Coordinated shifting method and system

Abstract

The present invention discloses a coordinated shifting method and system, which belongs to the field of mechanical control technology. The method includes: applying an initial duty cycle to a shifting actuator to perform a shifting operation; detecting whether the spline tooth end face in the coupling sleeve and the engagement gear ring tooth end face are relative; judging whether the shifting is successful; updating the initial duty cycle of the shifting actuator based on the structural strength of the shifting actuator, the resistance encountered during the shifting, and the strength limit of the shifting actuator to obtain an updated duty cycle, and calculating the periodic oscillation torque applied to the main drive motor; re-performing the shifting operation with the updated duty cycle and periodic oscillation torque; judging whether the total execution time of the shifting operation is greater than a preset time; increasing the execution frequency of the shifting actuator and performing the shifting operation to reduce the total execution time of the shifting operation; judging whether the shifting operation is successful; resetting the updated duty cycle to the initial duty cycle, stopping applying the periodic oscillation torque; and ending the shifting.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical control technology, and in particular relates to a coordinated shifting method and system. Background Art

[0002] The coordinated shifting strategy between the shift mechanism and the main drive motor is a core technology for new energy vehicles equipped with synchronizer-less transmission drive systems. Variable speed drive systems include parallel shaft transmissions and planetary transmissions, and shift mechanisms primarily include electric, hydraulic, and pneumatic mechanisms. In traditional synchronizer-less transmissions, the spline tooth end faces of the clutch sleeve and the clutch ring are perpendicular, without a locking angle. Therefore, if the spline end faces of the clutch sleeve and the clutch ring face come into contact during gear engagement, shifting can cause a jam. Even increasing the shifting force of the shift mechanism makes it difficult to complete subsequent gear changes, and there's also the risk of damage to the shift mechanism.

[0003] Currently, the first traditional approach to addressing the sticking problem during shifts in synchronizer-less variable speed drive systems is to retry the shift. This involves returning the shift mechanism to neutral and reengaging the gear after the permanent magnet synchronous motor completes speed regulation. While this approach can successfully shift the gear with a certain probability, it does not fundamentally address the sticking problem and may even increase the duration of power interruption during the shift process, thereby impacting vehicle performance. A second approach involves applying periodic oscillating torque to the permanent magnet synchronous motor and applying a continuous shift force to the shift mechanism when a sticking shift occurs. This creates a "staggered" effect between the spline tooth end faces of the clutch sleeve and the tooth end faces of the clutch ring, allowing for smooth gear engagement. However, this approach places the shift actuator under continuous high load, which can degrade its performance over time. Furthermore, the constant shift force applied by the shift actuator to the clutch sleeve and clutch ring increases component wear and reduces component life. Summary of the Invention

[0004] In order to solve the technical problems in the prior art that the power interruption time during the gear shifting process is increased, affecting the power of the entire vehicle and the gear shift actuator is in a continuous high-load working state, which reduces the performance of the gear shift actuator after long-term use; in addition, the gear shift force continuously applied by the gear shift actuator to the clutch sleeve and the clutch ring will aggravate the wear of the components and reduce the service life of the components, the present invention provides a coordinated gear shifting method and system.

[0005] First aspect

[0006] The present invention provides a coordinated shifting method, which is applied to a coordinated shifting system, comprising:

[0007] S101: applying an initial duty cycle to a shift actuator to perform a shift operation, wherein the initial duty cycle is a time ratio for the shift actuator to perform the shift operation;

[0008] S102: Detect whether the spline tooth end face in the coupling sleeve and the engaging gear ring tooth end face are opposite to each other. If the spline tooth end face in the coupling sleeve and the engaging gear ring tooth end face are opposite to each other, proceed to S104; otherwise, proceed to S103;

[0009] S103: Determine whether the gear shift is successful. If the gear shift is successful, proceed to S110; otherwise, return to S101;

[0010] S104: updating the initial duty cycle of the shift actuator based on the structural strength of the shift actuator, the resistance encountered during shifting, and the strength limit of the shift actuator to obtain an updated duty cycle, and calculating the periodic oscillation torque applied to the main drive motor;

[0011] S105: re-shifting with the updated duty cycle and periodic oscillation torque;

[0012] S106: Determine whether the total execution time of the gear shift operation is greater than a preset time. If the total execution time of the gear shift operation is greater than the preset time, proceed to S107; otherwise, proceed to S108.

