A kind of pneumatic clutch duty ratio control method, device, vehicle and storage medium

Abstract

The application discloses a kind of pneumatic clutch duty ratio control method, device, vehicle and storage medium.The pneumatic clutch duty ratio control method includes: obtaining the actual displacement of pneumatic clutch of pneumatic clutch, and control pneumatic clutch executes separation operation, respectively according to solenoid valve duty ratio lower limit value and solenoid valve duty ratio upper limit value open loop control;After open loop control in set time, whether pneumatic clutch actual displacement and pneumatic clutch displacement change rate change is judged respectively, and determine the first duty ratio of pneumatic clutch solenoid valve and the second duty ratio of pneumatic clutch solenoid valve;Pneumatic clutch solenoid valve first duty ratio and pneumatic clutch solenoid valve second duty ratio are mapped with pneumatic clutch solenoid valve calibration interval, and the calibration MAP of pneumatic clutch solenoid valve is obtained.The application realizes the linear space range of expansion pneumatic clutch duty ratio, reduces the calibration difficulty of pneumatic clutch duty ratio, and enhances software coverage.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pneumatic clutch control, and in particular to a pneumatic clutch duty cycle 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 drive 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 clutch service life.

[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 pneumatic clutch solenoid valve 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 solenoid valve is opened, and the closing 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 closing valve of the clutch solenoid valve 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 specific value of the linear interval of the duty cycle of the pneumatic clutch solenoid valve needs to be determined according to manual testing. If the linear interval of the duty cycle of the solenoid valve is too small, it will make the engineer's calibration relatively difficult. SUMMARY

[0004] The present application provides a pneumatic clutch duty cycle control method, device, vehicle and storage medium to solve the problem that the linear interval of the pneumatic clutch duty cycle is too small when manually calibrated by artificial manual calibration, which further leads to relatively difficult calibration by engineers.

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

[0006] The actual displacement of the pneumatic clutch is obtained, and the pneumatic clutch is controlled to perform a split operation, which is open-loop controlled according to the lower limit value and the upper limit value of the solenoid valve duty cycle, respectively;

[0007] After open-loop control for a set time, it is determined whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch have changed, respectively, and the first duty cycle of the pneumatic clutch solenoid valve and the second duty cycle of the pneumatic clutch solenoid valve are determined based on the results of the respective determinations;

[0008] The first duty cycle of the pneumatic clutch solenoid valve and the second duty cycle of the pneumatic clutch solenoid valve are mapped to the calibration interval of the pneumatic clutch solenoid valve to obtain a calibration MAP of the pneumatic clutch solenoid valve.

[0009] Optionally, after open-loop control for a set time, it is determined whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change respectively, and the first duty cycle of the pneumatic clutch solenoid valve and the second duty cycle of the pneumatic clutch solenoid valve are determined based on the results of the respective determinations of whether changes occur, comprising:

[0010] After open-loop control for a set time, it is determined that the actual displacement of the pneumatic clutch changes, and a pneumatic clutch engagement instruction is generated;

[0011] The pneumatic clutch is controlled based on the pneumatic clutch engagement instruction, and the duty cycle of the pneumatic clutch solenoid valve is adjusted from the lower limit value of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve, and the pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve no longer changes.

[0012] Optionally, the pneumatic clutch duty cycle control method further comprises:

[0013] After open-loop control for a set time, it is determined that the actual displacement of the pneumatic clutch does not change, and the duty cycle of the pneumatic clutch solenoid valve is adjusted from the lower limit value of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve, and the pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve no longer changes.

[0014] Optionally, after open-loop control for a set time, it is determined whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change respectively, and the first duty cycle of the pneumatic clutch solenoid valve and the second duty cycle of the pneumatic clutch solenoid valve are determined based on the results of the respective determinations of whether changes occur, comprising:

[0015] After open-loop control for a set time, it is determined that the displacement change rate of the pneumatic clutch changes, and a pneumatic clutch engagement instruction is generated;

[0016] The pneumatic clutch is controlled based on the pneumatic clutch engagement instruction, and the duty cycle of the pneumatic clutch solenoid valve is adjusted from the upper limit value of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve, and the pneumatic clutch displacement corresponding to the second duty cycle of the pneumatic clutch solenoid valve no longer changes.

[0017] Optionally, the pneumatic clutch duty cycle control method further comprises:

[0018] After open-loop control for a set time, it is determined that the displacement change rate of the pneumatic clutch does not change, and the duty cycle of the pneumatic clutch solenoid valve is adjusted from the upper limit value of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve, and the pneumatic clutch displacement corresponding to the second duty cycle of the pneumatic clutch solenoid valve no longer changes.

