Dog clutch tooth-to-tooth control method, device, vehicle and storage medium

Abstract

The present invention relates to a method, device, vehicle and storage medium for controlling the tooth-to-tooth of a dog clutch, wherein the method comprises: obtaining the actual angle value of the shift hub and the current value of the shift motor, and judging whether the dog clutch satisfies a preset sticking condition based on the actual angle value and the current value; if the dog clutch satisfies the preset sticking condition, then judging whether the actual angle value is within a preset tooth-to-tooth angle interval; if the actual angle value is within the preset tooth-to-tooth angle interval, then judging that the tooth is aligned, and increasing the pressure value of the clutch of the gear position connected to the dog clutch to a preset calibration value according to a preset raising strategy, and reducing the duty cycle of the shift motor according to a preset lowering strategy until the gear is engaged. Thus, the problem that the electronic quick shift method cannot ensure that the tooth-to-tooth problem is solved, resulting in an inability to shift gears, and the problem that the electric drive deceleration system has a narrow application range is solved, and a method for accurately identifying and controlling tooth-to-tooth is provided, which greatly improves the driving experience.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a method and device for controlling tooth-to-tooth contact of a dog clutch, a vehicle, and a storage medium. Background Art

[0002] In the related technology, there are mainly two types of dog gear shifting methods. The first type is applied to the shifting system of manual transmission and electronic quick shift. The speed regulation during dog gear shifting and the gear shifting after gear alignment rely on the electronic quick shift to recognize the driver's release of the shift lever to control the engine's fuel cut-off and fuel injection (fuel cut-off for upshift and fuel injection for downshift), thereby achieving the purpose of speed regulation and gear shifting after gear alignment; the second type is applied to the shifting system of electric drive deceleration system. The speed regulation during dog gear shifting and the gear shifting after gear alignment rely on the active speed regulation of the motor to achieve speed difference adjustment and gear shifting after gear alignment.

[0003] However, the first electronic quick shift solution cannot completely solve the tooth-to-tooth problem. There is still a certain probability of being unable to shift gears when shifting in high gear at low speed, and the sudden oil cut-off and oil injection of the engine will cause obvious power interruption, jerking and other poor driving performance problems; the second electric drive deceleration system has a narrow application range and cannot be applied to the powertrain system driven by an internal combustion engine. If a motor specifically for speed regulation is added to the ICE (Internal Combustion Engine, internal combustion engine), the cost will also increase significantly. Summary of the Invention

[0004] In view of this, the present invention aims to propose a method for controlling the tooth-to-tooth relationship of a dog clutch, which solves the problems that the electronic quick shift method cannot ensure the solution of the tooth-to-tooth problem, resulting in the inability to shift gears, and the narrow application range of the electric drive deceleration system. It provides a method for accurately identifying and controlling the tooth-to-tooth relationship, and the shifting time does not increase significantly, thereby greatly improving the driving experience.

[0005] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0006] A method for controlling tooth-to-tooth movement of a dog clutch, comprising:

[0007] Obtaining an actual angle value of the shift hub and a current value of the shift motor, and determining whether the dog clutch meets a preset sticking condition based on the actual angle value and the current value;

[0008] If the dog clutch satisfies the preset sticking condition, determining whether the actual angle value is within a preset tooth-aligning angle range; and

[0009] If the actual angle value is within the preset tooth alignment angle range, it is determined that the tooth alignment is established, and the pressure value of the clutch on the shaft where the gear position connected to the dog clutch is located is increased to a preset calibration value according to a preset enhancement strategy, and the duty cycle of the shift motor is reduced according to a preset reduction strategy until the gear shift is completed.

[0010] Furthermore, in some embodiments, after increasing the clutch pressure value of the shaft where the gear position connected to the dog clutch is located to the preset calibration value according to the preset increasing strategy and reducing the duty cycle of the shift motor according to the preset decreasing strategy, the method further includes:

[0011] Obtaining an adjusted actual angle value of the shift hub and an adjusted shaft speed change value of the shaft at the gear position connected to the dog clutch;

[0012] If the actual angle value of the shift hub after adjustment is not within the preset gear-aligning angle range, it is determined that the shift is completed;

[0013] If the actual angle value of the shift hub after adjustment is within the preset tooth alignment angle range, it is determined whether the shaft speed of the gear position connected to the dog clutch after adjustment is greater than the preset change value, and when the shaft speed of the gear position connected to the dog clutch after adjustment is less than or equal to the preset change value, the pressure value of the clutch of the shaft where the gear position connected to the dog clutch is located continues to be increased according to the preset increase strategy until the shaft speed of the gear position connected to the dog clutch is greater than the preset change value; when the shaft speed of the gear position connected to the dog clutch after adjustment is greater than the preset change value, it is determined that tooth alignment is established, the number of tooth alignments is counted, the shift hub is re-driven to perform the gear shifting action, and whether the actual angle of the shift hub is within the preset tooth alignment angle range is obtained. This cycle is repeated, and the number of tooth alignments is accumulated.

[0014] Furthermore, in some embodiments, after determining whether the dog clutch satisfies the preset sticking condition based on the actual angle value and the current value, the method further includes: if the dog clutch does not satisfy the preset sticking condition, performing a shift disengagement action.

[0015] Furthermore, in some embodiments, after determining whether the actual angle value is within the preset gear-matching angle range, the method further includes: if the actual angle value is not within the preset gear-matching angle range, performing a gear disengagement action.

