Pneumatic clutch control method, device, vehicle and storage medium

Abstract

The present invention discloses a pneumatic clutch control method, device, vehicle, and storage medium. The pneumatic clutch control method includes: obtaining a pneumatic clutch target position, a target position change rate, an actual pneumatic clutch position, and an actual position change rate; determining initial clutch control parameters based on the pneumatic clutch target position and the actual pneumatic clutch position; determining a sticking correction coefficient and a fluctuation correction coefficient based on the actual pneumatic clutch position; and determining a position change correction coefficient based on the target position change rate and the actual position change rate; correcting the initial clutch control parameters based on at least one of the sticking correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient, and outputting a target clutch control parameter to control the pneumatic clutch to move from the actual pneumatic clutch position to the pneumatic clutch target position based on the target clutch control parameter. The present invention achieves precise pneumatic clutch position control.

Description

Technical Field

[0001] The present invention relates to the technical field of clutch control, and in particular to a pneumatic clutch control method, device, vehicle and storage medium. Background Art

[0002] A pneumatic clutch is a device that uses pressure on a rotating object to cause another, previously stationary object to rotate. Pneumatic clutches are widely used in a variety of industries, including machinery, metallurgy, food, and printing, and offer powerful functionality.

[0003] The current pneumatic clutch control method uses PI regulation based on the position difference between the target and actual clutch positions. By adjusting the solenoid valve duty cycle in real time, the cylinder air intake is controlled, ultimately achieving the goal of moving the actual position toward the target position. However, the current technology uses the position difference between the target and actual clutch positions as a single variable for regulation, resulting in low control accuracy and prone to problems such as overshoot, lag, and fluctuation. Summary of the Invention

[0004] The present invention provides a pneumatic clutch control method, device, vehicle and storage medium to solve the problems of current technology that use the pneumatic clutch position difference as a single variable for adjustment, resulting in low control accuracy and prone to overshoot, sticking, fluctuation and other problems.

[0005] According to one aspect of the present invention, a pneumatic clutch control method is provided, the pneumatic clutch control method comprising:

[0006] Obtaining a pneumatic clutch target position, a target position change rate, an actual position of the pneumatic clutch, and an actual position change rate, and determining initial clutch control parameters based on the pneumatic clutch target position and the pneumatic clutch actual position;

[0007] Determining a sticking correction coefficient and a fluctuation correction coefficient according to the actual position of the pneumatic clutch, and determining a position change correction coefficient according to the target position change rate and the actual position change rate;

[0008] The initial clutch control parameter is corrected according to at least one of the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient, and a target clutch control parameter is output to control the pneumatic clutch to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the target clutch control parameter.

[0009] Optionally, determining a sticking correction coefficient according to the actual position of the pneumatic clutch includes:

[0010] determining whether the pneumatic clutch is stuck according to a position difference between the pneumatic clutch target position and the pneumatic clutch actual position and a position change value of the pneumatic clutch actual position;

[0011] After determining that position jamming occurs, a jamming correction coefficient is determined according to the acquired jamming time.

[0012] Optionally, determining the fluctuation correction coefficient according to the actual position of the pneumatic clutch includes:

[0013] determining, based on the actual position of the pneumatic clutch, whether the actual position of the pneumatic clutch continuously fluctuates within the target position of the pneumatic clutch;

[0014] After determining that continuous fluctuations have occurred, a fluctuation correction coefficient is determined based on the obtained fluctuation peak value and fluctuation time.

[0015] Optionally, determining a position change correction coefficient according to the target position change rate and the actual position change rate includes:

[0016] A position change correction coefficient is determined according to a difference between the target position change rate and the actual position change rate.

[0017] Optionally, the position change correction coefficient includes a first change correction coefficient and a second change correction coefficient;

[0018] Determining a position change correction coefficient according to a difference between the target position change rate and the actual position change rate includes:

[0019] If the difference between the target position change rate and the actual position change rate is greater than 0, determining the position change correction coefficient to be a first change correction coefficient, wherein the first change correction coefficient is greater than 1;

[0020] If the difference between the target position change rate and the actual position change rate is less than 0, the position change correction coefficient is determined to be a second change correction coefficient, and the second change correction coefficient is less than 1.

