Shifting fork hanging control method and device, electronic equipment and readable storage medium

Abstract

The present application provides a kind of fork hanging control method, device, electronic equipment and readable storage medium, and double clutch transmission includes fork, engagement cover, synchronous ring, pressure valve and flow valve;Pressure valve is used to provide pressure to fork, flow valve is used to adjust the speed of fork, in each stage of hanging, first determine the standard time of fork completing this stage, and determine the corresponding speed and pressure based on standard time, so that pressure valve and flow valve are controlled according to corresponding pressure and speed to fork, i.e. the present application uses pressure valve to control pressure alone, and flow valve controls speed alone, simplifies operation, realizes pressure and speed control in gear shifting process by pressure valve and flow valve cooperation, ensures the response speed of fork action in each stage of gear shifting, while the two solenoid valves can realize more detailed control to the action of fork, reduce noise in gear shifting process.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a shift fork shifting control method, device, electronic device, and readable storage medium. Background Technology

[0002] Dual-clutch transmissions (DCTs) automatically control the shift forks to engage different synchronizers via software, and utilize odd and even clutches for coordinated gear shifting. The first clutch handles power transmission for odd-numbered gears, while the second clutch handles power transmission for even-numbered gears and reverse. The shift control software controls all shift forks. Each fork remains in neutral when its synchronizer is in the center position. Moving it left or right engages two different gears via gear shafts. This structure not only enables uninterrupted power shifting but also ensures rapid gear changes and excellent shift quality under the control of the software.

[0003] Currently, DCT shifting in the market mainly uses a pressure solenoid valve to generate pressure, which acts on the shift fork to push the synchronizer to mesh with the target gear.

[0004] However, due to the characteristics of the solenoid valve, there is a delay in the pressure response and dynamic calculation results when controlling the shift fork, making it difficult to ensure accurate pressure and speed control when shifting gears, resulting in problems such as abnormal noises when shifting gears and slow shifting response speed. Summary of the Invention

[0005] In view of the above problems, embodiments of the present invention are proposed to provide a shift fork shifting control method, apparatus, electronic device and readable storage medium that overcomes or at least partially solves the above problems.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] In a first aspect, embodiments of this application disclose a shift fork shifting control method applied to a dual-clutch transmission. The dual-clutch transmission includes a shift fork, an engagement sleeve, a synchronizer ring, a pressure valve, and a flow valve. The pressure valve is used to provide pressure to the shift fork, and the flow valve is used to adjust the speed of the shift fork. The method includes:

[0008] Based on the stage state of the shift fork, the state parameters of the vehicle in each stage state are obtained sequentially; the stage states include: the pre-synchronization stage when the synchronizing ring is close to the gear, the synchronization stage when the engaging sleeve and the synchronizing ring are synchronized, the pre-engagement stage when the engaging sleeve is close to the gear, and the gear engagement completion state after the engaging sleeve engages with the gear.

[0009] Based on the state parameters, determine the standard time corresponding to each stage state;

[0010] The target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve are determined according to the standard time in each of the said stage states;

[0011] The movement of the shift fork is controlled according to the target pressure value and the target flow rate value, so that in each stage state, the shift fork completes the target action within the standard time, until the stage state of the shift fork is the gear engagement completion state.

[0012] Secondly, this application discloses a shift fork gear shifting control device applied to a dual-clutch transmission. The dual-clutch transmission includes a shift fork, an engagement sleeve, a synchronizer ring, a pressure valve, and a flow valve. The pressure valve is used to provide pressure to the shift fork, and the flow valve is used to adjust the speed of the shift fork. The device includes:

[0013] The acquisition module is used to sequentially acquire the state parameters of the vehicle in each stage state according to the stage state of the shift fork; the stage states include: the pre-synchronization stage when the synchronizing ring is close to the gear, the synchronization stage when the engaging sleeve and the synchronizing ring are synchronized, the pre-engagement stage when the engaging sleeve is close to the gear, and the gear engagement completion state after the engaging sleeve engages with the gear.

[0014] The first determining module is used to determine the standard time corresponding to each stage state based on the state parameters.

[0015] The second determining module is used to determine, based on the standard time, the target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve in each of the said stage states;

[0016] The control module is used to control the movement of the shift fork according to the target pressure value and the target flow rate value, so that in each stage state, the shift fork completes the target action within the standard time, until the stage state of the shift fork is the gear engagement completion state.

[0017] Thirdly, embodiments of this application disclose an electronic device, including a processor and a memory, wherein the memory stores a program or instructions that can run on the processor, and the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0018] Fourthly, embodiments of this application disclose a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the method described in the first aspect.

[0019] In this embodiment, the dual-clutch transmission includes a shift fork, an engagement sleeve, a synchronizer ring, a pressure valve, and a flow valve. The pressure valve provides pressure to the shift fork, and the flow valve adjusts the speed of the shift fork. During gear engagement, the vehicle's state parameters are sequentially acquired based on the shift fork's current state. These state states include: a pre-synchronization stage where the synchronizer ring approaches the gear, a synchronization stage where the engagement sleeve and synchronizer ring are synchronized, a pre-engagement stage where the engagement sleeve approaches the gear, and a gear engagement completion state after the engagement sleeve engages with the gear. A standard time is determined for each state based on the state parameters. A target pressure value for the pressure valve and a target flow value for the flow valve are determined based on the standard time for each state. The movement of the shift fork is controlled based on the target pressure value and target flow value, ensuring that the shift fork completes its target action within the standard time for each state, until the shift fork's state is the gear engagement completion state. In this application, the standard time for the shift fork to complete each stage of gear shifting is first determined, and the corresponding speed and pressure are determined based on the standard time. This allows the pressure valve and flow valve to control the shift fork separately according to the corresponding pressure and speed. In other words, this application uses a pressure valve to control the pressure separately and a flow valve to control the speed separately, which simplifies the calculation. The pressure valve and flow valve work together to achieve pressure and speed control during gear shifting, ensuring the response speed of the shift fork action at each stage of gear shifting. At the same time, the two solenoid valves can achieve more precise control of the shift fork action and reduce noise during gear shifting. Attached Figure Description

[0020] Figure 1 This invention provides a shift fork gear shifting control method.

