A method and device for controlling a pneumatic clutch, a vehicle and a storage medium

Abstract

The application discloses a kind of pneumatic clutch control method, device, vehicle and storage medium.The pneumatic clutch control method includes: obtaining the current cylinder gas pressure value that pneumatic clutch actuator cylinder pressure sensor gathers, pneumatic clutch actual position, engine torque rate of change, throttle opening, throttle opening rate of change and acceleration rate of change;According to throttle opening and engine torque rate of change, determine demand cylinder gas pressure value, and according to current cylinder gas pressure value and demand cylinder gas pressure value, control pneumatic clutch moves from pneumatic clutch actual position to pneumatic clutch target position;According to throttle opening rate of change and acceleration rate of change, determine cylinder gas pressure correction value, and based on cylinder gas pressure correction value, determine target cylinder gas pressure value, to control pneumatic clutch moves from pneumatic clutch target position to pneumatic clutch correction position according to target cylinder gas pressure value.The application realizes to improve pneumatic clutch control precision, prolongs the service life of component.

Description

TECHNICAL FIELD

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

[0002] The P2 hybrid system is a parallel hybrid system, where P represents the position of the driving motor in the hybrid system, and "2" represents the position after the internal combustion engine and before the transmission. The control of the pneumatic clutch of the parallel hybrid system is crucial to comfort and the service life of the clutch.

[0003] Currently, the control of the pneumatic clutch is generally achieved by receiving the target position of the clutch by the controller, and controlling the duty cycle of the electromagnetic valve of the pneumatic clutch based on the difference between the actual position of the clutch measured by the clutch displacement sensor. When the target position of the clutch is greater than the actual position of the clutch, the split valve of the clutch electromagnetic valve is opened, and the combined valve is opened, so that the actual position of the clutch is controlled to the target position of the clutch. When the target position of the clutch is smaller than the actual position of the clutch, the combined valve of the clutch is opened, and the split valve is closed, so that the actual position of the clutch is controlled to the target position of the clutch. However, the split valve of the electromagnetic valve is opened for charging, and the combined valve is opened for discharging. When both valves are opened and the duty cycle is large, the speed of the clutch approaching the target position is fast, otherwise it is slow. If the clutch is not combined in place, it will result in power loss and reduce the service life of related parts. SUMMARY

[0004] The present application provides a pneumatic clutch control method, device, vehicle and storage medium to solve the problem of power loss and wear of related parts caused by the clutch not being combined in place.

[0005] According to an aspect of the present application, a pneumatic clutch control method is provided, which comprises:

[0006] obtaining the current cylinder pressure value collected by the pneumatic clutch actuator cylinder pressure sensor, the actual position of the pneumatic clutch, the engine torque change rate, the throttle opening, the throttle opening change rate and the acceleration change rate;

[0007] determining the required cylinder pressure value according to the throttle opening and the engine torque change rate, and controlling the pneumatic clutch to move from the actual position of the pneumatic clutch to the target position of the pneumatic clutch according to the current cylinder pressure value and the required cylinder pressure value;

[0008] Determine a cylinder gas pressure correction value according to the accelerator opening degree change rate and the acceleration change rate, and determine a target cylinder gas pressure value based on the cylinder gas pressure correction value, to control the pneumatic clutch to move from the pneumatic clutch target position to a pneumatic clutch correction position according to the target cylinder gas pressure value.

[0009] Optionally, determine a required cylinder gas pressure value according to the accelerator opening degree and the engine torque change rate, comprising:

[0010] Determine a required cylinder gas pressure value according to the accelerator opening degree and the engine torque change rate by querying a required cylinder gas pressure position table.

[0011] Optionally, before determining the cylinder gas pressure correction value according to the accelerator opening degree change rate and the acceleration change rate, further comprising:

[0012] Determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate.

[0013] Determine the cylinder gas pressure correction value according to the accelerator opening degree change rate and the acceleration change rate, comprising:

[0014] If it is determined that the pneumatic clutch is not controlled to a reasonable position, determine the cylinder gas pressure correction value according to the accelerator opening degree change rate and the acceleration change rate.

[0015] Optionally, determining whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate, comprising:

[0016] If the accelerator opening degree change rate is less than a set accelerator opening degree change rate threshold value, and the acceleration change rate is less than a set acceleration change rate threshold value, the pneumatic clutch is not controlled to a reasonable position.

