Disengagement mechanism control method, system and vehicle

Abstract

The present invention provides a disengagement mechanism control method, system and vehicle, and relates to the field of vehicle technology. The disengagement mechanism control method of the present invention includes: obtaining a wheel end speed signal, a driver torque demand signal, a vehicle status signal and a motor speed signal; determining the current state of the disengagement mechanism according to the wheel end speed signal and the motor speed signal; determining the target state of the disengagement mechanism according to the driver torque demand signal, the vehicle status signal and the current state of the disengagement mechanism, and determining the timing control state of the disengagement mechanism according to the target state of the disengagement mechanism; performing motor arbitration according to the timing control state, and controlling the operating state of the drive motor according to the motor arbitration result. The present invention can realize the separation and combination of the disengagement mechanism without the need for a position sensor, which can reduce the control cost of the disengagement mechanism; can realize motor control and disengagement mechanism control at the same time, which is conducive to improving the degree of system integration.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a disengagement mechanism control method, system and vehicle. Background Art

[0002] To meet power requirements, some vehicles are equipped with four-wheel drive systems, which use two powertrains on the front and rear axles to meet either four-wheel drive or two-wheel drive requirements. In current four-wheel drive systems, especially those in new energy vehicles, the auxiliary drive system often uses a three-in-one electric drive assembly, and the auxiliary drive powertrain is often hard-connected to the wheel ends. As a result, when using two-wheel drive, the auxiliary drive motor will continue to idle along with the wheel ends, resulting in a certain amount of energy loss.

[0003] Existing technologies usually use a shift drum mechanism to reduce energy loss, that is, a BLDC (Brushless Direct Current Motor) motor is used to drive the shift drum to move, which further drives the shift fork to move to separate or engage the disengagement mechanism. However, a position sensor needs to be installed on the shift fork to judge the actual state of the disengagement mechanism based on the sensor position information, and the hardware cost is relatively high. Summary of the Invention

[0004] The problem solved by the present invention is how to reduce the control cost of the disengagement mechanism.

[0005] To solve the above problems, the present invention provides a disengagement mechanism control method, system and vehicle.

[0006] In a first aspect, the present invention provides a method for controlling a disengagement mechanism, comprising:

[0007] Obtain wheel end speed signal, driver torque demand signal, vehicle status signal and motor speed signal;

[0008] determining a current state of the disengagement mechanism according to the wheel end speed signal and the motor speed signal;

[0009] determining a target state of the disengagement mechanism based on the driver torque demand signal, the vehicle state signal, and a current state of the disengagement mechanism, and determining a timing control state of the disengagement mechanism based on the target state of the disengagement mechanism;

[0010] Motor arbitration is performed according to the timing control state, and the operating state of the drive motor is controlled according to the motor arbitration result.

[0011] Optionally, determining the timing control state of the disengagement mechanism according to the target state of the disengagement mechanism includes: determining the manner and time of separation or combination of the disengagement mechanism according to the target state of the disengagement mechanism.

[0012] Optionally, the disengagement mechanism control method further includes: determining a target speed of the drive motor during engagement of the disengagement mechanism according to the wheel end speed signal.

[0013] Optionally, controlling the operating state of the drive motor according to the motor arbitration result includes: switching the drive motor to a corresponding motor mode according to the motor arbitration result.

[0014] Optionally, controlling the operating state of the drive motor according to the motor arbitration result further includes:

[0015] Determining the speed regulation torque corresponding to the motor mode according to the motor arbitration result;

[0016] determining a required torque corresponding to the driver torque demand signal according to the motor arbitration result and the speed regulation torque;

[0017] The operating state of the drive motor is controlled according to the required torque and the motor speed signal.

[0018] Optionally, controlling the operating state of the drive motor according to the required torque and the motor speed signal includes:

[0019] Determining whether the drive motor is required to participate in power output according to the required torque and the motor speed signal;

[0020] If not, controlling the disengagement mechanism to separate;

[0021] If so, the disengagement mechanism is controlled to engage.

