A shift speed control system and control method for a variable speed device

Abstract

The application provides a gear shifting speed regulation control system and control method for a variable speed device, comprising a variable speed controller connected to a motor controller, obtaining corresponding parameters and preset conditions and sending them to the motor controller connected to the variable speed controller; the motor controller controls the speed regulation motor connected to the motor controller to adjust from the current speed to the target speed according to the received speed regulation instruction; the speed sensor on the gearbox is avoided, so that the problems such as slow low-speed response, low speed accuracy and signal interaction interference in the existing scheme do not exist; the control unit is reduced from three to two, the interaction time is reduced, and the failure probability is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of transmission control, and in particular to a gear shifting speed control system and control method for a transmission. BACKGROUND

[0002] The gear shifting speed control scheme of the prior art transmission is to obtain the transmission output shaft speed by a transmission control unit (TCU, hereinafter referred to as TCU), and then calculate the target speed of the next gear input shaft that needs to be adjusted by the TCU, and control the driving motor (or engine) to reach the corresponding speed to complete the gear shifting operation.

[0003] In the prior art traditional control scheme, the transmission shaft speed is obtained by the TCU, and the target speed of the controlled object is calculated by the algorithm in the TCU, and the driving motor or engine is controlled as the controlled object. After receiving the control instruction, the electronic control unit (ECU) of the controlled object controls the operation of its mechanism, and the interaction mode is as shown in the figure. Figure 1

[0004] The traditional control scheme uses three control units for interaction, namely the transmission shaft speed sensor, the TCU, and the MCU, and the gear shifting speed control scheme has the following problems:

[0005] 1) The speed sensor used on the transmission is mainly of the frequency type magneto type, which has the problems of slow response at low speed, low speed accuracy, and signal interaction being easily disturbed.

[0006] 2) The interaction time between the three control units is long: the TCU first needs to obtain the transmission shaft speed, then calculates the speed of the controlled object according to the transmission shaft speed, and sends it to the controlled object through CAN. After receiving the instruction, the controlled object controls the operation of the actuator it controls, and at the same time collects the running speed of the actuator and feeds it back to the TCU. A complete interaction cycle usually takes 30-50 ms.

[0007] 3) If any of the three control units is damaged or the signal cable used for interaction is damaged, it will cause system failure, resulting in the vehicle unable to operate normally.

[0008] Therefore, it is urgent to provide a gear shifting speed control system and control method for a transmission to solve the above-mentioned defects and deficiencies in the prior art. SUMMARY

[0009] In order to solve the defects and deficiencies in the prior art, the present application provides a gear shifting speed control system and control method for a transmission.

[0010] The technical scheme provided by the present application is as follows:

[0011] ​A shift speed control system for a variable speed device, the variable speed device comprising a driving motor and a speed regulating motor capable of being connected to an output shaft respectively; the system comprising:

[0012] a variable speed controller connected to a motor controller, obtaining corresponding parameters and preset conditions and sending them to the motor controller connected to itself;

[0013] a motor controller, which controls the speed regulating motor connected to itself to adjust from the current speed to the target speed according to the received speed regulating instruction.

[0014] As a further preferred embodiment of the present application, the corresponding parameters at least include: the current speed of the driving motor, the target speed of the speed regulating motor, the speed regulating ratio, and the clutch speed difference.

[0015] As a further preferred embodiment of the present application, the preset conditions at least include the maximum speed regulating torque and the maximum speed regulating slope.

[0016] As a further preferred embodiment of the present application, the motor controller controls the speed regulating motor connected to itself according to the following formula:

[0017] Spd 目标 =Spd 当前 ×Rat+Dec

[0018] wherein,

[0019] Spd 目标 is the target speed of the speed regulating motor;

[0020] Spd 当前 is the current speed of the driving motor;

[0021] Rat is the speed regulating ratio of the speed regulating motor;

[0022] Dec is the clutch speed difference.

[0023] As a further preferred embodiment of the present application, the speed regulating result of the speed regulating motor is sent back to the motor controller, and the motor controller compares the speed regulating result of the speed regulating motor with the target speed:

[0024] When the speed regulating result of the speed regulating motor reaches the target speed, the motor controller transmits the current speed of the speed regulating motor to the variable speed controller;

[0025] When the speed regulating result of the speed regulating motor does not reach the target speed, the motor controller continues to control the speed regulating motor to adjust from the current speed to the target speed.