[0013] S107: Increasing the execution frequency of the gear shift actuator to execute the gear shift operation, thereby reducing the total execution time of the gear shift operation;

[0014] S108: Determine whether the shift operation is successful. If the shift operation is successful, proceed to S109; otherwise, return to S104.

[0015] S109: resetting the updated duty cycle to the initial duty cycle and stopping applying the periodic oscillation torque;

[0016] S110: End the gear shift.

[0017] Second aspect

[0018] The present invention provides a coordinated shifting system, comprising:

[0019] A first shift module is configured to apply an initial duty cycle to the shift actuator to perform a shift operation, wherein the initial duty cycle is a time ratio for the shift actuator to perform the shift operation;

[0020] A detection module is used to detect whether the spline tooth end face in the coupling sleeve and the engagement ring gear tooth end face are opposite to each other. If the spline tooth end face in the coupling sleeve and the engagement ring gear tooth end face are opposite to each other, the process proceeds to S104; otherwise, the process proceeds to S103;

[0021] The first judgment module is used to judge whether the gear shift is successful. If the gear shift is successful, the process goes to S110; otherwise, the process returns to S101.

[0022] An updating module is used to update the initial duty cycle of the shift actuator based on the structural strength of the shift actuator, the resistance encountered during shifting, and the strength limit of the shift actuator, obtain an updated duty cycle, and calculate the periodic oscillation torque applied to the main drive motor;

[0023] a second shift module, configured to re-perform a shift operation with an updated duty cycle and periodic oscillation torque;

[0024] The second judgment module is used to judge whether the total execution time of the gear shift operation is greater than the preset time. If the total execution time of the gear shift operation is greater than the preset time, the process proceeds to S107; otherwise, the process proceeds to S108;

[0025] An execution module, configured to increase the execution frequency of the gear shift actuator and execute the gear shift operation to reduce the total execution time of the gear shift operation;

[0026] The third judgment module is used to judge whether the gear shift operation is successful. If the gear shift operation is successful, the process proceeds to S109; otherwise, the process returns to S104.

[0027] A reset module, used to reset the updated duty cycle to the initial duty cycle and stop applying the periodic oscillation torque;

[0028] End module, used to end gear shifting.

[0029] Compared with the prior art, the present invention has at least the following beneficial effects:

[0030] In the present invention, when a gear shift is stuck, the duty cycle of the gear shift actuator is updated, and a periodic oscillation torque is applied to the permanent magnet synchronous motor, i.e., the main drive motor of the drive system. The updated duty cycle and the periodic oscillation torque are combined to form a "tooth mismatch" effect under coordinated control. When the total gear engagement time is monitored to have exceeded, a variable-frequency pulse shift force is applied to the gear shift actuator to increase the execution frequency of the gear shift actuator. While improving the gear shift reliability, the power interruption time of the gear shift process is reduced, effectively solving the gear shift sticking problem caused by the failure of the spline end face in the coupling sleeve and the end face of the coupling gear ring to face the teeth, while reducing the damage to the gear shift mechanism and the wear of the coupling teeth, thereby improving the service life, power performance and operating comfort of the entire vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The preferred embodiments will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0032] Figure 1is a flow chart of a coordinated shifting method provided by the present invention;

[0033] Figure 2 This is a duty cycle update schematic diagram provided by the present invention;

[0034] Figure 3 It is a structural schematic diagram of a coordinated shifting system provided by the present invention. DETAILED DESCRIPTION

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0036] To simplify the drawings, only portions relevant to the invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0037] It should be further understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0038] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0039] In addition, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0040] In one embodiment, the reference Figure 1 , a schematic flow chart of a coordinated shifting method provided by the present invention.

