Predictive control method, device and equipment of AMT pneumatic clutch and medium

Abstract

The application discloses a predictive control method, device and equipment of an AMT pneumatic clutch and a medium, wherein the method comprises the following steps: acquiring position data of a target clutch, and judging the working state of the target clutch according to the position data; acquiring an original PID control value of the target clutch, and determining the slip state of the target clutch in a gear shifting process; determining a predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data; and adjusting the actual position of the target clutch at the predictive control time point. Through the discrimination of the target position change rate of the clutch, the actual position change rate, the mutual relationship between the actual position and the target position and other conditions, and by simultaneously considering the original PID output control value state of the clutch in different gear shifting stages, the clutch combination valve or separation valve can be controlled at a suitable position to be opened in advance at an accurate duty ratio.

Description

TECHNICAL FIELD

[0001] The application relates to the field of AMT (Automatic Mechanical Transmission) and particularly to a predictive control method, device, equipment and medium for an AMT pneumatic clutch. BACKGROUND

[0002] Clutch control is the core of AMT system control, and accurate control of clutch position is an important factor to ensure clutch life and improve AMT shift comfort.

[0003] In 2019, FAW Car Co., Ltd. disclosed a double-proportional-integral control method for a pneumatic clutch CN109185362A, which comprises: in the clutch sliding stage, the clutch separation target position and the clutch combination target position are determined according to the throttle opening, the engine speed and the transmission input shaft speed through a table lookup algorithm; then the proportional-integral control method is used to control the intake valve of the clutch and the exhaust valve of the clutch at the same time, the intake valve and the exhaust valve of the clutch work at the same time, so as to simultaneously control the separation and combination of the clutch.

[0004] Due to the compressibility of gas itself, the pneumatic clutch has hysteresis and overshoot in position control, and pure PID control cannot solve the position overshoot problem caused by hysteresis. SUMMARY

[0005] To solve the above problems, the application provides a predictive control method, device, equipment and medium for an AMT pneumatic clutch, wherein the method comprises:

[0006] Obtaining position data of a target clutch, and determining a working state of the target clutch according to the position data; the position data comprises actual position data and target position data of the target clutch; the working state comprises at least one of a separation state and a combination state; obtaining an original PID control value of the target clutch, and determining a sliding state of the target clutch in a shift process; determining a predictive control time point of the target clutch according to the working state, the sliding state, the original PID control value and the position data; and adjusting an actual position of the target clutch at the predictive control time point.

[0007] In one example, the determining the predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data specifically comprises: obtaining historical actual position data of a previous moment corresponding to current actual position data; determining an expected distance difference of the target clutch based on the current actual position and the target position; determining an actual position change rate of the target clutch based on the current actual position and the historical actual position data of the previous moment; if the current actual position data is less than the historical actual position data, the expected distance difference is lower than a first distance threshold, the actual position change rate is greater than a first change rate threshold, and the original PID control value is lower than a first control threshold, taking a current time node corresponding to the current actual position as the predictive control time point of the target clutch in the slip stage in the disengaged state.

[0008] In one example, the determining the predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data specifically comprises: if the current actual position data is greater than the historical actual position data, the expected distance difference is lower than a second distance threshold, the actual position change rate is lower than a second change rate threshold, and the original PID control value is lower than a second control threshold, taking a current time node corresponding to the current actual position as the predictive control time point of the target clutch in the slip stage in the engaged state.

[0009] In one example, the determining the predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data specifically comprises: obtaining historical actual position data of a previous moment corresponding to current actual position data, and historical target position data of a previous moment corresponding to current target position data; determining an expected distance difference of the target clutch based on the current actual position and the target position; obtaining KP point position data corresponding to the target clutch; determining a change rate difference value of an actual position change rate and a target position change rate of the target clutch based on the current actual position data, the historical actual position data, the current target position data and the historical target position data; if the expected distance difference is lower than a third distance threshold, the actual position of the target clutch exceeds the KP point, the change rate difference value is higher than a third change rate threshold, the actual position change rate is greater than a fourth change rate threshold, and the original PID control value is lower than a third control threshold, taking a current time node corresponding to the current actual position as the predictive control time point of the target clutch in the non-slip stage in the disengaged state.

