Gearbox system shifting control method, device, equipment and storage medium

Abstract

The application provides a gearbox system shift control method, device, equipment and storage medium, and belongs to the technical field of vehicle control. The method comprises the following steps: determining an initial gear, a target gear, a target rotating speed and a target torque according to shift request information; controlling the torque of each motor to reach the torque of the neutral gear by using a torque control mode, and controlling the gearbox to switch from the initial gear to the initial neutral gear, wherein the torque control mode is a mode of changing the torque by using gradient control; controlling the gearbox to switch from the initial neutral gear to the target neutral gear by using a rotating speed control mode, wherein the rotating speed control mode is a mode of controlling the motor to keep the same rotating speed when the torque of the motor is different; controlling each motor to increase the rotating speed by using the torque control mode, and controlling the gearbox to switch from the target neutral gear to the target gear; and controlling the torque of the motor to reach the target torque by using the torque control mode. The application improves the shift efficiency, and can also reduce the failure rate and the failure rate of the shift process.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a method, device, equipment and storage medium for shift control of a transmission system. Background Technology

[0002] With the increasing development of electrification, electric drive systems that couple electric motors and mechanical transmissions are being used more and more in pure electric vehicles and hybrid vehicles. Therefore, the four-motor 4EMT (Electro-Mechanical Transmission) transmission system is widely used in commercial vehicles. Because the electric motor can start the vehicle under load, the clutch can be eliminated in this coupling system.

[0003] Currently, in existing technologies, even after eliminating the clutch, the shifting process of a four-motor 4EMT system still employs the traditional shifting control method of an internal combustion engine-AMT transmission system. However, the inventors have discovered that the traditional shifting control method of an internal combustion engine-AMT transmission system suffers from power loss during shifting due to torque reduction, synchronizer slippage, and synchronization issues, especially at low motor speeds, which can lead to gear engagement failures.

[0004] Therefore, there is an urgent need for a gearbox system shift control method to solve the above-mentioned technical problems. Summary of the Invention

[0005] This application provides a method, device, equipment, and storage medium for shifting control of a transmission system, which reduces the power interruption time of the transmission system during shifting, reduces the impact of the shifting process, improves shifting efficiency, and also reduces the failure rate and shifting failure rate during the shifting process.

[0006] In a first aspect, this application provides a gearbox system shift control method, the gearbox system comprising four motors, four first gears, one second gear, a gearbox, and two sliding sleeve structures, wherein each motor is connected to one first gear, each first gear meshes with a second gear, the second gear is connected to the gearbox, and the sliding sleeve structures are installed inside the gearbox; the method includes:

[0007] Obtain shift request information, and determine the initial gear, target gear, target speed, and target torque based on the shift request information;

[0008] The torque control mode is used to control the torque of each motor to reach the neutral torque, and to control the gearbox to switch from the initial gear to the initial neutral gear. The torque control mode is to change the torque in a gradient control manner.

[0009] The rotational speed control mode is used to control the rotational speed of each motor to reach the target rotational speed, and to control the gearbox to switch from the initial neutral gear to the target neutral gear. The rotational speed control mode is to control the motors to maintain the same rotational speed when the torques of the motors are different.

[0010] The torque control mode is used to control each motor to increase its speed, thereby moving the sliding sleeve structure and controlling the gearbox to switch from the target neutral to the target gear.

[0011] The torque of the motor is controlled using a torque control mode to achieve the target torque.

[0012] In one possible implementation, the sliding sleeve structure includes a engaging toothed sleeve and an engaging toothed ring, wherein the engaging toothed sleeve is mounted in the gearbox and the engaging toothed ring meshes with the engaging toothed sleeve; correspondingly, the step of controlling each motor to increase its speed using the torque control mode to move the sliding sleeve structure includes: controlling each motor to increase its speed using the torque control mode to change the relative position of the engaging toothed sleeve and the engaging toothed ring.

[0013] In one possible implementation, the shift request information includes vehicle speed information and accelerator pedal opening; correspondingly, determining the initial gear, target gear, target speed, and target torque based on the shift request information includes: determining the initial gear and target gear based on the vehicle speed information and the accelerator pedal opening; confirming the target speed based on the target gear; and determining the target torque based on the target speed.

[0014] In one possible implementation, the transmission includes a transmission body, a gear selection actuator and a shift actuator connected to the transmission body, a gear selection motor, and a shift motor, wherein the gear selection actuator is connected to the gear selection motor, and the shift actuator is connected to the shift motor; correspondingly, the step of using torque control mode to control the torque of each motor to reach the neutral torque and controlling the transmission to switch from the initial gear to the initial neutral includes: using torque control mode to control the torque of each motor to reach the neutral torque, and controlling the shift motor to drive the shift actuator to switch from the initial gear to the initial neutral.