[0041] The present invention provides a coordinated shifting method, which is applied to a coordinated shifting system, comprising:

[0042] S101: applying an initial duty cycle to a gear shift actuator to perform a gear shift operation, wherein the initial duty cycle is a time ratio for the gear shift actuator to perform the gear shift operation.

[0043] It's important to note that the initial duty cycle refers to the proportion of time a specific operation is executed within a specific control system or process, typically expressed as a percentage or decimal. In this context, the initial duty cycle refers to the percentage of time the shift actuator is engaged during the initial phase of the shift operation. Shifting operations require precise control and adjustment to ensure smooth execution. By varying the duty cycle of the shift actuator, the speed and force of the shift can be adjusted. The initial duty cycle, which is the percentage of time applied at the start of the shift, can influence the operation of the shift actuator and the effectiveness of the shift.

[0044] Specifically, the initial duty cycle determines the ratio between the shift actuator's operating time and rest time. Adjusting the initial duty cycle controls the speed and torque of the shift operation and ensures appropriate force is applied during the shift. It's important to note that the initial duty cycle is only one parameter during the shift operation and may be updated and adjusted in subsequent steps. Its specific value depends on the system design and performance requirements and may be optimized and adjusted based on actual conditions.

[0045] S102: Detect whether the spline tooth end face in the coupling sleeve and the engaging gear ring tooth end face are opposite to each other. If the spline tooth end face in the coupling sleeve and the engaging gear ring tooth end face are opposite to each other, proceed to S104; otherwise, proceed to S103.

[0046] It should be noted that when the spline tooth end faces in the coupling sleeve and the engaging gear ring tooth end faces are opposite to each other, it will cause gear shifting to be stuck. In the gear shifting operation, the spline and the engaging gear ring are important components for connecting and converting the transmission. Before shifting, it is necessary to ensure that the spline tooth end faces and the engaging gear ring tooth end faces are misaligned to ensure that the spline tooth end faces and the engaging gear ring tooth end faces can engage to ensure correct transmission. When the initial duty cycle is applied, check whether gear shifting is stuck. If gear shifting is stuck, the gear shift actuator and the main drive motor need to be adjusted accordingly to ensure that the gear shift is completed. If no sticking occurs, it means that the spline tooth end faces and the engaging gear ring tooth end faces are engaged. It is only necessary to determine whether the gear shift is completed.

[0047] S103: Determine whether the gear shift is successful. If the gear shift is successful, proceed to S110; otherwise, return to S101.

[0048] It is understandable that, if the gear shift is completed without any jamming, there is no need to adjust the gear shift actuator and the main drive motor. If the gear shift is not completed, it is only necessary to perform the gear shift operation again.

[0049] Reference Manual Figure 2 , showing a duty cycle update schematic diagram provided by the present invention.

[0050] S104: Based on the structural strength of the shift actuator, the resistance encountered during shifting, and the strength limit of the shift actuator, an initial duty cycle of the shift actuator is updated to obtain an updated duty cycle, and a periodic oscillation torque applied to the main drive motor is calculated.

[0051] It should be noted that, unlike the prior art, the present invention updates the initial duty cycle of the shift actuator by combining its structural strength, shift resistance, and strength limit. This ensures that when the updated duty cycle is applied to the shift actuator, the spline tooth end faces and the engaging ring gear tooth end faces are prevented from facing each other, thus achieving a "misalignment" state and ensuring smooth shifting. To fundamentally address the problem of shifting sticking and prevent prolonged power interruptions during the shifting process that affect vehicle performance, the present invention applies a periodic oscillating torque to the main drive motor. After applying the updated duty cycle, re-attempting gear engagement is avoided. Instead, during the first gear engagement, the oscillating torque is combined to directly shift from the position where the spline tooth end faces and the engaging ring gear tooth end faces face each other to a "misalignment" state. This reduces the power interruption period while achieving direct shift completion, ensuring vehicle performance and enabling more precise and reliable shifting.