[0016] Furthermore, in some embodiments, after determining that the tooth alignment is established, the method further includes:

[0017] Obtaining a current number of tooth alignments, and determining whether the current number of tooth alignments is less than a first preset number;

[0018] If the current number of tooth alignments is less than the first preset number, the pressure value of the clutch on the shaft where the gear position connected to the dog clutch is located is increased to the preset calibration value according to the preset increase strategy, and the duty cycle of the shift motor is reduced according to the preset decrease strategy; otherwise, the gear disengagement action is executed.

[0019] Furthermore, in some embodiments, after executing the unblocking action, the method further includes:

[0020] Determining whether the shift-off action is completed;

[0021] If the shifting action is completed, determining whether the shifting number is less than a second preset number;

[0022] If the current number of shifting times is greater than or equal to the second preset number, it is determined that the shifting has failed; otherwise, the shift hub is driven again to perform the shifting action, and whether the actual angle of the shift hub is within the preset gear angle range is obtained, and this cycle is repeated.

[0023] Furthermore, in some embodiments, determining whether the dog clutch satisfies a preset sticking condition based on the actual angle value and the current value includes:

[0024] Based on the actual angle value, determining whether the angle change value of the shift hub is less than a preset threshold, and determining whether the current value is greater than a preset current value;

[0025] If the angle change value is smaller than the preset threshold value and the current value is greater than the preset current value, obtaining a duration during which the angle change value is smaller than the preset threshold value and the current value is greater than the preset current value;

[0026] If the duration is longer than a preset duration, it is determined that the dog clutch meets the preset sticking condition.

[0027] Compared with the prior art, the dog clutch tooth-to-tooth control method of the present invention has the following advantages:

[0028] The method for controlling the tooth-to-tooth alignment of the dog clutch described in the present invention determines whether the dog clutch satisfies the preset sticking condition based on the actual angle value of the shift hub and the current value of the shift motor. If the dog clutch satisfies the preset sticking condition, it determines whether the actual angle value is within the preset tooth-to-tooth angle range. If the actual angle value is within the preset tooth-to-tooth angle range, it determines that the tooth alignment is established, and increases the pressure value of the clutch on the gear position where the dog clutch is connected to the gear position to a preset calibration value according to the preset raising strategy, and reduces the duty cycle of the shift motor according to the preset lowering strategy until the gear engagement is completed. Thus, the problem that the electronic quick shift method cannot ensure the resolution of tooth-to-tooth alignment, resulting in the inability to shift gears when engaging a high gear at low speed, and the narrow application range of the electric drive deceleration system are solved, and a method for accurately identifying and controlling tooth-to-tooth alignment is provided, and the shifting time is not significantly increased, which greatly improves the driving experience.

[0029] Another object of the present invention is to propose a tooth-to-tooth control device for a dog clutch, which solves the problems that the electronic quick shift method cannot ensure the solution of the tooth-to-tooth problem, resulting in the inability to shift gears, and the narrow application range of the electric drive deceleration system. It provides a method for accurately identifying and controlling tooth-to-tooth, and the shifting time does not increase significantly, greatly improving the driving experience.

[0030] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0031] A tooth-to-tooth control device for a dog clutch, characterized by comprising:

[0032] an acquisition module, configured to acquire an actual angle value of the shift hub and a current value of the shift motor, and determine whether the dog clutch meets a preset sticking condition based on the actual angle value and the current value;

[0033] a judgment module, configured to judge whether the actual angle value is within a preset tooth-aligning angle range when the dog clutch satisfies the preset sticking condition; and

[0034] The control module is used to determine that the gear alignment is established when the actual angle value is within the preset gear alignment angle range, and to increase the pressure value of the clutch of the gear position connected to the dog clutch to a preset calibration value according to a preset increase strategy, and to reduce the duty cycle of the shift motor according to a preset reduction strategy until the gear engagement is completed.

[0035] Furthermore, in some embodiments, after increasing the clutch pressure value of the shaft where the gear position connected to the dog clutch is located to the preset calibration value according to the preset increasing strategy and reducing the duty cycle of the shift motor according to the preset decreasing strategy, the control module is further configured to:

[0036] Obtaining an adjusted actual angle value of the shift hub and an adjusted shaft speed change value of the shaft at the gear position connected to the dog clutch;

[0037] If the actual angle value of the shift hub after the adjustment is not within the preset gear-aligning angle range, it is determined that the shift is completed;

[0038] When the actual angle value of the shift hub after adjustment is within the preset tooth alignment angle range, it is determined whether the shaft speed of the gear position connected to the dog clutch after adjustment is greater than the preset change value, and when the shaft speed of the gear position connected to the dog clutch after adjustment is less than or equal to the preset change value, the pressure value of the clutch of the shaft where the gear position connected to the dog clutch is located continues to be increased according to the preset increase strategy until the shaft speed of the gear position connected to the dog clutch is greater than the preset change value; when the shaft speed of the gear position connected to the dog clutch after adjustment is greater than the preset change value, it is determined that tooth alignment is established, the number of tooth alignments is counted, the shift hub is re-driven to perform the gear shifting action, and whether the actual angle of the shift hub is within the preset tooth alignment angle range is obtained. This cycle is repeated, and the number of tooth alignments is accumulated.

[0039] Furthermore, in some embodiments, after determining whether the dog clutch satisfies the preset sticking condition based on the actual angle value and the current value, the acquisition module is further configured to: execute a shifting action when the dog clutch does not satisfy the preset sticking condition.

[0040] Furthermore, in some embodiments, after determining whether the actual angle value is within the preset gear-matching angle range, the determination module is further configured to: execute a gear shifting action when the actual angle value is not within the preset gear-matching angle range.