[0022] Optionally, controlling the disengagement mechanism to separate includes:

[0023] Controlling the torque of the driving motor to be unloaded to zero;

[0024] Controlling the electromagnet current of the disengaging mechanism to be unloaded to zero;

[0025] The driving motor is controlled to perform torque zero-crossing pulsation.

[0026] Optionally, the control disengagement mechanism includes:

[0027] controlling the speed of the drive motor according to the target speed and feedforward torque of the drive motor;

[0028] When the speed regulation is completed, the electromagnet of the disengagement mechanism is controlled to be connected to a preset engagement current.

[0029] In a second aspect, the present invention provides a disengagement mechanism control system, comprising:

[0030] CAN signal processing module, used to obtain wheel end speed signal, driver torque demand signal and vehicle status signal;

[0031] Motor speed signal analysis module, used to obtain motor speed signal;

[0032] a disengagement mechanism state determination module, configured to determine a current state of the disengagement mechanism according to the wheel end speed signal and the motor speed signal;

[0033] a disengagement and engagement timing control module for a disengagement mechanism, configured to determine a target state of the disengagement mechanism based on the driver torque demand signal, the vehicle state signal, and a current state of the disengagement mechanism, and to determine a timing control state of the disengagement mechanism based on the target state of the disengagement mechanism;

[0034] The motor arbitration control module is used to perform motor arbitration according to the timing control state and control the operating state of the drive motor according to the motor arbitration result.

[0035] In a third aspect, the present invention provides a vehicle comprising the above-mentioned disengagement mechanism control system.

[0036] The present invention determines the current state of the disengagement mechanism based on the wheel-end speed signal and the motor speed signal, realizes real-time monitoring of the state of the disengagement mechanism, and then determines the target state of the disengagement mechanism in combination with the driver's torque demand signal and the vehicle state signal, and decides whether the disengagement mechanism is separated or combined. The disengagement mechanism can be separated and combined without the need for a position sensor, which reduces the number of position sensors compared to the prior art, and can still control the separation and combination of the disengagement mechanism in real time, thereby reducing the control cost of the disengagement mechanism; finally, motor arbitration is performed according to the timing control state, and motor control and disengagement mechanism control can be realized simultaneously, which is conducive to improving the degree of system integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the flow of a method for controlling a disengaging mechanism according to an embodiment of the present invention;

[0038] Figure 2 Schematic diagram of the structure of a rear-wheel electric drive system according to an embodiment of the present invention;

[0039] Figure 3 Schematic diagram of the principle of the disengagement mechanism control system according to an embodiment of the present invention;

[0040] Figure 4 A schematic diagram of the separation process of the disengagement mechanism according to an embodiment of the present invention;

[0041] Figure 5 A schematic diagram of the disengagement mechanism assembly process according to an embodiment of the present invention;

[0042] Figure 6Schematic diagram of the structure of the disengagement mechanism control system according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0044] like Figure 1 As shown, an embodiment of the present invention provides a disengagement mechanism control method including:

[0045] Obtain wheel end speed signal, driver torque demand signal, vehicle status signal and motor speed signal.

[0046] Specifically, the wheel end speed signal, the driver torque demand signal and the vehicle status signal can be obtained through the CAN signal processing module, and the motor speed signal can be obtained through the motor speed signal analysis module.

[0047] Among them, the wheel end speed signal is obtained by measuring the wheel rotation speed. The corresponding sensor is usually located on the car axle, which can detect the rotation speed of the axle and wheel and convert it into an electrical signal.

[0048] The driver torque demand signal refers to the driver's demand for power source torque output in different driving scenarios. While driving, the driver will adjust vehicle speed and acceleration based on different road and driving conditions, which requires the power source to provide different levels of torque output. Typically, the driver's torque demand is determined by the driving scenario and personal driving style. For example, in mountainous areas or off-road driving, the driver requires greater torque output to overcome slopes or complex road resistance, while on highways, the driver may be more concerned with the power source's responsiveness and smoothness.

