Clutch half-engagement point position self-learning method and device, and vehicle

Abstract

The embodiment of the application discloses a clutch half-combination point position self-learning method and device and a vehicle, comprising: supplying power to a clutch system and initializing a motor corresponding to the clutch system; controlling the motor to run at a first speed to a first position, and then controlling the motor to run at a second speed; the first speed is greater than the second speed; in the running process of the motor, a plurality of target torque gradients corresponding to the motor are detected in real time, and target motor positions corresponding to the target torque gradients are obtained; according to the plurality of target torque gradients and the plurality of target motor positions, a learning position corresponding to a clutch half-combination point is determined, and a target position corresponding to the clutch half-combination point is determined according to the learning position. The technical scheme of the embodiment of the application provides an effective way for learning the half-combination point position of the motor-driven clutch, can improve the accuracy of the clutch half-combination point position result, and reduce the cost of the clutch half-combination point position determination process.

Description

Technical Field

[0001] This invention relates to the field of clutch technology, and more particularly to a self-learning method, device, and vehicle for clutch half-engagement point position. Background Technology

[0002] The clutch, installed between the engine and transmission, is an assembly in the automotive drivetrain directly connected to the engine. With the widespread application of electric motor-driven clutch systems in hybrid electric vehicles and transfer cases in four-wheeled vehicles, the ability to precisely control the clutch has become a crucial factor affecting vehicle performance. In clutch control technology, accurately obtaining the clutch's semi-engaged position is a key technology, directly impacting the clutch's torque transmission accuracy.

[0003] In existing technologies, the clutch half-engagement point position is usually obtained through bench testing on the clutch production line, or by using additional sensors (such as pressure sensors) to correct the clutch half-engagement point position.

[0004] However, the method of testing on the production line bench is only valid for products of the same production batch. After the vehicle has been driven for a long time, the clutch will wear down and the position of the half engagement point will shift to a certain extent. Secondly, the method of using sensors for position correction is costly. Finally, the existing methods for determining the clutch half engagement point position are usually limited to automatic transmission clutches and lack an effective way to learn the half engagement point position of motor-driven clutches. Summary of the Invention

[0005] This invention provides a self-learning method, device, and vehicle for clutch half-engagement point position, which can improve the accuracy of clutch half-engagement point position results and reduce the cost of clutch half-engagement point position determination process.

[0006] In a first aspect, embodiments of the present invention provide a self-learning method for the position of a clutch half-engagement point, comprising:

[0007] Power the clutch system and initialize the motor corresponding to the clutch system;

[0008] The motor is controlled to run at a first speed to a first position, and then controlled to run at a second speed; the first speed is greater than the second speed.

[0009] During the operation of the motor, multiple target torque gradients corresponding to the motor are detected in real time, and the target motor position corresponding to each target torque gradient is obtained.

[0010] Based on multiple target torque gradients and multiple target motor positions, the learning position corresponding to the clutch half-engagement point is determined, and the target position corresponding to the clutch half-engagement point is determined based on the learning position.

[0011] Secondly, embodiments of the present invention also provide a clutch half-engagement point position self-learning device, comprising:

[0012] The motor initialization module is used to supply power to the clutch system and initialize the motor corresponding to the clutch system.

[0013] The motor control module is used to control the motor to run at a first speed to a first position, and then control the motor to run at a second speed; the first speed is greater than the second speed.

[0014] The position acquisition module is used to detect multiple target torque gradients corresponding to the motor in real time during the operation of the motor, and to obtain the target motor position corresponding to each target torque gradient.

[0015] The target position determination module is used to determine the learning position corresponding to the clutch half-engagement point based on multiple target torque gradients and multiple target motor positions, and to determine the target position corresponding to the clutch half-engagement point based on the learning position.

[0016] Thirdly, embodiments of the present invention also provide a vehicle, the vehicle comprising:

[0017] At least one processor; and

[0018] A memory that is communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to execute the clutch half-engagement point position self-learning method provided in any embodiment of the present invention.

[0020] The technical solution provided by this invention provides an effective way to learn the half-engagement point position of a motor-driven clutch by supplying power to the clutch system and initializing the motor corresponding to the clutch system; controlling the motor to run at a first speed to a first position, and then controlling the motor to run at a second speed; the first speed is greater than the second speed; during the operation of the motor, multiple target torque gradients corresponding to the motor are detected in real time, and the target motor position corresponding to each target torque gradient is obtained; based on the multiple target torque gradients and multiple target motor positions, the learning position corresponding to the clutch half-engagement point is determined, and the target position corresponding to the clutch half-engagement point is determined based on the learning position. This improves the accuracy of the clutch half-engagement point position result and reduces the cost of the clutch half-engagement point position determination process.