[0041] Furthermore, in some embodiments, after determining that the tooth alignment is established, the control module is further configured to:

[0042] Obtaining a current number of tooth alignments, and determining whether the current number of tooth alignments is less than a first preset number;

[0043] When the current number of tooth alignments is less than the first preset number, the pressure value of the clutch of the shaft where the gear position connected to the dog clutch is located is increased to the preset calibration value according to the preset increase strategy, and the duty cycle of the shift motor is reduced according to the preset decrease strategy; otherwise, the gear disengagement action is executed.

[0044] Furthermore, in some embodiments, after executing the shift-off action, the control module is further configured to:

[0045] Determining whether the shift-off action is completed;

[0046] When the gear-shifting action is completed, determining whether the number of gear-shifting times is less than a second preset number;

[0047] When the current number of shifting times is greater than or equal to the second preset number, it is determined that the shifting has failed; otherwise, the shift hub is driven again to perform the shifting action, and whether the actual angle of the shift hub is within the preset gear angle range is obtained, and this cycle is repeated.

[0048] Furthermore, in some embodiments, the determining whether the dog clutch satisfies a preset sticking condition based on the actual angle value and the current value, the obtaining module is further configured to:

[0049] Based on the actual angle value, determining whether the angle change value of the shift hub is less than a preset threshold, and determining whether the current value is greater than a preset current value;

[0050] When the angle change value is smaller than the preset threshold value and the current value is greater than the preset current value, obtaining a duration during which the angle change value is smaller than the preset threshold value and the current value is greater than the preset current value;

[0051] When the duration is longer than a preset duration, it is determined that the dog clutch meets the preset sticking condition.

[0052] The advantages of the tooth-to-tooth control device of the dog clutch and the tooth-to-tooth control method of the dog clutch over the prior art are the same and will not be described in detail here.

[0053] Another object of the present invention is to propose a vehicle that solves the problems of electronic quick shifting that cannot ensure the problem of tooth-to-tooth matching, resulting in the inability to shift gears, and the narrow application range of electric drive deceleration systems. It provides a method for accurately identifying and controlling tooth-to-tooth matching, and the shifting time does not increase significantly, thereby greatly improving the driving experience.

[0054] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0055] A vehicle comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the tooth-to-tooth control method of a dog clutch as described in the above embodiment.

[0056] The advantages of the vehicle and the above-mentioned dog clutch tooth-to-tooth control method relative to the prior art are the same and will not be described in detail here.

[0057] Another object of the present invention is to propose a computer-readable storage medium, which solves the problems that the electronic quick shift method cannot ensure the solution of the tooth-to-tooth problem, resulting in the inability to shift gears, and the narrow application range of the electric drive deceleration system. It provides a method for accurately identifying and controlling tooth-to-tooth, and the shifting time is not significantly increased, which greatly improves the driving experience.

[0058] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0059] A computer-readable storage medium stores a computer program, which is executed by a processor to implement the tooth-to-tooth control method of a dog clutch as described in the above embodiment.

[0060] The computer-readable storage medium and the above-mentioned dog clutch tooth-to-tooth control method have the same advantages over the prior art, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0062] Figure 1 This is a flow chart of a method for controlling tooth-to-tooth contact of a dog clutch according to an embodiment of the present invention;

[0063] Figure 2 A schematic diagram of the process of a method for controlling tooth-to-tooth contact of a dog clutch according to an embodiment of the present invention;

[0064] Figure 3 A schematic diagram of a tooth-to-tooth control device for a dog clutch according to an embodiment of the present invention;

[0065] Figure 4 A schematic diagram of a vehicle according to an embodiment of the present invention.

[0066] Description of reference numerals: 10 - tooth-to-tooth control device of dog clutch, 100 - acquisition module, 200 - judgment module, 300 - control module. DETAILED DESCRIPTION

[0067] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0068] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0069] Figure 1 4 is a flow chart of a method for controlling a tooth-to-tooth relationship of a dog clutch according to an embodiment of the present invention.

[0070] like Figure 1 As shown, the tooth-to-tooth control method of the dog clutch according to an embodiment of the present invention includes the following steps:

[0071] Step S101 , obtaining the actual angle value of the shift hub and the current value of the shift motor, and judging whether the dog clutch meets the preset sticking condition according to the actual angle value and the current value.

[0072] It should be noted that the control object described in this invention is a system that uses a shift motor to drive a dog clutch through a shift hub and shift fork to perform gear shifting. The motor directly drives the shift hub to rotate, and the shift hub, through a shift head connected to the shift fork, drives the shift fork to move axially. The shift fork then drives the dog clutch to perform gear shifting.

[0073] Specifically, the present invention needs to obtain the actual angle value of the shift hub and the current value of the shift motor, and the rotation angle of the shift hub can be precisely controlled by controlling the duty cycle of the motor and the angle difference PID (Proportional Integral Derivative) based on the actual angle and the target angle. The actual rotation angle of the shift hub can be directly read by an absolute angle sensor directly connected to the shift hub, and the current value of the shift motor can be obtained using a current sensor.

[0074] Optionally, in some embodiments, whether the dog clutch meets the preset sticking condition is judged based on the actual angle value and the current value, including: based on the actual angle value, judging whether the angle change value of the shift hub is less than a preset threshold, and judging whether the current value is greater than a preset current value; if the angle change value is less than the preset threshold, and the current value is greater than the preset current value, then obtaining the duration of the angle change value being less than the preset threshold and the current value being greater than the preset current value; if the duration is greater than the preset duration, then determining that the dog clutch meets the preset sticking condition.