[0049] Among them, the vehicle status signal refers to the information about the vehicle's operating status received by the vehicle's electronic control unit, such as engine speed, vehicle speed, throttle position, brake status, wheel speed, etc. The vehicle's electronic control unit can adjust the operating status of the engine and transmission system according to the vehicle status signal, such as adjusting the braking force distribution and stability control when braking or turning.

[0050] The motor speed signal is usually obtained by a resolver sensor using magnetic or electric field effects to measure the changes in the magnetic field or electric field during the rotation of the motor and convert it into an electrical signal, or it is directly output by a motor controller.

[0051] The current state of the disengagement mechanism is determined according to the wheel end speed signal and the motor speed signal.

[0052] Specifically, combined Figure 3As shown, the disengagement mechanism state judgment module determines the current state of the disengagement mechanism according to the wheel end speed signal and the motor speed signal to achieve subsequent timing control.

[0053] A target state of the disengagement mechanism is determined according to the driver torque demand signal, the vehicle state signal and the current state of the disengagement mechanism, and a timing control state of the disengagement mechanism is determined according to the target state of the disengagement mechanism.

[0054] Specifically, combined Figure 3 As shown, the disengagement mechanism separation and engagement timing control module determines whether the disengagement mechanism is disengaged or engaged according to information such as the driver's torque demand signal and the vehicle status signal, and thereby determines the timing control state.

[0055] Motor arbitration is performed according to the timing control state, and the operating state of the drive motor is controlled according to the motor arbitration result.

[0056] Specifically, combined Figure 3 As shown, the motor arbitration control module performs motor arbitration according to the timing control state and controls the operating state of the drive motor, such as coordinating the distribution of energy output and torque, thereby realizing the separation or combination of the disengagement mechanism. There is no need to install a position sensor on the fork as in the prior art, and then judge the actual state of the disengagement mechanism based on the sensor position information. Therefore, the control cost of the disengagement mechanism can be reduced, and motor control and disengagement mechanism control can be realized at the same time.

[0057] Among them, combined Figure 3 As shown, after the motor arbitration control module performs motor arbitration according to the timing control state, the motor arbitration result is fed back to the disengagement mechanism separation and combination timing control module to realize feedback control.

[0058] Among them, motor arbitration control refers to the arbitration control between the driver's required torque and the required torque during the disengagement mechanism control process. The arbitration processing idea is to control the motor torque as needed during the disengagement mechanism action, and respond to the driver's required torque after the engagement is completed.

[0059] Among them, the drive motor refers to the high-voltage drive motor of the disengagement mechanism (such as a permanent magnet synchronous motor). The high-voltage drive motor is usually composed of an electronic control unit, a motor controller, a motor driver, a sensor and other parts. Among them, the electronic control unit is used to receive sensor signals and calculate control strategies, the motor controller is used to control the speed and torque of the motor, and the motor driver is used to provide appropriate voltage and current to ensure the normal operation of the motor.

[0060] Among them, combined Figure 2As shown, the disconnect mechanism control system, serving as a power control unit, is typically connected to the disconnect mechanism drive motor assembly to implement control of the disconnect mechanism, the drive motor, and the system cooling and lubricating oil pump. This disconnect mechanism control system can be applied to the electric drive three-in-one assembly, which is an automotive powertrain system that integrates a motor, a reducer, and an electronic controller. This compact unit easily mounts on the vehicle chassis. The electric drive three-in-one assembly typically includes a motor, a reducer, an electronic controller, and a cooling system. The motor is the core component of the automotive powertrain, converting electrical energy into mechanical energy to provide power output. The reducer reduces the motor's speed and increases torque output to meet varying driving conditions. The electronic controller controls the motor's speed, torque, and direction to achieve power output and speed changes.

[0061] Optionally, determining the timing control state of the disengagement mechanism according to the target state of the disengagement mechanism includes: determining the manner and time of separation or combination of the disengagement mechanism according to the target state of the disengagement mechanism.