[0010] In one example, the determining the predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data specifically comprises: if the expected distance difference is lower than a fourth distance threshold, the actual position of the target clutch exceeds the KP point, the change rate difference value is higher than a second change rate threshold, the actual position change rate is greater than a third change rate threshold, and the original PID control value is lower than a second control threshold, then the current time node corresponding to the current actual position is taken as the predictive control time point of the target clutch in the combined state and in the non-slip stage.

[0011] In one example, the adjusting the actual position of the target clutch at the predictive control time point specifically comprises: determining that the target clutch is in the slip stage; taking the expected distance difference as an input, PID controlling the engagement valve or the disengagement valve of the target clutch, and using a duty cycle lower than a preset duty cycle threshold to control the engagement valve or the disengagement valve to be opened in advance to finely adjust the actual position of the clutch.

[0012] In one example, the adjusting the actual position of the target clutch at the predictive control time point specifically comprises: determining that the target clutch is in the non-slip stage; determining an input value of the target clutch according to a preset control weight factor, the expected distance difference and a target position change rate difference value, and PID controlling the engagement valve or the disengagement valve of the target clutch using different control parameters from those in the slip stage.

[0013] The application further discloses a predictive control device of an AMT pneumatic clutch, which comprises a data acquisition module, a PID control module, a time point judgment module and an adjustment module. The data acquisition module acquires position data of a target clutch and judges a working state of the target clutch according to the position data. The position data comprises actual position data and target position data of the target clutch. The working state comprises at least one of a disengaged state and a combined state. The PID control module acquires an original PID control value of the target clutch and determines a slip state of the target clutch in a gear shifting process. The time point judgment module determines a predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data. The adjustment module adjusts an actual position of the target clutch at the predictive control time point.

[0014] The application further discloses a predictive control device of an AMT pneumatic clutch, comprising at least one processor and a memory connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to acquire position data of a target clutch and determine a working state of the target clutch according to the position data; the position data comprises actual position data and target position data of the target clutch; the working state comprises at least one of a separation state and a combination state; an original PID control value of the target clutch is acquired, and a slip state of the target clutch in a gear shifting process is determined; a predictive control time point of the target clutch is determined according to the working state, the slip state, the original PID control value and the position data; and the actual position of the target clutch is adjusted at the predictive control time point.

[0015] The application further discloses a non-volatile computer storage medium storing computer executable instructions, characterized in that the computer executable instructions are configured to acquire position data of a target clutch and determine a working state of the target clutch according to the position data; the position data comprises actual position data and target position data of the target clutch; the working state comprises at least one of a separation state and a combination state; an original PID control value of the target clutch is acquired, and a slip state of the target clutch in a gear shifting process is determined; a predictive control time point of the target clutch is determined according to the working state, the slip state, the original PID control value and the position data; and the actual position of the target clutch is adjusted at the predictive control time point.

[0016] The method provided by the application can bring the following beneficial effects: in predictive control, the target position change rate of the clutch, the actual position change rate, the mutual relationship between the actual position and the target position and other conditions are determined, and the original PID output control value state of the clutch in different gear shifting stages is considered, so that the clutch combination valve or separation valve is controlled at a suitable position to be opened in advance at an accurate duty ratio, the position overshoot phenomenon of the pneumatic clutch is reduced or eliminated by the intelligent predictive control method, and accurate position control is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0017] The accompanying drawings, which are included to provide a further understanding of the application and constitute a part of this application, illustrate embodiments of the application and serve to explain the application without imposing undue limitation on the application. In the drawings:

[0018] Figure 1A flowchart of a predictive control method of an AMT pneumatic clutch in an embodiment of the present application is shown in the figure.

[0019] Figure 2 A module diagram of a predictive control device of an AMT pneumatic clutch in an embodiment of the present application is shown in the figure.

[0020] Figure 3 A structure diagram of a predictive control device of an AMT pneumatic clutch in an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0021] To make the objectives, technical solutions, and advantages of the present application clearer, the technical solutions of the present application will be described below in conjunction with specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0022] The technical solutions provided by the embodiments of the present application will be described in detail below in conjunction with the drawings.

[0023] Figure 1 A flowchart of a predictive control method of an AMT pneumatic clutch provided by one or more embodiments of the present specification is shown in the figure. Some input parameters or intermediate results in the flow allow manual intervention adjustment to help improve accuracy.