[0075] It is understandable that during the gear shifting process, the structure of the dog teeth (no synchronization mechanism and wide tooth surface) determines that the occurrence of sticking is inevitable. Therefore, the present invention judges whether the dog clutch meets the preset sticking condition based on the actual angle value of the shift hub and the current value of the shift motor to determine whether the current vehicle has a sticking phenomenon.

[0076] Specifically, embodiments of the present invention set a preset threshold value for the shift hub angle change, which is used to determine whether the shift hub rotation angle change is less than a calibration value. Embodiments of the present invention set a preset current value for the motor current, which serves as a calibration value for the motor current and must not exceed this calibration value. Embodiments of the present invention set a preset duration, and when the shift hub rotation angle change is less than the calibration value, the motor current is greater than the calibration value, and the duration is greater than the preset duration, it is determined that the dog clutch is stuck. Furthermore, the present invention does not specifically define the preset threshold value for the shift hub angle change, the preset motor current value, and the preset duration. Those skilled in the art can obtain the aforementioned data values based on a limited number of experiments or through a limited number of calculations and simulations.

[0077] Optionally, in some embodiments, after determining whether the dog clutch satisfies a preset jam condition based on the actual angle value and the current value, the method further includes: if the dog clutch does not satisfy the preset jam condition, executing a shift disengagement action.

[0078] For example, as a possible implementation method, an embodiment of the present invention sets the calibration value of the angle change of the shift hub to 0.4 degrees, the calibration value of the motor current to 15A, and the calibration value of the duration to 150ms. If the angle change of the shift hub is less than 0.4 degrees and the motor current is greater than 15A, and the duration of the angle change of the shift hub is less than 0.4 degrees and the motor current is greater than 15A is greater than 150ms, it is determined that the dog clutch meets the preset sticking condition, otherwise the gear disengagement operation is performed.

[0079] Therefore, the present invention can achieve accurate identification of the stuck state of the dog clutch by using the relevant data range obtained by software using the existing current and angle sensors, while avoiding the addition of hardware and reducing costs.

[0080] Step S102: If the dog clutch satisfies the preset sticking condition, it is determined whether the actual angle value is within the preset tooth-aligning angle range.

[0081] Optionally, in some embodiments, after determining whether the actual angle value is within a preset gear-matching angle range, the method further includes: if the actual angle value is not within the preset gear-matching angle range, performing a gear disengagement action.

[0082] Specifically, after determining in step S101 that the dog clutch meets the preset sticking condition, it is necessary to determine whether the actual angle value of the shift hub is within a preset tooth-aligning angle range. In other words, if sticking occurs, if the actual angle value of the shift hub is within the tooth-aligning angle range, the dog clutch is determined to be currently aligned. If the actual angle value of the shift hub is not within the preset tooth-aligning angle range, the shift disengagement action is executed. Furthermore, the present invention does not specifically limit the preset tooth-aligning angle range, and those skilled in the art may adjust the range of this range based on actual conditions.

[0083] For example, as a possible implementation method, when the engagement angle is 24 degrees, the area where tooth alignment may occur is 9.438±2.562 degrees. When the actual angle value of the shift hub obtained is within the range of 9.438±2.562 degrees, it is determined that tooth alignment exists, otherwise the gear disengagement action is executed.

[0084] Therefore, the present invention uses the determination of whether the actual angle value of the shift hub is within the preset tooth-aligning angle range as a determination condition for the tooth alignment of the dog clutch.

[0085] In step S103, if the actual angle value is within the preset tooth-aligning angle range, it is determined that the tooth alignment is established, and the pressure value of the clutch on the shaft where the gear position connected to the dog clutch is located is increased to a preset calibration value according to the preset increasing strategy, and the duty cycle of the shift motor is reduced according to the preset decreasing strategy until the gear shift is completed.

[0086] Among them, the preset boost strategy of the embodiment of the present invention is used to request the clutch of the gear shaft connected to the dog clutch where the pre-gear is located to increase the pressure to a preset calibration value. The preset calibration value is near the clutch KP point. The shaft speed of the gear shaft connected to the clutch will increase (upshift) or decrease (downshift), the speed difference between the active and passive measurements of the dog will increase, and the duty cycle of the shift motor will be reduced. For example, the embodiment of the present invention can reduce the duty cycle of the shift motor from 15% to 10% to prevent excessive shifting force from causing excessive friction between the dog tooth surface and the tooth surface, resulting in inability to rotate.

[0087] Therefore, the present invention can realize the logic of actively requesting the clutch to intervene to eliminate the tooth-to-tooth problem, that is, the speed difference between the active side and the passive side of the dog teeth is expanded through the active clutch intervention to eliminate the dog teeth-to-tooth problem.

[0088] Optionally, in some embodiments, after determining that the gear alignment is established, it also includes: obtaining the current number of gear alignments, and determining whether the current number of gear alignments is less than a first preset number; if the current number of gear alignments is less than the first preset number, then increasing the pressure value of the clutch on the shaft where the gear position connected to the dog clutch is located to a preset calibration value according to a preset enhancement strategy, and reducing the duty cycle of the shift motor according to a preset reduction strategy, otherwise, executing the gear disengagement action.

[0089] It should be noted that after determining that gear alignment is established, if the number of gear alignments is too many, the dog clutch may malfunction. Therefore, the present invention needs to obtain the current number of gear alignments and set a first preset number of gear alignments. This first preset number is used to compare with the actual number of gear alignments. When the number of gear alignments is less than the first preset number, it is determined that the gear alignment operation is normal at this time and subsequent operations continue. Otherwise, it is determined that there is a problem with the gear alignment operation and an immediate shift disengagement operation instruction is issued. In addition, the present invention does not specifically limit the first preset number, and those skilled in the art can adjust this value according to actual circumstances.

