Gear position self-learning control method and device, electronic equipment and vehicle

Abstract

The present application relates to the technical field of vehicles, and provides a gear position self-learning control method and device, electronic equipment and vehicle, wherein a first duty cycle request is given to a gear shifting motor, the position of a gear shifting actuator is recorded as an in-gear limit position in a first direction after the gear shifting motor is locked, a second duty cycle request is given to the gear shifting motor, the position of the gear shifting actuator is recorded as an in-gear lock position in the first direction after the gear shifting motor is locked, a third duty cycle request is given to the gear shifting motor, the position of the gear shifting actuator is recorded as an in-gear limit position in a second direction after the gear shifting motor is locked, a fourth duty cycle request is given to the gear shifting motor, and the position of the gear shifting actuator is recorded as an in-gear lock position in the second direction after the gear shifting motor is locked, thereby realizing self-learning of the in-gear limit displacement position and the in-gear lock position, and the efficiency, consistency and accuracy of gear position calibration are higher than manual calibration, and the gear position calibration effect is good.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a gear position self-learning control method and device, an electronic device and a vehicle. BACKGROUND

[0002] With the promotion of new energy commercial vehicles, the importance of electric mechanical automatic transmission (AMT) is also increasing due to its simple structure, high transmission efficiency and good reliability. The electric AMT uses an electric control electric system to drive the shift actuator by using a motor, which eliminates the need for complex energy supply devices and pipeline systems for pneumatic and hydraulic operating mechanisms. It has the advantages of simple structure, low cost, strong environmental adaptability and low energy consumption, and has become an important development direction.

[0003] Due to the consistency of hardware production, the electric shift actuator of the electric AMT has differences in shift control accuracy, so it is necessary to determine the calibration position of the electric shift actuator in multiple gears. Since manual calibration is inefficient and the accuracy of the calibration process varies due to the proficiency of the operator, the accuracy is low, which cannot be applied to large-scale production. Therefore, a method is needed to control the electric shift mechanism to automatically learn the gear position, so as to improve the success rate and stability of the electric AMT in shift control. SUMMARY

[0004] The present application provides a gear position self-learning control method, device, electronic device and vehicle to solve the problem of low efficiency and accuracy of manual calibration of the calibration position of the electric shift actuator in multiple gears in the prior art. The present application controls the electric shift mechanism to automatically learn the gear position and improves the success rate and stability of the electric AMT in shift control.

[0005] The present application provides a gear position self-learning control method, comprising: giving a first duty cycle request to a shift motor to drive the shift actuator to move axially in a first direction from a zero position, and in the case of a locked rotor of the shift motor, obtaining the current first position of the shift actuator and recording the first position as the in-gear limit position in the first direction; the axial movement is along the axis where the synchronization device is located;

[0006] Giving a second duty cycle request to the shift motor to drive the shift actuator to move axially in a second direction from the first position, and in the case of a locked rotor of the shift motor, obtaining the current second position of the shift actuator and recording the second position as the in-gear lock position in the first direction;

[0007] a third duty cycle request is given to the gear shift motor to drive the gear shift actuator to move axially in a second direction from the second position, and in the case that the gear shift motor is stalled, a current third position of the gear shift actuator is obtained, and the third position is recorded as an in-gear limit position in the second direction;

[0008] a fourth duty cycle request is given to the gear shift motor to drive the gear shift actuator to move axially in a first direction from the third position, and in the case that the gear shift motor is stalled, a current fourth position of the gear shift actuator is obtained, and the fourth position is recorded as an in-gear lock position in the second direction.

[0009] According to the present application, a gear position self-learning control method is provided, in which, under the first duty cycle request, the gear shift motor drives the gear shift actuator to move axially in a first direction with a force greater than a lock force; the lock force is predetermined;

[0010] under the second duty cycle request, the gear shift motor drives the gear shift actuator to move axially in a second direction with a force less than the lock force;

[0011] under the third duty cycle request, the gear shift motor drives the gear shift actuator to move axially in the second direction with a force greater than the lock force;

[0012] under the fourth duty cycle request, the gear shift motor drives the gear shift actuator to move axially in the first direction with a force less than the lock force.

[0013] According to the present application, a gear position self-learning control method is provided, in which, after the current first position of the gear shift actuator is obtained, the first position is recorded as an in-gear limit position in the first direction, and before the current second position of the gear shift actuator is obtained, the second position is recorded as an in-gear lock position in the first direction, further comprising verifying the first position;

[0014]

[0015]

[0016] ​​​

[0017] In a case where any one of a position difference between the first position and the second position, the first position, the second position, the third position and the fourth position is not verified, it is determined that self-learning fails, and the flow ends.

[0018] According to the gear position self-learning control method provided by the application, the first position is verified, including: in a case where an absolute value of a difference between a first standard value and a first displacement value is less than a first limit value, it is determined that the first position is verified; the first standard value and the first limit value are both preset, and the first displacement value is a displacement value of the first position relative to the zero position;

[0019] The second position is verified, including: in a case where an absolute value of a difference between a second displacement value and the first displacement value is greater than a second limit value and less than a third limit value, it is determined that the second position is verified; the second limit value and the third limit value are both preset, and the second displacement value is a displacement value of the second position relative to the zero position;

[0020] The third position is verified, including: in a case where an absolute value of a difference between a third displacement value and a second standard value is less than the first limit value, it is determined that the third position is verified; the second standard value is preset, and the third displacement value is a displacement value of the third position relative to the zero position;

[0021] The fourth position is verified, including: in a case where an absolute value of a difference between the third displacement value and a fourth displacement value is greater than the second limit value and less than the third limit value, it is determined that the fourth position is verified; the fourth displacement value is a displacement value of the fourth position relative to the zero position;

[0022] The verification of the position difference between the first position and the third position includes: in a case where an absolute value of a difference between a limit displacement difference value and a standard value difference value is less than a fourth limit value, it is determined that the position difference between the first position and the third position is verified; the fourth limit value is preset, the limit displacement difference value is an absolute value of a difference between the first displacement value and the third displacement value, and the standard value difference value is an absolute value of a difference between the first standard value and the second standard value.