[0021] Figure 2 This is yet another shift fork gear shifting control method provided in the embodiments of the present invention;

[0022] Figure 3 This is a block diagram illustrating the control system principle of a synchronizer provided in an embodiment of the present invention.

[0023] Figure 4 This is a control logic flowchart of a synchronizer provided in an embodiment of the present invention.

[0024] Figure 5 This is a diagram showing the correspondence between the stroke, flow rate, and pressure control of a synchronizer at each stage, provided by an embodiment of the present invention.

[0025] Figure 6 This is a block diagram of a shift fork gear control device provided in an embodiment of the present invention;

[0026] Figure 7 This is a block diagram of an electronic device provided in an embodiment of this application;

[0027] Figure 8 This is a block diagram of another electronic device provided in the embodiments of this application. Detailed Implementation

[0028] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this invention will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

[0029] refer to Figure 1 This document illustrates a shift fork shifting control method provided in an embodiment of this application, applied to a dual-clutch transmission. The dual-clutch transmission includes a shift fork, a coupling sleeve, a synchronizer ring, a pressure valve, and a flow valve. The pressure valve is used to provide pressure to the shift fork, and the flow valve is used to adjust the speed of the shift fork. The method includes:

[0030] Step 101: Based on the stage state of the shift fork, sequentially obtain the state parameters of the vehicle in each stage state; the stage states include: the pre-synchronization stage when the synchronizing ring is close to the gear, the synchronization stage when the engaging sleeve and the synchronizing ring are synchronized, the pre-engagement stage when the engaging sleeve is close to the gear, and the gear engagement completion state after the engaging sleeve engages with the gear.

[0031] In this embodiment of the invention, the engaging sleeve is secured to the output shaft via a keyway, rotating synchronously with the output shaft and also capable of moving left and right. When shifting gears, the engaging sleeve can move left and right to engage with the corresponding gear, locking the gear to the output shaft. That is, when a gear is needed, the engaging sleeve moves to that gear, locking it to the output shaft, and the gear begins transmitting power. A synchronizing ring is located on the engaging sleeve, helping to synchronize the rotational speeds of the engaging sleeve and the gear, and allowing for faster engagement. The shift fork is connected to the synchronizing ring and is used to control its movement. A pressure valve provides pressure to the shift fork, and a flow valve adjusts the speed of the shift fork. The pressure valve and flow valve work together to control the shift fork's actions at various stages during gear shifting. Specifically, the pressure valve can be located at the front end, and the flow valve at the rear end, to simultaneously control the pressure and speed during gear shifting.

[0032] Furthermore, based on the movement of the shift fork during gear engagement, this application divides the gear engagement process into four stages: a pre-synchronization stage where the synchronizing ring approaches the gear position, a synchronization stage where the engaging sleeve and the synchronizing ring synchronize, a pre-engagement stage where the engaging sleeve approaches the gear position, and a gear engagement completion stage after the engaging sleeve engages with the gear position.

[0033] In each stage state, the vehicle's state parameters are acquired. These state parameters can be parameters characterizing the vehicle's current speed, throttle, braking, and other signals. Based on the state parameters, the target gear to be engaged can be determined, the target shift fork can be located, and then the force applied to the shift fork can be determined based on the state parameters to ensure that the gear engagement response time is within a preset response time. The preset response time can be a time set according to actual needs, and this embodiment of the invention does not limit it.

[0034] Step 102: Determine the standard time corresponding to each stage state based on the state parameters.

[0035] In this embodiment of the invention, the standard time corresponding to each stage state can be determined based on the state parameters. The standard time is used to limit the completion of each stage state within the standard time. For example, for the pre-synchronization stage, the standard time limits the time for the synchronization ring to approach the gear. When controlling the movement of the shift fork, it is necessary to ensure that the synchronization ring can contact the gear within the standard time to ensure that the gear engagement response time meets the preset required time. The determination of the standard time for the synchronization stage and the pre-engagement stage is similar.

[0036] Step 103: Determine the target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve in each stage state according to the standard time.

[0037] In this embodiment of the invention, the target pressure value corresponding to the pressure valve and the target flow rate value corresponding to the flow valve can be determined according to the standard time at each stage. That is, in order to complete the action of the shift fork within the standard time, the speed and pressure of the shift fork can be further determined according to the determined standard time. Only at the speed and pressure values ​​can the shift fork complete the action of that stage within the standard time.

[0038] Specifically, taking the pre-synchronization phase as an example, after determining the standard time for the pre-synchronization phase, the speed and pressure required to meet the standard time can be determined based on parameters such as the standard time and transmission oil temperature. Based on the determined speed and pressure, the target pressure value for the pressure valve and the target flow value for the flow valve are then determined. This ensures that the pressure valve and flow valve operate according to the target pressure and flow values ​​during the pre-synchronization phase, guaranteeing that the shift fork's movement is completed within the standard time.