[0017] If the accelerator opening degree change rate is greater than or equal to a set accelerator opening degree change rate threshold value, and the acceleration change rate is greater than or equal to a set acceleration change rate threshold value, the pneumatic clutch is controlled to a reasonable position.

[0018] Optionally, determining the cylinder gas pressure correction value according to the accelerator opening degree change rate and the acceleration change rate, comprising:

[0019] Determine the cylinder gas pressure correction value according to the accelerator opening degree change rate and the acceleration change rate by querying a required cylinder gas pressure position correction table.

[0020] Optionally, the pneumatic clutch control method further comprises:

[0021] When the pneumatic clutch is controlled to a reasonable position, control the cylinder gas pressure correction value to be 0.

[0022] Optionally, the pneumatic clutch control method further comprises:

[0023] acquiring an actual displacement value of the pressure plate stroke collected by a pressure plate displacement sensor arranged at the pressure plate of the pneumatic clutch actuator when the pneumatic clutch actuator is in the disengaging process;

[0024] controlling the pneumatic clutch to move from the actual position of the pneumatic clutch to the target position of the pneumatic clutch according to the actual displacement value of the pressure plate stroke and a required displacement value of the pressure plate stroke.

[0025] According to another aspect of the present application, a pneumatic clutch control device is provided, which comprises:

[0026] an information acquisition module configured to acquire a current cylinder pressure value collected by a cylinder pressure sensor of a pneumatic clutch actuator, an actual position of the pneumatic clutch, a torque change rate of an engine, an accelerator opening degree, an accelerator opening degree change rate, and an acceleration change rate;

[0027] a first position control module configured to determine a required cylinder pressure value according to the accelerator opening degree and the torque change rate of the engine, and control the pneumatic clutch to move from the actual position of the pneumatic clutch to a target position of the pneumatic clutch according to the current cylinder pressure value and the required cylinder pressure value;

[0028] a second position control module configured to determine a cylinder pressure correction value according to the accelerator opening degree change rate and the acceleration change rate, and determine a target cylinder pressure value based on the cylinder pressure correction value, so as to control the pneumatic clutch to move from the target position of the pneumatic clutch to a corrected position of the pneumatic clutch according to the target cylinder pressure value.

[0029] According to another aspect of the present application, a vehicle is provided, which comprises:

[0030] at least one processor; and

[0031] a memory connected to the at least one processor in communication; wherein,

[0032] 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 pneumatic clutch control method according to any one of the embodiments of the present application.

[0033] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to execute the pneumatic clutch control method according to any one of the embodiments of the present application when executed by the processor.

[0034] The technical scheme of the embodiment of the present application is as follows: current cylinder gas pressure values collected by a pneumatic clutch actuator cylinder pressure sensor, an actual position of the pneumatic clutch, an engine torque change rate, an accelerator opening degree, an accelerator opening degree change rate, and an acceleration change rate are acquired; a required cylinder gas pressure value is determined according to the accelerator opening degree and the engine torque change rate, and the pneumatic clutch is controlled to move from the actual position of the pneumatic clutch to a target position of the pneumatic clutch according to the current cylinder gas pressure value and the required cylinder gas pressure value; a cylinder gas pressure correction value is determined according to the accelerator opening degree change rate and the acceleration change rate, and a target cylinder gas pressure value is determined based on the cylinder gas pressure correction value, so as to control the pneumatic clutch to move from the target position of the pneumatic clutch to a correction position of the pneumatic clutch according to the target cylinder gas pressure value. The present application solves the problem of power loss and related component life caused by poor control of the pneumatic clutch, realizes accurate control of the position of the pneumatic clutch, improves the control accuracy of the pneumatic clutch, and prolongs the service life of the components.

[0035] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0037] Figure 1 is a flow chart of a pneumatic clutch control method provided by the first embodiment of the present application;

[0038] Figure 2 is a schematic diagram of the installation position of a pneumatic clutch actuator cylinder pressure sensor according to the embodiment of the present application;

[0039] Figure 3 is a flow chart of a pneumatic clutch control method provided by the second embodiment of the present application;

[0040] Figure 4 is a structural schematic diagram of a pneumatic clutch control device provided by the third embodiment of the present application;

[0041] Figure 5 is a structural schematic diagram of a vehicle implementing the pneumatic clutch control method of the present application. DETAILED DESCRIPTION

[0042] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application, so that those skilled in the art can better understand the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0043] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0044] Embodiment one