[0021] Optionally, the initial clutch control parameter is corrected according to at least one of the sticking correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient to output a target clutch control parameter, including:

[0022] Correcting the initial clutch control parameter according to any one of the sticking correction coefficient, the fluctuation correction coefficient, or the position change correction coefficient, and outputting a target clutch control parameter; or

[0023] Correcting the initial clutch control parameter according to the sticking correction coefficient and the fluctuation correction coefficient, or the sticking correction coefficient and the position change correction coefficient, or the fluctuation correction coefficient and the position change correction coefficient, and outputting a target clutch control parameter; or,

[0024] The initial clutch control parameter is corrected according to the sticking correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient, and a target clutch control parameter is output.

[0025] Optionally, controlling the pneumatic clutch to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the target clutch control parameter includes:

[0026] The pneumatic clutch is controlled to control the cylinder air intake amount based on the target clutch control parameter, and the pneumatic clutch is controlled to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the cylinder air intake amount.

[0027] According to another aspect of the present invention, a pneumatic clutch control device is provided, comprising:

[0028] an initial control parameter determination module, configured to obtain a target position of the pneumatic clutch, a target position change rate, an actual position of the pneumatic clutch, and an actual position change rate, and determine initial clutch control parameters according to the target position of the pneumatic clutch and the actual position of the pneumatic clutch;

[0029] a correction coefficient determination module, configured to determine a sticking correction coefficient and a fluctuation correction coefficient according to the actual position of the pneumatic clutch, and determine a position change correction coefficient according to the target position change rate and the actual position change rate;

[0030] A target control parameter determination module is used to perform correction on the initial clutch control parameter according to at least one of the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient, and output a target clutch control parameter to control the pneumatic clutch to move from the actual pneumatic clutch position to the target pneumatic clutch position based on the target clutch control parameter.

[0031] According to another aspect of the present invention, there is provided a vehicle, comprising:

[0032] at least one processor; and

[0033] a memory communicatively connected to the at least one processor; wherein,

[0034] The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor so that the at least one processor can execute the pneumatic clutch control method according to any embodiment of the present invention.

[0035] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the pneumatic clutch control method according to any embodiment of the present invention when executed.

[0036] The technical solution of the embodiment of the present invention obtains the pneumatic clutch target position, target position change rate, actual pneumatic clutch position, and actual position change rate, and determines the initial clutch control parameters based on the pneumatic clutch target position and the pneumatic clutch actual position; determines a hysteresis correction coefficient and a fluctuation correction coefficient based on the pneumatic clutch actual position, and determines a position change correction coefficient based on the target position change rate and the actual position change rate; corrects the initial clutch control parameters based on at least one of the hysteresis correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient, and outputs the target clutch control parameters to control the pneumatic clutch to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the target clutch control parameters. The present invention solves the problems of the current technology that uses the pneumatic clutch position difference as a single variable for adjustment, resulting in low control accuracy and prone to overshoot, hysteresis, fluctuation, etc., and realizes precise control of the pneumatic clutch position.

[0037] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 This is a flow chart of a pneumatic clutch control method provided according to the first embodiment of the present invention;

[0040] Figure 2 This is a flow chart of a pneumatic clutch control method provided according to a second embodiment of the present invention;

[0041] Figure 3This is a schematic structural diagram of a pneumatic clutch control device provided according to a third embodiment of the present invention;

[0042] Figure 4 2 is a schematic structural diagram of a vehicle for implementing the pneumatic clutch control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0044] It should be noted that the terms "initial", "target", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0045] Example 1

[0046] Figure 1 A flow chart of a pneumatic clutch control method is provided for the first embodiment of the present invention. This embodiment is applicable to the case where the position of the pneumatic clutch is precisely controlled. The pneumatic clutch control method can be executed by a pneumatic clutch control device, which can be implemented in the form of hardware and / or software. The pneumatic clutch control device can be configured in a vehicle with a pneumatic clutch enabled. Figure 1 As shown, the pneumatic clutch control method includes:

[0047] S110 , obtaining a pneumatic clutch target position, a target position change rate, a pneumatic clutch actual position, and an actual position change rate, and determining initial clutch control parameters according to the pneumatic clutch target position and the pneumatic clutch actual position.