[0052] In a possible implementation, S104 specifically includes:

[0053] S1041: Setting a maximum duty cycle and a minimum duty cycle based on the structural strength of the shift actuator and the resistance encountered during the shift;

[0054] S1042: The strength limit of the shift actuator, setting the frequency conversion duty cycle limit;

[0055] S1043: Based on the maximum duty cycle, the minimum duty cycle, and the variable frequency duty cycle limit, the initial duty cycle of the shift actuator is updated to obtain an updated duty cycle:

[0056]

[0057] Among them, F p2 Indicates the updated duty cycle, PWM max Indicates the maximum duty cycle, PWM min represents the minimum duty cycle, t represents time, T w represents the control pulse period, T fc It represents the time required for the duty cycle to rise from the minimum to the maximum within the control pulse period, T fp2 Indicates Tfc and the settling time of the maximum duty cycle.

[0058] In a possible implementation, S104 further includes:

[0059] S1044: Calculate the oscillation angle of the main drive motor:

[0060]

[0061] Where θ represents the oscillation angle, k1 represents the transmission ratio from the highest gear to the main drive motor shaft, z n Indicates the number of teeth on the gear that engages the highest gear.

[0062] S1045: Setting a preset oscillation period, combining an oscillation angle, and generating an oscillation angle curve of a main drive motor.

[0063] Optionally, the oscillation angle curve of the main drive motor is a sine curve

[0064] S1046: Differentiate the main drive motor oscillation angle curve to generate a main drive motor oscillation basic speed curve.

[0065] S1047: Generate a main drive motor oscillation target speed curve based on the main drive motor oscillation basic speed curve:

[0066] w1=w(S)*k i +w(outshaft)*k n

[0067] Among them, k i Indicates the ratio between the transmission ratio of the target gear and the transmission ratio of the highest gear, k n represents the transmission ratio of the target gear, w(outshaft) represents the output shaft speed, and w(S) represents the oscillation basic speed curve of the main drive motor.

[0068] S1048: Transmitting a target speed signal corresponding to the main drive motor oscillation target speed curve to a transmission controller TCU.

[0069] The Transmission Control Unit (TCU) is an electronic control module that manages and controls the vehicle's automatic transmission system. Located within or near the vehicle's transmission, the TCU monitors and controls transmission operation for smooth shifting and optimized driving performance. The TCU uses sensors to obtain input information related to vehicle motion, engine speed, throttle position, vehicle speed, and vehicle load.

[0070] S1049: Calculate the periodic oscillation torque of the main drive motor using a PI algorithm based on the target speed signal.

[0071] The PI algorithm is a commonly used control algorithm that generates a control output based on the difference between the target signal and the actual feedback signal. Based on the target speed signal, the PI algorithm is used to calculate the periodic oscillation torque of the main drive motor. This means that by comparing the difference between the target speed and the actual speed, the PI algorithm is used to generate a control output to adjust the oscillating torque of the main drive motor to achieve target speed control and regulation. The specific PI parameter settings and algorithm details are determined by the specific application.

[0072] It should be noted that by calculating and generating parameters and curves related to the main drive motor's oscillation, accurate control and adaptive adjustment of the main drive motor during shifting operations are achieved. These steps help ensure that the main drive motor produces the appropriate oscillation angle and speed during the shift process, providing smooth shifting and transmission.

[0073] S105: Re-performing the shift operation with the updated duty cycle and periodic oscillation torque.

[0074] S106: Determine whether the total execution time of the gear shift operation is greater than a preset time. If the total execution time of the gear shift operation is greater than the preset time, proceed to S107; otherwise, proceed to S108.

[0075] Among them, those skilled in the art can select the preset time length according to actual needs.

[0076] It is understandable that from the beginning of the gear shifting operation, in order to avoid the gear shifting operation taking too long to affect the performance of the entire vehicle, the total execution time of the gear shifting operation should be strictly controlled. During the entire gear shifting process, by judging whether the execution time of the gear shifting operation is greater than the preset time, corresponding measures are taken to adjust the gear shifting operation, speed up the gear shifting speed, and reduce the time required for gear shifting. Only in this way can it be guaranteed that the adjusted gear shifting operation can shift quickly as required.