[0045] Figure 1 A flowchart of a pneumatic clutch control method is provided for the first embodiment of the present application. The present embodiment can be applicable to the case of accurately controlling the position of the pneumatic clutch by the in-cylinder gas pressure when the pneumatic clutch actuator is combined or separated. The pneumatic clutch control method can be executed by a pneumatic clutch control device, which can be realized in the form of hardware and / or software, and can be configured in a vehicle with a pneumatic clutch. As shown in Figure 1 , the pneumatic clutch control method comprises:

[0046] S110, acquiring the current in-cylinder gas pressure value collected by the in-cylinder pressure sensor of the pneumatic clutch actuator, the actual position of the pneumatic clutch, the engine torque change rate, the throttle opening, the throttle opening change rate and the acceleration change rate.

[0047] The pneumatic clutch is an important part of the P2 hybrid system, as shown in Figure 2 , the pneumatic clutch is located between the parallel motor and the drive motor of the P2 system, and according to the closing action of the energy mode, the gas pressure sensor is installed at the pneumatic clutch actuator cylinder (i.e. Figure 2 , the gas pressure sensor at the pneumatic clutch actuator cylinder), which is used to detect the in-cylinder gas pressure of the pneumatic clutch actuator, i.e. to obtain the current in-cylinder gas pressure value.

[0048] The working principle of the pneumatic clutch is as follows: after the electromagnetic valve is connected to the power supply, compressed air enters the air cylinder chamber of the clutch through the air guide cock, the piston moves axially, and pushes the friction plate, the intermediate disc and the pulley plane to be pressed into engagement. If the air pressure gradually increases, the working machine is soft started, and stable operation is achieved. When the electromagnetic valve is closed, the air pressure disappears, and the pneumatic clutch is separated and engaged by controlling the air pressure. The friction plate is quickly reset to achieve complete separation by the spring. The electromagnetic valve is opened to charge when the valve is opened, and is opened to exhaust when the valve is closed. When both valves are opened and the duty cycle is large, the pneumatic clutch approaches the target position at a relatively fast speed, otherwise it is relatively slow.

[0049] The actual position of the pneumatic clutch is the current position of the axial movement of the piston, and the actual position of the pneumatic clutch can be obtained by a position sensor, but is not limited thereto.

[0050] Different specifications of the pneumatic clutch have different sizes and different position calibration parameters. In order to make the position calibration parameters portable, the position calibration parameters are represented in the form of proportional data. Optionally, the actual position of the pneumatic clutch is represented in the form of percentage or thousandth percentage data.

[0051] The engine torque reflects the load capacity of the vehicle within a certain range, and the engine torque can be obtained by existing means. In the process of engine operation, the engine torque is collected in real time for a period of time, and the corresponding engine torque change rate is calculated. The engine torque change rate represents the engine torque change in the period of time.

[0052] The throttle opening degree can be detected by a throttle pedal sensor, and the throttle opening degree change rate is calculated from the throttle opening degree change in a period of time. The acceleration change rate can be calculated by the vehicle control unit according to the change of the vehicle acceleration in a period of time.

[0053] It can be understood that the engine torque change rate, the throttle opening degree, the throttle opening degree change rate and the acceleration change rate can be calculated by existing means. The embodiment does not make special limitations thereon. The engine torque change rate, the throttle opening degree change rate and the acceleration change rate represent the change of the corresponding data of the vehicle in a period of time, which further affects the change of the pneumatic clutch actuator cylinder pressure. For details, see the following.

[0054] S120, determining a required cylinder pressure value according to the throttle opening degree and the engine torque change rate, and controlling the pneumatic clutch to move from the actual position of the pneumatic clutch to the target position of the pneumatic clutch according to the current cylinder pressure value and the required cylinder pressure value.

[0055] The demand cylinder gas pressure value is determined by querying a demand cylinder gas pressure position table according to the throttle opening and the engine torque change rate. The demand cylinder gas pressure position table is a minimum demand cylinder gas pressure table corresponding to the current throttle opening and the current calculated engine torque change rate when the pneumatic clutch execution structure is in the coupling process or the separation process.

[0056] The demand cylinder gas pressure value is the minimum demand cylinder gas pressure value obtained by querying the demand cylinder gas pressure position table according to the current throttle opening and the current calculated engine torque change rate.

[0057] The demand cylinder gas pressure position table can be preset by the vehicle controller according to the execution demand. Different specifications of pneumatic clutches have different sizes and different position calibration parameters. In order to ensure higher precision of pneumatic clutch position control, different demand cylinder gas pressure position tables can be set according to different pneumatic clutches. The specific setting of the selection method or execution method of the demand cylinder gas pressure position table is not limited.