[0019] Optionally, before judging whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change respectively, the method further comprises:

[0020] determining the displacement change rate of the pneumatic clutch based on the change relationship table of the pneumatic clutch solenoid valve opening degree and the displacement change rate of the pneumatic clutch.

[0021] Optionally, the pneumatic clutch solenoid valve is any one of a fast closing valve, a slow closing valve, a fast opening valve and a slow opening valve.

[0022] According to another aspect of the present application, a kind of pneumatic clutch duty ratio control device is provided, and the pneumatic clutch duty ratio control device comprises:

[0023] open loop control module, for executing the actual displacement of the pneumatic clutch of pneumatic clutch, and control the pneumatic clutch executes separation operation, respectively according to the lower limit of electromagnetic valve duty ratio and the upper limit of electromagnetic valve duty ratio Open loop control is carried out;

[0024] duty ratio determination module, for executing open loop control in set time, whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change respectively are judged, and the first duty ratio of pneumatic clutch solenoid valve and the second duty ratio of pneumatic clutch solenoid valve are determined based on the result of whether change is judged respectively;

[0025] duty ratio calibration module, for executing the first duty ratio of pneumatic clutch solenoid valve and the second duty ratio of pneumatic clutch solenoid valve with the calibration interval of pneumatic clutch solenoid valve Mapping, the calibration MAP of pneumatic clutch solenoid valve is obtained.

[0026] According to another aspect of the present application, a kind of vehicle is provided, and the vehicle comprises:

[0027] at least one processor;And,

[0028] the memory connected in communication with the at least one processor;Wherein,

[0029] the memory has the computer program that can be executed 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 duty ratio control method described in any one of the embodiments of the present application.

[0030] According to another aspect of the present application, a kind of computer readable storage medium is provided, and the computer readable storage medium stores computer instructions, and the computer instructions are used to make processor execute and realize the pneumatic clutch duty ratio control method described in any one of the embodiments of the present application.

[0031] The technical scheme of the embodiment of the application is that the actual displacement of the pneumatic clutch is acquired, and the pneumatic clutch is controlled to perform a separation operation, and open-loop control is performed according to the lower limit value and the upper limit value of the solenoid valve duty cycle respectively; after open-loop control is performed within a set time, whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change is judged respectively, and the first solenoid valve duty cycle of the pneumatic clutch and the second solenoid valve duty cycle of the pneumatic clutch are determined based on the results of the respective judgments; the first solenoid valve duty cycle of the pneumatic clutch and the second solenoid valve duty cycle of the pneumatic clutch are mapped with the calibration interval of the pneumatic clutch solenoid valve to obtain a calibration MAP of the pneumatic clutch solenoid valve. The application solves the problem that the linear interval of the pneumatic clutch duty cycle is too small when manually calibrated by artificial manual calibration, and further causes the calibration of the engineer to be relatively difficult, realizes expansion of the linear space range of the pneumatic clutch duty cycle, reduces the calibration difficulty of the pneumatic clutch duty cycle, and enhances software coverage.

[0032] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0034] Figure 1 is a flow chart of a pneumatic clutch duty cycle control method provided according to the embodiment of the application;

[0035] Figure 2 is a flow chart for determining the first solenoid valve duty cycle of the pneumatic clutch provided according to the embodiment of the application;

[0036] Figure 3 is a flow chart for determining the second solenoid valve duty cycle of the pneumatic clutch provided according to the embodiment of the application;

[0037] Figure 4 is a structural schematic diagram of a pneumatic clutch duty cycle control device provided according to the embodiment of the application;

[0038] Figure 5 is a structural schematic diagram of a vehicle for implementing the pneumatic clutch duty cycle control method of the embodiment of the application. DETAILED DESCRIPTION

[0039] In the following, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort should fall within the protection scope of the present application.

[0040] It should be noted that the terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than that 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 need not 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.

[0041] Figure 1 A flowchart of a method for controlling the duty cycle of a pneumatic clutch is provided for an embodiment of the present application. The embodiment can be applicable to adaptive control of the duty cycle of a pneumatic clutch. The method for controlling the duty cycle of the pneumatic clutch can be performed by a pneumatic clutch duty cycle control device, which can be realized in the form of hardware and / or software. The pneumatic clutch duty cycle control device can be configured in a vehicle equipped with a pneumatic clutch. As shown in the figure, the method for controlling the duty cycle of the pneumatic clutch includes: Figure 1

[0042] S110, obtaining the actual displacement of the pneumatic clutch, and controlling the pneumatic clutch to perform a separation operation, and performing open-loop control according to the lower limit value and the upper limit value of the solenoid valve duty cycle, respectively.