[0021] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a flowchart of a self-learning method for the clutch half-engagement point position provided in Embodiment 1 of the present invention;

[0024] Figure 2 This is a flowchart of another self-learning method for the clutch half-engagement point position provided in Embodiment 2 of the present invention;

[0025] Figure 3 This is a flowchart of another self-learning method for the clutch half-engagement point position provided in Embodiment 3 of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of a clutch half-engagement point position self-learning device provided in Embodiment 4 of the present invention;

[0027] Figure 5 This is a structural schematic diagram of a vehicle provided in Embodiment 5 of the present invention. Detailed Implementation

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0030] Example 1

[0031] Figure 1 The flowchart of a clutch half-engagement point position self-learning method is provided in Embodiment 1 of the present invention. This embodiment can be applied to the case of determining the clutch half-engagement point position of an electric drive clutch system. The method can be executed by a clutch half-engagement point position self-learning device, which can be implemented in hardware and / or software and can be configured in a vehicle.

[0032] like Figure 1 As shown, the self-learning method for the clutch half-engagement point position disclosed in this embodiment includes:

[0033] S110. Power the clutch system and initialize the motor corresponding to the clutch system.

[0034] In this embodiment, the clutch system can be an electrically driven clutch system. Optionally, after detecting that the user has triggered a clutch half-engagement position learning request for the vehicle, the clutch system can be automatically powered.

[0035] S120. Control the motor to run at the first speed to the first position, and then control the motor to run at the second speed; the first speed is greater than the second speed.

[0036] In this embodiment, the first speed SP1 can be the average speed or a unique speed maintained by the motor during its movement to the first position POS1. The first position POS1 can be a user-preset position. The second speed SP2 can be a user-preset speed lower than the first speed SP1. The second speed SP2 can be an average speed or a unique speed.

[0037] Specifically, after initializing the motor corresponding to the clutch system, the vehicle can control the motor to enter a position control mode. In this position control mode, the motor can run to the first position POS1 at a first speed SP1. Because the distance between the clutch friction plates is relatively large when the motor enters the position control mode, the motor can run at a higher speed (i.e., the first speed SP1).

[0038] After detecting that the motor has reached the first position POS1, the vehicle can control the motor to enter a speed control mode. In this speed control mode, the motor can operate at a speed lower than the first speed (i.e., the second speed).

[0039] S130. During the operation of the motor, multiple target torque gradients corresponding to the motor are detected in real time, and the target motor position corresponding to each target torque gradient is obtained.

[0040] In this embodiment, multiple target torque gradients can be preset before the motor is controlled to run at the second speed SP2. During the operation of the motor at the second speed SP2, the torque corresponding to the motor can be collected in real time, and the torque gradient can be calculated in real time based on the torque corresponding to the motor. When it is detected that the torque gradient corresponding to the motor at the current moment is equal to the target torque gradient, the position of the motor at the current moment (i.e., the target motor position) is obtained.

[0041] S140. Based on multiple target torque gradients and multiple target motor positions, determine the learning position corresponding to the clutch half-engagement point, and determine the target position corresponding to the clutch half-engagement point based on the learning position.

[0042] In this embodiment, optionally, after obtaining multiple target torque gradients and multiple target motor positions corresponding to the motor, the multiple target torque gradients and multiple target motor positions can be linearly or nonlinearly processed to obtain the learning position KP_NEW corresponding to the clutch half-engagement point, and the target position corresponding to the clutch half-engagement point can be determined based on the learning position.

[0043] In one specific embodiment, after obtaining the learning position KP_NEW corresponding to the clutch half-engagement point, the learning position KP_NEW can be directly used as the target position, or the actual position KP corresponding to the clutch half-engagement point can be corrected by the learning position KP_NEW to obtain the target position corresponding to the clutch half-engagement point. This embodiment does not impose any restrictions on this.