[0023] According to the gear position self-learning control method provided by the application, after the fourth position is recorded as the in-gear locking position in the second direction, the method further includes:

[0024] a fifth duty ratio request is given to the gear shifting motor, and after a preset switching time is reached, the fourth duty ratio request is given to the gear shifting motor, so that the gear shifting motor drives the gear shifting actuator to move axially in a first direction, in the case where the gear shifting motor is stalled, a current fifth position of the gear shifting actuator is obtained, and the fifth position is recorded as an N-gear locking position.

[0025] According to the gear position self-learning control method provided in the application, under the fifth duty ratio request, the force with which the gear shifting motor drives the gear shifting actuator to move axially in the first direction is greater than the locking force and is smaller than the force with which the gear shifting motor drives the gear shifting actuator to move axially in the first direction under the first duty ratio request.

[0026] According to the gear position self-learning control method provided in the application, after the current fifth position of the gear shifting actuator is obtained, before the fifth position is recorded as the N-gear locking position, the fifth position is verified, and verifying the fifth position comprises: in the case where the absolute value of the difference between a limit displacement mean value and a fifth displacement value is smaller than a fifth limit value, it is determined that the fifth position passes the verification; the limit displacement mean value is the average of the first displacement value and the third displacement value, and the fifth displacement value is the displacement value of the fifth position relative to the zero position;

[0027] In the case where the fifth position does not pass the verification, it is determined that the self-learning fails, and the process ends.

[0028] The application further provides a gear position self-learning control device, comprising: a first limit position confirmation module, configured to give a first duty ratio request to a gear shifting motor, so that the gear shifting motor drives a gear shifting actuator to move axially in a first direction from a preset zero position, in the case where the gear shifting motor is stalled, a current first position of the gear shifting actuator is obtained, and the first position is recorded as an in-gear limit position in the first direction; the axial movement is movement along an axis on which a synchronization device is located;

[0029] A first locking position confirmation module is configured to give a second duty ratio request to the gear shifting motor, so that the gear shifting motor drives the gear shifting actuator to move axially in a second direction from the first position, in the case where the gear shifting motor is stalled, a current second position of the gear shifting actuator is obtained, and the second position is recorded as an in-gear locking position in the first direction;

[0030] a second limit position confirming module configured to give a third duty ratio request to the gear shift motor to drive the gear shift actuator to move axially in a second direction from the second position, and in the case of a stall of the gear shift motor, acquire a third position of the gear shift actuator at present, and record the third position as an in-gear limit position in the second direction.

[0031] a second limit position confirming module configured to give a third duty ratio request to the gear shift motor to drive the gear shift actuator to move axially in a second direction from the second position, and in the case of a stall of the gear shift motor, acquire a third position of the gear shift actuator at present, and record the third position as an in-gear limit position in the second direction.

[0032] The application further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the gear position self-learning control method according to any one of the above.

[0033] The application further provides a vehicle comprising the electronic device.

[0034] The gear position self-learning control method, device, electronic device and vehicle provided by the application can realize self-learning of the in-gear limit displacement position and the in-gear lock position of the gear shift actuator, and the calibration efficiency, consistency and accuracy of the gear position are higher than manual calibration, and the gear position calibration effect is good. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to make the technical solutions in the present application or prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative work based on the accompanying drawings are within the protection scope of the present application.

[0036] Figure 1 is a flowchart of the gear position self-learning control method provided by the present application;

[0037] Figure 2 is a flowchart of an optional gear position self-learning control method in an embodiment of the present application;

[0038] Figure 3 is a schematic diagram of the gear position self-learning control method in an embodiment of the present application;

[0039] Figure 4 is a schematic diagram of each limit position and lock position in an embodiment of the present application;

[0040] Figure 5 is a verification schematic diagram as an example in an embodiment of the present application;

[0041] Figure 6 is a structural schematic diagram of the gear position self-learning control device provided by the present application;

[0042] Figure 7 is a structural schematic diagram of the electronic device provided by the present application.

[0043] Reference signs:

[0044] 61: first limit position confirmation module; 62: first lock position confirmation module; 63: second limit position confirmation module; 64: second lock position confirmation module. DETAILED DESCRIPTION

[0045] In order to make the technical solutions in the present application or prior art clearer, the accompanying drawings needed in the embodiments or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative work based on the accompanying drawings are within the protection scope of the present application.

[0046] The gear position self-learning control method of the present application will be described below. Figures 1 to 5 The gear position self-learning control method of the present application will be described below.

[0047] As shown in Figure 1 , the gear position self-learning control method provided by the present application comprises the following steps:

[0048] S1, a first duty ratio request is given to the shift motor to drive the shift actuator to move axially along a first direction from a zero position, and in the case of a stall of the shift motor, a first position of the shift actuator is obtained, and the first position is recorded as the in-gear limit position in the first direction.