[0039] Step 104: Control the movement of the shift fork according to the target pressure value and the target flow rate value, so that in each stage state, the shift fork completes the target action within the standard time, until the stage state of the shift fork is the gear engagement completion state.

[0040] In this embodiment of the invention, the pressure valve and the flow valve operate according to determined target pressure and target flow values, ensuring that the shift fork completes the target action within a standard time in each stage state, until the shift fork's stage state is the gear engagement completion state. That is, in each stage state, the pressure valve and the flow valve jointly regulate the shift fork's action, ensuring that the shift fork can complete the target action within a standard time in each stage state, guaranteeing that the gear engagement response time meets the time requirements.

[0041] In summary, the solution proposed in this application first determines the standard time for the shift fork to complete each stage of gear shifting, and then determines the corresponding speed and pressure based on the standard time. This allows the pressure valve and flow valve to control the shift fork separately according to the corresponding pressure and speed. That is, this application uses a pressure valve to control the pressure separately and a flow valve to control the speed separately, which simplifies the calculation. The pressure valve and flow valve work together to achieve pressure and speed control during gear shifting, ensuring the response speed of the shift fork action at each stage of gear shifting. At the same time, the two solenoid valves can achieve more precise control of the shift fork action and reduce noise during gear shifting.

[0042] refer to Figure 2 This document illustrates a shift fork shifting control method provided in an embodiment of this application, applied to a dual-clutch transmission. The dual-clutch transmission includes a shift fork, a coupling sleeve, a synchronizer ring, a pressure valve, and a flow valve. The pressure valve is used to provide pressure to the shift fork, and the flow valve is used to adjust the speed of the shift fork. The method includes:

[0043] Step 201: Obtain the position information of the shift fork.

[0044] Step 202: If the position information indicates that the shift fork is not in the initial position, the shift fork is controlled to move to the initial position by adjusting the pressure valve and the flow valve.

[0045] In this embodiment of the invention, for steps 201 and 202, before engaging a gear, the target pre-engaged gear position is calculated based on the vehicle speed, brake pedal signal, accelerator pedal signal, engine speed, shift lever signal, shift fork position signal, transmission fluid signal, gradient signal, and transmission input 1 / 2 shaft signal. Based on the target gear position signal, the shift fork number is located, and the shift fork position information is confirmed. If the position information indicates that the shift fork is currently in a non-engaged state, the gear engagement state is entered. If the position information indicates that the shift fork is not in the initial position (i.e., not in neutral), the shift fork is controlled to move to the initial position and then engaged by adjusting the pressure valve and the flow valve.

[0046] Step 203: Based on the stage state of the shift fork, sequentially obtain the state parameters of the vehicle in each stage state; the stage states include: the pre-synchronization stage when the synchronizing ring is close to the gear, the synchronization stage when the engaging sleeve and the synchronizing ring are synchronized, the pre-engagement stage when the engaging sleeve is close to the gear, and the gear engagement completion state after the engaging sleeve engages with the gear.

[0047] This step can be referred to in step 101, and will not be repeated here.

[0048] Optionally, step 203 may include:

[0049] Sub-step 2031: When the shift fork is in the pre-synchronization stage, the first state parameters of the vehicle are obtained; the first state parameters include: vehicle speed, throttle signal, braking signal, and gradient value.

[0050] Optionally, step 203 may include:

[0051] Sub-step 2032: When the shift fork is in the synchronization phase, acquire the second state parameters of the vehicle; the second state parameters include: vehicle speed, throttle signal, brake signal, gradient value, input shaft speed and output shaft speed.

[0052] Optionally, step 203 may include:

[0053] Sub-step 2033: When the shift fork is in the pre-engagement stage, acquire the third state parameters of the vehicle; the third state parameters include: vehicle speed, throttle signal, braking signal, and gradient value.

[0054] Step 204: Determine the standard time corresponding to each stage state based on the state parameters.

[0055] This step can be referred to in step 102, and will not be repeated here.

[0056] Optionally, step 204 may include:

[0057] Sub-step 2041: Determine the first standard time corresponding to the first state parameter through the first relationship table; the first relationship table stores the correspondence between the first state parameter and the first standard time; the first standard time is the time when the synchronization ring contacts the gear.

[0058] In this embodiment of the invention, based on the determined first state parameter, the corresponding first standard time can be determined by querying the first relationship table. The first relationship table can be a two-dimensional table used to determine the first standard time for the synchronous ring to contact the gear under the first state parameter.

[0059] Optionally, step 204 may include:

[0060] Sub-step 2042: Determine the second standard time corresponding to the second state parameter through the fourth relation table; the fourth relation table stores the correspondence between the second state parameter and the second standard time; the second standard time is the synchronization time of the coupling sleeve and the synchronization ring.

[0061] In this embodiment of the invention, based on the determined second state parameter, the corresponding second standard time can be determined by querying the fourth relationship table. The fourth relationship table can be a two-dimensional table used to determine the second standard time for synchronization of the coupling sleeve and the synchronization ring under the second state parameter.

[0062] Optionally, step 204 may include:

[0063] Sub-step 2043: Determine the third standard time corresponding to the third state parameter through the seventh relationship table; the seventh relationship table stores the correspondence between the third state parameter and the third standard time; the third standard time is the time when the engagement sleeve approaches the gear.

[0064] In this embodiment of the invention, based on the determined third state parameter, the corresponding third standard time can be determined by querying the seventh relation table. The seventh relation table can be a two-dimensional table used to determine the third standard time when the engagement sleeve approaches the gear under the third state parameter.