[0044] In this embodiment, by controlling the motor to run at the first speed SP1 to the first position POS1, and then controlling the motor to run at the second speed SP2, multiple target motor positions corresponding to the motor can be quickly obtained, improving the learning efficiency of the clutch half-engagement point position. Secondly, by using the target torque gradient and the target motor position, the learning position KP_NEW corresponding to the clutch half-engagement point is determined, providing an effective way to learn the half-engagement point position of a motor-driven clutch. Moreover, no additional sensors are required during the entire learning process, thereby reducing the cost of the clutch half-engagement point position determination process, improving the accuracy of the clutch half-engagement point position result, and the torque transmission accuracy of the clutch.

[0045] The technical solution of this embodiment provides an effective way to learn the half-engagement point position of a motor-driven clutch by supplying power to the clutch system and initializing the motor corresponding to the clutch system; controlling the motor to run at a first speed SP1 to a first position POS1, and then controlling the motor to run at a second speed SP2; during the operation of the motor, detecting multiple target torque gradients corresponding to the motor in real time and obtaining the target motor position corresponding to each target torque gradient; determining the learning position KP_NEW corresponding to the clutch half-engagement point based on the multiple target torque gradients and multiple target motor positions, and determining the target position corresponding to the clutch half-engagement point based on the learning position KP_NEW. This method can improve the accuracy of the clutch half-engagement point position result and reduce the cost of the clutch half-engagement point position determination process.

[0046] Example 2

[0047] Figure 2 This is a flowchart of a self-learning method for the clutch half-engagement point position provided in Embodiment 2 of the present invention. This embodiment is a further optimization and extension based on the above embodiments and can be combined with various optional technical solutions in the above embodiments.

[0048] like Figure 2 As shown, the self-learning method for the clutch half-engagement point position disclosed in this embodiment includes:

[0049] S210. Power the clutch system and initialize the motor corresponding to the clutch system.

[0050] S220: Control the motor to run at the first speed to the first position, and then control the motor to run at the second speed; the first speed is greater than the second speed.

[0051] S230. During the first stage of motor operation at the second speed, when it is detected that the current torque gradient of the motor is equal to the first target torque gradient, the position of the first target motor corresponding to the first target torque gradient is obtained.

[0052] In this embodiment, the first stage, Phase 1, can be the stage where the motor runs at the second speed SP2 to the first target motor position POS_R1. The current torque gradient can be the motor torque gradient calculated based on the motor's torque at the current moment. The first target torque gradient Ratio1 can be a user-preset torque gradient. The first target motor position POS_R1 can be the actual position of the motor when the current torque gradient equals the first target torque gradient Ratio1.

[0053] S240. Control the motor to run the second phase Phase2 at the second speed SP2. When the current torque gradient of the motor is detected to be equal to the second target torque gradient Ratio2, obtain the second target motor position POS_R2 corresponding to the second target torque gradient Ratio2.

[0054] In this embodiment, the second phase (Phase 2) can be the phase in which the motor runs at the second speed (SP2) to the second target motor position (POS_R2). The second target torque gradient (Ratio 2) can be a user-preset torque gradient. The second target motor position (POS_R2) can be the actual position of the motor when the current torque gradient equals the second target torque gradient (Ratio 2).

[0055] S250: Control the motor to run at the second speed SP2 in the third phase (Phase 3). When the current torque gradient of the motor is detected to be equal to the third target torque gradient Ratio3, obtain the third target motor position POS_R3 corresponding to the third target torque gradient Ratio3.

[0056] In this embodiment, the third phase (Phase 3) can be the phase in which the motor runs at the second speed (SP2) to the third target motor position (POS_R3). The third target torque gradient (Ratio 3) can be a user-preset torque gradient. The third target motor position (POS_R3) can be the actual position of the motor when the current torque gradient equals the third target torque gradient (Ratio 3).

[0057] S260. Based on the first target torque gradient, the third target torque gradient, the first target motor position, the second target motor position, and the third target motor position, determine the learning position corresponding to the clutch half-engagement point.

[0058] In this embodiment, optionally, after obtaining the first target torque gradient Ratio1, the third target torque gradient Ratio3, the first target motor position POS_R1, the second target motor position POS_R2, and the third target motor position POS_R3, the learning position KP_NEW can be calculated according to the following formula:

[0059] KP_NEW=POS_R1-Ratio1*(POS_R2-POS_R3) / (Ratio3-Ratio1)

[0060] In this embodiment, by pre-setting three target torque gradients and controlling the motor to run in three stages sequentially at the second speed SP2, the learning time for the clutch half-engagement point position can be reduced and the learning efficiency improved.