[0015] In one possible implementation, both the gear selection actuator and the gear shifting actuator are X-axis-Y-axis type ball screw electric gear selection and shifting mechanisms; correspondingly, controlling the shifting motor to drive the shifting actuator to switch from the initial gear to the initial neutral gear includes: controlling the shifting motor to drive the shifting actuator to switch from the initial gear to the initial neutral gear along the Y-axis direction.

[0016] In one possible implementation, controlling the gearbox to switch from the initial neutral to the target neutral includes: controlling the gear selection motor to drive the gear selection actuator to switch from the initial neutral to the target neutral.

[0017] In one possible implementation, controlling the gear selection motor to drive the gear selection actuator to switch from the initial neutral gear to the target neutral gear includes: controlling the gear selection motor to drive the gear selection actuator to switch from the initial neutral gear to the target neutral gear along the X-axis direction.

[0018] In one possible implementation, controlling the transmission to switch from the target neutral to the target gear includes: controlling the shift motor to drive the shift actuator to switch from the target neutral to the target gear.

[0019] In one possible implementation, controlling the shift motor to drive the shift actuator to switch from the target neutral to the target gear includes: controlling the shift motor to drive the shift actuator to switch from the initial neutral to the target gear along the Y-axis direction.

[0020] In one possible implementation, after controlling each motor to increase its speed using the torque control mode to change the relative position of the engaging tooth sleeve and the engaging tooth ring, the method further includes: if tooth misalignment occurs between the engaging tooth sleeve and the engaging tooth ring, then controlling the motor to drive the gearbox so that the gearbox drives the engaging tooth sleeve to perform a tooth retraction operation.

[0021] In one possible implementation, the method further includes: acquiring acceleration information and the input moment of inertia of the gearbox; determining a reverse motor torque bias based on the acceleration information; and inputting the reverse motor torque bias into the motor if the input moment of inertia is greater than a moment of inertia threshold.

[0022] Secondly, this application provides a gearbox system shift control device, the gearbox system including four motors, four first gears, one second gear, a gearbox, and two sliding sleeve structures, wherein each motor is connected to one first gear, each first gear meshes with a second gear, the second gear is connected to the gearbox, and the sliding sleeve structures are installed inside the gearbox; the device includes:

[0023] The acquisition module is used to acquire shift request information and determine the initial gear, target gear, target speed and target torque based on the shift request information;

[0024] The shift torque control module is used to control the torque of each motor to reach the neutral torque using a torque control mode, and to control the gearbox to switch from the initial gear to the initial neutral gear, wherein the torque control mode is to change the torque using a gradient control method;

[0025] The shift speed control module is used to control the speed of each motor to reach the target speed using a speed control mode, and to control the gearbox to switch from the initial neutral gear to the target neutral gear, wherein the speed control mode is to control the motor to maintain the same speed when the torque of the motor is different;

[0026] The shift torque control module is used to control each motor to increase its speed using the torque control mode, so as to move the sliding sleeve structure and control the gearbox to switch from the target neutral to the target gear.

[0027] The shift torque control module is used to control the torque of the motor to reach the target torque using a torque control mode.

[0028] Thirdly, this application provides a gearbox system shift control device, including: at least one processor and a memory;

[0029] The memory stores computer-executed instructions;

[0030] The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the gearbox system shift control method as described in the first aspect above.

[0031] Fourthly, this application provides a computer-readable storage medium storing an instruction executed by a computer, which, when executed by a processor, implements the gearbox system shift control method described in the first aspect above.

[0032] This application provides a gearbox system shift control method, device, equipment, and storage medium. By eliminating the clutch and replacing the synchronizer with a sliding sleeve structure, it reduces shift shock and avoids synchronizer burn-out during shifting, lowering the possibility of failure and improving shift success rate. Furthermore, by employing gradient control to reduce or increase torque during the shifting process, the torque first reaches the neutral torque before the gearbox shifts from the initial gear to the initial neutral. This allows for rapid calculation of the torque to be reduced or increased using the torque gradient value corresponding to motor efficiency, enabling the gearbox to approach the neutral torque more quickly and also allowing for faster control of the motor torque to increase to the target torque. Additionally, a speed control mode is used to control the speed of each motor to reach the target speed in a shorter time. Before shifting from the target neutral to the target gear, a torque control mode is used to increase the speed of each motor, avoiding sliding sleeve structure failure, reducing the gear engagement failure rate, and improving the shift success rate. Finally, the torque control mode is used to control the motor torque to reach the target torque, completing the shifting process. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the structure of the gearbox system provided in an embodiment of this application;

[0035] Figure 2 A schematic flowchart illustrating the gearbox system shift control method provided in this application embodiment;

[0036] Figure 3 This is a schematic diagram of the X-axis-Y-axis type ball screw electric shifting mechanism provided in an embodiment of this application.