[0024] The analysis method involved in the embodiments of the present application can be implemented in a terminal device or a server, and the present application does not make special limitations on this. For the convenience of understanding and description, the following embodiments are described in detail with the server as an example.

[0025] It should be noted that the server can be a single device, or a system composed of multiple devices, i.e., a distributed server, and the present application does not make specific limitations on this.

[0026] As shown in the figure, the present application provides a predictive control method of an AMT pneumatic clutch, which includes: Figure 1

[0027] S101: Obtain position data of a target clutch, and determine a working state of the target clutch according to the position data; the position data includes actual position data and target position data of the target clutch; the working state includes at least one of a separation state and a combination state.

[0028] ​Real-time tracking and judgment are performed on the target clutch position to obtain actual position data of the target clutch and target position data of the target clutch. Then, whether the clutch has a separation requirement or a combination requirement, i.e., the working state of the target clutch, is determined according to the relationship between the actual position and the target position.

[0029] S102: Obtain the original PID control value of the target clutch, and determine the slip state of the target clutch in the shifting process.

[0030] When the predictive control of the clutch is not enabled, i.e., the predictive control method is not used, the original PID is used for clutch position control to control the combination valve and the separation valve, the original PID control value is obtained, and the slip state of the target clutch in the shifting process is determined.

[0031] S103: Determine the predictive control time point of the target clutch according to the working state, the slip state, the original PID control value, and the position data.

[0032] In one embodiment, in the slip state, when the predictive control time point is determined, the historical actual position data of the previous time corresponding to the current actual position data is first obtained, and then the expected distance difference of the target clutch is determined based on the current actual position and the target position. Based on the current actual position and the historical actual position data of the previous time, the actual position change rate of the target clutch is determined. If the current actual position data is less than the historical actual position data, the expected distance difference is lower than the first distance threshold, the actual position change rate is greater than the first change rate threshold, and the original PID control value is lower than the first control threshold, the current time node corresponding to the current actual position is taken as the predictive control time point of the target clutch in the slip stage in the separation state. Specifically, when the predictive control time point of the clutch combination valve is determined, if the target position of the target clutch is greater than the actual position, the clutch has a separation requirement or is in the separation process, and the timing of predictive activation of the clutch combination valve needs to be identified. At this time, if the shifting process is in the slip stage, the combination valve predictive control is activated when the following conditions are all met: 1. The clutch is in the separation process: d act (n) - d act (n-1) ≥ 0; wherein d act (n) is the current actual position, d act (n-1) is the historical actual position. 2. The actual position of the clutch is close to the target position: d1(n) = |d act (n) - d trgt (n)| < PosThd1; wherein d1(n) is the expected distance difference, d trgt (n) is the current target position, and PosThd1 is the first distance threshold. 3. The actual position change rate of the clutch exceeds a certain threshold: wherein, is the target clutch actual position rate of change, GradThd1 is the first rate of change threshold. 4. The original PID control value C is less than the first control threshold, i.e. small enough. It should be noted that the first rate of change threshold and the first control threshold are set by the staff, and the first rate of change threshold is a threshold related to the rate of change, which is used for comparison with the actual position rate of change of the clutch. When the actual position rate of change is greater than the first rate of change threshold, it means that the actual position rate of change is large enough. Similarly, when the original PID control value is less than the first control threshold, it means that the original PID control value is small enough. The second distance threshold, the second rate of change threshold, the second control threshold, the third distance threshold, the third rate of change threshold, the third control threshold, the fourth rate of change threshold, the fourth distance threshold, etc. are the same as above. When the above conditions are met, it is considered that the clutch has a position overshoot risk at this time, and the predictive control is activated.

[0033] Further, in the slip state, when determining the clutch disengagement valve predictive control time point, if the target position is less than the actual position, the clutch has a combination demand or is in the process of combination, and the clutch disengagement valve early activation opportunity needs to be identified. If the shift process is in the clutch slip stage at this time, the disengagement valve predictive control is activated when the following conditions are met: 1. The clutch is in the process of combination: d act (n)-d act (n-1)<0; 2. The actual position of the clutch is close to the target position: d1(n)=|d act (n)-d trgt (n)|<PosThd2; wherein PosThd2 is the second distance threshold. 3. The actual position rate of change of the clutch exceeds a certain threshold: wherein GradThd2 is the second rate of change threshold. 4. The original PID control value C is less than the second control threshold, i.e. small enough. When the above conditions are met, it is considered that the clutch has a position overshoot risk at this time, and the predictive control is activated.