[0026] Further, the application also provides a shift speed control method for a variable speed device, characterized in that it comprises the following steps:

[0027] S1: the variable speed controller acquires corresponding parameters and preset conditions and sends them to the motor controller;

[0028] S2: the motor controller controls the speed regulation motor to adjust from the current speed to the target speed according to the received speed regulation instruction;

[0029] S3: the motor controller makes corresponding actions according to the comparison result of the speed regulation result of the speed regulation motor and the target speed.

[0030] As a further preferred embodiment of the application, in the step S1, the corresponding parameters acquired by the variable speed controller at least include the current speed of the driving motor, the target speed of the speed regulation motor, the speed regulation ratio, and the clutch speed difference.

[0031] As a further preferred embodiment of the application, in the step S1, the preset conditions acquired by the variable speed controller at least include the maximum speed regulation torque and the maximum speed regulation slope.

[0032] As a further preferred embodiment of the application, in the step S2, the motor controller controls the speed regulation motor according to the following formula:

[0033] Spd 目标 =Spd 当前 ×Rat+Dec

[0034] wherein,

[0035] Spd 目标 is the target speed of the speed regulation motor;

[0036] Spd 当前 is the current speed of the driving motor;

[0037] Rat is the speed regulation ratio of the speed regulation motor;

[0038] Dec is the clutch speed difference.

[0039] As a further preferred embodiment of the application, in the step S3, the speed regulation result of the speed regulation motor is compared with the target speed:

[0040] When the speed regulation result of the speed regulation motor reaches the target speed, the motor controller transmits the current speed of the speed regulation motor to the variable speed controller;

[0041] When the speed regulation result of the speed regulation motor does not reach the target speed, the motor controller continues to control the speed regulation motor to adjust from the current speed to the target speed.

[0042] The beneficial effects achieved by the present application relative to the prior art are:

[0043] 1) The present application provides a gear shifting speed control system and control method for a transmission device, which avoids using the speed sensor on the transmission case, thus eliminating the problems of slow low-speed response, low speed accuracy, and signal interaction susceptible to interference in the prior art.

[0044] 2) The present application provides a gear shifting speed control system and control method for a transmission device, which simplifies the control unit from three to two, and the TCU only needs to send one frame of content to the MCU, and then the MCU completes all speed control, and the time period for completing a complete interaction can be shortened to 10-20 ms.

[0045] 3) The present application provides a gear shifting speed control system and control method for a transmission device, which simplifies the control unit from three to two, reduces the probability of failure, improves reliability compared with the traditional transmission case, improves the success rate of speed control, and reduces costs. BRIEF DESCRIPTION OF DRAWINGS

[0046] Figure 1 A step flow chart of the gear shifting speed control scheme of the transmission device in the prior art.

[0047] Figure 2 A structure schematic diagram of the transmission device employed by the present application.

[0048] Figure 3 A step flow chart of the gear shifting speed control method of the transmission device provided by the present application. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0050] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0051] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "provided with", "connection" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, can also be detachable connection, or integral connection; can be mechanical connection, can also be electrical connection; can be direct connection, can also be indirect connection through an intermediate medium, can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] As Figure 2 shown is a variable speed device provided by the present application, which adopts a double-input power uninterrupted variable speed system, including two motors of a first motor EM1 and a second motor EM2, the first motor EM1 outputs power to an output shaft through clutches C and D, a third motor EM3 can be selectively arranged on the output shaft, and the third motor EM3 can also be cancelled according to actual power transmission requirements; the second motor EM2 outputs power to the output shaft through clutches A and B, and realizes power transmission through a 1-4 gear pair, when one of the motors is used as a driving motor to realize power output, the other motor is used as a speed regulating motor to ensure uninterrupted power during gear shifting, and the two input power shafts are alternately shifted to realize uninterrupted power. In this embodiment, the motor controller uses a single main chip to control the first motor and the second motor, which are two motors.

[0053] [First embodiment]

[0054] The first embodiment of the present application provides a gear shifting and speed regulating control system for a variable speed device, the variable speed device including a driving motor and a speed regulating motor capable of being connected to an output shaft respectively;

[0055] The outstanding contribution of the present application with respect to the prior art is that the system includes

[0056] a variable speed controller connected to a motor controller, acquiring corresponding parameters and preset conditions and sending them to the motor controller connected thereto; in this embodiment, the corresponding parameters at least include the current speed of the driving motor, the target speed of the speed regulating motor, the speed regulating speed ratio, and the clutch speed difference, and the target speed of the speed regulating motor is calculated through the corresponding parameters; and the preset conditions at least include the maximum speed regulating torque and the maximum speed regulating slope, and the speed regulating process is limited through the preset conditions.