[0043] The working principle of the pneumatic clutch is as follows: after the solenoid valve is turned on, compressed air enters the 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 tightly into engagement. If the air pressure gradually increases, the working machine will start soft and run smoothly. When the solenoid valve is closed, the air pressure disappears, and the pneumatic clutch is controlled to separate and engage by air pressure. The friction plate is quickly reset to complete separation by pressure increase and separation. The solenoid valve is opened to charge when the valve is opened, and to exhaust when the valve is opened. When both valves are opened and the duty cycle is large, the clutch approaches the target position at a relatively fast speed, otherwise it is relatively slow.

[0044] ​The actual displacement of the pneumatic clutch is the displacement of the axial movement of the piston. The actual displacement of the pneumatic clutch can be obtained by a displacement sensor, but is not limited thereto.

[0045] Specifically, the actual displacement of the pneumatic clutch is received by a TCU (Transmission Control Unit, i.e., an automatic transmission control unit), and the pneumatic clutch is automatically controlled to perform a separation operation.

[0046] The pneumatic clutch actuator includes a quick closing valve, a slow closing valve, a quick separation valve, and a slow separation valve. When the quick closing valve and the slow closing valve are opened, the pneumatic clutch performs an exhaust operation, and the pneumatic clutch is engaged. When the quick separation valve and the slow separation valve are opened, the pneumatic clutch performs an inflation operation, and the pneumatic clutch is separated. When the quick closing valve, the slow closing valve, the quick separation valve, and the slow separation valve are simultaneously opened and the duty cycle is large, the operation is fast, otherwise the operation is slow.

[0047] When the pneumatic clutch solenoid valve is less than the lower limit of the solenoid valve duty cycle, the pneumatic clutch actuator does not operate. When the pneumatic clutch solenoid valve exceeds the upper limit of the solenoid valve duty cycle, the pneumatic clutch actuator has reached the maximum driving capacity of the solenoid valve and no longer functions. Optionally, the lower limit of the solenoid valve duty cycle is 16%, and the upper limit of the solenoid valve duty cycle is 30%. The present embodiment does not make any limitation on the lower limit of the solenoid valve duty cycle and the upper limit of the solenoid valve duty cycle.

[0048] In the present embodiment, the first solenoid valve duty cycle is controlled in an open loop according to the lower limit of the solenoid valve duty cycle, and the second solenoid valve duty cycle is controlled in an open loop according to the upper limit of the solenoid valve duty cycle.

[0049] S120, after open loop control for a set time, it is determined whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change, respectively, and the first solenoid valve duty cycle and the second solenoid valve duty cycle are determined based on the results of the respective determinations.

[0050] The calibration time is the open loop control time, which can be set by a person skilled in the art according to actual needs, and the present embodiment does not make any limitation thereon. Optionally, the calibration time is 2s.

[0051] The first solenoid valve duty cycle can be understood as the minimum solenoid valve duty cycle, as shown in the following formula: Figure 2 The process for determining the first solenoid valve duty cycle is specifically as follows:

[0052] S210, the actual displacement of the pneumatic clutch is obtained, and the pneumatic clutch is controlled to perform a separation operation, which is controlled in an open loop according to the lower limit of the solenoid valve duty cycle.

[0053] S220, after open-loop control for a set time, determining whether the actual displacement of the pneumatic clutch changes, if yes, executing step S230, if no, executing step S250.

[0054] S230, generating a pneumatic clutch engagement instruction, controlling the pneumatic clutch based on the pneumatic clutch engagement instruction, and executing step S240.

[0055] S240, reducing the duty cycle of the pneumatic clutch solenoid valve from the lower limit of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve, the pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve no longer changes.

[0056] Here, after reducing the duty cycle of the pneumatic clutch solenoid valve from the lower limit of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve, open-loop control is performed for a period of time according to the first duty cycle of the pneumatic clutch solenoid valve to ensure that the pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve no longer changes.

[0057] The period of time for open-loop control according to the first duty cycle of the pneumatic clutch solenoid valve at this time can be but is not limited to being set by a person skilled in the art according to actual needs, and the present embodiment does not make any limitation thereon. Optionally, the period of time for open-loop control according to the first duty cycle of the pneumatic clutch solenoid valve is 2s.