[0037] Figure 4 This is a schematic diagram illustrating the working process of the sliding sleeve structure provided in the embodiments of this application;

[0038] Figure 5 A timing diagram of the gearbox system shifting process provided in an embodiment of this application;

[0039] Figure 6 This is a schematic diagram of the structure of the gearbox system shift control device provided in the embodiments of this application;

[0040] Figure 7 This is a schematic diagram of the hardware structure of the gearbox system shift control device provided in an embodiment of this application. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0042] Currently, the mode switching control method of single motor-6AMT basically follows the control method of traditional fuel vehicles. However, since the speed range of a single motor is relatively low, the efficient working area of ​​the motor is reduced accordingly. Therefore, four motor-4EMT transmission system is gradually being used.

[0043] To address the aforementioned technical problems, this application provides the following technical concept: First, a sliding sleeve structure is used instead of a clutch to reduce the failure rate during gear shifting. The entire gear shifting process is divided into multiple single steps, with corresponding settings for each step. By controlling the close coordination between the four motors, the power interruption time of the transmission system during gear shifting is reduced, while also minimizing the impact of the gear shifting process.

[0044] Figure 1 This is a schematic diagram of the structure of a gearbox system provided in an embodiment of this application.

[0045] Figure 2 This is a flowchart illustrating the gear shift control method for a transmission system provided in this application. The executing entity in this embodiment can be an electronic control unit (ECU), a vehicle computer, or a chip communicating with the transmission, or other computer-related equipment; no particular limitation is imposed on this embodiment.

[0046] like Figure 1 As shown, the gearbox system includes: four motors 101, four first gears 102, one second gear 103, one gearbox 104, and two sliding sleeve structures 105. Each motor 101 is connected to one first gear 102, and each first gear 101 meshes with a second gear 103. The second gear 103 is connected to the power input end of the gearbox 104, and the sliding sleeve structure 105 is installed inside the gearbox 104.

[0047] The working principle of the gearbox system is as follows: after the four motors 101 are powered on, they drive the four first gears 102 to rotate. The four first gears 101 drive the second gears 103 to rotate through meshing transmission, which in turn drives the gearbox 104 to operate. Finally, after passing through the main reducer, the wheels are driven to rotate. The sliding sleeve structure 103 is used when the gears in the gearbox change.

[0048] like Figure 2 As shown, the method includes:

[0049] S201: Obtain shift request information and determine the initial gear, target gear, target speed, and target torque based on the shift request information.

[0050] In this embodiment, the shift request information can be based on information related to the vehicle's driving state, such as road surface gradient, vehicle speed, and torque. The initial gear can be the gear currently used by the vehicle, the target gear can be the gear that needs to be shifted up or down, the target speed can be the transmission speed corresponding to the target gear, and the target torque can be the torque required to shift to the target gear.

[0051] Specifically, in an optional embodiment of this application, the shift request information includes vehicle speed information and accelerator pedal opening. Accordingly, step S201 includes:

[0052] S201a: Determine the initial gear and target gear based on vehicle speed information and accelerator pedal opening.

[0053] In this embodiment, the vehicle speed information can be the vehicle's speed at the start of the gear shift. The accelerator pedal opening can be the angle of rotation of the accelerator pedal after being subjected to force, collected by a sensor, or the opening of the throttle valve. The initial gear is the gear corresponding to the vehicle at the start of the gear shift, and the initial gear can be obtained based on the vehicle speed information. The initial gear and vehicle speed satisfy the correspondence between vehicle gear and vehicle speed; for example, the initial gear corresponding to a vehicle speed of 45 km / h is 4th gear. The target gear can be calculated based on the accelerator pedal opening, and the difference between the target gear and the initial gear can be proportional to the accelerator pedal opening.

[0054] S201b: Confirm the target speed based on the target gear.

[0055] In this embodiment, the target gear is the gear to be shifted into. The target speed is determined by matching the commonly used correspondence between speeds and gears. The target speed can be the speed to be reached after shifting. For example, when the target speed is 1500 RPM, the corresponding target gear is 3rd gear, which is determined by matching the correspondence.

[0056] S201c: Determine the target torque based on the target speed.

[0057] In this embodiment, torque and speed are interrelated; for example, target speed and target torque are inversely proportional. When speed increases, torque decreases, and vice versa. Target torque refers to the torque required after shifting gears.

[0058] S202: The torque control mode is used to control the torque of each motor to reach the neutral torque, and to control the gearbox to switch from the initial gear to the initial neutral gear. The torque control mode uses gradient control to change the torque.

[0059] In this embodiment, the torque control mode employs gradient control to change the torque. Specifically, each time the torque gradient value is increased or decreased, the current motor speed is re-acquired, and the motor efficiency is calculated based on the speed. The current torque gradient value corresponding to the current motor efficiency is obtained by looking up a table, and then the current torque gradient value replaces the previous torque gradient value. This cycle continues until the motor torque approaches the neutral torque. The shifting of the transmission from the initial gear to initial neutral is achieved by controlling the movement of the paddle shifters.