[0058] The pneumatic clutch target position is the position of the pneumatic clutch corresponding to the demand cylinder gas pressure value. The pneumatic clutch target position can be determined by the vehicle controller according to the execution demand. Different specifications of pneumatic clutches have different sizes and different position calibration parameters. In order to make the position calibration parameters portable, the position calibration parameters are represented in the form of proportional data. Alternatively, the pneumatic clutch target position is represented in the form of percentage or thousandth percentage data.

[0059] Specifically, after obtaining the current cylinder gas pressure value and the demand cylinder gas pressure value, the position of the pneumatic clutch is adjusted according to the current cylinder gas pressure value and the demand cylinder gas pressure value, i.e. the pneumatic clutch is moved from the pneumatic clutch actual position to the pneumatic clutch target position.

[0060] S130, determining a cylinder gas pressure correction value according to the throttle opening change rate and the acceleration change rate, and determining a target cylinder gas pressure value based on the cylinder gas pressure correction value, to control the pneumatic clutch to move from the pneumatic clutch target position to a pneumatic clutch correction position according to the target cylinder gas pressure value.

[0061] The pneumatic clutch is determined to be controlled to a reasonable position according to the throttle opening change rate and the acceleration change rate. If it is determined that the pneumatic clutch is not controlled to a reasonable position, the cylinder gas pressure correction value is determined according to the throttle opening change rate and the acceleration change rate. When the pneumatic clutch is controlled to a reasonable position, the cylinder gas pressure correction value is controlled to 0.

[0062] Specifically, if the accelerator opening degree change rate is less than a set accelerator opening degree change rate threshold value and the acceleration change rate is less than a set acceleration change rate threshold value, the pneumatic clutch is not controlled to a reasonable position; if the accelerator opening degree change rate is greater than or equal to the set accelerator opening degree change rate threshold value and the acceleration change rate is greater than or equal to the set acceleration change rate threshold value, the pneumatic clutch is controlled to the reasonable position; if the accelerator opening degree change rate is greater than or equal to the set accelerator opening degree change rate threshold value or the acceleration change rate is greater than or equal to the set acceleration change rate threshold value, the pneumatic clutch is controlled to the reasonable position.

[0063] The set accelerator opening degree change rate threshold value and the set acceleration change rate threshold value can be, but are not limited to, calibrated by a vehicle controller according to execution requirements, and the embodiment does not make any limitation in this regard. Optionally, the set accelerator opening degree change rate threshold value is 20%, and the set acceleration change rate threshold value is -0.5 m / s 2 .

[0064] On the basis of the above, the demand cylinder gas pressure position correction table is queried according to the accelerator opening degree change rate and the acceleration change rate to determine a cylinder gas pressure correction value.

[0065] The cylinder gas pressure correction value is the minimum demand cylinder gas pressure position correction value that can be obtained by querying the demand cylinder gas pressure position correction table through the accelerator opening degree change rate and the acceleration change rate, that is, the cylinder gas pressure value that needs to be adjusted, and the target cylinder gas pressure value is obtained after the above adjustment.

[0066] The demand cylinder gas pressure position correction table can be, but is not limited to, preset by a vehicle controller according to execution requirements. Different specifications of pneumatic clutches have different sizes and position calibration parameters, in order to ensure higher precision of pneumatic clutch position control, different demand cylinder gas pressure position correction tables can be set according to different pneumatic clutches, and the selection mode or execution mode of the demand cylinder gas pressure position correction table is not limited in any way.

[0067] The pneumatic clutch correction position is a position at which the pneumatic clutch should be in corresponding to the target cylinder gas pressure value, that is, the position of the pneumatic clutch determined after the pneumatic clutch is corrected based on the cylinder gas pressure correction value. In order to make the position calibration parameter have portability, the position calibration parameter is represented in the form of proportional data. Optionally, the pneumatic clutch correction position is represented in the form of percentage or thousandth percentage data.

[0068] Specifically, after the target cylinder gas pressure value is obtained according to the cylinder gas pressure correction value, the position of the pneumatic clutch is adjusted according to the target cylinder gas pressure value, that is, the pneumatic clutch is moved from the pneumatic clutch target position to the pneumatic clutch correction position.