[0058] Specifically, when the actual displacement of the pneumatic clutch changes, a pneumatic clutch engagement instruction is issued, at this time, the pneumatic clutch fast engagement valve and the slow engagement valve can be directly output according to the maximum duty cycle (i.e. corresponding to the lower limit of the solenoid valve duty cycle) to ensure that the slow valve starts to act from the original engagement displacement, i.e. the duty cycle of the pneumatic clutch solenoid valve is reduced from the lower limit of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve, until the pneumatic clutch displacement no longer changes, i.e. the pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve at this time no longer changes.

[0059] It can be understood that the first duty cycle of the pneumatic clutch solenoid valve at this time is less than the lower limit of the solenoid valve duty cycle, and optionally, the first duty cycle of the pneumatic clutch solenoid valve at this time is 15%.

[0060] It should be noted that the first duty cycle of the pneumatic clutch solenoid valve at this time can be stored in a corresponding storage module (such as an EEPROM electrically erasable programmable read-only memory) as the minimum value of the next pneumatic clutch action duty cycle.

[0061] S250, increase the duty cycle of the pneumatic clutch solenoid valve from the lower limit of the duty cycle of the solenoid valve to the first duty cycle of the pneumatic clutch solenoid valve, the first duty cycle of the pneumatic clutch solenoid valve corresponding to a pneumatic clutch displacement that no longer changes.

[0062] Specifically, at this time, the lower limit of the duty cycle of the solenoid valve cannot cause the pneumatic clutch displacement to change, so the duty cycle of the solenoid valve is continuously increased, i.e. the duty cycle of the pneumatic clutch solenoid valve is increased from the lower limit of the duty cycle of the solenoid valve to the first duty cycle of the pneumatic clutch solenoid valve, until the clutch displacement no longer changes, i.e. the first duty cycle of the pneumatic clutch solenoid valve at this time corresponds to a pneumatic clutch displacement that no longer changes.

[0063] It can be understood that the first duty cycle of the pneumatic clutch solenoid valve at this time is greater than the lower limit of the duty cycle of the solenoid valve, and optionally, the first duty cycle of the pneumatic clutch solenoid valve at this time is 17%.

[0064] Here, after the duty cycle of the pneumatic clutch solenoid valve is increased from the lower limit of the duty cycle of the solenoid valve to the first duty cycle of the pneumatic clutch solenoid valve, open-loop control is performed for a period of time according to the first duty cycle of the pneumatic clutch solenoid valve at this time, to ensure that the first duty cycle of the pneumatic clutch solenoid valve corresponds to a pneumatic clutch displacement that no longer changes.

[0065] The period of time for open-loop control according to the first duty cycle of the pneumatic clutch solenoid valve at this time can be but is not limited to being calibrated and set by a person skilled in the art according to actual needs, and the present embodiment does not make any limitation thereto. Optionally, the period of time for open-loop control according to the first duty cycle of the pneumatic clutch solenoid valve is 2s.

[0066] The second duty cycle of the pneumatic clutch solenoid valve can be understood as the maximum duty cycle of the solenoid valve, as shown in Figure 3 The process for determining the second duty cycle of the pneumatic clutch solenoid valve is specifically as follows:

[0067] S310, obtain the actual displacement of the pneumatic clutch, and control the pneumatic clutch to perform a separation operation, and perform open-loop control according to the upper limit of the duty cycle of the solenoid valve.

[0068] S320, after open-loop control for a set time, determine whether the change rate of the clutch displacement changes, if yes, perform step S330, if no, perform step S350.

[0069] Specifically, taking the lower limit value of the solenoid valve duty cycle as 16% and the upper limit value of the solenoid valve duty cycle as 30% as an example, referring to the change relationship table of the pneumatic clutch solenoid valve opening degree and the pneumatic clutch displacement change rate shown in Table 1, the pneumatic clutch displacement change rate is determined. After the pneumatic clutch solenoid valve opening degree is greater than 30%, the pneumatic clutch displacement change rate is basically unchanged.

[0070]

[0071] Table 1 Change relationship table of pneumatic clutch solenoid valve opening degree and pneumatic clutch displacement change rate

[0072] S330, a pneumatic clutch combination instruction is generated, and the pneumatic clutch is controlled based on the pneumatic clutch combination instruction to execute step S340.

[0073] S340, the duty cycle of the pneumatic clutch solenoid valve is reduced and adjusted from the upper limit value of the solenoid valve duty cycle to a pneumatic clutch solenoid valve second duty cycle, and the pneumatic clutch displacement corresponding to the pneumatic clutch solenoid valve second duty cycle no longer changes.