[0048] The working principle of the pneumatic clutch is as follows: after the solenoid valve is powered on, compressed air enters the clutch cylinder chamber through the air guide valve, causing the piston to move axially, pushing the friction plate, intermediate plate and pulley plane to press together. If the air pressure gradually increases, the working machine will soft start and achieve smooth operation. When the solenoid valve is closed, the air pressure disappears, and the air pressure is used to control the separation and engagement of the pneumatic clutch. The pressure is increased to engage, and the pressure is released to separate the friction plate, which is quickly reset by the spring to achieve complete separation. The solenoid valve is opened for inflation and the closed valve is opened for exhaust. When both valves are open at the same time and the duty ratio is large, the clutch approaches the target position faster, otherwise it is slower.

[0049] The target position of the pneumatic clutch can be, but is not limited to, set by the vehicle controller according to the execution requirements, and the target position change rate is calculated by the vehicle controller.

[0050] The actual position of the pneumatic clutch is the current position of the piston's axial motion. This can be obtained, but is not limited to, via a position sensor. The actual position change rate is the derivative of the slope of a curve showing the actual position change of the pneumatic clutch over a period of time. The actual position change rate can be calculated by the vehicle controller based on the change in the actual position of the pneumatic clutch over a period of time.

[0051] Different pneumatic clutches have different sizes and position calibration parameters. To ensure portability, position calibration parameters are represented using proportional data. Alternatively, both the actual and target positions of the pneumatic clutches can be represented using percentages or thousandths.

[0052] Based on the above, the initial clutch control parameters are obtained using a PI algorithm based on the position difference between the pneumatic clutch target position and the actual pneumatic clutch position. The PI algorithm is a proportional control and integral condition algorithm. The PI algorithm and its PI parameters can be implemented using existing methods. The PI parameters can be pre-calibrated by the vehicle controller, and this embodiment does not impose any restrictions on this.

[0053] It is understandable that based on the intuitive data representation of the actual position of the pneumatic clutch and the target position of the pneumatic clutch, it is convenient to determine a control parameter with higher precision through the position difference between the target position of the pneumatic clutch and the actual position of the pneumatic clutch.

[0054] Optionally, the initial clutch control parameter may be a valve closing duty cycle of the solenoid valve.

[0055] S120. Determine a sticking correction coefficient and a fluctuation correction coefficient according to the actual position of the pneumatic clutch, and determine a position change correction coefficient according to the target position change rate and the actual position change rate.

[0056] In the art, when the force of the compressed air pushing the piston to generate axial movement is insufficient to offset the maximum static friction force, that is, when the actual position change of the pneumatic clutch is small, the pneumatic clutch will become stuck.

[0057] The sticking correction coefficient is used to adjust the actual position of the pneumatic clutch in real time based on the real-time determination of whether the actual position of the pneumatic clutch is stuck. The sticking correction coefficient can be determined based on the sticking time or in combination with other parameters that may affect the occurrence of sticking, and this embodiment does not impose any limitations on this.

[0058] Specifically, the real-time position of the pneumatic clutch can be used to determine whether the pneumatic clutch is currently stuck. After determining that the pneumatic clutch is stuck, the current stuck time of the pneumatic clutch is calculated, and a stuck correction coefficient is determined based on the stuck time. Optionally, the stuck correction coefficient is greater than 1.

[0059] It is understandable that if it is determined that no position hysteresis occurs, the hysteresis correction coefficient can be defined as 1, that is, there is no need to correct the initial clutch control parameters.

[0060] In this field, when the actual position of the pneumatic clutch is less than the target position of the pneumatic clutch, the split valve is opened and the closing valve is closed to perform a separation operation. When the actual position of the pneumatic clutch is greater than the target position of the pneumatic clutch, the closing valve is opened and the split valve is closed to perform a coupling operation. When the actual position of the pneumatic clutch continuously overshoots near the target position of the pneumatic clutch, there is a risk of fluctuation.

[0061] Based on this, it is possible to determine in real time whether the actual position of the pneumatic clutch continuously fluctuates around the target position of the pneumatic clutch, and to correct the initial clutch control parameters using the fluctuation correction coefficient.

[0062] The fluctuation correction coefficient may be determined based on the fluctuation peak value and the fluctuation time, or may be determined in combination with other parameters that may affect continuous fluctuations, and this embodiment does not impose any limitation on this.

[0063] Specifically, the real-time position of the pneumatic clutch can be used to determine whether the actual position of the pneumatic clutch continuously fluctuates near the target position of the pneumatic clutch. After determining that continuous fluctuations have occurred, the peak value and fluctuation time of the current continuous fluctuation of the pneumatic clutch are calculated, and a fluctuation correction coefficient is determined based on the obtained fluctuation peak value and fluctuation time. Optionally, the fluctuation correction coefficient is less than 1.