[0060] In this embodiment, the neutral torque can be the maximum torque output when the vehicle is idling, and the initial neutral can be the position where the output power is zero, which can be achieved by the initial gear of the transmission in a single transmission.

[0061] In an optional embodiment of this application, the gearbox includes a gearbox body, a gear selection actuator and a gear shift actuator connected to the gearbox body, a gear selection motor and a gear shift motor, wherein the gear selection actuator is connected to the gear selection motor and the gear shift actuator is connected to the gear shift motor.

[0062] Accordingly, step S202 includes:

[0063] S202a: The torque control mode is used to control the torque of each motor to reach the neutral torque, and the shift motor is controlled to drive the shift actuator to switch from the initial gear to the initial neutral.

[0064] In this embodiment, the transmission body may include a transmission housing, a computer control module installed within the transmission housing, and a power input shaft and a power output shaft installed on both sides of the transmission housing. The power input shaft is connected to a second gear, and the power output shaft is connected to the vehicle's drive shaft. The drive shaft transmits the power output from the transmission to the wheels, enabling the vehicle to move. A gear selection actuator and a gear selection motor are installed within the transmission housing; the gear selection motor drives the gear selection actuator to select the target gear. A shift actuator and a shift motor are also installed within the transmission housing; the shift motor drives the shift actuator to switch from neutral to the target gear.

[0065] refer to Figure 3 , Figure 3 This is a schematic diagram of the X-axis-Y-axis type ball screw electric shifting mechanism provided in an embodiment of this application. Figure 3 As shown, the X-axis direction is the gear selection direction, the Y-axis direction is the gear shifting direction, the neutral position corresponding to 1st and 2nd gears is the gear selection actuator in position A, and the neutral position corresponding to 3rd and 4th gears is the gear selection actuator in position B.

[0066] Specifically, in an optional embodiment of this application, both the gear selection actuator and the gear shifting actuator are X-axis-Y-axis type ball screw electric gear selection and shifting mechanisms. Accordingly, step S202a, controlling the shifting motor to drive the shifting actuator to switch from the initial gear to the initial neutral gear, includes: controlling the shifting motor to drive the shifting actuator to switch from the initial gear to the initial neutral gear along the Y-axis direction.

[0067] In this embodiment, the shift motor drives the X-axis-Y-axis type ball screw electric shift mechanism to switch from the initial gear to the initial neutral gear in the Y-axis direction. For example: in Figure 3 From the second gear position A0 to the neutral position A corresponding to second gear.

[0068] S203: The speed control mode is used to control the speed of each motor to reach the target speed, and to control the gearbox to switch from the initial neutral gear to the target neutral gear. The speed control mode controls the motor to maintain the same speed when the motor torque is different.

[0069] In this embodiment, the target neutral position can be the neutral position corresponding to a target gear other than the initial gear. For example, when the initial gear is 1st gear, the target neutral position can be the neutral position corresponding to 2nd gear. Figure 3 As shown, the initial neutral and target neutral positions are the same. In speed control mode, the motor speed is constant, but the motor torque varies. When the vehicle accelerates, the motor torque increases, thus increasing the vehicle's acceleration. In summary, speed control mode can control the motor torque by controlling the motor current, so that the motor maintains the same speed even when the motor torque varies.

[0070] In an optional embodiment of this application, step S203, controlling the transmission to switch from the initial neutral gear to the target neutral gear, includes:

[0071] S203a: Control the gear selection motor to drive the gear selection actuator to switch from the initial neutral gear to the target neutral gear.

[0072] Specifically, in an optional embodiment of this application, both the gear selection actuator and the gear shifting actuator are X-axis-Y-axis type ball screw electric gear selection and shifting mechanisms. Step S203a specifically includes:

[0073] The control motor drives the gear selection actuator to switch from the initial neutral gear to the target neutral gear along the X-axis.

[0074] In this embodiment, the gear selection actuator moves along the X-axis to switch the initial neutral gear to the target neutral gear. For example... Figure 3As shown, for example: the initial neutral position is position A corresponding to 1st gear, and the target neutral position is position B corresponding to 3rd gear. At this time, the control gear selection motor drives the gear selection actuator to move from position A to position B to complete the gear selection process.

[0075] S204: The torque control mode is used to control the speed of each motor to increase the speed so that the sliding sleeve structure moves and controls the gearbox to switch from the target neutral to the target gear.

[0076] In this embodiment, during the gear engagement phase, when the motor speed is low, the sliding sleeve structure may experience tooth knocking, causing gear engagement failure. Therefore, a torque control mode is used to temporarily increase the speed of each motor. The increased speed can be a pre-set fixed value, and then the gearbox is controlled to complete the gear engagement.

[0077] Figure 4 This is a schematic diagram illustrating the working process of the sliding sleeve structure provided in the embodiments of this application.