[0074] Specifically, when the pneumatic clutch displacement change rate changes, the pneumatic clutch combination instruction is issued, and at this time the pneumatic clutch fast valve and the slow valve are directly output according to the maximum duty cycle (i.e. corresponding to the upper limit value of the solenoid valve duty cycle) to ensure that the slow valve starts to act from the original combination displacement, i.e. the duty cycle of the pneumatic clutch solenoid valve is reduced and adjusted from the upper limit value of the solenoid valve duty cycle to a pneumatic clutch solenoid valve second duty cycle, until the pneumatic clutch displacement no longer changes, i.e. the pneumatic clutch solenoid valve second duty cycle obtained at this time corresponds to the pneumatic clutch displacement that no longer changes.

[0075] It can be understood that the pneumatic clutch solenoid valve second duty cycle at this time is less than the upper limit value of the solenoid valve duty cycle, and optionally the pneumatic clutch solenoid valve second duty cycle at this time is 29%.

[0076] Here, after the duty cycle of the pneumatic clutch solenoid valve is adjusted from the upper limit value of the solenoid valve duty cycle to the pneumatic clutch solenoid valve second duty cycle, open-loop control is performed according to the pneumatic clutch solenoid valve second duty cycle for a period of time to ensure that the pneumatic clutch displacement corresponding to the pneumatic clutch solenoid valve second duty cycle no longer changes.

[0077] The period of time for open-loop control according to the pneumatic clutch solenoid valve second duty cycle at this time can be but is not limited to being set by a person skilled in the art according to actual needs, and this embodiment does not make any limitation thereon. Optionally, the period of time for open-loop control according to the pneumatic clutch solenoid valve second duty cycle is 2s.

[0078] S350, increase the duty cycle of the pneumatic clutch solenoid valve from the upper limit of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve, the second duty cycle of the pneumatic clutch solenoid valve corresponding to the pneumatic clutch displacement no longer changing.

[0079] Specifically, at this time, the upper limit of the solenoid valve duty cycle cannot cause the pneumatic clutch displacement to change, so the solenoid valve duty cycle is increased, i.e. the duty cycle of the pneumatic clutch solenoid valve is increased from the upper limit of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve, until the clutch displacement no longer changes, i.e. the second duty cycle of the pneumatic clutch solenoid valve corresponding to the pneumatic clutch displacement no longer changes.

[0080] It can be understood that the second duty cycle of the pneumatic clutch solenoid valve at this time is greater than the upper limit of the solenoid valve duty cycle, and optionally, the second duty cycle of the pneumatic clutch solenoid valve at this time is 31%.

[0081] After the duty cycle of the pneumatic clutch solenoid valve is increased from the upper limit of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve, open-loop control is performed for a period of time according to the second duty cycle of the pneumatic clutch solenoid valve to ensure that the second duty cycle of the pneumatic clutch solenoid valve corresponding to the pneumatic clutch displacement no longer changes.

[0082] Here, the period of time for open-loop control according to the second duty cycle of the pneumatic clutch solenoid valve can be but is not limited to being set by a person skilled in the art according to actual needs, and the present embodiment does not make any limitation thereon. Optionally, the period of time for open-loop control according to the second duty cycle of the pneumatic clutch solenoid valve is 2s.

[0083] It should be noted that the second duty cycle of the pneumatic clutch solenoid valve at this time can be stored in a corresponding storage module (such as an EEPROM electrically erasable programmable read-only memory) as the maximum value of the next pneumatic clutch action duty cycle.

[0084] S130, map the first duty cycle of the pneumatic clutch solenoid valve and the second duty cycle of the pneumatic clutch solenoid valve to the calibration interval of the pneumatic clutch solenoid valve to obtain a calibration MAP of the pneumatic clutch solenoid valve.

[0085] For example, taking the pneumatic clutch solenoid valve as a slow division valve, taking the lower limit of the solenoid valve duty cycle as 16% and the upper limit of the solenoid valve duty cycle as 30%, if the minimum duty cycle of the pneumatic clutch displacement action is the first duty cycle pwm1 of the pneumatic clutch solenoid valve and the maximum duty cycle is the second duty cycle pwm2 of the pneumatic clutch solenoid valve, then the corresponding relationship in Table 2 below can be used for mapping, i.e. [pwm1, pwm2] corresponds to [0, 100%], i.e. a calibration MAP of the pneumatic clutch solenoid valve is obtained.

[0086] Table 2 is a mapping relationship between the calibrated MAP and the actual duty ratio, which maps the actual calibration interval from the original electromagnetic valve duty ratio lower limit value 16% to the electromagnetic valve duty ratio upper limit value 30% to the duty ratio action interval 0-100%, so as to facilitate the engineers to calibrate the pneumatic clutch electromagnetic valve.