[0065] In this embodiment of the invention, the first relation table, the fourth relation table, and the seventh relation table can be determined based on actual experiments, and this embodiment of the invention does not impose any limitations on them.

[0066] Step 205: Determine the target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve in each of the aforementioned stage states based on the standard time.

[0067] This step can be referred to in step 103, and will not be repeated here.

[0068] Optionally, step 205 may include:

[0069] Sub-step 2051: Determine the first speed and first pressure corresponding to the shift fork based on the first standard time and transmission oil temperature;

[0070] Sub-step 2052: Determine the first target flow value corresponding to the flow valve based on the first speed, and determine the first target pressure value corresponding to the pressure valve based on the first pressure.

[0071] In this embodiment of the invention, the first speed and first pressure corresponding to the shift fork can be determined based on the first standard time and the transmission oil temperature. This determination can be achieved by querying a preset two-dimensional table. Then, based on the determined first speed and first pressure, the flow rate and pressure values ​​that the flow valve and pressure valve should output are determined. These flow rate and pressure values ​​characterize the magnitude of the current output by the flow valve and pressure valve.

[0072] Optionally, step 205 may include:

[0073] Sub-step 2053: Determine the second speed and second pressure corresponding to the shift fork based on the second standard time and transmission oil temperature;

[0074] Sub-step 2054: Determine the second target flow value corresponding to the flow valve based on the second speed, and determine the second target pressure value corresponding to the pressure valve based on the second pressure.

[0075] In this embodiment of the invention, the second speed and second pressure corresponding to the shift fork can be determined based on the second standard time and the transmission oil temperature. This determination can also be achieved by querying a preset two-dimensional table. Then, based on the determined second speed and second pressure, the flow rate and pressure values ​​that the flow valve and pressure valve should output are determined. These flow rate and pressure values ​​characterize the magnitude of the current output by the flow valve and pressure valve.

[0076] Optionally, step 205 may include:

[0077] Sub-step 2055: Determine the third speed and third pressure corresponding to the shift fork based on the third standard time, transmission oil temperature, and current shift fork movement speed;

[0078] Sub-step 2056: Determine the third target flow value corresponding to the flow valve based on the third speed, and determine the third target pressure value corresponding to the pressure valve based on the third pressure.

[0079] In this embodiment of the invention, the third speed and third pressure corresponding to the shift fork can be determined based on the second standard time, transmission oil temperature, and current shift fork movement speed. This determination can also be achieved by querying a preset two-dimensional table. Then, based on the determined third speed and third pressure, the flow rate and pressure values ​​that the flow valve and pressure valve should output are determined. These flow rate and pressure values ​​characterize the magnitude of the current output by the flow valve and pressure valve.

[0080] Step 206: Control the movement of the shift fork according to the target pressure value and the target flow rate value, so that in each stage state, the shift fork completes the target action within the standard time, until the stage state of the shift fork is the gear engagement completion state.

[0081] This step can be referred to in step 104, and will not be repeated here.

[0082] Optionally, step 206 may include:

[0083] Sub-step 2061: Obtain the first position of the shift fork corresponding to the first sampling time point and the second position corresponding to the second sampling time point; there is a first time difference between the first sampling time point and the second sampling time point;

[0084] Sub-step 2062: Determine the first actual speed of the shift fork based on the first time difference, the first position, and the second position;

[0085] Sub-step 2063: Determine the first speed compensation value based on the first speed difference between the first actual speed and the first speed.

[0086] In this embodiment of the invention, taking the pre-synchronization stage as an example, since the actual movement of the shift fork is also affected by friction between various components or other external factors, the actual movement speed may not be the same as the calculated first speed. Therefore, in order to ensure that the speed of the shift fork meets the requirements of the first speed, and thus make the target action completion time of the shift fork in the pre-synchronization stage meet the requirements of the first standard time, the actual movement speed of the shift fork is detected during the movement of the shift fork, and the movement speed of the shift fork is compensated based on the difference between the actual movement speed and the first speed, so that the movement of the shift fork meets the requirements of the first standard time.

[0087] Specifically, the first position of the shift fork at the first sampling time point and the second position at the second sampling time point can be obtained; there is a first time difference between the first sampling time point and the second sampling time point; a first actual speed of the shift fork is determined based on the first time difference, the first position, and the second position; a first speed compensation value is determined based on the first speed difference between the first actual speed and the first speed. The first speed compensation value is also applied to the shift fork to optimize the movement of the shift fork during the pre-synchronization phase.

[0088] Optionally, sub-step 2063 includes:

[0089] Sub-step 20631: Determine the first speed compensation value corresponding to the first speed difference through the second relationship table; the second relationship table stores the correspondence between the speed difference and the first speed compensation value.

[0090] In this embodiment of the invention, based on the difference between the first actual speed and the first speed, a second relationship table is queried. The second relationship table can be a two-dimensional table of PID_Gain to obtain the parameters P_Gain, I_Gain, and D_Gain. Based on the parameters, the current fork speed increment delt_Velocity, i.e., the first speed compensation value, is obtained.

[0091] Sub-step 2064: Determine the first compensated flow rate corresponding to the flow valve based on the first speed compensation value, and control the movement of the shift fork based on the first compensated flow rate.

[0092] Optionally, sub-step 2064 includes:

[0093] Sub-step 20641: Determine the first compensation flow rate corresponding to the first speed compensation value through the third relationship table, and control the movement of the shift fork based on the first compensation flow rate until the pre-synchronization stage ends; the third relationship table stores the correspondence between the first speed compensation value and the first compensation flow rate.