[0049] The duty ratio of the motor refers to the ratio of the pulse input signal of the motor in a certain working period, i.e., the ratio of "high level" to "low level". The size of the duty ratio of the motor determines the state of the driving motor, such as the speed or torque of the rotor. In addition, the duty ratio of the motor can also control the power, speed and torque of the motor. The duty ratio request of each motor in the present application is pre-set to control the duty ratio of the motor, thereby controlling the force of the shift motor driving the shift actuator. The axial movement of the shift actuator is along the axis of the synchronizer.

[0050] Specifically, as shown in Figure 2 and Figure 3 , in this step, the first duty ratio request is given to the shift motor to drive the shift actuator to move axially along the first direction of the axis of the synchronizer, and the self-learning of the in-gear limit position on one side (for example, the left side in Figure 4 ) is performed. For the convenience of understanding, the first duty ratio request is represented as -a in the subsequent description. Under the duty ratio request -a, the shift motor drives the shift actuator to move axially along the first direction from the zero position. It should be understood that the zero position in the present application refers to a position pre-set before each self-learning starts, which can be set by software. The present application does not limit the zero position, for example, the zero position can be the current neutral position or other positions. In an optional embodiment of the present application, the duty ratio request -a needs to meet the following conditions:

[0051] (1) Under the duty ratio request -a, the force of the shift motor driving the shift actuator to move axially is much greater than the locking force (the locking force is the maximum axial locking force of the pre-determined gear locking position), which ensures that the shift actuator will not be stuck in the locking groove during the self-learning of the in-gear limit position, and also ensures that the shift actuator can achieve normal gear shifting when the resistance to gear shifting is relatively large.

[0052] (2) Under the duty ratio request -a, the axial elastic deformation of the yoke of the transmission during the axial movement of the shift motor driving the shift actuator should be less than the deformation limit value, which can be set according to the actual situation, for example, it can be set to 0.2 mm.

[0053] In an optional embodiment of the present application, the rotation angle of the transmission shaft of the shift motor and the displacement change of the shift actuator are monitored during the axial movement of the shift actuator driven by the shift motor.

[0054] In the case where the shift motor is stalled, i.e. the displacement change of the shift actuator is less than the preset displacement change limit or the rotation angle of the transmission shaft of the shift motor is less than the preset rotation angle limit within a preset time period, the displacement of the shift actuator no longer changes at this time, the current position of the shift actuator is obtained as the first position, and the first position is recorded as the in-gear limit position (e.g. the left limit position in Figure 4 ) in the first direction.

[0055] S2, a second duty ratio request is given to the shift motor to drive the shift actuator to move axially from the first position in the second direction, and in the case where the shift motor is stalled, the current second position of the shift actuator is obtained, and the second position is recorded as the in-gear lock position in the first direction.

[0056] Specifically, as shown in Figure 2 and Figure 3 , in this step, the second duty ratio request is given to the shift motor to drive the shift actuator to move axially from the first position in the second direction, and the self-learning of the in-gear limit position on one side (e.g. the left side in Figure 4 ) is performed, and it should be understood that the first direction and the second direction are opposite directions. For the convenience of understanding, the second duty ratio request is denoted as b in the subsequent description. Under the duty ratio request b, the shift motor drives the shift actuator to move axially in the second direction. In an optional embodiment of the present application, the duty ratio request b needs to satisfy the following condition: under the duty ratio request b, the force with which the shift motor drives the shift actuator to move axially is less than the lock force, and the shift actuator can be normally pushed to move axially.

[0057] In the case where the shift motor is stalled, the current second position of the shift actuator is obtained, and the second position is recorded as the in-gear lock position (e.g. the left lock position in Figure 4 ) in the first direction.

[0058] S3, a third duty ratio request is given to the shift motor to drive the shift actuator to move axially from the second position in the second direction, and in the case where the shift motor is stalled, the current third position of the shift actuator is obtained, and the third position is recorded as the in-gear limit position in the second direction.

[0059] Specifically, as shown in Figure 2 and Figure 3As shown, in this step, given a third duty cycle request from the shift motor, the shift motor drives the shift actuator to move axially from the second position along the second direction to perform the shift on the other side (e.g., Figure 4 (The right side of the image) Self-learning at the limit position. For ease of understanding, the third duty cycle request will be denoted as a in the following description. Under duty cycle request a, the shift motor drives the shift actuator to move axially along the second direction. In an optional embodiment of the invention, duty cycle request a needs to simultaneously satisfy the following conditions:

[0060] (1) Under the duty cycle request a, the force of the shift motor driving the shift actuator to move axially is much greater than the locking force, ensuring that the shift actuator will not be stuck by the locking groove during the self-learning process of the gear limit position, and ensuring that normal gear shifting can be achieved even when the gear shift actuator is subjected to a large gear shifting resistance.

[0061] (2) Under duty cycle request a, during the process of the shift motor driving the shift actuator to move axially, the axial elastic deformation of the shift fork of the transmission should be less than the deformation limit. The deformation limit can be set according to the actual situation, for example, it can be set to 0.2mm.

[0062] In an optional embodiment of the present invention, the difference between duty cycle request -a and duty cycle request a is only that their directions are opposite. That is, under duty cycle request -a and duty cycle request a, the magnitude of the force by which the shift motor drives the shift actuator to move axially is equal.

[0063] In the event of a stall in the shift motor, the current third position of the shift actuator is obtained, and this third position is recorded as the in-gear limit position in the second direction (e.g., Figure 4 (Right extreme position in the middle).

[0064] S4. Request a fourth duty cycle to the shift motor so that the shift motor drives the shift actuator to move axially from the third position along the first direction. If the shift motor stalls, obtain the current fourth position of the shift actuator and record the fourth position as the in-gear lock-up position in the second direction.