[0090] For example, as a possible implementation method, an embodiment of the present invention sets the first preset number of times to 3 times. When the number of gear matching times is less than 3 times, the pressure value of the clutch on the shaft where the gear position connected to the dog clutch is located is increased to a preset calibration value according to a preset increasing strategy, and the duty cycle of the shift motor is reduced according to a preset decreasing strategy. Otherwise, the gear disengagement action is executed.

[0091] Optionally, in some embodiments, after increasing the clutch pressure value of the shaft where the gear position connected to the dog clutch is located to a preset calibration value according to a preset increasing strategy and reducing the duty cycle of the shift motor according to a preset decreasing strategy, the method further includes:

[0092] Obtaining the actual angle value of the adjusted shift hub and the shaft speed change value of the shaft where the gear position connected to the adjusted dog clutch is located;

[0093] If the actual angle value of the shift hub after adjustment is not within the preset gear-matching angle range, it is determined that the shift is completed;

[0094] If the actual angle value of the shift hub after adjustment is within the preset gear alignment angle range, it is determined whether the shaft speed of the gear connected to the adjusted dog clutch is greater than the preset change value, and when the shaft speed of the gear connected to the adjusted dog clutch is less than or equal to the preset change value, the pressure value of the clutch of the shaft where the gear connected to the dog clutch is located continues to be increased according to the preset improvement strategy until the shaft speed of the gear connected to the dog clutch is greater than the preset change value; when the shaft speed of the gear connected to the adjusted dog clutch is greater than the preset change value, it is determined that the gear alignment is established, and the number of gear alignments is counted, and the shift hub is re-driven to perform the gear shifting action to obtain whether the actual angle of the shift hub is within the preset gear alignment angle range, and this cycle is repeated, and the number of gear alignments is accumulated.

[0095] It should be noted that, in the embodiment of the present invention, after the pressure value of the clutch of the shaft where the gear position connected to the dog clutch is located is increased to a preset calibration value according to a preset increasing strategy, and the duty cycle of the shift motor is reduced according to a preset reducing strategy, it is necessary to obtain the actual angle value of the adjusted shift hub and the shaft speed change value of the shaft where the gear position connected to the dog clutch is located, and compare the actual angle value of the shift hub with the preset tooth angle range. If the actual angle value of the shift hub exceeds the tooth angle range, the motor is controlled to drive the shift hub to complete the gear shifting process, and continue to judge whether the current actual angle range of the shift hub is within the gear shifting range, until the actual angle of the shift hub is within the gear shifting range, and the gear shifting is completed, so as to ensure that the tooth-to-tooth problem is solved.

[0096] Furthermore, when the actual angle value of the shift hub does not exceed the gear angle range, the shaft speed change value of the gear position connected to the dog clutch is compared with the preset change value, and then adaptive dynamic adjustment is performed based on the comparison result.

[0097] Specifically, if the speed change of the shaft where the gear is engaged exceeds the preset limit value, the number of tooth shifts will be added by one. Otherwise, the pressure value of the clutch on the shaft where the gear is located, which is connected to the dog clutch, will continue to be increased to the preset calibration value according to the preset increase strategy, and the duty cycle of the shift motor will be reduced according to the preset reduction strategy.

[0098] In addition, there are many ways to obtain the preset change value of the shaft speed change value of the shaft where the gear position connected to the dog clutch is located in the embodiment of the present invention. The setting of this numerical value can be a change value set by a person skilled in the art, a change value obtained through a limited number of experiments, or a change value obtained through a limited number of computer simulations. No specific limitation is made here.

[0099] For example, as a possible implementation method, an embodiment of the present invention sets the calibration value of the shaft speed change value of the gear position connected to the dog clutch to 50 revolutions, and the preset tooth angle range is 9.438±2.562 degrees. During the actual execution process, the angle sensor is used to obtain the actual angle value of the shift hub. If the angle value does not exceed the preset tooth angle range, the shaft speed is measured using the shaft speed sensor. If the shaft speed change of the gear position exceeds 50 revolutions, the clutch intervenes and exits, and the motor duty cycle is increased to 15% to complete the gear shifting process.

[0100] Therefore, the present invention can accurately identify the dog tooth-to-tooth state through the shaft speed and the shift hub rotation angle, and exit the clutch intervention in time.

[0101] Optionally, in some embodiments, after executing the shifting action, it also includes: judging whether the shifting action is completed; if the shifting action is completed, judging whether the number of shifting times is less than a second preset number; if the current number of shifting times is greater than or equal to the second preset number, judging that the shifting has failed; otherwise, re-driving the shift hub to execute the shifting action, obtaining whether the actual angle of the shift hub is within the preset tooth angle range, and repeating the cycle.

[0102] It should be noted that after each shift disengagement operation, it is necessary to determine whether the shift disengagement operation is complete. If the shift disengagement operation is complete, it is then determined whether the shift engagement is successful. If the shift disengagement operation is not complete, the shift disengagement operation is re-executed, and the number of shift disengagement retries is accumulated. It is understood that if the number of shift disengagements is too high, it is determined that the shift disengagement operation has failed. Therefore, in this embodiment of the present invention, a second preset number of shift disengagements is provided. This second preset number is compared with the actual number of shift disengagements. If the current number of shift disengagements is greater than or equal to the second preset number, the shift engagement is determined to have failed. If the number of shift disengagements is less than the second preset number, the motor is controlled to drive the shift hub to engage a gear. Furthermore, the present invention does not specifically limit the value of the second preset number, and those skilled in the art may set it based on actual circumstances.