[0077] S107: Increasing the execution frequency of the gear shift actuator to execute the gear shift operation, so as to reduce the total execution time of the gear shift operation.

[0078] It should be noted that by increasing the execution frequency of the shift actuator, the shift operation can be completed quickly in a short period of time, reducing the duration of the shift operation steps, thereby shortening the total duration of the shift operation. This helps to improve the efficiency and response speed of the shift operation, reduce the time delay during the shift process, and ensure that the shift operation can be completed in a timely manner. If the total execution time of the shift operation is too long, it may cause some problems, such as transmission delay, power interruption or reduced driving comfort during the shift process. According to the preset duration and the execution of the shift operation, the shift operation is accelerated by increasing the execution frequency of the shift actuator to shorten the total execution time of the shift operation and improve the efficiency and response speed of the shift.

[0079] S108: Determine whether the gear shift operation is successful. If the gear shift operation is successful, proceed to S109; otherwise, return to S104.

[0080] It can be understood that after adjusting the duty cycle of the shift actuator, applying periodic oscillation torque to the main drive motor, and changing the execution frequency of the shift actuator, the shift operation can be completed quickly so that the spline tooth end face and the engaging gear ring tooth end face reach the "offset" position. At this time, it is only necessary to determine whether it is completed.

[0081] S109: Reset the updated duty cycle to the initial duty cycle, and stop applying the periodic oscillation torque.

[0082] It is understandable that multiple shifts may be required during vehicle operation, and duty cycle adjustment and cyclical oscillation torque application are only necessary in the event of a sticking condition. Therefore, after resolving the sticking condition of the current shift operation, the updated duty cycle needs to be reset to the initial duty cycle and the application of cyclical oscillation torque needs to be stopped to avoid shift failure or sticking caused by direct intervention in the shift operation. When entering the next shift operation, if a sticking condition occurs, re-intervention is required to ensure a smooth shift operation.

[0083] S110: End the gear shift.

[0084] Compared with the prior art, the present invention has at least the following beneficial effects:

[0085] In the present invention, when a gear shift is stuck, the duty cycle of the gear shift actuator is updated, and a periodic oscillation torque is applied to the permanent magnet synchronous motor, i.e., the main drive motor of the drive system. The updated duty cycle and the periodic oscillation torque are combined to form a "tooth mismatch" effect under coordinated control. When the total gear engagement time is monitored to have exceeded, a variable-frequency pulse shift force is applied to the gear shift actuator to increase the execution frequency of the gear shift actuator. While improving the gear shift reliability, the power interruption time of the gear shift process is reduced, effectively solving the gear shift sticking problem caused by the failure of the spline end face in the coupling sleeve and the end face of the coupling gear ring to face the teeth, while reducing the damage to the gear shift mechanism and the wear of the coupling teeth, thereby improving the service life, power performance and operating comfort of the entire vehicle.

[0086] Example 2

[0087] In one embodiment, the reference Figure 3 , a structural schematic diagram of a coordinated shifting system provided by the present invention.

[0088] The present invention provides a coordinated shifting system 20, comprising:

[0089] The first shift module 201 is used to apply an initial duty cycle to the shift actuator to perform a shift operation, wherein the initial duty cycle is the time ratio of the shift actuator performing the shift operation;

[0090] A detection module 202 is used to detect whether the end faces of the spline teeth in the coupling sleeve and the end faces of the engaging ring gear are opposite to each other. If the end faces of the spline teeth in the coupling sleeve and the end faces of the engaging ring gear are opposite to each other, the process proceeds to S104; otherwise, the process proceeds to S103;

[0091] The first judgment module 203 is used to judge whether the gear shift is successful. If the gear shift is successful, the process goes to S110; otherwise, the process returns to S101.