[0087] Calibration interval (%) 0 10 20 30 40 50 60 70 80 90 100 Duty cycle action interval (%) 15 16 17 18 19 20 22 23 24 25 30

[0088] Table 2 is a mapping relationship table of the second duty ratio of the pneumatic clutch electromagnetic valve and the calibration interval of the pneumatic clutch electromagnetic valve

[0089] It can be understood that by judging the pneumatic clutch actuator position, testing from a small duty ratio, automatically identifying the minimum duty ratio that can drive the duty ratio action according to the pneumatic clutch actuator position, judging the maximum duty ratio according to the pneumatic clutch actuator position action speed (i.e. the pneumatic clutch displacement rate), determining the linear interval of the pneumatic clutch electromagnetic valve duty ratio, and performing interpolation correspondence (i.e. generating the mapping relationship table as shown in Table 2), the pneumatic clutch electromagnetic valve duty ratio calibration range is expanded, the front-end pneumatic clutch electromagnetic valve duty ratio calibration conforms to the duty ratio calibration habit of the calibration engineer, and the pneumatic clutch electromagnetic valve duty ratio calibration difficulty is reduced and the software coverage is enhanced.

[0090] The technical scheme of the embodiment of the present application, by acquiring the actual displacement of the pneumatic clutch, and controlling the pneumatic clutch to perform a separation operation, respectively performing open-loop control according to the lower limit value of the electromagnetic valve duty ratio and the upper limit value of the electromagnetic valve duty ratio; after open-loop control for a set time, respectively judging whether the actual displacement of the pneumatic clutch and the displacement rate of the pneumatic clutch change, and determining the first duty ratio of the pneumatic clutch electromagnetic valve and the second duty ratio of the pneumatic clutch electromagnetic valve based on the results of the respective judgments; mapping the first duty ratio of the pneumatic clutch electromagnetic valve and the second duty ratio of the pneumatic clutch electromagnetic valve with the calibration interval of the pneumatic clutch electromagnetic valve, to obtain the calibration MAP of the pneumatic clutch electromagnetic valve. The present application solves the problem that the linear interval of the pneumatic clutch duty ratio is too small when manually calibrated by artificial manual calibration, which further leads to the difficulty of engineer calibration, realizes the expansion of the linear space range of the pneumatic clutch duty ratio, reduces the calibration difficulty of the pneumatic clutch duty ratio, and enhances the software coverage.

[0091] Based on the same inventive concept, Figure 4 A structure diagram of a pneumatic clutch duty ratio control device provided by the embodiment of the present application is shown in the figure. Figure 4 As shown in the figure, the pneumatic clutch duty ratio control device comprises:

[0092] The open-loop control module 410 is configured to acquire the actual displacement of the pneumatic clutch and control the pneumatic clutch to perform the separation operation in an open-loop control manner according to the lower limit value and the upper limit value of the solenoid duty cycle.

[0093] The duty cycle determination module 420 is configured to determine whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change after the open-loop control is performed for the set time, and determine the first duty cycle of the solenoid of the pneumatic clutch and the second duty cycle of the solenoid of the pneumatic clutch based on the determination results.

[0094] The duty cycle calibration module 430 is configured to map the first duty cycle of the solenoid of the pneumatic clutch and the second duty cycle of the solenoid of the pneumatic clutch to a calibration interval of the solenoid of the pneumatic clutch, to obtain a calibration MAP of the solenoid of the pneumatic clutch.

[0095] Optionally, the duty cycle determination module 420 is specifically configured to:

[0096] After the open-loop control is performed for the set time, it is determined that the actual displacement of the pneumatic clutch changes, and a pneumatic clutch combination instruction is generated.

[0097] The pneumatic clutch is controlled based on the pneumatic clutch combination instruction, and the duty cycle of the solenoid of the pneumatic clutch is reduced from the lower limit value of the solenoid duty cycle to the first duty cycle of the solenoid of the pneumatic clutch, and the displacement of the pneumatic clutch corresponding to the first duty cycle of the solenoid of the pneumatic clutch no longer changes.

[0098] Optionally, the pneumatic clutch duty cycle control device further comprises:

[0099] The first duty cycle determination module is configured to, after the open-loop control is performed for the set time, determine that the actual displacement of the pneumatic clutch does not change, and then increase the duty cycle of the solenoid of the pneumatic clutch from the lower limit value of the solenoid duty cycle to the first duty cycle of the solenoid of the pneumatic clutch, and the displacement of the pneumatic clutch corresponding to the first duty cycle of the solenoid of the pneumatic clutch no longer changes.