[0103] For example, as a possible implementation method, the embodiment of the present invention sets the second preset number of times to 5 times. When the jam occurs, if the actual angle of the shift hub is not within the possible tooth alignment range, it is determined that the tooth alignment is not established, that is, the gear disengagement action is executed. After the gear disengagement is completed, the gear is shifted again, and the number of gear disengagements is increased by one. The number of gear disengagements is accumulated. After the number of gear disengagements accumulates to 5 times, it is determined that the gear engagement has failed, and the transmission enters a limited function state, that is, the current shaft is unavailable.

[0104] In order to enable those skilled in the art to further understand the tooth-to-tooth control method of the dog clutch according to the embodiment of the present invention, it is described in detail below with reference to specific embodiments.

[0105] Figure 2 A schematic diagram of the process of the tooth-to-tooth control method of the dog clutch provided in an embodiment of the present invention is shown as follows: Figure 2 As shown, the dog clutch tooth-to-tooth control method includes the following steps:

[0106] Step S201: The current dog teeth are in the middle position (neutral position), and a gear shift command is received;

[0107] Step S202: The motor drives the shift hub to move the dog teeth from the neutral position to the forward position;

[0108] Step S203: Determine whether the sticking condition exists, that is, determine whether the shift hub angle change is less than 0.4 degrees, the motor current is greater than 15A, and the duration is greater than 150ms. If all three conditions are met, the sticking condition exists, and the process proceeds to step S204; otherwise, the process proceeds to step S213.

[0109] Step S204: When the jam is established, determine whether the actual angle of the shift hub is within the range of the gear alignment (9.438±2.562 degrees). If the actual angle of the shift hub is within the range, execute step S205; otherwise, execute step S213.

[0110] Step S205, determining that the tooth alignment is established;

[0111] Step S206, determining whether the number of gear alignments is less than 3 times, if so, executing step S207, otherwise, executing step S213;

[0112] Step S207: Request the clutch to engage near the KP point (calibrated value). The shaft speed of the gear connected to the clutch will increase (upshift) or decrease (downshift), and the speed difference between the active and passive canine teeth will increase. At the same time, the duty cycle of the shift motor is reduced from 15% to 10% to prevent excessive friction between the canine tooth surfaces due to excessive shift force, resulting in an inability to rotate.

[0113] Step S208, determining whether the actual angle of the shift hub exceeds the gear-matching angle range, if not, executing step S209, otherwise executing step S211;

[0114] Step S209, determining whether the shaft speed change of the gear-engaging shaft exceeds 50 rpm. If the speed exceeds 50 rpm, execute step S201; otherwise, execute step S207.

[0115] Step S210, adding one to the cumulative number of gears, and continuing to step S202, executing the motor to drive the shift hub to engage a gear;

[0116] Step S211: After the actual angle of the shift hub exceeds the gear-matching angle range, the motor drives the shift hub to complete the shift process, and step S212 is executed;

[0117] Step S212, determining whether the actual angle of the shift hub is within the shift range. If the current angle of the shift hub is within the shift range, it is determined that the shift is completed at this time, otherwise, step S211 is executed;

[0118] Step S213, controlling the motor to perform a shift-off operation;

[0119] Step S214, determining whether the gear-shifting action is completed. If the gear-shifting action is completed, executing step S215; otherwise, continuing to execute step S213 and executing the gear-shifting action again.

[0120] Step S215, the number of retry attempts to unlock the device is increased by one;

[0121] Step S216, determining whether the accumulated number of times of shifting out of gear is less than 5 times, if the number is less than 5 times, executing step S202, otherwise, determining that the shifting fails at this time, and further determining that the transmission function is limited at this time.

[0122] Therefore, the present invention utilizes the relevant data range obtained by software using the existing current and angle sensors to accurately identify the dog tooth stuck state, expands the speed difference between the active side and the passive side of the dog tooth through the intervention of the active clutch, eliminates the dog tooth tooth alignment problem, accurately identifies the dog tooth tooth alignment state through the shaft speed and the rotation angle of the shift hub, and exits the clutch intervention in time without a significant increase in the shift time, thereby greatly improving the driving experience.

[0123] According to the method for controlling the tooth-to-tooth of the dog clutch according to the embodiment of the present invention, whether the dog clutch satisfies the preset sticking condition is determined based on the actual angle value of the shift hub and the current value of the shift motor. If the dog clutch satisfies the preset sticking condition, it is determined whether the actual angle value is within the preset tooth-to-tooth angle range. If the actual angle value is within the preset tooth-to-tooth angle range, it is determined that the tooth is aligned, and the pressure value of the clutch on the shaft where the gear position connected to the dog clutch is located is increased to a preset calibration value according to the preset increasing strategy, and the duty cycle of the shift motor is reduced according to the preset decreasing strategy until the gear is engaged. In this way, the problems of the inability to shift gears when engaging a high gear at low speed due to the inability of the electronic quick shift method to ensure the resolution of tooth-to-tooth alignment and the narrow application range of the electric drive deceleration system are solved, and a method for accurately identifying and controlling tooth-to-tooth alignment is provided, and the shifting time is not significantly increased, which greatly improves the driving experience.

[0124] Furthermore, if Figure 3 As shown, an embodiment of the present invention further discloses a dog clutch tooth-to-tooth control device 10 , which includes: an acquisition module 100 , a judgment module 200 and a control module 300 .