[0065] Specifically, such as Figure 2 and Figure 3 As shown, in this step, given a fourth duty cycle request from the shift motor, the shift motor drives the shift actuator to move axially from the third position along the first direction to perform the shift on the other side (e.g., Figure 4(The right side of the diagram) Self-learning in the gear lock position. For ease of understanding, the fourth duty cycle request will be represented as -b in the following description. Under duty cycle request -b, the shift motor drives the shift actuator to move axially along the first direction. In an optional embodiment of the present invention, duty cycle request -b needs to satisfy the following condition: under duty cycle request -b, the force by which the shift motor drives the shift actuator to move axially is less than the locking force, and it can normally push the shift actuator to move axially.

[0066] In an optional embodiment of the present invention, the difference between duty cycle request-b and duty cycle request b is only that their directions are opposite. That is, under duty cycle request-b and duty cycle request b, the magnitude of the force by which the shift motor drives the shift actuator to move axially is equal.

[0067] In the event of a stall in the shift motor, the current fourth position of the shift actuator is obtained, and this fourth position is recorded as the in-gear lock-up position in the second direction (e.g., ...). Figure 4 (Right locking position in the middle).

[0068] To ensure the accuracy of gear position self-learning and the consistency of shift control in subsequent software, and to screen out gearboxes with unqualified dimensions on the test bench, in an optional embodiment of the present invention, the rationality verification of the in-gear limit position and the in-gear lock position is also added during the self-learning process.

[0069] like Figure 2 As shown, after obtaining the current first position of the shift actuator and before recording the first position as the in-gear limit position in the first direction, the first position is further verified. Specifically, if the absolute value of the difference between the first standard value and the first displacement value is less than the first limit value, the first position is determined to have passed the verification. Both the first standard value and the first limit value are preset, and their values ​​can be set according to actual conditions; this invention does not impose any restrictions on this. The first displacement value is the displacement of the first position relative to the zero point position of the shift actuator.

[0070] After obtaining the current second position of the shift actuator, and before recording the second position as the in-gear lock position in the first direction, the second position is further verified. Specifically, if the absolute value of the difference between the second displacement value and the first displacement value is greater than a second limit and less than a third limit, the second position is determined to have passed the verification. The second and third limits are preset, and their values ​​can be set according to actual conditions; this invention does not impose any restrictions on this. The second displacement value is the displacement of the second position relative to the zero point position of the shift actuator.

[0071] After the third position of the gear shift actuator is acquired, the third position is recorded as the in-gear limit position in the second direction, and further includes verifying the third position and verifying the position difference between the first position and the third position.

[0072] Specifically, verifying the third position includes: in the case that the absolute value of the difference between the third displacement value and the second standard value is less than the first limit value, determining that the third position passes the verification; the second standard value is pre-set, and the numerical value of the second standard value can be set according to actual conditions, which is not limited by the present application; the third displacement value is the displacement value of the third position relative to the zero position of the gear shift actuator.

[0073] Verifying the position difference between the first position and the third position includes: in the case that the absolute value of the difference between the limit displacement difference value and the standard value difference value is less than the fourth limit value, determining that the position difference between the first position and the third position passes the verification. The fourth limit value is pre-set, and the numerical value of the fourth limit value can be set according to actual conditions, which is not limited by the present application. The limit displacement difference value is the absolute value of the difference between the first displacement value and the third displacement value, and the standard value difference value is the absolute value of the difference between the first standard value and the second standard value.

[0074] After the fourth position of the gear shift actuator is acquired, the fourth position is recorded as the in-gear lock position in the second direction, and further includes verifying the fourth position. Specifically, in the case that the absolute value of the difference between the third displacement value and the fourth displacement value is greater than the second limit value and less than the third limit value, determining that the fourth position passes the verification. The fourth displacement value is the displacement value of the fourth position relative to the zero position of the gear shift actuator.

[0075] In the case that any one of the position difference between the first position and the second position, the first position, the second position, the third position and the fourth position does not pass the verification, determining that the self-learning fails, directly interrupting the self-learning, clearing the in-gear limit position in the first direction, the in-gear lock position in the first direction, the in-gear limit position in the second direction and the in-gear lock position in the second direction recorded in this self-learning process, and ending the flow.

[0076] In an optional embodiment of the present application, after the fourth position is recorded as the in-gear lock position in the second direction, as shown in Figure 2 and Figure 3 Further includes:

[0077] Giving the fifth duty cycle request to the gear shift motor, and giving the fourth duty cycle request to the gear shift motor after reaching the preset switching time, so that the gear shift motor drives the gear shift actuator to move axially along the first direction, and in the case that the gear shift motor is blocked, acquiring the current fifth position of the gear shift actuator, and recording the fifth position as the N-gear lock position (i.e. the neutral lock position).

[0078] Specifically, for the convenience of understanding, the fifth duty cycle request is denoted as -c in the subsequent description. Under the duty cycle request -c, the shift motor drives the shift actuator to move axially in the first direction, and after reaching a preset switching time, the shift motor is given a duty cycle request -b, and the shift motor drives the shift actuator to move axially in the first direction. It should be understood that the switching time can be set according to actual conditions, and the present application does not limit this. In an optional embodiment of the present application, the duty cycle request -c needs to meet the following conditions: under the duty cycle request -c, the force with which the shift motor drives the shift actuator to move axially is slightly greater than the locking force, and less than the force with which the shift motor drives the shift actuator to move axially under the duty cycle request a, so that the shift actuator can normally escape from the locking groove, and the moving speed will not be too fast, avoiding the inability to accurately control the shift actuator in the latter half of the shift actuator movement.