[0064] It is understandable that if it is determined that no continuous fluctuation occurs, the fluctuation correction coefficient may be defined as 1, that is, there is no need to correct the initial clutch control parameters.

[0065] In this field, when the position difference between the actual position of the pneumatic clutch and the target position of the pneumatic clutch is large, a larger clutch control parameter will be output, but the pneumatic clutch control has a hysteresis, so there may be a risk of overshoot. To avoid the above problem, the position change correction coefficient can be determined by the difference between the target position change rate and the actual position change rate.

[0066] The position change rate can represent the speed at which the actual position of the clutch approaches the target position. By comparing the actual position change rate of the pneumatic clutch with the change rate of the target position change rate of the pneumatic clutch, the control parameters can be adjusted in real time, and then the speed at which the actual position of the pneumatic clutch approaches the target position can be adjusted. This can improve the control accuracy and reduce the probability of overshoot of the actual position of the pneumatic clutch.

[0067] The position change correction coefficient may be determined by determining the difference between the target position change rate and the actual position change rate in real time, and the initial clutch control parameter may be corrected using the position change correction coefficient.

[0068] The position change correction coefficient is obtained by subtracting the target position change rate calculated in real time from the actual position change rate, and can also be determined in combination with other parameters that may affect overshoot. This embodiment does not impose any limitation on this.

[0069] Specifically, the difference between the target position change rate and the actual position change rate obtained in real time can be used to determine whether the initial clutch control parameters should be corrected. After determining that the initial clutch control parameters should be corrected, the position change correction coefficient can be determined by looking up the table based on the difference between the target position change rate and the actual position change rate.

[0070] S130. Correct the initial clutch control parameter according to at least one of the sticking correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient, and output a target clutch control parameter to control the pneumatic clutch to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the target clutch control parameter.

[0071] Since the pneumatic clutch may or may not experience position sticking, may or may not experience continuous fluctuations, it may be necessary to correct the initial clutch control parameters by using the difference between the target position change rate and the actual position change rate. In this embodiment, the specific aspects of correcting the initial clutch control parameters in the pneumatic clutch control are not restricted, and the correction is selected based on the actual situation of the pneumatic clutch.

[0072] Specifically, according to the actual situation of the pneumatic clutch, any one of the sticking correction coefficient, the fluctuation correction coefficient or the position change correction coefficient can be selected to correct the initial clutch control parameters, or the sticking correction coefficient and the fluctuation correction coefficient, or the sticking correction coefficient and the position change correction coefficient, or the fluctuation correction coefficient and the position change correction coefficient can be used to correct the initial clutch control parameters, or the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient can be used to correct the initial clutch control parameters.

[0073] The target clutch control parameter is a parameter adjusted according to at least one of the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient. Optionally, the target clutch control parameter may be a valve closing duty cycle of the solenoid valve.

[0074] In this embodiment, after outputting the target clutch control parameter, the pneumatic clutch is controlled to control its cylinder air intake based on the target clutch control parameter, and the pneumatic clutch is controlled to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the cylinder air intake.

[0075] The technical solution of the embodiment of the present invention obtains the pneumatic clutch target position, target position change rate, actual pneumatic clutch position, and actual position change rate, and determines the initial clutch control parameters based on the pneumatic clutch target position and the pneumatic clutch actual position; determines a hysteresis correction coefficient and a fluctuation correction coefficient based on the pneumatic clutch actual position, and determines a position change correction coefficient based on the target position change rate and the actual position change rate; corrects the initial clutch control parameters based on at least one of the hysteresis correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient, and outputs the target clutch control parameters to control the pneumatic clutch to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the target clutch control parameters. The present invention solves the problems of the current technology that uses the pneumatic clutch position difference as a single variable for adjustment, resulting in low control accuracy and prone to overshoot, hysteresis, fluctuation, etc., and realizes precise control of the pneumatic clutch position.