[0061] The technical solution of this embodiment provides an effective way to learn the half-engagement point position of a motor-driven clutch by supplying power to the clutch system and initializing the corresponding motor; controlling the motor to run at a first speed SP1 to a first position POS1. Then, controlling the motor to run at a second speed SP2, the target torque gradient corresponding to the motor is detected in real time, and the target motor position corresponding to each target torque gradient is obtained; based on the first target torque gradient Ratio1, the third target torque gradient Ratio3, the first target motor position POS_R1, the second target motor position POS_R2, and the third target motor position POS_R3, the learning position corresponding to the clutch half-engagement point is determined. This provides an effective way to learn the half-engagement point position of a motor-driven clutch, which can improve the accuracy of the clutch half-engagement point position result and reduce the cost of the clutch half-engagement point position determination process.

[0062] Example 3

[0063] Figure 3 This is a flowchart of a self-learning method for the clutch half-engagement point position provided in Embodiment 3 of the present invention. This embodiment is a further optimization and extension based on the above embodiments, and can be combined with various optional technical solutions in the above embodiments.

[0064] like Figure 3 As shown, the self-learning method for the clutch half-engagement point position disclosed in this embodiment includes:

[0065] S310. Power the clutch system and initialize the motor corresponding to the clutch system.

[0066] In one specific embodiment, after initializing the motor corresponding to the clutch system, the vehicle status can be obtained through the transfer case controller. If the vehicle status indicates that the vehicle has the self-learning conditions for the clutch half-engagement position, the vehicle can be controlled to enter the clutch half-engagement position self-learning mode. Conversely, if the vehicle status indicates that the vehicle does not have the self-learning conditions for the clutch half-engagement position (e.g., clutch malfunction), the vehicle can wait for a preset time until it has the self-learning conditions for the clutch half-engagement position.

[0067] S320: Control the motor to run at the first speed to the first position, and then control the motor to run at the second speed; the first speed is greater than the second speed.

[0068] In this embodiment, optionally, during the process of controlling the motor to run at the first speed SP1, the running time of the motor can be counted in real time. If the running time is detected to be greater than the preset time threshold Time1_Thr, and the motor has not run to the first position POS1, the current learning process corresponding to the clutch system can be terminated, the fault corresponding to the current learning process can be recorded, and then the operation of initializing the motor corresponding to the clutch system can be performed to start the next learning process.

[0069] The advantage of this setting is that it can avoid deviations in the self-learning results of the clutch half-engagement point position and improve the accuracy of the self-learning results of the half-engagement point position.

[0070] S330. During the first, second and third stages of the motor running at the second speed, the motor torque gradient is detected in real time to see if it is equal to the first target torque gradient, the second target torque gradient or the third target torque gradient, and the first target motor position, the second target motor position and the third target motor position corresponding to each target torque gradient are obtained respectively.

[0071] In one embodiment of the present invention, during the process of controlling the motor to run at the second speed, the method further includes: real-time statistics of the running time of the motor in the first stage, the second stage and the third stage respectively; if any running time is greater than the corresponding time threshold and the current torque gradient of the motor is less than the corresponding target torque gradient, then the current learning process of the clutch system is terminated; the fault corresponding to the current learning process is recorded, and then the operation of initializing the motor of the clutch system is returned to perform the next learning process.

[0072] In this embodiment, the time thresholds corresponding to the motor running time can be different in the first phase (Phase 1), the second phase (Phase 2), and the third phase (Phase 3).

[0073] Specifically, the time thresholds for the first stage (Phase 1), the second stage (Phase 2), and the third stage (Phase 3) can be set as the first preset threshold Time2_Thr, the second preset threshold Time3_Thr, and the third preset threshold Time4_Thr, respectively.

[0074] In the first phase (Phase 1), the first running time (Time 2) of the motor can be recorded in real time. If the first running time (Time 2) is greater than the first preset threshold (Time 2 Thr), and the current torque gradient is less than the first target torque gradient (Ratio 1), the current learning process corresponding to the clutch system can be terminated. Conversely, if the first running time (Time 2) is less than or equal to the first preset threshold (Time 2 Thr), and the current torque gradient is equal to the first target torque gradient (Ratio 1), the motor can be controlled to continue running at the second speed (SP 2), and the second phase (Phase 2) can be entered.