[0079] In the case of a stall of the shift motor, the current fifth position of the shift actuator is obtained, and the fifth position is recorded as the N-gear locking position (for example Figure 4 the N-gear locking position in the table).

[0080] In an optional embodiment of the present application, in order to ensure the accuracy of the gear position self-learning and the consistency of the subsequent software shift control, while screening out the size-unqualified transmission on the test bench, in an optional embodiment of the present application, a rationality check of the N-gear locking position is also added in the self-learning process. Specifically, after obtaining the current fifth position of the shift actuator, before recording the fifth position as the N-gear locking position, the fifth position is also checked. As Figure 2 shown, the checking of the fifth position includes: in the case that the absolute value of the difference between the limit displacement mean value and the fifth displacement value is less than the fifth limit value, it is determined that the fifth position passes the check. The limit displacement mean value is the average of the first displacement value and the third displacement value described above, and the fifth displacement value is the displacement value of the fifth position relative to the zero position of the shift actuator. In the case that the fifth position does not pass the check, it is determined that the self-learning fails, and the self-learning is directly interrupted, the in-gear limit position in the first direction, the in-gear locking position in the first direction, the in-gear limit position in the second direction and the in-gear locking position in the second direction recorded in this self-learning process are cleared, and the process ends. In an optional embodiment of the present application, after determining that the self-learning fails, the shift actuator is controlled by the shift motor to perform the gear pulling-out action at the current neutral position.

[0081] In an optional embodiment of the present application, a timeout determination needs to be made in each self-learning stage (for example, the self-learning stage of the in-gear limit position in the first direction), and after the timeout, it is directly determined that the self-learning fails. It should be understood that the time limit of each self-learning stage can be set according to actual conditions.

[0082] The verification process of the present invention will be described below with two specific examples:

[0083] Assume:

[0084] The standard value of the left limit position (i.e., the first standard value above) is defined as -10 mm, and the limit deviation is ±1 mm;

[0085] The standard value of the right limit position (i.e., the second standard value above) is defined as 10 mm, and the limit deviation is ±1 mm;

[0086] The standard value of the left locking position (i.e., the second position above) is defined as -8 mm, and the limit deviation is ±0.5 mm;

[0087] The standard value of the right locking position (i.e., the fourth position above) is defined as 8 mm, and the limit deviation is ±0.5 mm;

[0088] The standard value of the N - gear locking position (i.e., the fifth position above) is defined as 0 mm, and the limit deviation is ±1 mm;

[0089] The first limit value is 1 mm, the second limit value is 1.5 mm, the third limit value is 3.5 mm, the fourth limit value is 2 mm, and the fifth limit value is 1 mm.

[0090] It should be understood that the numerical values of the above - mentioned various parameters are only optional example values, which are obtained by superimposing and calculating the limit values of the dimension chain, and can be adjusted specifically in actual applications to improve the consistency in software control. The present invention does not limit the specific numerical values of each parameter.

[0091] Example 1

[0092] The first displacement value is -10.5 mm, Abs(-10.5 - (-10)) = 0.5 < 1, that is, the absolute value of the difference between the first standard value and the first displacement value is less than the first limit value, and it is determined that the first position passes the verification; where Abs represents taking the absolute value.

[0093] The second displacement value is -8.3 mm, 1.5 < Abs(-10.5 - (-8.3)) = 2.2 < 3.5, that is, the absolute value of the difference between the second displacement value and the first displacement value is greater than the second limit value and less than the third limit value, and it is determined that the second position passes the verification;

[0094] The third displacement value is 10.3 mm, Abs(10.3 - 10) = 0.3 < 1, that is, the absolute value of the difference between the third displacement value and the second standard value is less than the first limit value, and it is determined that the third position passes the verification;

[0095] The fourth displacement value is 7.8 mm, 1.5 < Abs(10.3-7.8) = 2.5 < 3.5, that is, the absolute value of the difference between the third displacement value and the fourth displacement value is greater than the second limit value and less than the third limit value, and it is determined that the fourth position passes the verification;

[0096] The position difference between the first position and the third position is verified: Abs(Abs(10.3-(-10.5))-Abs(-10-10)) = 0.8 < 2, that is, the absolute value of the difference between the limit displacement difference value and the standard value difference is less than the fourth limit value, and it is determined that the position difference between the first position and the third position passes the verification.

[0097] The fifth displacement value is 0.5 mm, Abs((10.3+(-10.5)) / 2-0.5) = 0.6 < 1, that is, the absolute value of the difference between the limit displacement median value and the fifth displacement value is less than the fifth limit value, and it is determined that the fifth position passes the verification.

[0098] The first position, the second position, the third position, the fourth position, the fifth position, and the position difference between the first position and the third position all pass the verification, so the self-learning is successful, and the first position is stored and recorded as the gear limit position in the first direction, the second position is stored and recorded as the gear lock position in the first direction, the third position is stored and recorded as the gear limit position in the second direction, the fourth position is stored and recorded as the gear lock position in the second direction, and the fifth position is stored and recorded as the N-gear lock position.

[0099] Example 2

[0100] The first displacement value is -10.5 mm, Abs(-10.5-(-10)) = 0.5 < 1, that is, the absolute value of the difference between the first standard value and the first displacement value is less than the first limit value, and it is determined that the first position passes the verification; wherein Abs represents taking the absolute value.