[0076] Example 2

[0077] Figure 2 This is a flow chart of a pneumatic clutch control method provided in Example 2 of the present invention. Based on the above embodiment, this embodiment takes the three corrections according to the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient as an example to illustrate the pneumatic clutch position control. However, it should be noted that the order of the three corrections is Figure 2The above is only an example. The order of making corrections according to the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient can be adjusted according to the actual working conditions of the pneumatic clutch. This embodiment does not impose any restrictions on this. Figure 2 As shown, the pneumatic clutch control method includes:

[0078] S210, obtain the pneumatic clutch target position, target position change rate, pneumatic clutch actual position and actual position change rate, and determine the initial clutch control parameters based on the pneumatic clutch target position and the pneumatic clutch actual position, and execute at least one of step S220, step S230 and step S240.

[0079] It should be noted that, after step S210, at least one of step S220, step S230 and step S240 may be selectively executed according to the actual working condition of the clutch, and this embodiment does not impose any limitation on this.

[0080] S220. Determine whether the pneumatic clutch is stuck based on the position difference between the pneumatic clutch target position and the actual position of the pneumatic clutch and the position change value of the actual position of the pneumatic clutch. If so, execute step S221; if not, execute step S222.

[0081] For example, if the position difference between the pneumatic clutch target position and the actual position of the pneumatic clutch obtained in real time within the first stuck calibration time is greater than the first stuck calibration position threshold, and the position change value of the actual position of the pneumatic clutch obtained in real time within the second stuck calibration time is less than the second stuck calibration position threshold, it is determined that the pneumatic clutch is stuck.

[0082] The first and second calibrated sticking times can be selected and set by those skilled in the art based on actual clutch usage, but are not limited thereto. This embodiment imposes no restrictions on this. The first and second calibrated sticking times can be of the same or different lengths, and this embodiment imposes no particular restrictions on this.

[0083] The first stuck calibration position threshold can be selected and set based on, but not limited to, the position difference between the target position of the pneumatic clutch and the actual position of the pneumatic clutch, as well as the pneumatic clutch conditions of different vehicles. The second stuck calibration position threshold can be selected and set based on, but not limited to, the position change value of the actual position of the pneumatic clutch and the pneumatic clutch conditions of different vehicles. This embodiment does not impose any restrictions on this.

[0084] On the basis of the above, if the position difference between the pneumatic clutch target position and the actual position of the pneumatic clutch obtained in real time within the first stuck calibration time is not greater than the first stuck calibration position threshold, and / or the position change value of the actual position of the pneumatic clutch obtained in real time within the second stuck calibration time is not less than the second stuck calibration position threshold, it is judged that the pneumatic clutch is not stuck.

[0085] S221. Determine a jam correction coefficient according to the acquired jam time, and execute step S250.

[0086] The stuck time is the length of time measured after determining that the pneumatic clutch is stuck. The statistical method of the stuck time can be, but is not limited to, implemented by using a timer or other timing method. This embodiment does not impose any restrictions on this.

[0087] It can be understood that the initial clutch control parameters are adjusted based on the sticking correction coefficient. The sticking correction coefficient is greater than 1. The longer the sticking time, the larger the sticking correction coefficient. After it is determined that the pneumatic clutch eliminates the position sticking phenomenon, the sticking correction coefficient is adjusted to 1.

[0088] S222: The stuck correction coefficient is 1, and step S250 is executed.

[0089] Specifically, when it is determined that the pneumatic clutch is not stuck, or the sticking phenomenon of the pneumatic clutch disappears, the sticking correction coefficient is 1.

[0090] S230. Determine whether the actual position of the pneumatic clutch continuously fluctuates within the target position of the pneumatic clutch according to the actual position of the pneumatic clutch. If so, execute step S231; if not, execute step S232.

[0091] For example, if the peak value of the actual position of the pneumatic clutch obtained in real time does not decrease within the fluctuation calibration time, it is judged that the actual position of the pneumatic clutch fluctuates continuously near the target position of the pneumatic clutch; if the peak value of the actual position of the pneumatic clutch obtained in real time decreases, it is judged that the actual position of the pneumatic clutch does not fluctuate continuously near the target position of the pneumatic clutch.

[0092] The fluctuation calibration time can be, but is not limited to, selected and set by those skilled in the art according to the actual use of the clutch, and this embodiment does not impose any limitation on this.

[0093] S231. Determine a fluctuation correction coefficient according to the obtained fluctuation peak value and fluctuation time, and execute step S250.