[0069] In an embodiment, when the pneumatic clutch actuator is in a separation process, an actual displacement value of a pressure plate stroke collected by a pressure plate stroke displacement sensor arranged at the pressure plate of the pneumatic clutch actuator is acquired; and the pneumatic clutch is controlled to move from the actual position of the pneumatic clutch to the target position of the pneumatic clutch according to the actual displacement value of the pressure plate stroke and a required displacement value of the pressure plate stroke.

[0070] As shown in Figure 2 The pneumatic clutch actuator is provided with an in-cylinder gas pressure sensor and a pressure plate stroke sensor, and the actual displacement value of the pressure plate stroke is collected by the pressure plate stroke displacement sensor.

[0071] Since the pressure plate stroke displacement sensor is more accurate than existing sensors in installation position, when the pneumatic clutch actuator is in a separation process, the actual displacement value of the pressure plate stroke collected by the pressure plate stroke displacement sensor is used for pneumatic clutch control, thereby enhancing the accuracy of pneumatic clutch control.

[0072] The technical scheme of the embodiment of the present application acquires a current in-cylinder gas pressure value collected by an in-cylinder pressure sensor of a pneumatic clutch actuator, an actual position of the pneumatic clutch, an engine torque change rate, a throttle opening degree, a throttle opening degree change rate, and an acceleration change rate; determines a required in-cylinder gas pressure value according to the throttle opening degree and the engine torque change rate, and controls the pneumatic clutch to move from the actual position of the pneumatic clutch to a target position of the pneumatic clutch according to the current in-cylinder gas pressure value and the required in-cylinder gas pressure value; determines an in-cylinder gas pressure correction value according to the throttle opening degree change rate and the acceleration change rate, and determines a target in-cylinder gas pressure value based on the in-cylinder gas pressure correction value, so as to control the pneumatic clutch to move from the target position of the pneumatic clutch to a corrected position of the pneumatic clutch according to the target in-cylinder gas pressure value. The present application solves the problem that power loss and related component life are caused by poor control of the pneumatic clutch, realizes accurate control of the position of the pneumatic clutch, improves the control accuracy of the pneumatic clutch, and prolongs the service life of components.

[0073] Embodiment Two

[0074] Figure 3 A flowchart of a pneumatic clutch control method provided for the embodiment two of the present application, the present embodiment provides an alternative implementation based on the above-mentioned embodiment. As shown in Figure 3 The pneumatic clutch control method comprises the following steps:

[0075] S310, acquiring a current in-cylinder gas pressure value collected by an in-cylinder pressure sensor of a pneumatic clutch actuator, an actual position of the pneumatic clutch, an engine torque change rate, a throttle opening degree, a throttle opening degree change rate, and an acceleration change rate.

[0076] S320, querying a required cylinder gas pressure position table according to the throttle opening and the engine torque change rate to determine a required cylinder gas pressure value, and controlling the pneumatic clutch to move from the actual position of the pneumatic clutch to a target position of the pneumatic clutch.

[0077] For example, a minimum required cylinder gas pressure position table queried according to the throttle opening and the engine torque change rate is shown in Table 1 below. At the same engine torque change rate, the greater the throttle opening, the lower the cylinder gas pressure corresponding to the control. When the pneumatic clutch is fully engaged, the cylinder gas pressure value is 0, and when the pneumatic clutch is fully separated, the cylinder gas pressure value is equal to the gas source pressure.

[0078]

[0079] Table 1 Minimum required cylinder gas pressure position table

[0080] It should be noted that Table 1 above is only an example of a minimum required cylinder gas pressure position table, and does not limit the specific values and relationships of the throttle opening, engine torque change rate, and cylinder gas pressure value in the minimum required cylinder gas pressure position table.

[0081] S330, determining whether the pneumatic clutch is controlled to a reasonable position according to the throttle opening change rate and the acceleration change rate. If yes, step S340 is performed, and if no, step S350 is performed.

[0082] Specifically, if the throttle opening change rate is less than a set throttle opening change rate threshold and the acceleration change rate is less than a set acceleration change rate threshold, the pneumatic clutch is not controlled to a reasonable position. If the throttle opening change rate is greater than or equal to the set throttle opening change rate threshold and the acceleration change rate is greater than or equal to the set acceleration change rate threshold, the pneumatic clutch is controlled to a reasonable position. If the throttle opening change rate is greater than or equal to the set throttle opening change rate threshold or the acceleration change rate is greater than or equal to the set acceleration change rate threshold, the pneumatic clutch is controlled to a reasonable position.