[0075] In the second phase (Phase 2), the second running time (Time 3) of the motor can be recorded in real time. If the second running time (Time 3) is greater than the second preset threshold (Time 3 Thr), and the current torque gradient is less than the second target torque gradient (Ratio 2), the current learning process corresponding to the clutch system can be terminated. Conversely, if the second running time (Time 3) is less than or equal to the second preset threshold (Time 3 Thr), and the current torque gradient is equal to the second target torque gradient (Ratio 2), the motor can be controlled to continue running at the second speed (SP 2), and the process can enter the third phase (Phase 3).

[0076] In Phase 3, the motor's third running time (Time4) can be recorded in real time. If the third running time (Time4) is greater than the third preset threshold (Time4_Thr), and the current torque gradient is less than the third target torque gradient (Ratio3), the current learning process for the clutch system can be terminated. Conversely, if the third running time (Time4) is less than or equal to the third preset threshold (Time4_Thr), and the current torque gradient is equal to the third target torque gradient (Ratio3), the subsequent learning process can proceed.

[0077] In one embodiment of this example, during the process of controlling the motor to run at the second speed SP2, the method further includes: during the operation of the first phase Phase 1, the second phase Phase 2, and the third phase Phase 3, acquiring the actual speed SP_Real corresponding to the motor in real time; if the absolute value of the difference between the actual speed SP_Real and the second speed SP2, |SP_Real-SP2|, is greater than a preset threshold SP_ERR, then terminating the current learning process corresponding to the clutch system; recording the fault corresponding to the current learning process, and then returning to execute the operation of initializing the motor corresponding to the clutch system to proceed to the next learning process.

[0078] Optionally, after acquiring the actual speed of the motor in real time, this step further includes: if the absolute value of the difference between the actual speed and the second speed is less than or equal to a preset threshold, then according to the first target torque gradient, the first target motor position, the second target torque gradient, the second target motor position, the third target torque gradient, and the third target motor position, respectively, draw the corresponding first coordinate point, the second coordinate point, and the third coordinate point in a preset coordinate system; determine the slope of the line connecting the second coordinate point and the first coordinate point, and determine the slope of the line connecting the third coordinate point and the second coordinate point; if the difference between the two slopes is greater than the preset threshold, then terminate the current learning process corresponding to the clutch system; record the fault corresponding to the current learning process, and then return to execute the operation of initializing the motor corresponding to the clutch system to proceed with the next learning process.

[0079] In this embodiment, the preset coordinate system can be a Cartesian coordinate system. The first coordinate point can be a coordinate point formed by the first target torque gradient Ratio1 and the first target motor position POS_R1. The second coordinate point can be a coordinate point formed by the second target torque gradient Ratio2 and the second target motor position POS_R2. The third coordinate point can be a coordinate point formed by the third target torque gradient Ratio3 and the third target motor position POS_R3.

[0080] Specifically, the slope K1 of the line connecting the second coordinate point and the first coordinate point can be obtained using the following formula:

[0081] K1=(Ratio2-Ratio1) / (POS_R2-POS_R1)

[0082] The slope K2 of the line connecting the third coordinate point and the second coordinate point can be obtained using the following formula:

[0083] K2=(Ratio3-Ratio2) / (POS_R3-POS_R2)

[0084] In this embodiment, if the difference between the two slopes is greater than a preset threshold, that is, when the three coordinate points (the first coordinate point, the second coordinate point, and the third coordinate point) are not on the same straight line, the current learning process corresponding to the clutch system is terminated and the fault corresponding to the current learning process is recorded; otherwise, if the difference between the two slopes is less than or equal to the preset threshold, that is, when the three coordinate points are approximately on the same straight line, the subsequent learning process continues.

[0085] S340. Based on multiple target torque gradients and multiple target motor positions, determine the learning position corresponding to the clutch half-engagement point.

[0086] S350. If the learning position meets the preset numerical range, then determine the absolute value of the difference between the learning position and the current position of the clutch half-engagement point.

[0087] In this step, specifically, it can be determined whether the learning position KP_NEW is greater than the preset minimum threshold KP_MIN and less than the preset maximum threshold KP_MAX. If so, the learning position can be considered to meet the preset value range, and the absolute value of the difference between the learning position KP_NEW and the current position KP of the clutch half-engagement point, |KP_NEW-KP|, can be determined.

[0088] S360. Determine whether the absolute value of the difference is less than or equal to the preset threshold KPerrThr. If yes, execute S370; otherwise, execute S380.

[0089] S370, Use the learned position as the target position corresponding to the clutch half-engagement point.

[0090] S380. Correct the current position according to the preset step size to obtain the target position corresponding to the clutch half-engagement point.