[0078] Specifically, such as Figure 4 As shown, in an optional embodiment of this application, the sliding sleeve structure includes a engaging gear sleeve and a engaging gear ring, wherein the engaging gear sleeve is installed in the gearbox, and the engaging gear ring meshes with the engaging gear sleeve. Accordingly, step S204 uses a torque control mode to control each motor to increase its speed so as to move the sliding sleeve structure, including:

[0079] S204a: The torque control mode is used to increase the speed of each motor so as to change the relative position of the engaging gear sleeve and the engaging gear ring.

[0080] like Figure 4 As shown in this embodiment, if the speed is too low during the gear shifting process from neutral to gear, the engaging gear sleeve and engaging gear ring will cause them to press against each other. By temporarily using torque control mode to control the speed of each motor to increase, the relative position between the engaging gear sleeve and engaging gear ring can be changed from the tooth-pressing state to the meshing state, so as to complete the gear shifting operation again.

[0081] In an optional embodiment of this application, step S204, controlling the transmission to switch from the target neutral gear to the target gear, includes:

[0082] S204b: Controls the shift motor to drive the shift actuator to switch from the target neutral gear to the target gear.

[0083] In this embodiment, after receiving the control command, the shift motor is powered on and starts, and drives the shift actuator to switch the gearbox from the target neutral to the target gear.

[0084] Specifically, in an optional embodiment of this application, both the gear selection actuator and the gear shifting actuator are ball screw-type electric gear selection and shifting mechanisms in the form of X-axis-Y-axis. Then, step S204b includes: controlling the shifting motor to drive the shifting actuator to switch from the initial neutral gear to the target gear along the Y-axis direction.

[0085] Please continue to refer to this. Figure 3 For example, if the target gear is position C (3rd gear) and the target neutral gear is position B (3rd gear), then the shift motor drives the shift actuator along the Y-axis to move the gear of the transmission from position C to position B.

[0086] S205: The torque control mode is used to control the motor torque to achieve the target torque.

[0087] In this embodiment, the target torque is the torque that the motor needs to provide throughout the entire gear shifting process, which is the torque recovery process. This process is the reverse of the process in step S202 where torque control mode is used to control the torque of each motor to reach the neutral torque; therefore, it will not be described again here.

[0088] In summary, the gearbox system shift control method provided in this application reduces shift shock by eliminating the clutch and replacing the synchronizer with a sliding sleeve structure. This also avoids synchronizer burn-out during shifting, reducing the likelihood of failure and improving shift success rate. Furthermore, by employing gradient control to reduce or increase torque during the shifting process, the torque first reaches the neutral torque before the gearbox switches from the initial gear to the initial neutral. This allows for rapid calculation of the torque to be reduced or increased using the torque gradient value corresponding to motor efficiency, enabling the gearbox to approach the neutral torque more quickly and also enabling faster control of the motor torque to increase to the target torque. Additionally, a speed control mode is used to control the speed of each motor to reach the target speed in a shorter time. Before switching from the target neutral to the target gear, a torque control mode is used to increase the speed of each motor, avoiding sliding sleeve structure failure, reducing the gear engagement failure rate, and improving the shift success rate. Finally, the torque control mode is used to control the motor torque to reach the target torque, completing the shifting process.

[0089] Meanwhile, the gear selection and shifting actuators in this embodiment adopt an X-axis-Y-axis ball screw electric gear selection and shifting mechanism. The rotational motion of the drive motor is converted into linear motion along the screw axis through the ball screw, so as to achieve higher precision displacement control and reversible motion, which is more suitable for application scenarios with frequent gear shifting and improves shifting efficiency.

[0090] Based on the above embodiments, in an optional embodiment of this application, after step S204a, the method further includes:

[0091] Step A: If tooth misalignment occurs between the engaging gear sleeve and the engaging gear ring, control the motor to drive the gearbox so that the gearbox drives the engaging gear sleeve to perform a tooth retraction operation.

[0092] In this embodiment, the engaging toothed sleeve in the sliding sleeve structure undergoes axial movement during gear engagement, and a mismatch between the inner diameter of the engaging toothed sleeve and the corresponding gear causes misalignment, resulting in jamming of the sliding sleeve structure. In this situation, it is necessary to control the motor to drive the gearbox to retract the engaging toothed sleeve.

[0093] In summary, the gearbox system shift control method provided in this application further reduces the failure rate and improves the shift success rate by controlling the motor to drive the gearbox when the gear sleeve and gear ring are engaged, so that the gearbox drives the gear sleeve to retract its teeth.

[0094] Based on the above embodiments, the gearbox system shift control method provided as an optional embodiment of this application further includes:

[0095] Step B: Obtain acceleration information and the input moment of inertia of the gearbox.

[0096] In this embodiment, the acceleration information can be the acceleration value possessed by the vehicle during driving, which can be the increase or decrease in the vehicle's speed per unit time. Acceleration information can be collected by acceleration sensors installed on the vehicle. Input moment of inertia refers to a measure of the inertia of the power input shaft of the transmission when it rotates around its axis, and can be calculated using the transmission's moment of inertia formula.