[0083] S340, controlling the cylinder gas pressure correction value to be 0, and performing step S360.

[0084] It can be understood that when the pneumatic clutch is controlled to a reasonable position, it indicates that the current position of the pneumatic clutch does not need to be adjusted, and therefore the target cylinder gas pressure value corresponding to the pneumatic clutch does not need to be corrected. That is, the cylinder gas pressure correction value can be controlled to be 0. Based on the cylinder gas pressure correction value, the target cylinder gas pressure value is determined by adding or subtracting 0 from the required cylinder gas pressure value corresponding to the pneumatic clutch, and the required cylinder gas pressure value is equal to the target cylinder gas pressure value.

[0085] S350, querying a required cylinder gas pressure position correction table according to the throttle opening degree change rate and the acceleration change rate to determine a cylinder gas pressure correction value, and determining a target cylinder gas pressure value based on the cylinder gas pressure correction value, and performing step S360.

[0086] For example, a minimum required cylinder gas pressure position correction table queried according to the throttle opening degree change rate and the acceleration change rate is shown in Table 2 below. When the throttle opening degree change rate is the same, the greater the acceleration change rate, the more fierce the racing, at this time, the required gas pressure value is reduced, the combination is tighter, and the corresponding cylinder gas pressure correction value is smaller.

[0087]

[0088] Table 2 required cylinder gas pressure position correction table

[0089] It should be noted that Table 2 above is only an example of a required cylinder gas pressure position correction table, and does not limit the specific values and relationships of the throttle opening degree change rate, the acceleration change rate, and the cylinder gas pressure correction value in the required cylinder gas pressure position correction table.

[0090] S360, controlling the pneumatic clutch to move from the pneumatic clutch target position to a pneumatic clutch correction position according to the target cylinder gas pressure value.

[0091] The technical solution of the embodiment of the application controls the cylinder gas pressure, enhances the control accuracy of the pneumatic clutch, and uses throttle opening degree, engine torque, acceleration, and other data to correct the required cylinder gas pressure value, effectively preventing the problems of power loss and short service life of parts caused by the failure of the pneumatic clutch to combine.

[0092] Embodiment three

[0093] Figure 4 A structural schematic diagram of a pneumatic clutch control device provided for the third embodiment of the application is shown in FIG. 3. Figure 4 As shown in the figure, the pneumatic clutch control device includes:

[0094] An information acquisition module 410 is configured to acquire a current cylinder gas pressure value collected by a pneumatic clutch actuator cylinder pressure sensor, an actual position of the pneumatic clutch, an engine torque change rate, a throttle opening degree, a throttle opening degree change rate, and an acceleration change rate.

[0095] A first position control module 420 is configured to determine a required cylinder gas pressure value according to the throttle opening degree and the engine torque change rate, and control the pneumatic clutch to move from the actual position of the pneumatic clutch to a target position of the pneumatic clutch according to the current cylinder gas pressure value and the required cylinder gas pressure value.

[0096] The second position control module 430 is configured to determine a cylinder gas pressure correction value according to the accelerator opening degree change rate and the acceleration change rate, and determine a target cylinder gas pressure value based on the cylinder gas pressure correction value, so as to control the pneumatic clutch to move from the pneumatic clutch target position to a pneumatic clutch correction position according to the target cylinder gas pressure value.

[0097] Optionally, the demand cylinder gas pressure value is determined according to the accelerator opening degree and the engine torque change rate, and specifically used for:

[0098] The demand cylinder gas pressure value is determined according to the accelerator opening degree and the engine torque change rate by querying a demand cylinder gas pressure position table.

[0099] Optionally, the pneumatic clutch control device further comprises:

[0100] The judgment module is configured to determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate.

[0101] The cylinder gas pressure correction value is determined according to the accelerator opening degree change rate and the acceleration change rate, and specifically used for:

[0102] If it is determined that the pneumatic clutch is not controlled to the reasonable position, the cylinder gas pressure correction value is determined according to the accelerator opening degree change rate and the acceleration change rate.

[0103] Optionally, the pneumatic clutch is determined to be controlled to the reasonable position according to the accelerator opening degree change rate and the acceleration change rate, and specifically used for:

[0104] If the accelerator opening degree change rate is less than a set accelerator opening degree change rate threshold value, and the acceleration change rate is less than a set acceleration change rate threshold value, the pneumatic clutch is not controlled to the reasonable position.