[0100] Optionally, the duty cycle determination module 420 is specifically configured to:

[0101] After the open-loop control is performed for the set time, it is determined that the displacement change rate of the pneumatic clutch changes, and a pneumatic clutch combination instruction is generated.

[0102] The pneumatic clutch is controlled based on the clutch engagement instruction, and the duty cycle of the pneumatic clutch solenoid is adjusted from the upper limit of the solenoid duty cycle to a second pneumatic clutch solenoid duty cycle, wherein the pneumatic clutch displacement corresponding to the second pneumatic clutch solenoid duty cycle no longer changes.

[0103] Optionally, the pneumatic clutch duty cycle control device further comprises:

[0104] The second duty cycle determination module is configured to, after performing open-loop control for a set time, determine that the pneumatic clutch displacement change rate no longer changes, and then increase the duty cycle of the pneumatic clutch solenoid from the upper limit of the solenoid duty cycle to a second pneumatic clutch solenoid duty cycle, wherein the pneumatic clutch displacement corresponding to the second pneumatic clutch solenoid duty cycle no longer changes.

[0105] Optionally, the pneumatic clutch duty cycle control device further comprises:

[0106] The displacement change rate lookup table module is configured to determine the pneumatic clutch displacement change rate based on a change relationship table of the pneumatic clutch solenoid opening degree and the pneumatic clutch displacement change rate.

[0107] Optionally, the pneumatic clutch solenoid is any one of a fast closing valve, a slow closing valve, a fast opening valve, and a slow opening valve.

[0108] The pneumatic clutch duty cycle control device provided in the embodiments of the present application can perform the pneumatic clutch duty cycle control method provided in any of the embodiments of the present application, and has the corresponding functional modules and beneficial effects of the pneumatic clutch duty cycle control method.

[0109] Based on the same inventive concept, 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 includes a computing device that is intended to be representative of 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 include a mobile device that is intended to be representative of 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 implementations of the applications described and / or claimed in this document.

[0110] As Figure 5As shown, the vehicle 510 includes at least one processor 511, and a memory, such as a read-only memory (ROM 512), a random access memory (RAM 513), etc., communicatively connected to the at least one processor 511, where the memory stores a computer program executable by the at least one processor. The processor 511 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM 512) or loaded from the storage unit 518 into the random access memory (RAM 513). 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 I / O (input / output) interface 515 is also connected to the bus 514.

[0111] Various 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, a speaker, 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.

[0112] 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 special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 511 performs various methods and processes described above, such as the pneumatic clutch duty cycle control method.

[0113] In some embodiments, the pneumatic clutch duty cycle 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 into the RAM 513 and executed by the processor 511, one or more steps of the pneumatic clutch duty cycle control method described above can be performed. Alternatively, in other embodiments, the processor 511 can be configured to perform the pneumatic clutch duty cycle control method by any other appropriate means, such as by means of firmware.

[0114] The various embodiments of the systems and techniques described above can be implemented 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 load programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments 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.

[0115] Computer programs used to implement the processes of the 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 standalone software package and partially on a remote machine or entirely on a remote machine or server.

[0116] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0117] 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.

[0118] The systems and techniques described here 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 here), 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.

[0119] 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.

[0120] 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 a different order, as long as the desired results of the present disclosure are achieved, and the present disclosure is not limited herein.

[0121] The specific embodiments described above are not intended to be limiting, and persons skilled in the art will appreciate that various modifications, combinations, sub-combinations and alternatives can be made to the specific embodiments without departing from the spirit and principles of the disclosure. Accordingly, the disclosure is not limited to the specific embodiments described above, but only by the scope of the appended claims.