[0062] Specifically, sequential control of the disengagement mechanism refers to a control strategy that controls the timing and method of clutch disengagement during the operation of a vehicle transmission to achieve smooth and rapid speed shifting. The disengagement mechanism typically consists of a clutch, clutch pressure plate, and separator, and is used to control the connection and disconnection between the drive shaft and the engine during the speed shifting process. Sequential control of the disengagement mechanism typically utilizes a series of sensors, actuators, and control algorithms to achieve precise control. For example, during operations such as starting, accelerating, and shifting, the clutch must be disengaged at specific times to achieve smooth speed shifting. Sequential control of the disengagement mechanism is a crucial component of vehicle transmission control, directly impacting the vehicle's ride quality and safety performance. Proper sequential control can achieve smoother and faster speed shifting, while also reducing transmission wear and damage, thereby extending the vehicle's service life.

[0063] Optionally, the disengagement mechanism control method further includes: determining a target speed of the drive motor during engagement of the disengagement mechanism according to the wheel end speed signal.

[0064] Specifically, during the engagement process, it is necessary to calculate the target speed of the motor during the engagement process based on the wheel-end speed signal, and dynamically adjust the target speed according to the vehicle operating status. Therefore, the target speed during the engagement process is first determined through the disengagement mechanism status judgment module, and then subsequent adjustments are made.

[0065] Optionally, controlling the operating state of the drive motor according to the motor arbitration result includes: switching the drive motor to a corresponding motor mode according to the motor arbitration result.

[0066] Specifically, combined Figure 3 As shown, the motor mode switching module switches the drive motor to the corresponding motor mode according to the mode arbitrated by the motor arbitration control module.

[0067] Optionally, controlling the operating state of the drive motor according to the motor arbitration result further includes:

[0068] The speed regulation torque corresponding to the motor mode is determined according to the motor arbitration result.

[0069] Specifically, combined Figure 3 As shown, the motor speed control module determines the speed regulation torque according to the target speed arbitrated by the motor arbitration control module.

[0070] A required torque corresponding to the driver torque request signal is determined according to the motor arbitration result and the speed regulation torque.

[0071] Among them, the speed regulation torque refers to the torque calculated by PID control according to the target speed and actual speed changes during the motor speed regulation stage in the combined control process, when the motor is in speed mode, and then the speed regulation torque calculated by superimposing the feedforward torque.

[0072] Specifically, combined Figure 3 As shown, the motor torque control module determines the required torque corresponding to the driver's torque demand signal, that is, the final execution torque, according to the torque arbitrated by the motor arbitration control module and the speed regulation torque.

[0073] The operating state of the drive motor is controlled according to the required torque and the motor speed signal.

[0074] Specifically, combined Figure 3 As shown, the drive execution control module realizes the required torque and controls the operating state of the drive motor according to the required torque and the motor speed signal.

[0075] Optionally, controlling the operating state of the drive motor according to the required torque and the motor speed signal includes:

[0076] It is determined whether the drive motor is required to participate in power output according to the required torque and the motor speed signal.

[0077] Specifically, the disengagement mechanism control system determines whether the rear-drive motor is required to participate in power output based on vehicle operation information and driver demand, that is, based on the required torque and motor speed signal.

[0078] If not, the disengagement mechanism is controlled to separate.

[0079] Specifically, when the rear drive motor is not required to participate in driving, a disengagement request of the disengagement mechanism is issued.

[0080] If so, the disengagement mechanism is controlled to engage.

[0081] Specifically, when the rear drive motor is required to participate in driving, a disengagement mechanism engagement request is issued.

[0082] Optionally, controlling the disengagement mechanism to separate includes:

[0083] The torque of the driving motor is controlled to be unloaded to zero.

[0084] Specifically, combined Figure 4 As shown, during the separation control process, the drive motor torque is first controlled to be unloaded to zero.

[0085] The electromagnet current of the control disengagement mechanism is unloaded to zero.

[0086] Specifically, combined Figure 4 As shown, the electromagnet current is then controlled to be unloaded to zero.

[0087] The driving motor is controlled to perform torque zero-crossing pulsation.

[0088] Specifically, combined Figure 4 As shown, the drive motor is further controlled to actively perform torque zero-crossing pulsation, and the motor torque pulsation is increased during the separation process to shorten the separation time.