[0105] If the accelerator opening degree change rate is greater than or equal to the set accelerator opening degree change rate threshold value, and the acceleration change rate is greater than or equal to the set acceleration change rate threshold value, the pneumatic clutch is controlled to the reasonable position.

[0106] Optionally, the cylinder gas pressure correction value is determined according to the accelerator opening degree change rate and the acceleration change rate, and specifically used for:

[0107] The cylinder gas pressure correction value is determined according to the accelerator opening degree change rate and the acceleration change rate by querying a demand cylinder gas pressure position correction table.

[0108] Optionally, the pneumatic clutch control device further comprises:

[0109] The correction value zeroing module is configured to control the cylinder gas pressure correction value to be 0 when the pneumatic clutch is controlled to the reasonable position.

[0110] Optionally, the pneumatic clutch control device further comprises:

[0111] The pressure plate stroke actual displacement value acquisition module is configured to acquire a pressure plate stroke actual displacement value collected by a pressure plate lift displacement sensor arranged at the pressure plate of the pneumatic clutch actuator when the pneumatic clutch actuator is in the separation process.

[0112] The target position control module is configured to control the pneumatic clutch to move from the actual position of the pneumatic clutch to the target position of the pneumatic clutch according to the pressure plate stroke actual displacement value and the pressure plate stroke required displacement value.

[0113] The pneumatic clutch control device provided by the embodiments of the present application can perform the pneumatic clutch control method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of performing the pneumatic clutch control method.

[0114] Embodiment four

[0115] Figure 5 A structural schematic diagram of a vehicle 510 that can be used to implement embodiments of the present application is shown. The vehicle is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The vehicle can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0116] As shown in Figure 5 The vehicle 510 includes at least one processor 511 and a memory, such as read-only memory (ROM 512), random access memory (RAM 513), etc., connected to the at least one processor 511 in communication, where the memory stores computer programs executable by the at least one processor. The processor 511 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM 512) or loaded into the random access memory (RAM 513) from the storage unit 518. In the RAM 513, various programs and data required for the operation of the vehicle 510 can also be stored. The processor 511, the ROM 512, and the RAM 513 are connected to each other through a bus 514. An input / output (I / O) interface 515 is also connected to the bus 514.

[0117] A plurality of components in the vehicle 510 are connected to the I / O interface 515, including: an input unit 516, such as a keyboard, a mouse, etc.; an output unit 517, such as various types of displays, speakers, etc.; a storage unit 518, such as a magnetic disk, an optical disk, etc.; and a communication unit 519, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 519 allows the vehicle 510 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0118] The processor 511 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 511 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. The processor 511 performs various methods and processes described above, such as the pneumatic clutch control method.

[0119] 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 the storage unit 518. In some embodiments, part or all of the computer program can be loaded and / or installed onto the vehicle 510 via the ROM 512 and / or the communication unit 519. When the computer program is loaded onto the RAM 513 and executed by the processor 511, one or more steps of the pneumatic clutch control method described above can be performed. Alternatively, in other embodiments, the processor 511 can be configured to perform the pneumatic clutch control method by any other suitable means, such as by means of firmware.

[0120] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0121] Computer programs for implementing the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer program, when executed, can cause instructions defined in the flow charts and / or block diagrams to be implemented. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a remote machine or entirely on a remote machine or server.

[0122] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0123] To provide for interaction with a user, the systems and techniques described here can be implemented on 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 a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the vehicle. Other kinds of devices can be used to provide for interaction with a user as well; 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 acoustic, speech, or tactile input.

[0124] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a middleware component, e.g., an application server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or any combination of such back end, middleware, 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.