[0094] In this embodiment of the invention, the first compensated flow rate, i.e., the target flow rate for the next cycle, is obtained by querying a third relation table (e.g., the solenoid valve PI characteristic table) based on the first speed compensation value (shift fork speed increment delt_velocity). Flow rate adjustment continues until the pre-synchronization phase ends. That is, when entering the pre-synchronization state, the pressure valve opens to the maximum target pressure as required, and the target speed is controlled by the flow valve.

[0095] Optionally, step 206 may include:

[0096] Sub-step 2065: Determine the first speed difference during the synchronization phase based on the input shaft speed and the output shaft speed;

[0097] Sub-step 2066: Obtain the first rotational speed of the input shaft at the third sampling time point and the second rotational speed at the fourth sampling time point; there is a second time difference between the third sampling time point and the fourth sampling time point;

[0098] Sub-step 2067: Determine the speed synchronization rate based on the second time difference, the second speed difference between the first speed and the second speed;

[0099] Sub-step 2068: Determine the expected synchronization time based on the first speed difference and the speed synchronization rate;

[0100] Sub-step 2069: Determine the pressure compensation value based on the third time difference between the expected synchronization time and the second standard time.

[0101] In this embodiment of the invention, for sub-steps 2065 to 2069, during the synchronization phase, a first speed difference delt_speed can be determined based on the input shaft speed and the output shaft speed. This first speed difference characterizes the magnitude of the speed difference that the synchronization ring needs to synchronize. To ensure that the synchronization ring synchronizes the engagement sleeve speed to match the gear position within the second standard time, this application also acquires the input shaft speed in real time, calculates the actual speed synchronization rate, and the estimated synchronization time determined at the actual speed synchronization rate. If the estimated synchronization time determined based on the actual input shaft speed is greater than the second standard time, it indicates that under the current speed synchronization rate, it is difficult to guarantee that the synchronization ring can synchronize the engagement sleeve speed to match the gear position within the second standard time. In this case, speed compensation is required, i.e., by applying a compensation pressure value to the shift fork to increase the input shaft speed, to ensure that the actual synchronization time meets the second standard time.

[0102] Specifically, based on the difference between the current input shaft speed signal and the previous cycle speed and the sampling time, the calculated value is the speed synchronization rate omg_speed, and the expected synchronization time Predict_syntime is obtained by delt_speed / omg_speed.

[0103] Optionally, sub-step 2069 includes:

[0104] Sub-step 20691: Determine the pressure compensation value corresponding to the third time difference through the fifth relationship table; the fifth relationship table stores the correspondence between the third time difference and the pressure compensation value.

[0105] In this embodiment of the invention, for sub-step 20691, when Predict_syntime > the second standard time, the pressure compensation value (pressure increment delt_presure) is obtained by querying the fifth relation table at the two-dimensional table level through the third time difference, and the pressure valve current value is adjusted in the next cycle.

[0106] Sub-step 2070: Determine the compensation pressure corresponding to the pressure valve based on the pressure compensation value, and control the movement of the shift fork based on the compensation pressure.

[0107] Optionally, sub-step 2070 includes:

[0108] Sub-step 20707: Determine the compensation pressure corresponding to the pressure compensation value through the sixth relationship table, and control the movement of the shift fork based on the compensation pressure.

[0109] In this embodiment of the invention, the synchronization phase requires fast rotational speed synchronization, but the position of the shift fork should not change too quickly to generate noise after the synchronization is completed. Therefore, the pressure can be increased to meet the synchronization speed requirements, and the flow valve can be reduced to avoid impact after synchronization is completed.

[0110] Optionally, step 206 may include:

[0111] Sub-step 2071: Obtain the third position of the shift fork at the fifth sampling time point and the fourth position at the sixth sampling time point; there is a fourth time difference between the fifth sampling time point and the sixth sampling time point;

[0112] Sub-step 2072: Determine the second actual speed of the shift fork based on the fourth time difference, the third position, and the fourth position;

[0113] Sub-step 2073: Determine the second speed compensation value based on the second speed difference between the second actual speed and the third speed.

[0114] In this embodiment of the invention, for sub-steps 2071 to 2073, during the pre-engagement stage (freefly stage), since the actual movement of the shift fork is also affected by friction between components or other external factors, the actual movement speed may not be the same as the calculated third speed. Therefore, in order to ensure that the speed of the shift fork meets the requirements of the third speed, and thus ensure that the target action completion time of the shift fork in the pre-engagement stage meets the requirements of the third standard time, the actual movement speed of the shift fork is detected during the movement of the shift fork, and the movement speed of the shift fork is compensated based on the difference between the actual movement speed and the third speed, so that the movement of the shift fork meets the requirements of the third standard time.

[0115] Furthermore, the second speed compensation value can be determined by the second speed difference between the second actual speed and the third speed of the shift fork, and the second speed compensation value can also be applied to the shift fork to optimize the movement of the shift fork in the pre-engagement stage.

[0116] Optionally, sub-step 2073 may include:

[0117] Sub-step 20731: Determine the second speed compensation value corresponding to the second speed difference through the eighth relationship table; the eighth relationship table stores the correspondence between the second speed difference and the second speed compensation value.

[0118] In this embodiment of the invention, based on the difference between the calculated third speed and the second actual speed, the P_Gain, I_Gain, and D_Gain parameters are obtained by querying the eighth relation table, such as the PID_Gain two-dimensional table, and the second speed compensation value (the current fork speed increment delt_Velocity) is obtained based on the parameters.

[0119] Sub-step 2074: Determine the second compensated flow rate corresponding to the flow valve based on the second speed compensation value, and control the movement of the shift fork based on the second compensated flow rate.