[0089] Throughout the entire control process, the wheel-end speed and actual motor speed are monitored in real time to confirm whether the disengagement mechanism has disengaged. If the disengagement mechanism has disengaged, the program terminates and reports the mechanism's actual status. If the mechanism has not disengaged, the control process repeats. When the number of repetitions reaches a certain threshold, the fault post-processing action is initiated.

[0090] Optionally, the control disengagement mechanism includes:

[0091] The speed of the drive motor is controlled according to the target speed and feedforward torque of the drive motor.

[0092] Specifically, combined Figure 5 As shown, during the execution of the combined control process, the motor target speed in the combined control process is first calculated based on the wheel-end speed signal, and the target speed is dynamically adjusted according to the vehicle operating status. The feedforward torque signal is calculated based on the target speed change rate and dynamically adjusted according to the change in the target speed change rate. Then, the drive motor is controlled to perform the speed regulation stage, and the feedforward torque calculation is introduced in the speed regulation control process to shorten the speed regulation time.

[0093] Feedforward torque refers to the precalculated torque applied to the motor before the load torque is measured. This torque is typically calculated by the controller and applied to the motor to preemptively offset the torque of the external load. Feedforward torque is often used in conjunction with feedback control strategies to achieve higher control performance. Feedback control measures and monitors the actual torque output by the motor and adjusts based on the difference between the actual torque and the target torque. Feedforward torque, based on this, predicts the load torque in advance and pre-applies the corresponding torque, reducing the response time and error of feedback control.

[0094] When the speed regulation is completed, the electromagnet of the disengagement mechanism is controlled to be connected to a preset engagement current.

[0095] Specifically, combined Figure 5 As shown, when the motor speed reaches the required speed difference range, the electromagnet coupling current is controlled, that is, the preset coupling current is connected.

[0096] Throughout the control process, the wheel-end speed and actual motor speed are monitored in real time to confirm whether the disengagement mechanism has engaged. If the disengagement mechanism is engaged, the program terminates and reports the mechanism's actual status. If the disengagement mechanism is not engaged, the control process repeats. When the number of repetitions reaches a certain threshold, the fault post-processing action is initiated.

[0097] Another embodiment of the present invention provides a disengagement mechanism control system, comprising:

[0098] CAN signal processing module, used to obtain wheel end speed signal, driver torque demand signal and vehicle status signal;

[0099] Motor speed signal analysis module, used to obtain motor speed signal;

[0100] a disengagement mechanism state determination module, configured to determine a current state of the disengagement mechanism according to the wheel end speed signal and the motor speed signal;

[0101] a disengagement and engagement timing control module for a disengagement mechanism, configured to determine a target state of the disengagement mechanism based on the driver torque demand signal, the vehicle state signal, and a current state of the disengagement mechanism, and to determine a timing control state of the disengagement mechanism based on the target state of the disengagement mechanism;

[0102] The motor arbitration control module is used to perform motor arbitration according to the timing control state and control the operating state of the drive motor according to the motor arbitration result.

[0103] Specifically, combined Figure 2 、 Figure 3 and Figure 6As shown, the disengagement mechanism control system (CAN signal processing module) is connected to the battery control unit and the chassis domain control unit through the CAN bus. The CAN signal processing module is used to obtain the wheel end speed signal, the driver torque demand signal and the vehicle status signal from the battery control unit and the chassis domain control unit, thereby realizing the disengagement mechanism state judgment and timing control; the motor speed signal is obtained through the motor speed signal analysis module, and the disengagement mechanism state judgment module determines the current state of the disengagement mechanism according to the wheel end speed signal and the motor speed signal to realize subsequent timing control; the disengagement mechanism separation and engagement timing control module determines whether the disengagement mechanism is separated or engaged according to information such as the driver torque demand signal and the vehicle status signal, and thereby determines the timing control state; the motor arbitration control module performs motor arbitration according to the timing control state to control the operating state of the drive motor.