[0125] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. A server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0126] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in different orders, as long as the desired results of the technical solutions of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0127] The above detailed description does not constitute a limitation on the protection scope of the present application. 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 replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of controlling a pneumatic clutch, characterized by, The method comprises the following steps: acquiring a current cylinder pressure value collected by a cylinder pressure sensor of a pneumatic clutch actuator, an actual position of the pneumatic clutch, a torque change rate of an engine, a throttle opening degree, a throttle opening degree change rate, and an acceleration change rate; determining a required cylinder pressure value according to the throttle opening degree and the torque change rate of the engine, and controlling the pneumatic clutch to move from the actual position of the pneumatic clutch to a target position of the pneumatic clutch according to the current cylinder pressure value and the required cylinder pressure value; wherein the step of determining the required cylinder pressure value according to the throttle opening degree and the torque change rate of the engine comprises: querying a required cylinder pressure position table according to the throttle opening degree and the torque change rate of the engine to determine the required cylinder pressure value; determining a cylinder pressure correction value according to the throttle opening degree change rate and the acceleration change rate, and determining a target cylinder pressure value based on the cylinder pressure correction value, so as to control the pneumatic clutch to move from the target position of the pneumatic clutch to a corrected position of the pneumatic clutch according to the target cylinder pressure value; wherein before the step of determining the cylinder pressure correction value according to the throttle opening degree change rate and the acceleration change rate, the method further comprises: judging whether the pneumatic clutch is controlled to a reasonable position according to the throttle opening degree change rate and the acceleration change rate; and the step of determining the cylinder pressure correction value according to the throttle opening degree change rate and the acceleration change rate comprises: if it is judged that the pneumatic clutch is not controlled to the reasonable position, then determining the cylinder pressure correction value according to the throttle opening degree change rate and the acceleration change rate; the step of judging whether the pneumatic clutch is controlled to the reasonable position according to the throttle opening degree change rate and the acceleration change rate comprises: if the throttle opening degree change rate is less than a set throttle opening degree change rate threshold value and the acceleration change rate is less than a set acceleration change rate threshold value, then the pneumatic clutch is not controlled to the reasonable position; and if the throttle opening degree change rate is greater than or equal to the set throttle opening degree change rate threshold value and the acceleration change rate is greater than or equal to the set acceleration change rate threshold value, then the pneumatic clutch is controlled to the reasonable position; the step of determining the cylinder pressure correction value according to the throttle opening degree change rate and the acceleration change rate comprises: querying a required cylinder pressure position correction table according to the throttle opening degree change rate and the acceleration change rate to determine the cylinder pressure correction value.

2. The pneumatic clutch control method according to claim 1, characterized by, The method further comprises the following steps: when the pneumatic clutch is controlled to the reasonable position, the cylinder pressure correction value is controlled to 0.

3. The pneumatic clutch control method of claim 1, wherein The method further comprises the following steps: when the pneumatic clutch actuator is in a separation process, acquiring an actual pressure disc stroke displacement value collected by a pressure disc stroke displacement sensor arranged at a pressure disc of the pneumatic clutch actuator; controlling the pneumatic clutch to move from the actual position of the pneumatic clutch to the target position of the pneumatic clutch according to the actual pressure disc stroke displacement value and a required pressure disc stroke displacement value.

4. A pneumatic clutch control device characterized by The method comprises the following steps: an information acquisition module, configured to acquire a current cylinder pressure value collected by a cylinder pressure sensor of a pneumatic clutch actuator, an actual position of the pneumatic clutch, a torque change rate of an engine, a throttle opening degree, a throttle opening degree change rate, and an acceleration change rate; The first position control module is configured to determine a required cylinder gas pressure value according to the accelerator opening degree and the engine torque change rate, and control the pneumatic clutch to move from the actual pneumatic clutch position to a target pneumatic clutch position according to the current cylinder gas pressure value and the required cylinder gas pressure value. The first position control module is configured to determine a required cylinder gas pressure value according to the accelerator opening degree and the engine torque change rate, and control the pneumatic clutch to move from the actual pneumatic clutch position to a target pneumatic clutch position according to the current cylinder gas pressure value and the required cylinder gas pressure value. The second position control module is configured to determine a cylinder gas pressure correction value according to the accelerator opening degree change rate and the acceleration change rate, determine a target cylinder gas pressure value based on the cylinder gas pressure correction value, and control the pneumatic clutch to move from the target pneumatic clutch position to a corrected pneumatic clutch position according to the target cylinder gas pressure value. The determination module is configured to determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate. The determination module is configured to determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate. The determination module is configured to determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate. The determination module is configured to determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate.

5. A vehicle characterized by comprising: The determination module is configured to determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate. The determination module is configured to determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate. The determination module is configured to determine whether the pneumatic clutch is controlled to a reasonable position according to the accelerator opening degree change rate and the acceleration change rate. The vehicle comprises:

6. A computer-readable storage medium, characterized in that, 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, and the computer program is executed by the at least one processor to enable the at least one processor to execute the pneumatic clutch control method in any one of claims 1-3. The computer readable storage medium stores computer instructions for enabling the processor to execute the pneumatic clutch control method in any one of claims 1-3 when executed by the processor.

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