[0120] Optionally, sub-step 2074 may include:

[0121] Sub-step 20741: Determine the second compensation flow rate corresponding to the second speed compensation value through the ninth relationship table, control the movement of the shift fork based on the second compensation flow rate, and stop the flow valve from outputting the second compensation flow rate within a preset time period before the gear shift is completed.

[0122] In this embodiment of the invention, the target flow rate for the next cycle is obtained by querying the solenoid valve's PI characteristic table based on the shift fork speed increment delt_velocity, and the flow rate is shut off before the gear engagement is completed. The Freefly phase is similar to the pre-synchronization phase. To meet the requirement of rapid movement followed by a slower completion, the control process can use a fixed pressure and a strategy of initially high flow rate followed by low flow rate to achieve the requirement of rapid movement and slow engagement, thus reducing noise. Once the stroke condition is met, the gear engagement is considered complete, and the pressure and flow valves are closed, signifying gear engagement is complete.

[0123] refer to Figure 3 , Figure 3 This diagram illustrates the control system principle block diagram of a synchronizer according to an embodiment of this application. The gear selection module determines the target gear by identifying the driver's intention through throttle and brake signals, combined with the current vehicle speed and gradient, and considering the transmission oil temperature and current gear position. Since a DCT is a multi-gear transmission, the target gear is converted into an internal shift fork sequence number by the target shift fork selection module. The gear engagement state judgment module primarily determines the position of the corresponding shift fork and adjusts for non-initialized states that are not in neutral. The gear engagement control execution module comprehensively judges the shift fork position signal, input shaft signal, output shaft signal, and pressure signal, then queries a pre-built two-dimensional table to find the target engagement time and the target pressure and flow rate corresponding to different states. The pressure and flow valve current calculation module pre-writes a relationship table between the solenoid valve characteristics and its current. Upon receiving the target pressure and flow rate input, it converts this into the corresponding current to control the solenoid valve and meet the requirements.

[0124] refer to Figure 4 , Figure 4A control logic flowchart of a synchronizer according to an embodiment of this application is shown, including four stages: pre-synchronization, synchronization, freefly, and gear engagement completion. In each of these stages, the corresponding pressure and flow values ​​are determined by looking up a table, controlling the movement of the shift fork until gear engagement is complete. The operation of the pressure valve and flow valve includes: calculating the target current of the pressure valve and the target current of the flow valve based on the target pressure of the gear engagement pressure valve, the target speed of the flow valve, the engine speed signal, the transmission oil temperature signal, and the main pressure signal of the hydraulic system. When the target value does not exceed the threshold limit, a request for the target current of the pressure and flow solenoid valves is sent to the hydraulic control module.

[0125] refer to Figure 5 , Figure 5 This illustration shows a diagram corresponding to the stroke, flow rate, and pressure control of a synchronizer at each stage according to an embodiment of this application. The total stroke of the shift fork movement is divided into four stages based on the synchronizer's characteristics: pre-synchronization, synchronization, freefly, and gear engagement completion. In the pre-synchronization stage, the pressure valve opens to the maximum target pressure as required, and the flow valve controls the target speed. When the shift fork reaches the synchronization stage, the flow valve opens to the maximum target speed as required. At this time, the target pressure value of the pressure valve is calculated based on the transmission temperature signal, transmission output shaft speed signal, and vehicle speed signal. When the shift fork reaches the freefly stage, the pressure valve opens to the maximum target pressure as required, and the flow valve controls the target speed. Entering the gear engagement completion stage, the pressure valve and flow valve close, and gear engagement is complete. In the pre-synchronization and Freefly stages, the pressure can be maximized. The flow valve controls the shift fork movement speed to approach the ideal movement speed, avoiding excessively fast movement that generates noise or excessively slow movement that reduces speed, effectively improving shifting speed and reducing shifting noise. In the synchronization stage, the pressure can be maximized to achieve rapid synchronization. Simultaneously, the flow valve control reduces the impact noise generated by the rapid movement of the shift fork after synchronization. During the gear shifting process, the flow valve is controlled in advance to reduce the engagement speed, thus avoiding impact noise during gear shifting while ensuring the fastest possible gear shift.

[0126] In summary, the solution proposed in this application first determines the standard time for the shift fork to complete each stage of gear shifting, and then determines the corresponding speed and pressure based on the standard time. This allows the pressure valve and flow valve to control the shift fork separately according to the corresponding pressure and speed. That is, this application uses a pressure valve to control the pressure separately and a flow valve to control the speed separately, which simplifies the calculation. The pressure valve and flow valve work together to achieve pressure and speed control during gear shifting, ensuring the response speed of the shift fork action at each stage of gear shifting. At the same time, the two solenoid valves can achieve more precise control of the shift fork action and reduce noise during gear shifting.

[0127] refer to Figure 6This application illustrates a shift fork gear shifting control device 30 provided in an embodiment of the present application, applied to a dual-clutch transmission. The dual-clutch transmission includes a shift fork, a coupling sleeve, a synchronizer ring, a pressure valve, and a flow valve. The pressure valve is used to provide pressure to the shift fork, and the flow valve is used to adjust the speed of the shift fork. The device includes:

[0128] The acquisition module is used to sequentially acquire the state parameters of the vehicle in each stage state according to the stage state of the shift fork; the stage states include: the pre-synchronization stage when the synchronizing ring is close to the gear, the synchronization stage when the engaging sleeve and the synchronizing ring are synchronized, the pre-engagement stage when the engaging sleeve is close to the gear, and the gear engagement completion state after the engaging sleeve engages with the gear.