[0034] In one embodiment, if the clutch is not in the slip stage, when determining the predictive control time point of the target clutch, first, the historical actual position data of the last time corresponding to the current actual position data and the historical target position data of the last time corresponding to the current target position data are obtained, and then the expected distance difference of the target clutch is determined based on the current actual position and the target position. The KP point position data corresponding to the target clutch is obtained, and the Kiss Point (KP) point is the clutch pressure point at which the power is not transmitted to the clutch at the beginning of the transmission process according to the characteristics of the clutch engagement process. Based on the current actual position data, the historical actual position data, the current target position data, and the historical target position data, the rate difference of the actual position change rate and the target position change rate of the target clutch is determined. If the expected distance difference is lower than the third distance threshold, the actual position of the target clutch exceeds the KP point, the rate difference is higher than the third rate threshold, the actual position change rate is greater than the fourth rate threshold, and the original PID control value is lower than the third control threshold, the current time node corresponding to the current actual position is taken as the predictive control time point of the target clutch in the disengagement state and in the non-slip stage. Specifically, the predictive control of the valve is activated when the following conditions are met: 1. The actual position of the clutch is close to the target position: d1(n)=|d act (n)-d trgt (n)|<PosThd3; wherein PosThd3 is the third distance threshold. 2. The actual position of the clutch exceeds the KP point, i.e., the clutch has been disengaged: d act (n)>PosKP; wherein PosKP is the KP point position. 3. The target position of the clutch is decreasing: d trgt (n)<d trgt (n-1), wherein d trgt (n-1) is the historical target position, or the absolute value of the rate difference of the actual position and the target position of the clutch is large: wherein d2(n) is the absolute value of the rate difference, and GradThd4 is the third rate threshold. 4. The actual position change rate of the clutch is large: wherein GradThd4 is the fourth rate threshold. 5. The original PID control value C is less than the third control threshold, i.e., small enough. When the above conditions are met, it is considered that the disengagement action of the clutch at this time has a position overshoot risk, and the predictive control is activated.

[0035] Further, in the non-slip state, the predictive control of the disengagement valve is activated when the following conditions are met:

[0036] 1. The actual position of the clutch is close to the target position: d1(n)=|d act (n)-d trgt(n) | < PosThd4; wherein PosThd4 is a fourth distance threshold. 2. Clutch actual position exceeds KP point, i.e. clutch has been separated: d act (n) > PosKP. 3. Clutch target position is increasing d trgt (n) > d trgt (n-1), or clutch actual position and target position rate of change difference absolute value is large: wherein GradThd5 is a fifth rate of change threshold. 4. Clutch actual position rate of change exceeds a certain threshold: wherein GradThd6 is a sixth rate of change threshold. 5. Original PID control value C is less than a fourth control threshold, i.e. small enough. When the above conditions are met, it is considered that the clutch has a position overshoot risk at this time, and the predictive control is activated,

[0037] S104: Adjust the target clutch actual position at the predictive control time point.

[0038] In one embodiment, when the target clutch actual position is adjusted, if the target clutch is in the slip stage, the expected distance difference is taken as the input, the PID control is performed on the engagement valve or the separation valve of the target clutch, and the engagement valve or the separation valve is controlled to be opened in advance with a duty cycle lower than a preset duty cycle threshold, so as to fine-tune the clutch actual position. The duty cycle refers to the proportion of the energization time to the total time in one pulse cycle. The duty cycle threshold here is set by the staff for comparison with the duty cycle used for fine-tuning.

[0039] In one embodiment, when the target clutch actual position is adjusted, if the target clutch is in the non-slip stage, the input value of the target clutch is determined according to the preset control weight factor, the expected distance difference and the target position rate of change difference, and the PID control is performed on the engagement valve or the separation valve of the target clutch with different control parameters from the slip stage. Specifically, let e = λ1 · d1 + λ2 · d2 be the input, wherein λ1 and λ2 are control weight factors.