[0125] Specifically, if Figure 3As shown, the acquisition module 100 is used to obtain the actual angle value of the shift hub and the current value of the shift motor, and judge whether the dog clutch meets the preset sticking condition based on the actual angle value and the current value; the judgment module 200 is used to judge whether the actual angle value is in the preset tooth-aligning angle range when the dog clutch meets the preset sticking condition; the control module 300 is used to judge that the tooth alignment is established when the actual angle value is in the preset tooth-aligning angle range, and increase the pressure value of the clutch of the gear shaft connected to the dog clutch to the preset calibration value according to the preset increase strategy, and reduce the duty cycle of the shift motor according to the preset reduction strategy until the gear is engaged.

[0126] Furthermore, in some embodiments, after increasing the pressure value of the clutch of the shaft where the gear connected to the dog clutch is located to a preset calibration value according to a preset increasing strategy, and reducing the duty cycle of the shift motor according to a preset decreasing strategy, the control module 300 is further used to: obtain the actual angle value of the adjusted shift hub and the shaft speed change value of the shaft where the gear connected to the dog clutch is located; when the actual angle value of the adjusted shift hub is not within the preset tooth angle range, it is determined that the gear is engaged; when the actual angle value of the adjusted shift hub is within the preset tooth angle range, it is determined that the gear is engaged. Whether the shaft speed of the shaft where the gear is located is greater than the preset change value, and when the shaft speed of the shaft where the gear is located connected to the dog clutch after the adjustment is less than or equal to the preset change value, continue to increase the pressure value of the clutch of the shaft where the gear is located connected to the dog clutch according to the preset improvement strategy until the shaft speed of the shaft where the gear is located connected to the dog clutch is greater than the preset change value; when the shaft speed of the shaft where the gear is located connected to the dog clutch after the adjustment is greater than the preset change value, it is determined that the gear is aligned, and the number of gear alignments is counted, and the shift hub is driven again to perform the gear shifting action, and whether the actual angle of the shift hub is in the preset gear alignment angle range is obtained, and this cycle is repeated, and the number of gear alignments is accumulated.

[0127] Furthermore, in some embodiments, after determining whether the dog clutch satisfies a preset sticking condition based on the actual angle value and the current value, the acquisition module 100 is further configured to: execute a shifting action when the dog clutch does not satisfy the preset sticking condition.

[0128] Furthermore, in some embodiments, after determining whether the actual angle value is within the preset gear-aligned angle range, the determination module 200 is further configured to: execute a gear shifting action when the actual angle value is not within the preset gear-aligned angle range.

[0129] Furthermore, in some embodiments, after determining that the gear alignment is established, the control module 300 is also used to: obtain the current number of gear alignments, and determine whether the current number of gear alignments is less than a first preset number; when the current number of gear alignments is less than the first preset number, increase the pressure value of the clutch of the shaft where the gear position connected to the dog clutch is located to a preset calibration value according to a preset increasing strategy, and reduce the duty cycle of the shift motor according to a preset decreasing strategy, otherwise, execute the gear disengagement action.

[0130] Furthermore, in some embodiments, after executing the shift disengagement action, the control module 300 is further configured to: determine whether the shift disengagement action is completed; when the shift disengagement action is completed, determine whether the number of shift disengagements is less than a second preset number; when the current number of shift disengagements is greater than or equal to the second preset number, determine that the shifting has failed; otherwise, re-drive the shift hub to execute the shifting action, and determine whether the actual angle of the shift hub is within the preset tooth-aligning angle range, and repeat the cycle.

[0131] Furthermore, in some embodiments, the dog clutch is judged based on the actual angle value and the current value to determine whether it meets the preset sticking condition, and the acquisition module 100 is also used to: determine whether the angle change value of the shift hub is less than a preset threshold value based on the actual angle value, and determine whether the current value is greater than a preset current value; when the angle change value is less than the preset threshold value and the current value is greater than the preset current value, obtain the duration of the angle change value being less than the preset threshold value and the current value being greater than the preset current value; when the duration is greater than the preset duration, determine that the dog clutch meets the preset sticking condition.

[0132] It should be noted that the specific implementation of the tooth-to-tooth control device of the dog clutch embodiment of the present invention is similar to the specific implementation of the tooth-to-tooth control method of the dog clutch, and will not be described here to reduce redundancy.

[0133] According to the tooth-to-tooth control device of the dog clutch according to the embodiment of the present invention, whether the dog clutch satisfies the preset sticking condition is determined based on the actual angle value of the shift hub and the current value of the shift motor. If the dog clutch satisfies the preset sticking condition, it is determined whether the actual angle value is within the preset tooth-to-tooth angle range. If the actual angle value is within the preset tooth-to-tooth angle range, it is determined that the tooth is established, and the pressure value of the clutch on the gear shaft where the dog clutch is connected is increased to a preset calibration value according to the preset increasing strategy, and the duty cycle of the shift motor is reduced according to the preset decreasing strategy until the gear is engaged. As a result, the problems of the inability to shift gears when engaging a high gear at low speed due to the inability of the electronic quick shift to ensure the resolution of tooth-to-tooth and the narrow application range of the electric drive deceleration system are solved, and a method for accurately identifying and controlling tooth-to-tooth is provided, and the shifting time is not significantly increased, which greatly improves the driving experience.

[0134] Furthermore, Figure 4A schematic diagram of the structure of a vehicle provided in an embodiment of the present invention. The vehicle may include:

[0135] Memory 401 , processor 402 , and computer programs stored in the memory 401 and executable on the processor 402 .

[0136] When the processor 402 executes the program, the tooth-to-tooth control method of the dog clutch provided in the above embodiment is implemented.