[0097] Step C: Determine the reverse motor torque offset based on the acceleration information.

[0098] In this embodiment, during gear shifting, especially during downhill shifting, the input inertia of the transmission is greater, and the inertia of the wheel end connected to the sliding sleeve is also relatively large. Furthermore, the vehicle speed changes rapidly, resulting in significant acceleration. This causes the engagement sleeve and engagement ring to fit tightly together on one side, increasing the frictional force experienced by the gear shifting actuator when it is pulled out of the gear position, potentially leading to gear disengagement failure.

[0099] Step D: If the input moment of inertia is greater than the moment of inertia threshold, then the reverse motor torque bias is applied to the input motor.

[0100] In this embodiment, the moment of inertia threshold can be a preset inertia value. When the input moment of inertia is greater than the moment of inertia threshold, it indicates that the vehicle acceleration is too large, and the reverse motor torque needs to be biased to the input motor to avoid the phenomenon of failure to disengage gear.

[0101] In summary, the gearbox system shift control method provided in this embodiment reduces the pressure between the engagement sleeve and the engagement ring by giving the motor a reverse torque bias, thereby reducing the friction force when the gear is shifted out.

[0102] Figure 5 The timing diagram of the gearbox system shifting process provided in the embodiments of this application is as follows: Figure 5 As shown, the entire gear shifting process is divided into five stages: torque reduction, disengagement, gear selection, gear engagement, and torque recovery. During the torque reduction stage, torque control mode is used. During disengagement, a reverse motor torque bias is input to the motor. During gear selection, speed control mode is used. During gear engagement, torque control mode is used. Furthermore, when gear misalignment occurs during gear engagement, pulse torque can be applied to the motor, controlling the shift motor to start and complete the gear retraction operation. During torque recovery, torque control mode is used.

[0103] Figure 6 This is a schematic diagram of the structure of the gearbox system shift control device provided in the embodiment of this application. The gearbox system includes four motors, four first gears, one second gear, a gearbox, and two sliding sleeve structures. Each motor is connected to one first gear, each first gear meshes with a second gear, the second gear is connected to the gearbox, and the sliding sleeve structures are installed inside the gearbox. The device includes: an acquisition module 61, a shift torque control module 62, and a shift speed control module 63.

[0104] The acquisition module 61 is used to acquire shift request information and determine the initial gear, target gear, target speed and target torque based on the shift request information.

[0105] The shift torque control module 62 is used to control the torque of each motor to reach the neutral torque in the torque control mode, and to control the gearbox to switch from the initial gear to the initial neutral gear. The torque control mode is to change the torque in a gradient control manner.

[0106] The shift speed control module 63 is used to control the speed of each motor to reach the target speed using a speed control mode, and to control the gearbox to switch from the initial neutral gear to the target neutral gear. The speed control mode is to control the motor to maintain the same speed when the motor torque is different.

[0107] The shift torque control module 62 is used to control each motor to increase its speed in a torque control mode so as to move the sliding sleeve structure and control the gearbox to switch from the target neutral to the target gear.

[0108] The shift torque control module 62 is used to control the motor torque to achieve the target torque using torque control mode.

[0109] In an optional embodiment of this application, the sliding sleeve structure includes a engaging gear sleeve and an engaging gear ring, wherein the engaging gear sleeve is installed in the gearbox, and the engaging gear ring meshes with the engaging gear sleeve. Accordingly, the shift torque control module 62 is specifically used to: control each motor to increase its speed using a torque control mode, so as to change the relative position of the engaging gear sleeve and the engaging gear ring.

[0110] In an optional embodiment of this application, the shift request information includes vehicle speed information and accelerator pedal opening. Accordingly, the acquisition module 61 is specifically used to: determine the initial gear and the target gear based on the vehicle speed information and the accelerator pedal opening; confirm the target speed based on the target gear; and determine the target torque based on the target speed.

[0111] In an optional embodiment of this application, the gearbox includes a gearbox body, a gear selection actuator and a shift actuator connected to the gearbox body, a gear selection motor, and a shift motor, wherein the gear selection actuator is connected to the gear selection motor, and the shift actuator is connected to the shift motor. Accordingly, the shift torque control module 62 is specifically used to: control the torque of each motor to reach the neutral torque using a torque control mode, and control the shift motor to drive the shift actuator to switch from the initial gear to the initial neutral.

[0112] In an optional embodiment of this application, both the gear selection actuator and the gear shifting actuator are X-axis-Y-axis type ball screw electric gear selection and shifting mechanisms. The shifting torque control module 62 is specifically used to control the shifting motor to drive the shifting actuator to switch from the initial gear to the initial neutral gear along the Y-axis direction.

[0113] In an optional embodiment of this application, the shift speed control module 63 is specifically used to: control the shift motor to drive the shift actuator to switch from the initial neutral gear to the target neutral gear.