[0129] The first determining module is used to determine the standard time corresponding to each stage state based on the state parameters.

[0130] The second determining module is used to determine, based on the standard time, the target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve in each of the said stage states;

[0131] The control module is used to control the movement of the shift fork according to the target pressure value and the target flow rate value, so that in each stage state, the shift fork completes the target action within the standard time, until the stage state of the shift fork is the gear engagement completion state.

[0132] Optionally, the acquisition module is further configured to:

[0133] When the shift fork is in the pre-synchronization stage, the first state parameters of the vehicle are acquired; the first state parameters include: vehicle speed, throttle signal, braking signal, and gradient value.

[0134] The first determining module is further configured to:

[0135] The first standard time corresponding to the first state parameter is determined by a first relationship table; the first relationship table stores the correspondence between the first state parameter and the first standard time; the first standard time is the time when the synchronization ring contacts the gear.

[0136] The second determining module is further used for

[0137] The first speed and first pressure corresponding to the shift fork are determined based on the first standard time and the transmission oil temperature.

[0138] The first target flow value corresponding to the flow valve is determined based on the first speed, and the first target pressure value corresponding to the pressure valve is determined based on the first pressure.

[0139] Optionally, the control module is further configured to:

[0140] The first position of the shift fork at the first sampling time point and the second position at the second sampling time point are obtained; there is a first time difference between the first sampling time point and the second sampling time point;

[0141] The first actual speed of the shift fork is determined based on the first time difference, the first position, and the second position.

[0142] A first speed compensation value is determined based on the first speed difference between the first actual speed and the first speed.

[0143] The first compensation flow rate corresponding to the flow valve is determined based on the first speed compensation value, and the movement of the shift fork is controlled based on the first compensation flow rate.

[0144] Optionally, the control module is further configured to:

[0145] The first speed compensation value corresponding to the first speed difference is determined by the second relationship table; the second relationship table stores the correspondence between the speed difference and the first speed compensation value.

[0146] The first compensation flow rate corresponding to the first speed compensation value is determined by the third relationship table, and the movement of the shift fork is controlled based on the first compensation flow rate until the pre-synchronization stage ends; the third relationship table stores the correspondence between the first speed compensation value and the first compensation flow rate.

[0147] Optionally, the device further includes:

[0148] The position determination module is used to obtain the position information of the shift fork;

[0149] An initialization position module is used to control the fork to move to the initialization position by adjusting the pressure valve and the flow valve when the position information indicates that the fork is not in the initialization position.

[0150] Optionally, the acquisition module is further configured to:

[0151] When the shift fork is in the synchronization phase, the second state parameters of the vehicle are acquired; the second state parameters include: vehicle speed, throttle signal, brake signal, gradient value, input shaft speed and output shaft speed;

[0152] The first determining module is further configured to:

[0153] The second standard time corresponding to the second state parameter is determined by the fourth relation table; the fourth relation table stores the correspondence between the second state parameter and the second standard time; the second standard time is the synchronization time of the coupling sleeve and the synchronization ring.

[0154] The second determining module is further configured to:

[0155] The second speed and second pressure corresponding to the shift fork are determined based on the second standard time and transmission oil temperature.

[0156] The second target flow value corresponding to the flow valve is determined based on the second speed, and the second target pressure value corresponding to the pressure valve is determined based on the second pressure.

[0157] Optionally, the control module is further configured to:

[0158] The first speed difference during the synchronization phase is determined based on the input shaft speed and the output shaft speed.

[0159] The first rotational speed of the input shaft at the third sampling time point and the second rotational speed at the fourth sampling time point are obtained; there is a second time difference between the third sampling time point and the fourth sampling time point;

[0160] The speed synchronization rate is determined based on the second time difference, the second speed difference between the first speed and the second speed;

[0161] The estimated synchronization time is determined based on the first speed difference and the speed synchronization rate;

[0162] The pressure compensation value is determined based on the third time difference between the expected synchronization time and the second standard time;

[0163] The compensation pressure corresponding to the pressure valve is determined based on the pressure compensation value, and the movement of the shift fork is controlled based on the compensation pressure.

[0164] Optionally, the control module is further configured to:

[0165] The pressure compensation value corresponding to the third time difference is determined by the fifth relationship table; the fifth relationship table stores the correspondence between the third time difference and the pressure compensation value.

[0166] The step of determining the compensation pressure corresponding to the pressure valve based on the pressure compensation value, and controlling the movement of the shift fork based on the compensation pressure, includes:

[0167] The compensation pressure corresponding to the pressure compensation value is determined by the sixth relation table, and the movement of the shift fork is controlled based on the compensation pressure.

[0168] Optionally, the acquisition module is further configured to:

[0169] When the shift fork is in the pre-engagement stage, the third state parameters of the vehicle are acquired; the third state parameters include: vehicle speed, throttle signal, braking signal, and gradient value.

[0170] Optionally, the first determining module is further configured to:

[0171] The third standard time corresponding to the third state parameter is determined by the seventh relation table; the seventh relation table stores the correspondence between the third state parameter and the third standard time; the third standard time is the time when the engagement sleeve approaches the gear.

[0172] Optionally, the second determining module is further configured to:

[0173] The third speed and third pressure corresponding to the shift fork are determined based on the third standard time, transmission oil temperature, and current shift fork movement speed.

[0174] The third target flow value corresponding to the flow valve is determined based on the third speed, and the third target pressure value corresponding to the pressure valve is determined based on the third pressure.