[0057] a motor controller corresponding to control the speed regulating motor connected thereto from the current speed to the target speed according to the received speed regulating instruction. In this embodiment, the motor controller corresponding to control the speed regulating motor connected thereto according to the following formula:

[0058] Spd 目标 =Spd当前 X Rat + Dec

[0059] Wherein,

[0060] Spd 目标 is the target speed of the speed-regulating motor;

[0061] Spd 当前 is the current speed of the driving motor;

[0062] Rat is the speed-regulating ratio of the speed-regulating motor;

[0063] Dec is the clutch speed difference.

[0064] After the speed regulation ends, the speed-regulating result of the speed-regulating motor is sent back to the motor controller, and the motor controller compares the speed-regulating result of the speed-regulating motor with the target speed:

[0065] When the speed-regulating result of the speed-regulating motor reaches the target speed, the motor controller transmits the current speed of the speed-regulating motor to the speed-changing controller;

[0066] When the speed-regulating result of the speed-regulating motor does not reach the target speed, the motor controller continues to control the speed-regulating motor to adjust from the current speed to the target speed.

[0067] As shown in Figure 2 , the scheme is based on the principle of uninterrupted power, and at each gear shift, there is always one motor connected to the output shaft responsible for power output, so the output shaft speed can be calculated through the speed of the motor connected to the output shaft, and the target speed of the other motor to be speed-regulated during gear shifting can also be calculated.

[0068] For example, referring to Figure 2 , it is assumed that

[0069] The current speed of the first motor EM1 is Spd 1目标 ;

[0070] The current speed of the second motor EM2 is Spd 2当前 ;

[0071] The current speed of the first motor EM1 is Spd 1当前 ;

[0072] The current speed of the second motor EM2 is Spd 2当前 ;

[0073] The speed-regulating ratio of the first motor EM1 is Rat1;

[0074] The speed-regulating ratio of the second motor EM2 is Rat2;

[0075] The corresponding clutch speed difference is Dec;

[0076] The maximum torque of the speed regulation is Tmax;

[0077] The maximum slope of the speed regulation is Smax;

[0078] It is assumed that the current second motor EM2 is a driving motor and the first motor EM1 is a speed regulation motor;

[0079] The TCU sends corresponding parameters to the MCU according to the next gear engaged by the first motor EM1, and the MCU controls the first motor EM1 to regulate the speed after receiving the corresponding parameters. After the MCU receives the instruction that the first motor EM1 needs to regulate the speed, the target speed of the first motor EM1 is Spd 1目标 =Spd 2当前 ×Rat1+Dec, and regulates the speed according to the maximum torque Tmax and the maximum slope Smax of the motor speed regulation during the speed regulation;

[0080] Similarly, when the current first motor EM1 is a driving motor and the second motor EM2 is a speed regulation motor;

[0081] After the MCU receives the instruction that the second motor EM2 needs to regulate the speed, the target speed of the second motor EM2 is Spd 2目标 =Spd 1当前 ×Rat2+Dec, and regulates the speed according to the maximum torque Tmax and the maximum slope Smax of the motor speed regulation.

[0082] [Second embodiment]

[0083] As shown in Figure 3 , the second embodiment of the present application also provides a gear shifting and speed regulation control method for a variable speed device, comprising the following steps:

[0084] S1: The variable speed controller obtains corresponding parameters and preset conditions and sends them to the motor controller. In this step, the corresponding parameters obtained by the variable speed controller at least include the current speed of the driving motor, the target speed of the speed regulation motor, the speed regulation ratio, and the clutch speed difference. The target speed of the speed regulation motor can be calculated through the corresponding parameters. The preset conditions obtained by the variable speed controller at least include the maximum speed regulation torque and the maximum speed regulation slope, and the speed regulation process is limited through the preset conditions;

[0085] S2: The motor controller controls the speed regulation motor to adjust from the current speed to the target speed according to the received speed regulation instruction. In this step, the motor controller controls the speed regulation motor according to the following formula:

[0086] Spd 目标 =Spd 当前 ×Rat+Dec

[0087] Wherein,

[0088] Spd 目标 is a target speed of the speed-regulating motor;

[0089] Spd 当前 is a current speed of the driving motor;

[0090] Rat is a speed-regulating ratio of the speed-regulating motor;

[0091] Dec is a clutch speed difference.