[0094] Among them, the fluctuation peak is the peak value of the actual position of the pneumatic clutch for judging whether the actual position of the pneumatic clutch fluctuates continuously at the target position of the pneumatic clutch. The method for determining the fluctuation peak can be implemented using a waveform detection device, and this embodiment does not impose any restrictions on this.

[0095] The fluctuation time is the length of time measured after determining that the actual position of the pneumatic clutch fluctuates continuously around the target position of the pneumatic clutch. The statistical method of the fluctuation time can be, but is not limited to, implemented using a timing method such as a timer, and this embodiment does not impose any restrictions on this.

[0096] It can be understood that the initial clutch control parameters are adjusted based on the fluctuation correction coefficient. When the fluctuation correction coefficient is less than 1, the larger the fluctuation peak value and the longer the fluctuation time, the smaller the fluctuation correction coefficient, thereby reducing the fluctuation probability.

[0097] S232: The fluctuation correction coefficient is 1, and step S250 is executed.

[0098] Specifically, when it is determined that the actual position of the pneumatic clutch does not continuously fluctuate at the pneumatic clutch target position, or the continuous fluctuation phenomenon of the pneumatic clutch disappears, the fluctuation correction coefficient is 1.

[0099] S240 . Determine a position change correction coefficient according to the difference between the target position change rate and the actual position change rate, and execute step S250 .

[0100] Exemplarily, the position change correction coefficient includes a first change correction coefficient and a second change correction coefficient; if the difference between the target position change rate and the actual position change rate obtained in real time is greater than 0, the position change correction coefficient is determined to be the first change correction coefficient, and the first change correction coefficient is greater than 1, thereby optimizing responsiveness; if the difference between the target position change rate and the actual position change rate obtained in real time is less than 0, the position change correction coefficient is determined to be the second change correction coefficient, and the second change correction coefficient is less than 1, thereby reducing the probability of overshoot.

[0101] S250 , correcting the initial clutch control parameter according to at least one of the sticking correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient, and outputting a target clutch control parameter.

[0102] S260: Control the pneumatic clutch to control the cylinder air intake based on the target clutch control parameter, and control the pneumatic clutch to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the cylinder air intake.

[0103] The technical solution of the embodiment of the present invention can solve the problem of possible pneumatic clutch position sticking by adjusting the clutch control parameters according to the sticking time by identifying the pneumatic clutch position sticking; adjust the clutch control parameters according to the difference between the actual position of the pneumatic clutch and the target position change rate, and simultaneously optimize the responsiveness and overshoot problems; identify the continuous fluctuation of the pneumatic clutch position, adjust the clutch control parameters according to the fluctuation peak value and fluctuation time, and optimize the continuous fluctuation problem of the pneumatic clutch near the target position, thereby achieving the purpose of precise control of the clutch position.

[0104] Example 3

[0105] Figure 3 This is a schematic diagram of the structure of a pneumatic clutch control device provided in the third embodiment of the present invention. Figure 3 As shown, the pneumatic clutch control device includes:

[0106] an initial control parameter determination module 310 for acquiring a pneumatic clutch target position, a target position change rate, an actual position of the pneumatic clutch, and an actual position change rate, and determining initial clutch control parameters based on the pneumatic clutch target position and the pneumatic clutch actual position;

[0107] a correction coefficient determination module 320 for determining a sticking correction coefficient and a fluctuation correction coefficient according to the actual position of the pneumatic clutch, and determining a position change correction coefficient according to the target position change rate and the actual position change rate;

[0108] The target control parameter determination module 330 is used to perform correction on the initial clutch control parameter according to at least one of the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient, and output the target clutch control parameter to control the pneumatic clutch to move from the actual position of the pneumatic clutch to the target position of the pneumatic clutch based on the target clutch control parameter.

[0109] Optionally, a sticking correction coefficient is determined according to the actual position of the pneumatic clutch, specifically for:

[0110] determining whether the pneumatic clutch is stuck according to a position difference between the pneumatic clutch target position and the pneumatic clutch actual position and a position change value of the pneumatic clutch actual position;

[0111] After determining that position jamming occurs, a jamming correction coefficient is determined according to the acquired jamming time.

[0112] Optionally, a fluctuation correction coefficient is determined according to the actual position of the pneumatic clutch, specifically for:

[0113] determining, based on the actual position of the pneumatic clutch, whether the actual position of the pneumatic clutch continuously fluctuates within the target position of the pneumatic clutch;

[0114] After determining that continuous fluctuations have occurred, a fluctuation correction coefficient is determined based on the obtained fluctuation peak value and fluctuation time.