[0104] The chassis domain control unit (CDCU) is the central control unit of the vehicle's chassis control system. It is responsible for controlling and monitoring various chassis functions, primarily monitoring and controlling the vehicle's suspension, braking, and steering systems to ensure vehicle stability and safety. It also monitors and controls various vehicle sensors and actuators, such as the ABS braking system, traction control system, and body stability control system. It also receives information from other electronic control units, such as the engine control unit and transmission control unit, to coordinate the operation of the entire vehicle. The CDCU can also adjust vehicle performance based on driver needs, such as improving braking and cornering performance. By optimizing the vehicle's chassis control system, the CDCU can enhance the overall vehicle performance and driving experience.

[0105] Another embodiment of the present invention provides a vehicle including the above-mentioned disengagement mechanism control system.

[0106] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A method for controlling a disengaging mechanism, characterized in that: include: Obtain wheel end speed signal, driver torque demand signal, vehicle status signal and motor speed signal; determining a current state of the disengagement mechanism according to the wheel end speed signal and the motor speed signal; determining a target state of the disengagement mechanism based on the driver torque demand signal, the vehicle state signal, and a current state of the disengagement mechanism, and determining a timing control state of the disengagement mechanism based on the target state of the disengagement mechanism; Motor arbitration is performed according to the timing control state, and the operating state of the drive motor is controlled according to the motor arbitration result.

2. The disengagement mechanism control method according to claim 1, characterized in that: Determining the timing control state of the disengaging mechanism according to the target state of the disengaging mechanism includes: determining the mode and time of separation or combination of the disengaging mechanism according to the target state of the disengaging mechanism.

3. The disengagement mechanism control method according to claim 1, characterized in that: Also includes: The target speed of the drive motor during the engagement of the disengagement mechanism is determined according to the wheel end speed signal.

4. The disengagement mechanism control method according to claim 3, characterized in that: Controlling the operating state of the drive motor according to the motor arbitration result includes: switching the drive motor to a corresponding motor mode according to the motor arbitration result.

5. The disengagement mechanism control method according to claim 4, characterized in that: The controlling the operating state of the drive motor according to the motor arbitration result further includes: Determining the speed regulation torque corresponding to the motor mode according to the motor arbitration result; determining a required torque corresponding to the driver torque demand signal according to the motor arbitration result and the speed regulation torque; The operating state of the drive motor is controlled according to the required torque and the motor speed signal.

6. The disengagement mechanism control method according to claim 5, characterized in that: The controlling the operating state of the drive motor according to the required torque and the motor speed signal includes: Determining whether the drive motor is required to participate in power output according to the required torque and the motor speed signal; If not, controlling the disengagement mechanism to separate; If so, the disengagement mechanism is controlled to engage.

7. The disengagement mechanism control method according to claim 6, characterized in that: The control disengagement mechanism separation includes: Controlling the torque of the driving motor to be unloaded to zero; Controlling the electromagnet current of the disengaging mechanism to be unloaded to zero; The driving motor is controlled to perform torque zero-crossing pulsation.

8. The method for controlling a disengagement mechanism according to claim 6, wherein: The control disengagement mechanism combination includes: controlling the speed of the drive motor according to the target speed and feedforward torque of the drive motor; When the speed regulation is completed, the electromagnet of the disengagement mechanism is controlled to be connected to a preset engagement current.

9. A disengagement mechanism control system, characterized in that: include: CAN signal processing module, used to obtain wheel end speed signal, driver torque demand signal and vehicle status signal; Motor speed signal analysis module, used to obtain motor speed signal; a disengagement mechanism state determination module, configured to determine a current state of the disengagement mechanism according to the wheel end speed signal and the motor speed signal; a disengagement and engagement timing control module for a disengagement mechanism, configured to determine a target state of the disengagement mechanism based on the driver torque demand signal, the vehicle state signal, and a current state of the disengagement mechanism, and to determine a timing control state of the disengagement mechanism based on the target state of the disengagement mechanism; The motor arbitration control module is used to perform motor arbitration according to the timing control state and control the operating state of the drive motor according to the motor arbitration result.

10. A vehicle, characterized in that: The invention comprises the disengagement mechanism control system according to claim 9.

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