[0091] In one specific embodiment, during the self-learning process of the clutch half-engagement point position, the faults that occur in each learning process can be statistically analyzed. If the same fault occurs repeatedly in different learning processes, the current learning process corresponding to the clutch system is terminated, and the operation of initializing the motor corresponding to the clutch system is returned to perform the next learning process.

[0092] The technical solution of this embodiment provides an effective way to learn the half-engagement point position of a motor-driven clutch by supplying power to the clutch system and initializing the corresponding motor. The motor is controlled to run at a first speed to a first position, and then at a second speed. During the first, second, and third stages of the motor's operation at the second speed, the torque gradient of the motor is monitored in real time to ensure it is equal to the first, second, or third target torque gradient. The first, second, and third target motor positions corresponding to each target torque gradient are obtained, and the learning position corresponding to the clutch half-engagement point is determined. If the learning position meets a preset numerical range, the absolute value of the difference between the learning position and the current position of the clutch half-engagement point is determined. It is then determined whether the absolute value of the difference is less than or equal to a preset threshold. If so, the learning position is used as the target position corresponding to the clutch half-engagement point. If not, the current position is corrected according to a preset step size to obtain the target position corresponding to the clutch half-engagement point. This method improves the accuracy of the clutch half-engagement point position result and reduces the cost of determining the clutch half-engagement point position.

[0093] Example 4

[0094] Figure 4 This is a schematic diagram of a clutch half-engagement point position self-learning device provided in Embodiment 4 of the present invention. This embodiment can be applied to the situation of determining the clutch half-engagement point position of an electric drive clutch system. The clutch half-engagement point position self-learning device can be implemented in hardware and / or software and can be configured in a vehicle.

[0095] like Figure 4 As shown, the clutch half-engagement point position self-learning device disclosed in this embodiment includes:

[0096] The motor initialization module 41 is used to supply power to the clutch system and initialize the motor corresponding to the clutch system.

[0097] The motor control module 42 is used to control the motor to run at a first speed to a first position, and then control the motor to run at a second speed; the first speed is greater than the second speed.

[0098] The position acquisition module 43 is used to detect multiple target torque gradients corresponding to the motor in real time during the operation of the motor, and to acquire the target motor position corresponding to each target torque gradient.

[0099] The target position determination module 44 is used to determine the learning position corresponding to the clutch half engagement point based on multiple target torque gradients and multiple target motor positions, and to determine the target position corresponding to the clutch half engagement point based on the learning position.

[0100] The technical solution in this embodiment provides an effective way to learn the half-engagement point position of a motor-driven clutch by supplying power to the clutch system and initializing the motor corresponding to the clutch system; controlling the motor to run at a first speed to a first position, and then controlling the motor to run at a second speed; during the operation of the motor, detecting multiple target torque gradients corresponding to the motor in real time and obtaining the target motor position corresponding to each target torque gradient; determining the learning position corresponding to the clutch half-engagement point based on the multiple target torque gradients and multiple target motor positions, and determining the target position corresponding to the clutch half-engagement point based on the learning position. This method can improve the accuracy of the clutch half-engagement point position result and reduce the cost of the clutch half-engagement point position determination process.

[0101] Optionally, the motor control module 42 includes:

[0102] The time verification unit is used to count the running time of the motor at the first speed in real time. If the running time is greater than the preset time threshold and the motor has not run to the first position, the current learning process corresponding to the clutch system is terminated, the fault corresponding to the current learning process is recorded, and then the operation of initializing the motor corresponding to the clutch system is returned to perform the next learning process.

[0103] Optionally, the location acquisition module 43 includes:

[0104] The first target position acquisition unit is used to acquire the first target motor position corresponding to the first target torque gradient when the current torque gradient of the motor is detected to be equal to the first target torque gradient during the first stage of the motor running at the second speed.

[0105] The second target position acquisition unit is used to control the motor to run the second stage at the second speed. When the current torque gradient of the motor is detected to be equal to the second target torque gradient, the second target motor position corresponding to the second target torque gradient is acquired.

[0106] The third target position acquisition unit is used to control the motor to run the third stage at the third speed. When the current torque gradient of the motor is detected to be equal to the third target torque gradient, the third target motor position corresponding to the third target torque gradient is acquired.

[0107] The time and torque verification unit is used to count the running time of the motor in the first, second and third stages in real time. If any running time is greater than the corresponding time threshold and the current torque gradient of the motor is less than the corresponding target torque gradient, the current learning process of the clutch system is terminated. The fault corresponding to the current learning process is recorded, and then the operation of initializing the motor of the clutch system is performed to start the next learning process.