[0115] Optionally, a position change correction coefficient is determined according to the target position change rate and the actual position change rate, specifically for:

[0116] A position change correction coefficient is determined according to a difference between the target position change rate and the actual position change rate.

[0117] Optionally, the position change correction coefficient includes a first change correction coefficient and a second change correction coefficient;

[0118] The position change correction coefficient is determined according to the difference between the target position change rate and the actual position change rate, specifically used for:

[0119] If the difference between the target position change rate and the actual position change rate is greater than 0, determining the position change correction coefficient to be a first change correction coefficient, wherein the first change correction coefficient is greater than 1;

[0120] If the difference between the target position change rate and the actual position change rate is less than 0, the position change correction coefficient is determined to be a second change correction coefficient, and the second change correction coefficient is less than 1.

[0121] Optionally, the target control parameter determination module 330 is specifically configured to:

[0122] Correcting the initial clutch control parameter according to any one of the sticking correction coefficient, the fluctuation correction coefficient, or the position change correction coefficient, and outputting a target clutch control parameter; or

[0123] Correcting the initial clutch control parameter according to the sticking correction coefficient and the fluctuation correction coefficient, or the sticking correction coefficient and the position change correction coefficient, or the fluctuation correction coefficient and the position change correction coefficient, and outputting a target clutch control parameter; or,

[0124] The initial clutch control parameter is corrected according to the sticking correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient, and a target clutch control parameter is output.

[0125] Optionally, controlling the pneumatic clutch to move from the actual pneumatic clutch position to the target pneumatic clutch position based on the target clutch control parameter is specifically used to:

[0126] The pneumatic clutch is controlled to control the cylinder air intake amount based on the target clutch control parameter, and the pneumatic clutch is controlled to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the cylinder air intake amount.

[0127] The pneumatic clutch control device provided in the embodiment of the present invention can execute the pneumatic clutch control method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the pneumatic clutch control method.

[0128] Example 4

[0129] Figure 4 A schematic diagram of a vehicle 410 that can be used to implement an embodiment of the present invention is shown. The vehicle may include various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The vehicle may also include various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0130] like Figure 4 As shown, vehicle 410 includes at least one processor 411 and a memory, such as a read-only memory (ROM) 412, a random access memory (RAM) 413, etc., which is communicatively connected to the at least one processor 411. The memory stores a computer program that can be executed by the at least one processor, and the processor 411 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 412 or the computer program loaded from the storage unit 418 to the random access memory (RAM) 413. Various programs and data required for the operation of the vehicle 410 can also be stored in the RAM 413. The processor 411, ROM 412, and RAM 413 are connected to each other via a bus 414. An input / output (I / O) interface 415 is also connected to the bus 414.

[0131] Various components in vehicle 410 are connected to I / O interface 415, including an input unit 416, such as a keyboard, mouse, etc.; an output unit 417, such as various types of displays, speakers, etc.; a storage unit 418, such as a magnetic disk, optical disk, etc.; and a communication unit 419, such as a network card, modem, wireless communication transceiver, etc. Communication unit 419 allows vehicle 410 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0132] Processor 411 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 411 executes the various methods and processes described above, such as the pneumatic clutch control method.

[0133] In some embodiments, the pneumatic clutch control method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 418. In some embodiments, part or all of the computer program can be loaded and / or installed on vehicle 410 via ROM 412 and / or communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the pneumatic clutch control method described above can be performed. Alternatively, in other embodiments, processor 411 can be configured to execute the pneumatic clutch control method in any other suitable manner (e.g., via firmware).

[0134] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0135] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0136] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0137] To provide interaction with a user, the systems and techniques described herein can be implemented in a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0138] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0139] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0140] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0141] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A pneumatic clutch control method, characterized in that: include: Obtaining a pneumatic clutch target position, a target position change rate, an actual position of the pneumatic clutch, and an actual position change rate, and determining initial clutch control parameters based on the pneumatic clutch target position and the pneumatic clutch actual position; Determining a sticking correction coefficient and a fluctuation correction coefficient according to the actual position of the pneumatic clutch, and determining a position change correction coefficient according to the target position change rate and the actual position change rate; wherein, determining the sticking correction coefficient according to the actual position of the pneumatic clutch includes: judging whether the pneumatic clutch is stuck according to the position difference between the pneumatic clutch target position and the actual position of the pneumatic clutch and the position change value of the actual position of the pneumatic clutch; determining the fluctuation correction coefficient according to the actual position of the pneumatic clutch includes: judging whether the actual position of the pneumatic clutch fluctuates continuously at the pneumatic clutch target position according to the actual position of the pneumatic clutch; after judging that continuous fluctuation occurs, determining the fluctuation correction coefficient according to the obtained fluctuation peak value and fluctuation time; The initial clutch control parameter is corrected according to at least one of the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient, and a target clutch control parameter is output to control the pneumatic clutch to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the target clutch control parameter.