Claims

1. A method for controlling the duty cycle of a pneumatic clutch, characterized in that, include: The actual displacement of the pneumatic clutch is obtained, and the pneumatic clutch is controlled to perform a disengagement operation, with open-loop control performed according to the lower limit of the solenoid valve duty cycle and the upper limit of the solenoid valve duty cycle respectively. After performing open-loop control within a set time, it is determined whether the actual displacement of the pneumatic clutch and the rate of change of the pneumatic clutch displacement have changed, and the first duty cycle and the second duty cycle of the pneumatic clutch solenoid valve are determined based on the results of whether they have changed. The process includes: after performing open-loop control within a set time, determining whether the actual displacement and the rate of change of the pneumatic clutch have changed, and determining the first and second duty cycles of the pneumatic clutch solenoid valve based on the results of these determinations. This includes: after performing open-loop control within a set time, determining that the actual displacement of the pneumatic clutch has changed, generating a pneumatic clutch engagement command; controlling the pneumatic clutch based on the engagement command, and adjusting the duty cycle of the pneumatic clutch solenoid valve from the lower limit of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve, whereby the pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve no longer changes. After performing open-loop control within a set time, if it is determined that the actual displacement of the pneumatic clutch has not changed, the duty cycle of the pneumatic clutch solenoid valve is adjusted from the lower limit of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve. The pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve no longer changes. After performing open-loop control within a set time, it is determined that the displacement change rate of the pneumatic clutch changes, and a pneumatic clutch engagement command is generated. Based on the pneumatic clutch engagement command, the pneumatic clutch is controlled, and the duty cycle of the pneumatic clutch solenoid valve is adjusted from the upper limit of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve. The pneumatic clutch displacement corresponding to the second duty cycle of the pneumatic clutch solenoid valve no longer changes. After performing open-loop control within a set time, if it is determined that the pneumatic clutch displacement change rate has not changed, the duty cycle of the pneumatic clutch solenoid valve is increased from the upper limit of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve, and the pneumatic clutch displacement corresponding to the second duty cycle of the pneumatic clutch solenoid valve no longer changes. The first duty cycle and the second duty cycle of the pneumatic clutch solenoid valve are mapped to the calibration range of the pneumatic clutch solenoid valve to obtain the calibration MAP of the pneumatic clutch solenoid valve.

2. The pneumatic clutch duty cycle control method according to claim 1, characterized in that, Before determining whether the actual displacement of the pneumatic clutch and the rate of change of the pneumatic clutch displacement have changed, the process also includes: Based on the relationship table between the opening degree of the pneumatic clutch solenoid valve and the rate of change of the pneumatic clutch displacement, the rate of change of the pneumatic clutch displacement is determined.

3. The pneumatic clutch duty cycle control method according to claim 1, characterized in that, The pneumatic clutch solenoid valve is any one of a fast-closing valve, a slow-closing valve, a fast-disengaging valve, and a slow-disengaging valve.

4. A pneumatic clutch duty cycle control device, characterized in that, include: The open-loop control module is used to acquire the actual displacement of the pneumatic clutch and control the pneumatic clutch to perform a disengagement operation, and performs open-loop control according to the lower limit value of the solenoid valve duty cycle and the upper limit value of the solenoid valve duty cycle respectively. The duty cycle determination module is used to determine whether the actual displacement of the pneumatic clutch and the rate of change of the pneumatic clutch displacement have changed after performing open-loop control within a set time, and to determine the first duty cycle and the second duty cycle of the pneumatic clutch solenoid valve based on the results of whether they have changed. Specifically, the duty cycle determination module is used to: determine the actual displacement of the pneumatic clutch after performing open-loop control within a set time, generate a pneumatic clutch engagement command; control the pneumatic clutch based on the pneumatic clutch engagement command, and adjust the duty cycle of the pneumatic clutch solenoid valve from the lower limit of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve, so that the pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve no longer changes. The first duty cycle determination module is used to perform open-loop control within a set time. If it is determined that the actual displacement of the pneumatic clutch has not changed, the duty cycle of the pneumatic clutch solenoid valve is increased from the lower limit value of the solenoid valve duty cycle to the first duty cycle of the pneumatic clutch solenoid valve. The pneumatic clutch displacement corresponding to the first duty cycle of the pneumatic clutch solenoid valve no longer changes. The duty cycle determination module is specifically used for: after performing open-loop control within a set time, determining that the displacement change rate of the pneumatic clutch changes, and generating a pneumatic clutch engagement command; controlling the pneumatic clutch based on the pneumatic clutch engagement command, and adjusting the duty cycle of the pneumatic clutch solenoid valve from the upper limit of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve, and the pneumatic clutch displacement corresponding to the second duty cycle of the pneumatic clutch solenoid valve no longer changes. The second duty cycle determination module is used to determine that after performing open-loop control within a set time, if it is determined that the displacement change rate of the pneumatic clutch has not changed, the duty cycle of the pneumatic clutch solenoid valve is increased from the upper limit value of the solenoid valve duty cycle to the second duty cycle of the pneumatic clutch solenoid valve, and the pneumatic clutch displacement corresponding to the second duty cycle of the pneumatic clutch solenoid valve no longer changes. The duty cycle calibration module is used to map the first duty cycle and the second duty cycle of the pneumatic clutch solenoid valve to the calibration range of the pneumatic clutch solenoid valve to obtain the calibration MAP of the pneumatic clutch solenoid valve.

5. A vehicle, characterized in that, The vehicles include: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the pneumatic clutch duty cycle control method according to any one of claims 1-3.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the pneumatic clutch duty cycle control method according to any one of claims 1-3.

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