[0114] In an optional embodiment of this application, the shift speed control module 63 is specifically used to: control the shift motor to drive the shift actuator to switch from the initial neutral gear to the target neutral gear along the X-axis direction.

[0115] In an optional embodiment of this application, the shift torque control module 62 is specifically used to: control the shift motor to drive the shift actuator to switch from the target neutral gear to the target gear.

[0116] In an optional embodiment of this application, the shift torque control module 62 is specifically used to: control the shift motor to drive the shift actuator to switch from the initial neutral gear to the target gear along the Y-axis direction.

[0117] In an optional embodiment of this application, the shift torque control module 62 in the gearbox system shift control device is further configured to: control the motor to drive the gearbox when a tooth misalignment occurs between the engagement sleeve and the engagement ring, so that the gearbox drives the engagement sleeve to perform a tooth retraction operation.

[0118] In an optional embodiment of this application, the acquisition module 61 in the gearbox system shift control device is further configured to: acquire acceleration information and the input moment of inertia of the gearbox; and determine the reverse motor torque bias based on the acceleration information. The shift torque control module 62 is further configured to: input the reverse motor torque bias to the motor if the input moment of inertia is greater than a moment of inertia threshold.

[0119] The gearbox system shift control device provided in this embodiment can be used to execute the technical solution of the above method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0120] Figure 7 This is a schematic diagram of the hardware structure of the gearbox system shift control device provided in the embodiments of this application, such as... Figure 7 As shown, the device includes at least one processor 701 and a memory 702.

[0121] Among them, memory 702 is used to store computer execution instructions.

[0122] The processor 701 is configured to execute computer execution instructions stored in the memory 702 to implement the various steps involved in the above method embodiments. For details, please refer to the relevant descriptions in the foregoing method embodiments.

[0123] Optionally, the memory 702 can be either standalone or integrated with the processor 701.

[0124] When the memory 702 is set up independently, the device also includes a bus 703 for connecting the memory 702 and the processor 701.

[0125] This application also provides a computer-readable storage medium storing computer-executable instructions. When the processor executes the computer-executable instructions, the above-mentioned gearbox system shift control method is implemented.

[0126] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described gearbox system shift control method.

[0127] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between apparatuses or modules, and may be electrical, mechanical, or other forms.

[0128] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to implement the solution of this embodiment according to actual needs.

[0129] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit. The unit composed of the above modules can be implemented in hardware or in the form of hardware plus software functional units.

[0130] The integrated modules described above, implemented as software functional modules, can be stored in a computer-readable storage medium. These software functional modules, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute partial steps of the methods of the various embodiments of this application.

[0131] It should be understood that the aforementioned processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0132] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage device, and may also be a USB flash drive, external hard drive, read-only memory, disk or optical disc, etc.

[0133] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0134] The aforementioned storage medium can be implemented from any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The storage medium can be any available medium accessible to general-purpose or special-purpose computers.

[0135] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Alternatively, the storage medium can be an integral part of the processor. Both the processor and the storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and storage medium can exist as discrete components in an electronic device or host device.

[0136] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0137] This description is intended to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A shift control method for a transmission system, characterized in that, The transmission system includes four motors, four first gears, one second gear, a transmission, and two sliding sleeve structures, wherein each motor is connected to one first gear, each first gear meshes with a second gear, the second gear is connected to the transmission, and the sliding sleeve structures are installed inside the transmission; the method includes: Obtain shift request information, and determine the initial gear, target gear, target speed, and target torque based on the shift request information; A torque control mode is used to control the torque of each motor to reach the neutral torque, and to control the transmission to switch from the initial gear to the initial neutral gear. The torque control mode employs a gradient control method to change the torque. Gradient control means that each time the torque gradient value is increased or decreased, the current motor speed is re-acquired, the motor efficiency is calculated based on the current speed, and the corresponding current torque gradient value is determined based on the motor efficiency. This current torque gradient value replaces the previous torque gradient value. The neutral torque refers to the maximum torque output when the vehicle is idling, and the initial neutral gear refers to the position where the transmission's initial gear achieves zero output power in a single transmission cycle. A speed control mode is used to control the speed of each motor to reach the target speed, and to control the gearbox to switch from the initial neutral gear to the target neutral gear. The speed control mode is used to control the motors to maintain the same speed when the torque of the motors is different. The target neutral gear refers to the neutral position corresponding to the target gear other than the initial gear. The torque control mode is used to control each motor to increase its speed, thereby moving the sliding sleeve structure and controlling the gearbox to switch from the target neutral to the target gear. The torque of the motor is controlled using a torque control mode to achieve the target torque.

2. The method according to claim 1, characterized in that, The sliding sleeve structure includes a engaging toothed sleeve and an engaging toothed ring, wherein the engaging toothed sleeve is installed in the gearbox and the engaging toothed ring meshes with the engaging toothed sleeve. Accordingly, the step of using the torque control mode to control each motor to increase its speed so as to move the sliding sleeve structure includes: The torque control mode is used to control each motor to increase its speed, thereby changing the relative position of the engaging gear sleeve and the engaging gear ring.