[0108] The speed acquisition unit is used to acquire the actual speed of the motor in real time during the operation of the first, second and third stages.

[0109] The speed difference verification unit is used to terminate the current learning process of the clutch system if the absolute value of the difference between the actual speed and the second speed is greater than a preset threshold, record the fault corresponding to the current learning process, and then return to execute the operation of initializing the motor corresponding to the clutch system in order to proceed to the next learning process.

[0110] The coordinate point drawing unit is used to draw the corresponding first coordinate point, second coordinate point and third coordinate point in the preset coordinate system according to the first target torque gradient, first target motor position, second target torque gradient, second target motor position, third target torque gradient and third target motor position, respectively, if the absolute value of the difference between the actual speed and the second speed is less than or equal to the preset threshold.

[0111] The slope determination unit is used to determine the slope of the line connecting the second coordinate point and the first coordinate point, and to determine the slope of the line connecting the third coordinate point and the second coordinate point.

[0112] The slope difference verification unit is used to terminate the current learning process of the clutch system if the difference between two slopes is greater than a preset threshold, record the fault corresponding to the current learning process, and then return to perform the operation of initializing the motor corresponding to the clutch system to proceed with the next learning process.

[0113] Optionally, the target location determination module 44 includes:

[0114] The learning position determination unit is used to determine the learning position corresponding to the clutch half engagement point based on the first target torque gradient, the third target torque gradient, the first target motor position, the second target motor position, and the third target motor position.

[0115] The position difference determination unit is used to determine the absolute value of the difference between the learned position and the current position of the clutch half-engagement point if the learned position meets the preset numerical range.

[0116] The absolute value of the difference verification unit is used to determine whether the absolute value of the difference is less than or equal to a preset threshold. If it is, the learned position is used as the target position corresponding to the clutch half-engagement point. If not, the current position is corrected according to the preset step size to obtain the target position corresponding to the clutch half-engagement point.

[0117] The clutch half-engagement point position self-learning device provided in this embodiment of the invention can execute the clutch half-engagement point position self-learning method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. Content not described in detail in this embodiment can be referred to the description in any method embodiment of this application.

[0118] Example 5

[0119] Figure 5A schematic diagram of a vehicle 10, which can be used to implement embodiments of the present invention, is shown. Vehicle 10 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Vehicle 10 can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0120] like Figure 5 As shown, vehicle 10 includes at least one processor 11 and a memory, such as read-only memory (ROM) 12 and random access memory (RAM) 13, communicatively connected to at least one processor 11. The memory stores computer programs executable by at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer program stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of vehicle 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. Input / output (I / O) interface 15 is also connected to bus 14.

[0121] Multiple components in vehicle 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows vehicle 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0122] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose 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 11 performs the various methods and processes described above, such as the clutch half-engagement point position self-learning method.

[0123] In some embodiments, the clutch half-engagement position self-learning method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on vehicle 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the clutch half-engagement position self-learning method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the clutch half-engagement position self-learning method by any other suitable means (e.g., by means of firmware).

[0124] Various embodiments of the systems and techniques described above 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), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs used to implement 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 executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0126] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0127] To provide interaction with the user, the systems and technologies 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 provides input to the vehicle. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0128] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0129] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0130] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0131] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A clutch half-engagement point position self-learning method characterized by comprising: The method comprises the following steps: powering a clutch system and initializing a motor corresponding to the clutch system; controlling the motor to run at a first speed to a first position, and then controlling the motor to run at a second speed; the first speed is greater than the second speed; during the running of the motor, detecting a plurality of target torque gradients corresponding to the motor in real time, and obtaining a target motor position corresponding to each target torque gradient; determining a learning position corresponding to a clutch half-combination point according to the plurality of target torque gradients and the plurality of target motor positions, and determining a target position corresponding to the clutch half-combination point according to the learning position; wherein determining the target position corresponding to the clutch half-combination point according to the learning position comprises: if the learning position meets a preset numerical range, determining an absolute value of a difference between the learning position and a current position of the clutch half-combination point; determining whether the absolute value of the difference is less than or equal to a preset threshold value; if yes, taking the learning position as the target position corresponding to the clutch half-combination point; if no, correcting the current position according to a preset step to obtain the target position corresponding to the clutch half-combination point.