2. The pneumatic clutch control method according to claim 1, characterized in that: Determining a position change correction coefficient according to the target position change rate and the actual position change rate includes: A position change correction coefficient is determined according to a difference between the target position change rate and the actual position change rate.

3. The pneumatic clutch control method according to claim 2, characterized in that: The position change correction coefficient includes a first change correction coefficient and a second change correction coefficient; Determining a position change correction coefficient according to a difference between the target position change rate and the actual position change rate includes: If the difference between the target position change rate and the actual position change rate is greater than 0, determining the position change correction coefficient to be a first change correction coefficient, wherein the first change correction coefficient is greater than 1; If the difference between the target position change rate and the actual position change rate is less than 0, the position change correction coefficient is determined to be a second change correction coefficient, and the second change correction coefficient is less than 1.

4. The pneumatic clutch control method according to claim 1, characterized in that: Correcting the initial clutch control parameter according to at least one of the sticking correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient to output a target clutch control parameter includes: Correcting the initial clutch control parameter according to any one of the sticking correction coefficient, the fluctuation correction coefficient, or the position change correction coefficient, and outputting a target clutch control parameter; or Correcting the initial clutch control parameter according to the sticking correction coefficient and the fluctuation correction coefficient, or the sticking correction coefficient and the position change correction coefficient, or the fluctuation correction coefficient and the position change correction coefficient, and outputting a target clutch control parameter; or, The initial clutch control parameter is corrected according to the sticking correction coefficient, the fluctuation correction coefficient, and the position change correction coefficient, and a target clutch control parameter is output.

5. The pneumatic clutch control method according to claim 1, characterized in that: Controlling the pneumatic clutch to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the target clutch control parameter includes: The pneumatic clutch is controlled to control the cylinder air intake amount based on the target clutch control parameter, and the pneumatic clutch is controlled to move from the pneumatic clutch actual position to the pneumatic clutch target position based on the cylinder air intake amount.

6. A pneumatic clutch control device, characterized in that: include: an initial control parameter determination module, configured to obtain a target position of the pneumatic clutch, a target position change rate, an actual position of the pneumatic clutch, and an actual position change rate, and determine initial clutch control parameters according to the target position of the pneumatic clutch and the actual position of the pneumatic clutch; a correction coefficient determination module, configured to determine a sticking correction coefficient and a fluctuation correction coefficient according to the actual position of the pneumatic clutch, and determine a position change correction coefficient according to the target position change rate and the actual position change rate; wherein, determining the sticking correction coefficient according to the actual position of the pneumatic clutch is specifically configured to: determine whether the pneumatic clutch is stuck according to a position difference between the target position of the pneumatic clutch and the actual position of the pneumatic clutch, and a position change value of the actual position of the pneumatic clutch; determining the fluctuation correction coefficient according to the actual position of the pneumatic clutch is specifically configured to: determine whether the actual position of the pneumatic clutch fluctuates continuously at the target position of the pneumatic clutch according to the actual position of the pneumatic clutch; and after determining that continuous fluctuation occurs, determine the fluctuation correction coefficient according to the acquired fluctuation peak value and fluctuation time; A target control parameter determination module is used to perform correction on the initial clutch control parameter according to at least one of the sticking correction coefficient, the fluctuation correction coefficient and the position change correction coefficient, and output a target clutch control parameter to control the pneumatic clutch to move from the actual pneumatic clutch position to the target pneumatic clutch position based on the target clutch control parameter.

7. A vehicle, characterized in that: The vehicle comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor. The computer program is executed by the at least one processor to enable the at least one processor to perform the pneumatic clutch control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the pneumatic clutch control method according to any one of claims 1 to 5 when executed.

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