[0092] S3: the motor controller makes corresponding actions according to a comparison result of the speed-regulating result of the speed-regulating motor and the target speed; and the specific performance is:

[0093] when the speed-regulating result of the speed-regulating motor reaches the target speed, the motor controller transmits the current speed of the speed-regulating motor to the speed-changing controller;

[0094] when the speed-regulating result of the speed-regulating motor does not reach the target speed, the motor controller continues to control the speed-regulating motor to adjust from the current speed to the target speed.

[0095] It is apparent for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, but can be implemented in other concrete forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be considered in all aspects as illustrative and not restrictive, and the scope of the present application is defined by the appended claims rather than the above description, and it is intended to embrace all changes falling within the meaning and scope of the equivalent elements of the claims. Any reference signs in the claims should not be considered as limiting the involved claims.

Claims

1. A shifting and speed regulation control system for a transmission device, the transmission device comprising a drive motor and a speed regulating motor respectively connected to an output shaft; Its features are: The system includes A speed controller, which is connected to a motor controller, acquires corresponding parameters and preset conditions, and sends them to the motor controller connected to itself. A motor controller, which controls the speed-regulating motor connected to itself to adjust from the current speed to the target speed according to the received speed regulation command; The corresponding parameters include at least: the current speed of the drive motor, the target speed of the speed regulating motor, the speed ratio, and the clutch speed difference; The motor controller controls the speed-regulating motor connected to it according to the following formula: Spd target = Spd current × Rat + Dec in, Spd target is the target speed of the speed-regulating motor; Spd is the current speed of the drive motor; Rat is the speed ratio of the speed-regulating motor; Dec represents the clutch speed difference; The preset conditions include at least the maximum speed-regulating torque and the maximum speed-regulating slope; The speed regulation result of the variable speed motor is sent back to the motor controller, which compares the speed regulation result with the target speed. When the speed regulation result of the speed regulating motor reaches the target speed, the motor controller transmits the current speed of the speed regulating motor to the speed change controller. When the speed regulation result of the speed-regulating motor does not reach the target speed, the motor controller continues to control the speed-regulating motor to adjust from the current speed to the target speed; The transmission device includes two motors: a first motor EM1 and a second motor EM2. The first motor EM1 outputs power to the output shaft through clutches C and D, and the second motor EM2 outputs power to the output shaft through clutches A and B. Power transmission is achieved through a 1-4 gear pair. When one motor is used as the drive motor to output power, the other motor is used as the speed regulating motor to ensure uninterrupted power during gear shifting. The two input power shafts alternate gear shifting to achieve uninterrupted power. The motor controller controls the two motors, the first motor and the second motor.

2. The control method for a gear shifting and speed regulation control system for a transmission device according to claim 1, characterized in that: Includes the following steps: S1: The speed controller obtains the corresponding parameters and preset conditions and sends them to the motor controller; S2: The motor controller controls the speed-regulating motor to adjust from the current speed to the target speed according to the received speed regulation command; S3: The motor controller takes corresponding actions based on the comparison between the speed regulation result of the speed-regulating motor and the target speed.

3. The control method for a gear shifting and speed regulation control system for a transmission device according to claim 2, characterized in that: In step S1, the corresponding parameters obtained by the speed controller include at least: the current speed of the drive motor, the target speed of the speed regulating motor, the speed ratio, and the clutch speed difference.

4. The control method for a gear shifting and speed regulation control system for a transmission device according to claim 2, characterized in that: In step S1, the preset conditions obtained by the speed controller include at least the maximum speed regulation torque and the maximum speed regulation slope.

5. The control method for a gear shifting and speed regulation control system for a transmission device according to claim 2, characterized in that: In step S2, the motor controller controls the speed-regulating motor according to the following formula: Spd target = Spd current × Rat + Dec in, Spd target is the target speed of the speed-regulating motor; Spd is the current speed of the drive motor; Rat is the speed ratio of the speed-regulating motor; Dec represents the clutch speed difference.

6. The control method for a gear shifting and speed regulation control system for a transmission device according to claim 2, characterized in that: In step S3, the speed regulation result of the speed-regulating motor is compared with the target speed: When the speed regulation result of the speed regulating motor reaches the target speed, the motor controller transmits the current speed of the speed regulating motor to the speed change controller. When the speed regulation result of the speed-regulating motor does not reach the target speed, the motor controller continues to control the speed-regulating motor to adjust from the current speed to the target speed.

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