[0101] The second displacement value is -8.3 mm, 1.5 < Abs(-10.5-(-8.3)) = 2.2 < 3.5, that is, the absolute value of the difference between the second displacement value and the first displacement value is greater than the second limit value and less than the third limit value, and it is determined that the second position passes the verification;

[0102] The third displacement value is 9.3 mm, Abs(9.3-10) = 0.7 < 1, that is, the absolute value of the difference between the third displacement value and the second standard value is less than the first limit value, and it is determined that the third position passes the verification;

[0103] The fourth displacement value is 7.6 mm, 1.5 < Abs(9.3-7.6) = 1.7 < 3.5, that is, the absolute value of the difference between the third displacement value and the fourth displacement value is greater than the second limit value and less than the third limit value, and it is determined that the fourth position passes the verification;

[0104] The position difference between the first and third positions is checked: Abs(Abs(9.3-(-10.5)-Abs(-10-10))=0.2<2, that is, the absolute value of the difference between the limit displacement difference and the standard value is less than the fourth limit value, and the position difference between the first and third positions is determined to pass the verification.

[0105] The fifth displacement value is 0.5mm. Abs((9.3+(-10.5)) / 2-0.5)=1.1>1, which means that the absolute value of the difference between the median of the limit displacement and the fifth displacement value is greater than the fifth limit value. Therefore, the fifth position is judged to have failed the verification.

[0106] Since the fifth position failed the validation, self-learning was deemed to have failed.

[0107] For the data in Example 2, the last set of validations failed. The following explains why this validation failed, and what negative impacts would occur if self-learning were considered successful without this validation:

[0108] like Figure 5 As shown, the shift displacements on the left and right sides are 8.8mm and 7.1mm respectively, a difference of 1.7mm. According to the standard value of 8mm, this represents approximately 21% (1.7 / 8*100%). In actual control, for this type of electric shift actuator, the shifting time is around 150ms. Within such a short time, to ensure accurate displacement control, PI + feedforward control is generally selected for the shifting force. Feedforward is used to ensure faster shifting and prevent excessive stalling from affecting the lifespan of the shifting motor. Furthermore, during calibration, to reduce shifting time, a relatively extreme PI + feedforward value (PI stands for PID control, i.e., proportional + integral control) is usually calibrated. Its coverage is not very high, but shifting control within its coverage range can be both fast and accurate. Therefore, it cannot completely cover situations with large differences in bidirectional shifting strokes. In other words, if the parameter calibration and matching are performed according to the left side, the gear shift on the right side may be over-engaged, and if the parameter calibration and matching are performed according to the right side, the gear shift on the left side may not be engaged. Therefore, this situation needs to be judged as a failure.

[0109] In summary, the gear position self-learning control method provided by the application gives a first duty cycle request to the gear shifting motor to drive the gear shifting actuator to move axially in the first direction from the zero position, obtains the current first position of the gear shifting actuator in the case of gear shifting motor stalling, gives a second duty cycle request to the gear shifting motor to drive the gear shifting actuator to move axially in the second direction, obtains the current second position of the gear shifting actuator in the case of gear shifting motor stalling, gives a third duty cycle request to the gear shifting motor to drive the gear shifting actuator to move axially in the second direction, obtains the current third position of the gear shifting actuator in the case of gear shifting motor stalling, gives a fourth duty cycle request to the gear shifting motor to drive the gear shifting actuator to move axially in the first direction, obtains the current fourth position of the gear shifting actuator in the case of gear shifting motor stalling, and determines that the self-learning is successful in the case that the position difference between the first position, the second position, the third position, the fourth position, the fifth position, and the first position and the third position is verified, stores the first position as the in-gear limit position in the first direction, stores the second position as the in-gear locking position in the first direction, stores the third position as the in-gear limit position in the second direction, stores the fourth position as the in-gear locking position in the second direction, and stores the fifth position as the N-gear locking position. Through the implementation of the above method, the in-gear limit displacement position and the in-gear locking position of the gear shifting actuator are self-learned, the calibration efficiency, consistency, and accuracy of the gear position are higher than manual calibration, and good gear position calibration effect is achieved. In addition, the rationality of each position is verified, the accuracy of the self-learned position is further ensured, the consistency of subsequent software gear shifting control is ensured, and a gearbox with unqualified size can be screened on a test bench, thereby achieving good application effect.

[0110] Based on the same inventive concept, the application also provides a gear position self-learning control device. The gear position self-learning control device provided by the application is described below, and the gear position self-learning control device described below can be mutually referred to the gear position self-learning control method described above.

[0111] As shown in Figure 6 The application also provides a gear position self-learning control device, which comprises a first limit position confirming module 61, a first locking position confirming module 62, a second limit position confirming module 63, and a second locking position confirming module 64.

[0112] The first limit position confirmation module 61 is configured to give a first duty ratio request to the gear shift motor, so that the gear shift motor drives the gear shift actuator to move axially in a first direction from a zero point position, and in the case of a stall of the gear shift motor, a current first position of the gear shift actuator is obtained, and the first position is recorded as a gear limit position in the first direction. The axial movement of the gear shift actuator is along the axis where the synchronizer is located.

[0113] The first lock position confirmation module 62 is configured to give a second duty ratio request to the gear shift motor, so that the gear shift motor drives the gear shift actuator to move axially in a second direction, and in the case of a stall of the gear shift motor, a current second position of the gear shift actuator is obtained, and the second position is recorded as a gear lock position in the first direction.

[0114] The second limit position confirmation module 63 is configured to give a third duty ratio request to the gear shift motor, so that the gear shift motor drives the gear shift actuator to move axially in the second direction, and in the case of a stall of the gear shift motor, a current third position of the gear shift actuator is obtained, and the third position is recorded as a gear limit position in the second direction.