[0137] Furthermore, the vehicle further comprises:

[0138] The communication interface 403 is used for communication between the memory 401 and the processor 402 .

[0139] The memory 401 is used to store computer programs that can be run on the processor 402 .

[0140] The memory 401 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0141] If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 can be connected to each other via a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 4 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0142] Optionally, in a specific implementation, if the memory 401, the processor 402 and the communication interface 403 are integrated on a chip, the memory 401, the processor 402 and the communication interface 403 can communicate with each other through an internal interface.

[0143] The processor 402 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0144] Furthermore, an embodiment of the present invention also discloses a computer-readable storage medium having a computer program stored thereon, which is executed by a processor to implement the tooth-to-tooth control method of the dog clutch as described in the above embodiment.

[0145] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling tooth-to-tooth of a dog clutch, characterized in that: The following steps are involved: Obtaining an actual angle value of the shift hub and a current value of the shift motor, and determining whether the dog clutch meets a preset sticking condition based on the actual angle value and the current value; If the dog clutch satisfies the preset sticking condition, determining whether the actual angle value is within a preset tooth-aligning angle range; as well as If the actual angle value is within the preset tooth alignment angle range, it is determined that the tooth alignment is established, and the pressure value of the clutch on the shaft where the gear position connected to the dog clutch is located is increased to a preset calibration value according to the preset enhancement strategy, and the duty cycle of the shift motor is reduced according to the preset reduction strategy until the gear shift is completed.

2. The method according to claim 1, characterized in that After increasing the pressure value of the clutch of the shaft where the gear position connected to the dog clutch is located to the preset calibration value according to the preset increasing strategy, and reducing the duty cycle of the shift motor according to the preset decreasing strategy, the method further includes: Obtaining an adjusted actual angle value of the shift hub and an adjusted shaft speed change value of the shaft at the gear position connected to the dog clutch; If the actual angle value of the shift hub after adjustment is not within the preset gear-aligning angle range, it is determined that the shift is completed; If the actual angle value of the shift hub after adjustment is within the preset tooth alignment angle range, it is determined whether the shaft speed of the gear position connected to the dog clutch after adjustment is greater than the preset change value, and when the shaft speed of the gear position connected to the dog clutch after adjustment is less than or equal to the preset change value, the pressure value of the clutch of the shaft where the gear position connected to the dog clutch is located continues to be increased according to the preset increase strategy until the shaft speed of the gear position connected to the dog clutch is greater than the preset change value; when the shaft speed of the gear position connected to the dog clutch after adjustment is greater than the preset change value, it is determined that tooth alignment is established, the number of tooth alignments is counted, the shift hub is re-driven to perform the gear shifting action, and whether the actual angle of the shift hub is within the preset tooth alignment angle range is obtained. This cycle is repeated, and the number of tooth alignments is accumulated.

3. The method according to claim 1, characterized in that After determining whether the dog clutch satisfies the preset sticking condition according to the actual angle value and the current value, the method further includes: If the dog clutch does not meet the preset sticking condition, the gear-shifting action is performed.

4. The method according to claim 1, wherein After determining whether the actual angle value is within the preset tooth-aligning angle range, the method further includes: If the actual angle value is not within the preset gear-matching angle range, the gear-shifting action is performed.

5. The method according to claim 2, characterized in that After determining that the tooth alignment is established, the following steps are also included: Obtaining a current number of tooth alignments, and determining whether the current number of tooth alignments is less than a first preset number; If the current number of tooth alignments is less than the first preset number, the pressure value of the clutch on the shaft where the gear position connected to the dog clutch is located is increased to the preset calibration value according to the preset increase strategy, and the duty cycle of the shift motor is reduced according to the preset decrease strategy; otherwise, the gear disengagement action is executed.

6. The method according to any one of claims 3 to 5, characterized in that After executing the shifting action, the method further includes: Determining whether the shift-off action is completed; If the shifting action is completed, determining whether the shifting number is less than a second preset number; If the current number of shifting times is greater than or equal to the second preset number, it is determined that the shifting has failed; otherwise, the shift hub is driven again to perform the shifting action, and whether the actual angle of the shift hub is within the preset gear angle range is obtained, and this cycle is repeated.

7. The method according to claim 1, characterized in that The determining whether the dog clutch satisfies a preset sticking condition based on the actual angle value and the current value includes: Based on the actual angle value, determining whether the angle change value of the shift hub is less than a preset threshold, and determining whether the current value is greater than a preset current value; If the angle change value is smaller than the preset threshold value and the current value is greater than the preset current value, obtaining a duration during which the angle change value is smaller than the preset threshold value and the current value is greater than the preset current value; If the duration is longer than a preset duration, it is determined that the dog clutch meets the preset sticking condition.

8. A tooth-to-tooth control device for a dog clutch, characterized in that: include: an acquisition module, configured to acquire an actual angle value of the shift hub and a current value of the shift motor, and determine whether the dog clutch meets a preset sticking condition based on the actual angle value and the current value; a judgment module, configured to judge whether the actual angle value is within a preset tooth-aligning angle range when the dog clutch satisfies the preset sticking condition; as well as The control module is used to determine that the gear alignment is established when the actual angle value is within the preset gear alignment angle range, and to increase the pressure value of the clutch of the gear position connected to the dog clutch to a preset calibration value according to a preset increase strategy, and to reduce the duty cycle of the shift motor according to a preset reduction strategy until the gear engagement is completed.

9. A vehicle, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the tooth-to-tooth control method of a dog clutch according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the tooth-to-tooth control method of a dog clutch according to any one of claims 1 to 7.

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