2. The method of claim 1, wherein, during the running of the motor, detecting a plurality of target torque gradients corresponding to the motor in real time, and obtaining a target motor position corresponding to each target torque gradient, comprises: during a first stage of the motor running at the second speed, obtaining a first target motor position corresponding to a first target torque gradient when detecting that a current torque gradient corresponding to the motor is equal to the first target torque gradient; controlling the motor to run at the second speed for a second stage, and obtaining a second target motor position corresponding to a second target torque gradient when detecting that the current torque gradient corresponding to the motor is equal to the second target torque gradient; controlling the motor to run at the second speed for a third stage, and obtaining a third target motor position corresponding to a third target torque gradient when detecting that the current torque gradient corresponding to the motor is equal to the third target torque gradient.

3. The method of claim 2, wherein, determining the learning position corresponding to the clutch half-combination point according to the plurality of target torque gradients and the plurality of target motor positions, comprises: determining the learning position corresponding to the clutch half-combination point according to the first target torque gradient, the third target torque gradient, the first target motor position, the second target motor position, and the third target motor position.

4. The method of claim 1, wherein, during the controlling of the motor to run at the first speed to the first position, further comprising: real-time counting a running time of the motor at the first speed, if the running time is greater than a preset time threshold value and the motor has not run to the first position, terminating a current learning process corresponding to the clutch system; recording a fault corresponding to the current learning process, and then returning to perform the operation of initializing the motor corresponding to the clutch system to perform a next learning process.

5. The method of claim 2, wherein, during the controlling of the motor to run at the second speed, further comprising: In the first stage, the second stage and the third stage, the motor corresponds to the running time, if any running time is greater than the corresponding time threshold, and the motor corresponds to the current torque gradient is less than the corresponding target torque gradient, the clutch system corresponding to the current learning process is terminated; Record the fault corresponding to the current learning process, and then return to execute the operation of initializing the motor corresponding to the clutch system to perform the next learning process.

6. The method of claim 2, wherein, In the process of controlling the motor to run at the second speed, further comprising: In the running process of the first stage, the second stage and the third stage, the actual speed corresponding to the motor is obtained in real time; If the absolute value of the difference between the actual speed and the second speed is greater than the preset threshold, the current learning process of the clutch system is terminated; Record the fault corresponding to the current learning process, and then return to execute the operation of initializing the motor corresponding to the clutch system to perform the next learning process.

7. The method of claim 6, wherein, After obtaining the actual speed corresponding to the motor in real time, further comprising: If the absolute value of the difference between the actual speed and the second speed is less than or equal to the preset threshold, the first coordinate point, the second coordinate point and the third coordinate point are drawn in the preset coordinate system according to the first target torque gradient, the first target motor position, the second target torque gradient, the second target motor position, the third target torque gradient and the third target motor position respectively; Determine the slope of the line between the second coordinate point and the first coordinate point, and determine the slope of the line between the third coordinate point and the second coordinate point; If the difference between the two slopes is greater than the preset threshold, the current learning process of the clutch system is terminated; Record the fault corresponding to the current learning process, and then return to execute the operation of initializing the motor corresponding to the clutch system to perform the next learning process.

8. A self-learning device for the clutch half-engagement point position, characterized in that, Comprising: The motor initialization module is used for powering the clutch system and initializing the motor corresponding to the clutch system; The motor control module is used for controlling the motor to run at a first speed to a first position, and then controlling the motor to run at a second speed; the first speed is greater than the second speed; The position acquisition module is used for detecting the plurality of target torque gradients corresponding to the motor in real time during the running of the motor, and acquiring the target motor position corresponding to each target torque gradient; The target position determination module is used for determining the learning position corresponding to the clutch half combination point according to the plurality of target torque gradients and the plurality of target motor positions, and determining the target position corresponding to the clutch half combination point according to the learning position; The target position determination module comprises: The position difference determination unit is used for determining the absolute value of the difference between the learning position and the current position of the clutch half combination point if the learning position satisfies the preset numerical range; The difference absolute value verification unit is configured to determine whether the absolute value of the difference is less than or equal to a preset threshold value; if yes, the learning position is taken as a target position corresponding to the clutch half-engagement point; if no, the current position is corrected according to a preset step to obtain a target position corresponding to the clutch half-engagement point.

9. A vehicle characterized by comprising: The vehicle comprises: at least one processor; and a memory connected to the at least one processor in communication; wherein, the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the clutch half-engagement point position self-learning method according to any one of claims 1-7.

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