[0040] The AMT pneumatic dry clutch position control is usually realized by PID closed-loop control, and the difference between the target position and the actual position is taken as the input of the PID controller to realize real-time feedback adjustment of the clutch position. However, due to the compressibility of gas, the actual position following of the pneumatic clutch is not good, and accurate position control cannot be realized. In order to more accurately control the clutch, reduce the overshoot, and improve the shifting comfort, the present application provides a predictive AMT pneumatic dry clutch position accurate control method, which identifies and judges the target position and actual action of the clutch, and predictively opens the corresponding electromagnetic valve in advance at the appropriate time, so as to reduce the position overshoot and realize accurate control of the clutch position.

[0041] As shown in Figure 2 The present application also provides a predictive control device of the AMT pneumatic clutch, which comprises:

[0042] A data acquisition module 201 acquires position data of a target clutch, and judges the working state of the target clutch according to the position data; the position data comprises actual position data and target position data of the target clutch; and the working state comprises at least one of a separation state and a combination state.

[0043] A PID control module 202 acquires an original PID control value of the target clutch, and determines the slip state of the target clutch in the shifting process.

[0044] A time point judgment module 203 determines a predictive control time point of the target clutch according to the working state, the slip state, the original PID control value, and the position data.

[0045] An adjustment module 204 adjusts the actual position of the target clutch at the predictive control time point.

[0046] As shown in Figure 3 The present application also provides a predictive control device of the AMT pneumatic clutch, which comprises: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0047] The position data of the target clutch is acquired, and a working state of the target clutch is determined according to the position data; the position data comprises actual position data and target position data of the target clutch; the working state comprises at least one of a separation state and a combination state; an original PID control value of the target clutch is acquired, and a slip state of the target clutch in a gear shifting process is determined; a predictive control time point of the target clutch is determined according to the working state, the slip state, the original PID control value, and the position data; and the actual position of the target clutch is adjusted at the predictive control time point.

[0048] The embodiment of the present application further provides a non-volatile computer storage medium, which stores computer executable instructions, and the computer executable instructions are configured as follows:

[0049] The position data of the target clutch is acquired, and a working state of the target clutch is determined according to the position data; the position data comprises actual position data and target position data of the target clutch; the working state comprises at least one of a separation state and a combination state; an original PID control value of the target clutch is acquired, and a slip state of the target clutch in a gear shifting process is determined; a predictive control time point of the target clutch is determined according to the working state, the slip state, the original PID control value, and the position data; and the actual position of the target clutch is adjusted at the predictive control time point.

[0050] The embodiments in the present application are described in a progressive manner, and the same and similar parts of each embodiment can be referred to each other, and each embodiment mainly describes the difference from other embodiments. Especially, the device and medium embodiments are described simply because they are basically similar to the method embodiments, and the related parts can be referred to the part of the method embodiments.

[0051] The device and medium provided by the embodiment of the present application are one-to-one corresponding to the method, so the device and medium also have the similar beneficial technical effects as the method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the device and medium will not be described here.

[0052] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0053] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0054] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0055] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 means for functionally implementing the steps listed in the flowchart block or blocks.

[0056] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0057] The memory can include non-persistent memory and / or persistent memory, such as flash memory, read-only memory (ROM), and / or volatile or non-volatile random access memory (RAM), among others. The memory is an example of computer-readable media.

[0058] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0059] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0060] The above only describes the embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A predictive control method for an AMT pneumatic clutch, characterized by, The method comprises: acquiring position data of a target clutch, and determining a working state of the target clutch according to the position data; the position data comprises actual position data and target position data of the target clutch; the working state comprises at least one of a separation state and a combination state; acquiring an original PID control value of the target clutch, and determining a slip state of the target clutch in a gear shifting process; determining a predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data; adjusting the actual position of the target clutch at the predictive control time point; the determination of the predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data specifically comprises: acquiring historical actual position data of a previous time corresponding to current actual position data; determining an expected distance difference of the target clutch based on the current actual position and the target position; determining an actual position change rate of the target clutch based on the current actual position and the historical actual position data of the previous time; if the current actual position data is less than the historical actual position data, the expected distance difference is lower than a first distance threshold, the actual position change rate is greater than a first change rate threshold, and the original PID control value is lower than a first control threshold, then a current time node corresponding to the current actual position is taken as the predictive control time point of the target clutch in a slip stage in the separation state; the determination of the predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data specifically comprises: if the current actual position data is greater than the historical actual position data, the expected distance difference is lower than a second distance threshold, the actual position change rate is lower than a second change rate threshold, and the original PID control value is lower than a second control threshold, then a current time node corresponding to the current actual position is taken as the predictive control time point of the target clutch in a slip stage in the combination state.