[0092] An updating module 204 is configured to update the initial duty cycle of the shift actuator based on the structural strength of the shift actuator, the resistance encountered during shifting, and the strength limit of the shift actuator, obtain an updated duty cycle, and calculate the periodic oscillation torque applied to the main drive motor;

[0093] A second shift module 205, configured to re-perform a shift operation with an updated duty cycle and periodic oscillation torque;

[0094] The second judgment module 206 is used to judge whether the total execution time of the gear shift operation is greater than the preset time. If the total execution time of the gear shift operation is greater than the preset time, the process proceeds to S107; otherwise, the process proceeds to S108;

[0095] An execution module 207 is used to increase the execution frequency of the gear shifting actuator and execute the gear shifting operation to reduce the total execution time of the gear shifting operation;

[0096] The third judgment module 208 is used to judge whether the gear shift operation is successful. If the gear shift operation is successful, the process proceeds to S109; otherwise, the process returns to S104.

[0097] A reset module 209 is configured to reset the updated duty cycle to the initial duty cycle and stop applying the periodic oscillation torque;

[0098] The ending module 210 is used to end the gear shift.

[0099] In a possible implementation, the update module specifically includes:

[0100] A first setting submodule is used to set a maximum duty cycle and a minimum duty cycle according to the structural strength of the shift actuator and the resistance encountered during the shift;

[0101] The second setting submodule sets the strength limit of the shift actuator and sets the frequency conversion duty cycle limit;

[0102] The update submodule is used to update the initial duty cycle of the shift actuator by combining the maximum duty cycle, minimum duty cycle and variable frequency duty cycle limit to obtain the updated duty cycle:

[0103]

[0104] Among them, F p2 Indicates the updated duty cycle, PWM max Indicates the maximum duty cycle, PWM min represents the minimum duty cycle, t represents time, T w represents the control pulse period, T fc It represents the time required for the duty cycle to rise from the minimum to the maximum within the control pulse period, T fp2 Indicates T fc and the settling time of the maximum duty cycle.

[0105] In a possible implementation, the update module further includes:

[0106] The first calculation submodule is used to calculate the oscillation angle of the main drive motor:

[0107]

[0108] Where θ represents the oscillation angle, k1 represents the transmission ratio from the highest gear to the main drive motor shaft, z n Indicates the number of teeth on the gear engaged in the highest gear;

[0109] The first generating submodule is used to set a preset oscillation period, combine the oscillation angle, and generate an oscillation angle curve of the main drive motor;

[0110] The second generating submodule is used to differentiate the main drive motor oscillation angle curve to generate the main drive motor oscillation basic speed curve;

[0111] The third generation submodule is used to generate the main drive motor oscillation target speed curve according to the main drive motor oscillation basic speed curve:

[0112] w1=w(S)*k i +w(outshaft)*k n

[0113] Among them, k i Indicates the ratio between the transmission ratio of the target gear and the transmission ratio of the highest gear, k n represents the transmission ratio of the target gear, w(outshaft) represents the output shaft speed, and w(S) represents the oscillation basic speed curve of the main drive motor;

[0114] A transmission submodule is used to transmit the target speed signal corresponding to the oscillation target speed curve of the main drive motor to the transmission controller TCU;

[0115] The second calculation submodule is used to calculate the periodic oscillation torque of the main drive motor using a PI algorithm according to the target speed signal.

[0116] In a possible implementation, the oscillation angle curve of the main drive motor is a sine curve.

[0117] The coordinated shifting system 20 provided by the present invention can implement each process implemented in the above method embodiment, and to avoid repetition, it will not be described again here.

[0118] The virtual system provided by the present invention may be a system, or a component, integrated circuit, or chip in a terminal.

[0119] Compared with the prior art, the present invention has at least the following beneficial effects:

[0120] In the present invention, when a gear shift is stuck, the duty cycle of the gear shift actuator is updated, and a periodic oscillation torque is applied to the permanent magnet synchronous motor, i.e., the main drive motor of the drive system. The updated duty cycle and the periodic oscillation torque are combined to form a "tooth mismatch" effect under coordinated control. When the total gear engagement time is monitored to have exceeded, a variable-frequency pulse shift force is applied to the gear shift actuator to increase the execution frequency of the gear shift actuator. While improving the gear shift reliability, the power interruption time of the gear shift process is reduced, effectively solving the gear shift sticking problem caused by the failure of the spline end face in the coupling sleeve and the end face of the coupling gear ring to face the teeth, while reducing the damage to the gear shift mechanism and the wear of the coupling teeth, thereby improving the service life, power performance and operating comfort of the entire vehicle.