[0115] The second lock position confirmation module 64 is configured to give a fourth duty ratio request to the gear shift motor, so that the gear shift motor drives the gear shift actuator to move axially in the first direction, and in the case of a stall of the gear shift motor, a current fourth position of the gear shift actuator is obtained, and the fourth position is recorded as a gear lock position in the second direction.

[0116] Figure 7 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 7 As shown, the electronic device can include a processor 710, a communications interface 720, a memory 730, and a communications bus 740, wherein the processor 710, the communications interface 720, and the memory 730 complete mutual communication through the communications bus 740. The processor 710 can invoke a logical instruction in the memory 730 to execute any one of the above-mentioned gear position self-learning control methods, which includes: giving a first duty ratio request to the gear shift motor, so that the gear shift motor drives the gear shift actuator to move axially in a first direction from a zero point position, and in the case of a stall of the gear shift motor, a current first position of the gear shift actuator is obtained, and the first position is recorded as a gear limit position in the first direction; and the axial movement of the gear shift actuator is along the axis where the synchronizer is located.

[0117] A third duty cycle request is given to the gear shift motor to drive the gear shift actuator to move axially in the second direction, and a third position of the gear shift actuator is acquired in the event of a stall of the gear shift motor, and the third position is recorded as the gear limit position in the second direction.

[0118] A third duty cycle request is given to the gear shift motor to drive the gear shift actuator to move axially in the second direction, and a third position of the gear shift actuator is acquired in the event of a stall of the gear shift motor, and the third position is recorded as the gear limit position in the second direction.

[0119] A fourth duty cycle request is given to the gear shift motor to drive the gear shift actuator to move axially in the first direction, and a fourth position of the gear shift actuator is acquired in the event of a stall of the gear shift motor, and the fourth position is recorded as the gear lock position in the second direction.

[0120] In addition, the logic instructions in the memory 730 described above can be implemented in the form of a software functional unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0121] The present application also provides a vehicle including the electronic device described above. It should be understood that the present application does not limit the specific type of the vehicle, for example, the vehicle can be a construction machine such as a crane, a shovel, a pile driver, or an engineering vehicle such as a high-altitude vehicle, a fire truck, or a mixing truck. The vehicle has the electronic device that performs the gear position self-learning control method described above, and therefore has the corresponding technical effects.

[0122] In another aspect, the present application also provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform any one of the gear position self-learning control methods described above, the method comprising: giving a first duty ratio request to a shift motor to make the shift motor drive a shift actuator to move axially in a first direction from a zero position, in the case of a stall of the shift motor, acquiring a first position of the shift actuator at present, and recording the first position as an in-gear limit position in the first direction; the axial movement is a movement along an axis where a synchronizer is located.

[0123] giving a second duty ratio request to the shift motor to make the shift motor drive the shift actuator to move axially in a second direction, in the case of a stall of the shift motor, acquiring a second position of the shift actuator at present, and recording the second position as an in-gear lock position in the first direction.

[0124] giving a third duty ratio request to the shift motor to make the shift motor drive the shift actuator to move axially in the second direction, in the case of a stall of the shift motor, acquiring a third position of the shift actuator at present, and recording the third position as an in-gear limit position in the second direction.

[0125] giving a fourth duty ratio request to the shift motor to make the shift motor drive the shift actuator to move axially in the first direction, in the case of a stall of the shift motor, acquiring a fourth position of the shift actuator at present, and recording the fourth position as an in-gear lock position in the second direction.

[0126] The device embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0127] Those skilled in the art can clearly understand the technical solutions of the various embodiments from the above description of the embodiments, and the various embodiments can be implemented by means of software with the necessary general hardware platforms, and of course, can also be implemented by hardware. Based on such understanding, the above technical solutions, essentially or in other words, the part of the prior art that makes a contribution, can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0128] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for some technical features therein; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A gear position self-learning control method characterized by comprising: The method comprises the following steps: a first duty cycle request is given to the gear shifting motor to drive the gear shifting actuator to move axially in a first direction from a preset zero position, and in the case of the gear shifting motor being locked, the current first position of the gear shifting actuator is obtained and recorded as the in-gear limit position in the first direction; the axial movement is along the axis where the synchronization device is located; a second duty cycle request is given to the gear shifting motor to drive the gear shifting actuator to move axially in a second direction from the first position, and in the case of the gear shifting motor being locked, the current second position of the gear shifting actuator is obtained and recorded as the in-gear locking position in the first direction, wherein the first direction and the second direction are opposite directions; a third duty cycle request is given to the gear shifting motor to drive the gear shifting actuator to move axially in the second direction from the second position, and in the case of the gear shifting motor being locked, the current third position of the gear shifting actuator is obtained and recorded as the in-gear limit position in the second direction; a fourth duty cycle request is given to the gear shifting motor to drive the gear shifting actuator to move axially in the first direction from the third position, and in the case of the gear shifting motor being locked, the current fourth position of the gear shifting actuator is obtained and recorded as the in-gear locking position in the second direction; wherein, under the first duty cycle request, the force with which the gear shifting motor drives the gear shifting actuator to move axially in the first direction is greater than the locking force; the locking force is predetermined; under the second duty cycle request, the force with which the gear shifting motor drives the gear shifting actuator to move axially in the second direction is less than the locking force; under the third duty cycle request, the force with which the gear shifting motor drives the gear shifting actuator to move axially in the second direction is greater than the locking force; under the fourth duty cycle request, the force with which the gear shifting motor drives the gear shifting actuator to move axially in the first direction is less than the locking force.