2. The method of claim 1, wherein, the determination of the predictive control time point of the target clutch according to the working state, the slip state, the original PID control value and the position data specifically comprises: acquiring historical actual position data of a previous time corresponding to current actual position data, and historical target position data of a previous time corresponding to current target position data; determining an expected distance difference of the target clutch based on the current actual position and the target position; acquiring KP point position data corresponding to the target clutch; determining a change rate difference between an actual position change rate and a target position change rate of the target clutch based on the current actual position data, the historical actual position data, the current target position data and the historical target position data; If the expected distance difference is lower than a third distance threshold, the actual position of the target clutch exceeds the KP point, the target clutch position is increasing, the difference between the change rates is higher than a fifth change rate threshold, the actual position change rate is greater than a sixth change rate threshold, and the original PID control value is lower than a fourth control threshold, the current time node corresponding to the current actual position is taken as the predictive control time point of the target clutch in the non-slippage stage in the engagement state.

3. The method of claim 2, wherein, The method further includes: If the expected distance difference is lower than a fourth distance threshold, the actual position of the target clutch exceeds the KP point, the target clutch position is increasing, the difference between the change rates is higher than a fifth change rate threshold, the actual position change rate is greater than a sixth change rate threshold, and the original PID control value is lower than a fourth control threshold, the current time node corresponding to the current actual position is taken as the predictive control time point of the target clutch in the non-slippage stage in the engagement state.

4. The method of claim 1, wherein, The method further includes: The target clutch is determined to be in the non-slippage stage. The engagement valve or the separation valve of the target clutch is controlled by PID control with the expected distance difference as the input, and the engagement valve or the separation valve is controlled to be opened in advance with a duty cycle lower than a preset duty cycle threshold, so as to finely adjust the actual position of the clutch.

5. The method of claim 1, wherein, The method further includes: The target clutch is determined to be in the non-slippage stage. The input value of the target clutch is determined according to a preset control weight factor, the expected distance difference, and the difference between the target position change rates, and the engagement valve or the separation valve of the target clutch is controlled by PID control with different control parameters in the slippage stage and the non-slippage stage.

6. A predictive control device for an AMT pneumatic clutch, characterized by The device includes: A data acquisition module acquires position data of a target clutch and determines a working state of the target clutch according to the position data; the position data includes actual position data and target position data of the target clutch; the working state includes at least one of a separation state and an engagement state; A PID control module acquires an original PID control value of the target clutch and determines a slippage state of the target clutch in a gear shifting process; A time point determination module determines a predictive control time point of the target clutch according to the working state, the slippage state, the original PID control value, and the position data; An adjustment module adjusts an actual position of the target clutch at the predictive control time point; The time point determination module specifically includes: Historical actual position data of a previous moment corresponding to current actual position data is acquired; determining an expected distance difference of the target clutch based on the current actual position and the target position; determining an actual position change rate of the target clutch based on the current actual position and the historical actual position data at the last time point; if the current actual position data is less than the historical actual position data, the expected distance difference is lower than a first distance threshold, the actual position change rate is greater than a first change rate threshold, and the original PID control value is lower than a first control threshold, then taking a current time node corresponding to the current actual position as the predictive control time point of the target clutch in a sliding stage in a separation state; the method of determining the predictive control time point of the target clutch according to the working state, the sliding state, the original PID control value, and the position data specifically comprises: if the current actual position data is greater than the historical actual position data, the expected distance difference is lower than a second distance threshold, the actual position change rate is lower than a second change rate threshold, and the original PID control value is lower than a second control threshold, then taking a current time node corresponding to the current actual position as the predictive control time point of the target clutch in a sliding stage in a combination state.

7. A predictive control device for an AMT pneumatic clutch, characterized by comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the steps of the method according to any one of claims 1-6.

8. A non-volatile computer storage medium storing computer-executable instructions, characterized in that, the computer executable instructions are configured to perform the steps of the method according to any one of claims 1-6.

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