagrams according to the embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0163] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0164] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart illustrations and / or block diagrams. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams. Figure 1 means for performing each of the functions specified in the flowchart illustrations and / or block diagrams.

[0165] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0166] The memory can include non-persistent memory, random access memory (RAM), and / or non-volatile memory, such as read only memory (ROM) or flash memory, among others. The memory is an example of computer-readable media.

[0167] Computer-readable media includes permanent and non-permanent, movable and non-movable media, which can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0168] It should also be noted that the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0169] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0170] 1) The control method of the pneumatic clutch of the present application, first, the output shaft speed change rate and the action time are obtained, the output shaft speed change rate is the absolute value of the maximum speed change rate of the output shaft of the pneumatic clutch during the execution of the engagement action or the separation action, and the action time is the time during which the engagement action or the separation action is executed; then, in the case that the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, the target correction coefficient is determined, the target correction coefficient is the correction coefficient of the duty cycle of the solenoid valve corresponding to the engagement action or the separation action, the solenoid valve corresponding to the engagement action is the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the separation action is the separation valve of the pneumatic clutch; finally, the duty cycle of the solenoid valve corresponding to the engagement action or the separation action is corrected according to the target correction coefficient, so that when the engagement action or the separation action is executed next time, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range. During gear shifting, i.e. during the execution of the engagement action or the separation action of the pneumatic clutch, the greater the output shaft speed change rate, the greater the clutch impact and the worse the driving comfort, and the longer the action time, the longer the clutch slip and the worse the driving comfort. In the case that the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, i.e. the clutch impact is large or the clutch slip is long, the duty cycle of the solenoid valve of the pneumatic clutch is corrected by the target correction coefficient to control the charging or exhaust speed of the solenoid valve, so as to adjust the action time, so that the change of the action time further affects the output shaft speed change rate, so that when the engagement action or the separation action is executed next time, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, ensuring the driving comfort, and solving the problem that it is difficult to ensure the driving comfort during the execution of the engagement action or the separation action of the pneumatic clutch in the prior art.

[0171] 2) The control device of the pneumatic clutch of the application, the acquisition unit acquires the output shaft speed change rate and the action time, the output shaft speed change rate is the absolute value of the maximum speed change rate of the output shaft of the pneumatic clutch during the execution of the engagement action or the separation action, and the action time is the time during which the engagement action or the separation action is executed; the determination unit determines the target correction coefficient in the case that the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, the target correction coefficient is the correction coefficient of the duty cycle of the solenoid valve corresponding to the engagement action or the separation action, the solenoid valve corresponding to the engagement action is the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the separation action is the separation valve of the pneumatic clutch; the correction unit corrects the duty cycle of the solenoid valve corresponding to the engagement action or the separation action according to the target correction coefficient, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the engagement action or the separation action is executed next. During the gear shifting process, that is, during the execution of the engagement action or the separation action of the pneumatic clutch, the greater the output shaft speed change rate, the greater the impact of the clutch and the worse the driving comfort, and the longer the action time, the longer the sliding friction of the clutch and the worse the driving comfort. In the case that the output shaft speed change rate is not within the first predetermined range and / or the action time is not within the second predetermined range, that is, the impact of the clutch is greater or the sliding friction of the clutch is longer, the duty cycle of the solenoid valve of the pneumatic clutch is corrected by the target correction coefficient to control the charging or exhaust speed of the solenoid valve, so as to adjust the action time, so that the change of the action time further affects the output shaft speed change rate, so that the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range when the engagement action or the separation action is executed next, to ensure the driving comfort, and solve the problem that the execution of the engagement action or the separation action of the pneumatic clutch in the prior art cannot guarantee the driving comfort.