3. The method according to claim 1, characterized in that, The shift request information includes vehicle speed information and accelerator pedal opening; Accordingly, determining the initial gear, target gear, target speed, and target torque based on the shift request information includes: Based on the vehicle speed information and the accelerator pedal opening, determine the initial gear and the target gear; Based on the target gear, confirm the target speed; The target torque is determined based on the target rotational speed.

4. The method according to claim 1, characterized in that, The gearbox includes a gearbox body, a gear selection actuator and a gear shift actuator connected to the gearbox body, a gear selection motor and a gear shift motor, wherein the gear selection actuator is connected to the gear selection motor and the gear shift actuator is connected to the gear shift motor; Accordingly, the step of using torque control mode to control the torque of each motor to reach the neutral torque and controlling the gearbox to switch from the initial gear to the initial neutral gear includes: The torque control mode is used to control the torque of each motor to reach the neutral torque, and the shift motor is controlled to drive the shift actuator to switch from the initial gear to the initial neutral.

5. The method according to claim 4, characterized in that, Both the gear selection actuator and the gear shifting actuator are X-axis-Y-axis type ball screw electric gear selection and shifting mechanisms; Accordingly, controlling the shift motor to drive the shift actuator to switch from the initial gear to the initial neutral gear includes: The shift motor is controlled to drive the shift actuator to switch from the initial gear to the initial neutral gear along the Y-axis.

6. The method according to claim 4, characterized in that, The control of the transmission to switch from the initial neutral to the target neutral includes: The gear selection motor is controlled to drive the gear selection actuator to switch from the initial neutral gear to the target neutral gear.

7. The method according to claim 6, characterized in that, The control of the gear selection motor to drive the gear selection actuator to switch from the initial neutral gear to the target neutral gear includes: The gear selection motor is controlled to drive the gear selection actuator to switch from the initial neutral gear to the target neutral gear along the X-axis direction.

8. The method according to claim 5, characterized in that, The control of the transmission to switch from the target neutral to the target gear includes: The shift motor is controlled to drive the shift actuator to switch from the target neutral gear to the target gear.

9. The method according to claim 8, characterized in that, The control of the shift motor to drive the shift actuator to switch from the target neutral gear to the target gear includes: The shift motor is controlled to drive the shift actuator to switch from the initial neutral gear to the target gear along the Y-axis.

10. The method according to claim 2, characterized in that, After controlling each motor to increase its speed using the torque control mode to change the relative position of the engaging gear sleeve and the engaging gear ring, the method further includes: If tooth misalignment occurs between the engaging tooth sleeve and the engaging tooth ring, the motor is controlled to drive the gearbox, so that the gearbox drives the engaging tooth sleeve to perform a tooth retraction operation.

11. The method according to any one of claims 2 to 10, characterized in that, Also includes: Acquire acceleration information and the input moment of inertia of the gearbox; Based on the acceleration information, the reverse motor torque bias is determined; If the input moment of inertia is greater than the moment of inertia threshold, then the reverse motor torque bias is input to the motor.

12. A gearbox system shift control device, characterized in that, The gearbox system includes four motors, four first gears, one second gear, a gearbox, and two sliding sleeve structures. Each motor is connected to one first gear, each first gear meshes with a second gear, the second gear is connected to the gearbox, and the sliding sleeve structures are installed inside the gearbox. The device includes: The acquisition module is used to acquire shift request information and determine the initial gear, target gear, target speed and target torque based on the shift request information; The shift torque control module is used to control the torque of each motor to reach the neutral torque using a torque control mode, and to control the transmission to switch from the initial gear to the initial neutral gear. The torque control mode uses a gradient control method to change the torque. Gradient control means that each time the torque gradient value is increased or decreased, the current speed of the motor is re-acquired, the motor efficiency is calculated based on the current speed, and the corresponding current torque gradient value is determined based on the motor efficiency. This current torque gradient value replaces the previous torque gradient value. The neutral torque refers to the maximum torque output when the vehicle is idling, and the initial neutral gear refers to the position where the output power of the transmission is zero after a single gear shift. The shift speed control module is used to control the speed of each motor to reach the target speed using a speed control mode, and to control the gearbox to switch from the initial neutral gear to the target neutral gear. The speed control mode is to control the motors to maintain the same speed when the torques of the motors are different. The target neutral gear refers to the neutral position corresponding to the target gear other than the initial gear. The shift torque control module is used to control each motor to increase its speed using the torque control mode, so as to move the sliding sleeve structure and control the gearbox to switch from the target neutral to the target gear. The shift torque control module is used to control the torque of the motor to reach the target torque using a torque control mode.

13. A gearbox system shift control device, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the gearbox system shift control method as described in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by the processor, implement the gearbox system shift control method as described in any one of claims 1 to 11.

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