2. The gear position self-learning control method according to claim 1, characterized by after obtaining the current first position of the gear shifting actuator, before recording the first position as the in-gear limit position in the first direction, the first position is verified; after obtaining the current second position of the gear shifting actuator, before recording the second position as the in-gear locking position in the first direction, the second position is verified; after obtaining the current third position of the gear shifting actuator, before recording the third position as the in-gear limit position in the second direction, the third position is verified, and the position difference between the first position and the third position is verified; after obtaining the current fourth position of the gear shifting actuator, before recording the fourth position as the in-gear locking position in the second direction, the fourth position is verified. In a case where any one of a position difference between the first position and the second position, the first position, the second position, the third position, and the fourth position fails to pass the verification, it is determined that the self-learning fails, and the process ends.

3. The gear position self-learning control method according to claim 2, characterized by The verification of the first position includes: in a case where an absolute value of a difference between a first standard value and a first displacement value is less than a first limit value, it is determined that the first position passes the verification; the first standard value and the first limit value are both preset, and the first displacement value is a displacement value of the first position relative to the zero position; The verification of the second position includes: in a case where an absolute value of a difference between a second displacement value and the first displacement value is greater than a second limit value and less than a third limit value, it is determined that the second position passes the verification; the second limit value and the third limit value are both preset, and the second displacement value is a displacement value of the second position relative to the zero position; The verification of the third position includes: in a case where an absolute value of a difference between a third displacement value and a second standard value is less than the first limit value, it is determined that the third position passes the verification; the second standard value is preset, and the third displacement value is a displacement value of the third position relative to the zero position; The verification of the fourth position includes: in a case where an absolute value of a difference between the third displacement value and a fourth displacement value is greater than the second limit value and less than the third limit value, it is determined that the fourth position passes the verification; the fourth displacement value is a displacement value of the fourth position relative to the zero position; The verification of the position difference between the first position and the third position includes: in a case where an absolute value of a difference between a limit displacement difference value and a standard value difference value is less than a fourth limit value, it is determined that the position difference between the first position and the third position passes the verification; the fourth limit value is preset, the limit displacement difference value is an absolute value of a difference between the first displacement value and the third displacement value, and the standard value difference value is an absolute value of a difference between the first standard value and the second standard value.

4. The gear position self-learning control method according to claim 3, characterized by After the fourth position is recorded as the in-gear lock position in the second direction, the process further includes: a fifth duty cycle request is given to the gear shifting motor, and after a preset switching time is reached, the fourth duty cycle request is given to the gear shifting motor, so that the gear shifting motor drives the gear shifting actuator to move axially in the first direction; in a case where the gear shifting motor is locked, a fifth position of the gear shifting actuator is acquired, and the fifth position is recorded as an N-gear lock position.

5. The gear position self-learning control method according to claim 4, characterized by Under the fifth duty cycle request, a force with which the gear shifting motor drives the gear shifting actuator to move axially in the first direction is greater than the lock force and is less than a force with which the gear shifting motor drives the gear shifting actuator to move axially in the first direction under the first duty cycle request.

6. The gear position self-learning control method according to claim 4, characterized by The method further comprises verifying the fifth position before recording the fifth position as the N-gear lock position, and verifying the fifth position comprises: determining that the fifth position passes the verification if an absolute value of a difference between a limit displacement mean value and a fifth displacement value is less than a fifth limit value, the limit displacement mean value being an average of the first displacement value and the third displacement value, and the fifth displacement value being a displacement value of the fifth position relative to the zero position. In a case where the fifth position does not pass the verification, determining that the self-learning fails, and ending the process.

7. A gear position self-learning control device characterized by comprising: The method comprises: a first limit position confirmation module configured to give a first duty cycle request to a gear motor to drive a gear actuator to move axially in a first direction from a preset zero position, and acquire a current first position of the gear actuator in a case where the gear motor is blocked, and record the first position as an in-gear limit position in the first direction; the axial movement is along an axis where a synchronization device is located; a first lock position confirmation module configured to give a second duty cycle request to the gear motor to drive the gear actuator to move axially in a second direction from the first position, and acquire a current second position of the gear actuator in a case where the gear motor is blocked, and record the second position as an in-gear lock position in the first direction, wherein the first direction and the second direction are opposite directions; a second limit position confirmation module configured to give a third duty cycle request to the gear motor to drive the gear actuator to move axially in the second direction from the second position, and acquire a current third position of the gear actuator in a case where the gear motor is blocked, and record the third position as an in-gear limit position in the second direction; a second lock position confirmation module configured to give a fourth duty cycle request to the gear motor to drive the gear actuator to move axially in the first direction from the third position, and acquire a current fourth position of the gear actuator in a case where the gear motor is blocked, and record the fourth position as an in-gear lock position in the second direction; wherein, under the first duty cycle request, a force with which the gear motor drives the gear actuator to move axially in the first direction is greater than a lock force, and the lock force is predetermined; under the second duty cycle request, a force with which the gear motor drives the gear actuator to move axially in the second direction is less than the lock force; under the third duty cycle request, a force with which the gear motor drives the gear actuator to move axially in the second direction is greater than the lock force; under the fourth duty cycle request, a force with which the gear motor drives the gear actuator to move axially in the first direction is less than the lock force.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the steps of the gear position self-learning control method of any one of claims 1 to 6 when executing the program.

9. A vehicle characterized by comprising: The vehicle comprises the electronic device of claim 8.

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