[0172] The above merely describes preferred embodiments of the application and is not intended to limit the application. The application can be modified and changed in various ways by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A control method for a pneumatic clutch, characterized in that, include: The output shaft speed change rate and action time are obtained. The output shaft speed change rate is the absolute value of the maximum speed change rate of the pneumatic clutch output shaft during the engagement or disengagement process. The action time is the time for the engagement or disengagement process. If the output shaft speed change rate is not within a first predetermined range and / or the action time is not within a second predetermined range, a target correction coefficient is determined. The target correction coefficient is the correction coefficient of the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action. The solenoid valve corresponding to the engagement action is the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement action is the disengagement valve of the pneumatic clutch. The duty cycle of the solenoid valve corresponding to the engagement or disengagement action is corrected according to the target correction coefficient, so that when the engagement or disengagement action is performed next time, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range. When the output shaft speed change rate is not within a first predetermined range and the action time is not within a second predetermined range, determining a target correction coefficient includes: when the action time is not within the second predetermined range, determining that the target correction coefficient is a constant greater than 1; If the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be a constant less than 1.

2. The method according to claim 1, characterized in that, When the output shaft speed change rate is not within a first predetermined range and the action time is not within a second predetermined range, a target correction coefficient is determined, including: Establish a target correction coefficient table, which is a table comparing the combination of the output shaft speed change rate and the action time with the target correction coefficient; If the output shaft speed change rate is not within the first predetermined range and the action time is not within the second predetermined range, the target correction coefficient is determined by looking up the target correction coefficient table based on the output shaft speed change rate and the action time.

3. The method according to claim 1, characterized in that, After obtaining the output shaft speed change rate and action time, the method further includes: If the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range, the target correction coefficient is determined to be 1.

4. The method according to claim 2, characterized in that, After obtaining the output shaft speed change rate and action time, the method further includes: If the output shaft speed change rate is within the first predetermined range during at least N consecutive operation processes and the operation time is within the second predetermined range during at least N consecutive operation processes, the target correction coefficient is determined to be 1. If the number of consecutive times the output shaft speed change rate is within the first predetermined range is less than N, or the number of consecutive times the action time is within the second predetermined range is less than N, the target correction coefficient is determined by looking up the target correction coefficient table based on the output shaft speed change rate and the action time.

5. The method according to any one of claims 1 to 4, characterized in that, The pneumatic clutch's engagement valve includes a fast-engagement valve and a slow-engagement valve. The exhaust rate of the fast-engagement valve is greater than that of the slow-engagement valve. The duty cycle of the solenoid valve corresponding to the engagement or disengagement action is corrected according to the target correction coefficient, including: When the pneumatic clutch performs the engagement action, the duty cycle of the fast-closing valve and the slow-closing valve is corrected according to the target correction coefficient.

6. The method according to any one of claims 1 to 4, characterized in that, The pneumatic clutch includes a fast-release valve and a slow-release valve, wherein the charging rate of the fast-release valve is greater than that of the slow-release valve. The duty cycle of the solenoid valve corresponding to the engagement or disengagement action is corrected according to the target correction coefficient, including: When the pneumatic clutch performs the separation action, the duty cycle of the fast-release valve and the slow-release valve is corrected according to the target correction coefficient.

7. A control device for a pneumatic clutch, characterized in that, include: The acquisition unit is used to acquire the output shaft speed change rate and the action time. The output shaft speed change rate is the absolute value of the maximum speed change rate of the pneumatic clutch output shaft during the engagement or disengagement process. The action time is the time for the engagement or disengagement process. The first determining unit is configured to determine a target correction coefficient when the output shaft speed change rate is not within a first predetermined range and / or the action time is not within a second predetermined range. The target correction coefficient is a correction coefficient for the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action. The solenoid valve corresponding to the engagement action is the engagement valve of the pneumatic clutch, and the solenoid valve corresponding to the disengagement action is the disengagement valve of the pneumatic clutch. The correction unit is used to correct the duty cycle of the solenoid valve corresponding to the engagement action or the disengagement action according to the target correction coefficient, so that when the engagement action or the disengagement action is executed next time, the output shaft speed change rate is within the first predetermined range and the action time is within the second predetermined range. The first determining unit includes: a second determining module, configured to determine that the target correction coefficient is a constant greater than 1 when the action time is not within the second predetermined range; The third determining module is used to determine that the target correction coefficient is a constant less than 1 when the output shaft speed change rate is not within the first predetermined range and the action time is within the second predetermined range.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 6.

9. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 6 when it runs.

10. A vehicle, characterized in that, include: A pneumatic clutch, one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of claims 1 to 6.

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