[0121] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0122] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A coordinated shifting method, applied to a coordinated shifting system, characterized in that: include: S101: applying an initial duty cycle to a shift actuator to perform a shift operation, wherein the initial duty cycle is a time ratio for the shift actuator to perform the shift operation; S102: Detect whether the spline tooth end face in the coupling sleeve and the engaging gear ring tooth end face are opposite to each other. If the spline tooth end face in the coupling sleeve and the engaging gear ring tooth end face are opposite to each other, proceed to S104; otherwise, proceed to S103; S103: Determine whether the gear shift is successful. If the gear shift is successful, proceed to S110; otherwise, return to S101; S104: updating an initial duty cycle of the shift actuator based on the structural strength of the shift actuator, the resistance encountered during shifting, and the strength limit of the shift actuator to obtain an updated duty cycle, and calculating a periodic oscillation torque applied to the main drive motor; S105: re-performing a shift operation using the updated duty cycle and the periodic oscillation torque; S106: Determine whether the total execution time of the gear shift operation is greater than a preset time. If the total execution time of the gear shift operation is greater than the preset time, proceed to S107; otherwise, proceed to S108. S107: increasing the execution frequency of the gear shift execution mechanism to execute the gear shift operation, so as to reduce the total execution time of the gear shift operation; S108: Determine whether the shift operation is successful. If the shift operation is successful, proceed to S109; otherwise, return to S104. S109: resetting the updated duty cycle to the initial duty cycle, and stopping applying the periodic oscillation torque; S110: End the gear shift.

2. The coordinated shifting method according to claim 1, characterized in that: The S104 specifically includes: S1041: Setting a maximum duty cycle and a minimum duty cycle according to the structural strength of the shift actuator and the resistance encountered during the shift; S1042: The strength limit of the shift actuator is set to set a frequency conversion duty cycle limit; S1043: Based on the maximum duty cycle, the minimum duty cycle, and the variable frequency duty cycle limit, the initial duty cycle of the shift actuator is updated to obtain the updated duty cycle: Among them, F p2 Indicates the updated duty cycle, PWM max Indicates the maximum duty cycle, PWM min represents the minimum duty cycle, t represents time, T w Indicates the control pulse period, T fc It represents the time required for the duty cycle to rise from the minimum to the maximum within the control pulse period, T fp2 Indicates T fc and the settling time of the maximum duty cycle.

3. The coordinated shifting method according to claim 1, characterized in that: The S104 further includes: S1044: Calculate the oscillation angle of the main drive motor: Wherein, θ represents the oscillation angle, k1 represents the transmission ratio from the highest gear to the main drive motor shaft, z n Indicates the number of teeth on the gear engaged in the highest gear; S1045: Setting a preset oscillation period, combining the oscillation angle, and generating an oscillation angle curve of the main drive motor; S1046: Differentiate the main drive motor oscillation angle curve to generate a main drive motor oscillation basic speed w(S) curve; S1047: Generate a curve of the main drive motor oscillation target speed w1 according to the main drive motor oscillation basic speed curve: w1=w(S)*k i +w(outshaft)*k n Among them, k i Indicates the ratio between the transmission ratio of the target gear and the transmission ratio of the highest gear, k n represents the transmission ratio of the target gear, w(outshaft) represents the output shaft speed, and w(S) represents the oscillation basic speed curve of the main drive motor; S1048: Transmitting a target speed signal corresponding to the main drive motor oscillation target speed curve to a transmission controller TCU; S1049: Calculate the periodic oscillation torque of the main drive motor using a PI algorithm according to the target speed signal.

4. The coordinated shifting method according to claim 3, characterized in that: The oscillation angle curve of the main drive motor is a sine curve.

5. A coordinated shifting system, characterized in that: include: A first shift module, configured to apply an initial duty cycle to the shift actuator to perform a shift operation, wherein the initial duty cycle is a time ratio for the shift actuator to perform the shift operation; a detection module for detecting whether the spline tooth end face in the coupling sleeve and the engagement gear ring tooth end face are opposite to each other; if the spline tooth end face in the coupling sleeve and the engagement gear ring tooth end face are opposite to each other, the process proceeds to S104; otherwise, the process proceeds to S103; The first judgment module is used to judge whether the gear shift is successful. If the gear shift is successful, the process goes to S110; otherwise, the process returns to S101. an updating module, configured to update an initial duty cycle of the shift actuator based on the structural strength of the shift actuator, the resistance encountered during shifting, and the strength limit of the shift actuator, obtain an updated duty cycle, and calculate a periodic oscillation torque applied to the main drive motor; a second shifting module, configured to re-perform a shifting operation using the updated duty cycle and the periodic oscillation torque; A second judgment module is used to judge whether the total execution time of the gear shift operation is greater than a preset time. If the total execution time of the gear shift operation is greater than the preset time, the process proceeds to S107; otherwise, the process proceeds to S108; an execution module, configured to increase the execution frequency of the gear shift execution mechanism and execute the gear shift operation, so as to reduce the total execution time of the gear shift operation; A third judgment module is used to judge whether the gear shift operation is successful. If the gear shift operation is successful, the process proceeds to S109; otherwise, the process returns to S104. a reset module, configured to reset the updated duty cycle to the initial duty cycle and stop applying the periodic oscillation torque; End module, used to end gear shifting.

6. The coordinated shifting system according to claim 5, characterized in that: The update module specifically includes: A first setting submodule is configured to set a maximum duty cycle and a minimum duty cycle according to the structural strength of the shift actuator and the resistance encountered by the shift; The second setting submodule sets the strength limit of the shift actuator and the frequency conversion duty cycle limit; An updating submodule is configured to update the initial duty cycle of the shift actuator based on the maximum duty cycle, the minimum duty cycle, and the variable frequency duty cycle limit to obtain the updated duty cycle: Among them, F p2 Indicates the updated duty cycle, PWM max Indicates the maximum duty cycle, PWM min represents the minimum duty cycle, t represents time, T w Indicates the control pulse period, T fc It represents the time required for the duty cycle to rise from the minimum to the maximum within the control pulse period, T fp2 Indicates T fc and the settling time of the maximum duty cycle.

7. The coordinated shifting system according to claim 5, characterized in that: The update module further includes: The first calculation submodule is used to calculate the oscillation angle of the main drive motor: Wherein, θ represents the oscillation angle, k1 represents the transmission ratio from the highest gear to the main drive motor shaft, z n Indicates the number of teeth on the gear engaged in the highest gear; A first generating submodule is used to set a preset oscillation period, combine the oscillation angle, and generate an oscillation angle curve of the main drive motor; A second generating submodule is configured to differentiate the main drive motor oscillation angle curve to generate a main drive motor oscillation basic speed curve; The third generating submodule is configured to generate a main drive motor oscillation target speed curve according to the main drive motor oscillation basic speed curve: w1=w(S)*k i +w(outshaft)*k n Among them, k i Indicates the ratio between the transmission ratio of the target gear and the transmission ratio of the highest gear, k n represents the transmission ratio of the target gear, w(outshaft) represents the output shaft speed, and w(S) represents the oscillation basic speed curve of the main drive motor; a transmission submodule, configured to transmit a target speed signal corresponding to the oscillation target speed curve of the main drive motor to a transmission controller TCU; The second calculation submodule is used to calculate the periodic oscillation torque of the main drive motor using a PI algorithm according to the target speed signal.

8. The coordinated shifting system according to claim 7, characterized in that: The oscillation angle curve of the main drive motor is a sine curve.

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