[0175] Optionally, the control module is further configured to:

[0176] Obtain the third position of the shift fork at the fifth sampling time point and the fourth position at the sixth sampling time point; there is a fourth time difference between the fifth sampling time point and the sixth sampling time point;

[0177] The second actual speed of the shift fork is determined based on the fourth time difference, the third position, and the fourth position;

[0178] The second speed compensation value is determined based on the second speed difference between the second actual speed and the third speed;

[0179] The second compensated flow rate corresponding to the flow valve is determined based on the second speed compensation value, and the movement of the shift fork is controlled based on the second compensated flow rate.

[0180] Optionally, the control module is further configured to:

[0181] The second speed compensation value corresponding to the second speed difference is determined by the eighth relationship table; the eighth relationship table stores the correspondence between the second speed difference and the second speed compensation value;

[0182] The second compensation flow rate corresponding to the second speed compensation value is determined by the ninth relationship table. The movement of the shift fork is controlled based on the second compensation flow rate, and the flow valve stops outputting the second compensation flow rate within a preset time period before the gear shift is completed.

[0183] In summary, the solution proposed in this application first determines the standard time for the shift fork to complete each stage of gear shifting, and then determines the corresponding speed and pressure based on the standard time. This allows the pressure valve and flow valve to control the shift fork separately according to the corresponding pressure and speed. That is, this application uses a pressure valve to control the pressure separately and a flow valve to control the speed separately, which simplifies the calculation. The pressure valve and flow valve work together to achieve pressure and speed control during gear shifting, ensuring the response speed of the shift fork action at each stage of gear shifting. At the same time, the two solenoid valves can achieve more precise control of the shift fork action and reduce noise during gear shifting.

[0184] Figure 7 This is a block diagram illustrating an electronic device 600 according to an exemplary embodiment. For example, the electronic device 600 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0185] Reference Figure 7 The electronic device 600 may include one or more of the following components: a processing component 602, a memory 604, a power supply component 606, a multimedia component 608, an audio component 610, an input / output (I / O) interface 612, a sensor component 614, and a communication component 616.

[0186] Processing component 602 typically controls the overall operation of electronic device 600, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 602 may include one or more processors 620 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 602 may include one or more modules to facilitate interaction between processing component 602 and other components. For example, processing component 602 may include a multimedia module to facilitate interaction between multimedia component 608 and processing component 602.

[0187] Memory 604 is used to store various types of data to support the operation of electronic device 600. Examples of such data include instructions for any application or method operating on electronic device 600, contact data, phonebook data, messages, pictures, multimedia, etc. Memory 604 can be implemented by 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.

[0188] Power supply component 606 provides power to various components of electronic device 600. Power supply component 606 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 600.

[0189] Multimedia component 608 includes a screen that provides an output interface between the electronic device 600 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of touch or swipe actions but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 608 includes a front-facing camera and / or a rear-facing camera. When the electronic device 600 is in an operating mode, such as a shooting mode or a multimedia mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0190] Audio component 610 is used to output and / or input audio signals. For example, audio component 610 includes a microphone (MIC) used to receive external audio signals when electronic device 600 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 604 or transmitted via communication component 616. In some embodiments, audio component 610 also includes a speaker for outputting audio signals.

[0191] I / O interface 612 provides an interface between processing component 602 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0192] Sensor assembly 614 includes one or more sensors for providing state assessments of various aspects of electronic device 600. For example, sensor assembly 614 can detect the on / off state of electronic device 600, the relative positioning of components such as the display and keypad of electronic device 600, changes in position of electronic device 600 or a component of electronic device 600, the presence or absence of user contact with electronic device 600, orientation or acceleration / deceleration of electronic device 600, and temperature changes of electronic device 600. Sensor assembly 614 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 614 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 614 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0193] Communication component 616 facilitates wired or wireless communication between electronic device 600 and other devices. Electronic device 600 can access wireless networks based on communication standards, such as WiFi, carrier networks (such as 2G, 3G, 4G, or 5G), or combinations thereof. In one exemplary embodiment, communication component 616 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 616 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0194] In an exemplary embodiment, the electronic device 600 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to implement a shift fork gear shifting control method provided in the embodiments of this application.

[0195] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 604 including instructions, which can be executed by a processor 620 of an electronic device 600 to perform the above-described method. For example, the non-transitory storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0196] Figure 8This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. For example, the electronic device 700 may be provided as a server. (Refer to...) Figure 8 The electronic device 700 includes a processing component 722, which further includes one or more processors, and memory resources represented by a memory 732 for storing instructions, such as application programs, that can be executed by the processing component 722. The application programs stored in the memory 732 may include one or more modules, each corresponding to a set of instructions. Furthermore, the processing component 722 is configured to execute instructions to perform a shift fork shifting control method provided in embodiments of this application.

[0197] Electronic device 700 may also include a power supply component 726 configured to perform power management of electronic device 700, a wired or wireless network interface 750 configured to connect electronic device 700 to a network, and an input / output (I / O) interface 758. Electronic device 700 may operate on an operating system stored in memory 732, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or similar.

[0198] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the shift fork gear shifting control method.

[0199] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0200] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for controlling shift fork gear engagement, characterized in that, An application to a dual-clutch transmission, the dual-clutch transmission including a shift fork, an engagement sleeve, a synchronizer ring, a pressure valve, and a flow valve; the pressure valve is used to provide pressure to the shift fork, and the flow valve is used to adjust the speed of the shift fork; the method includes: Based on the stage state of the shift fork, the state parameters of the vehicle in each stage state are obtained sequentially; the stage states include: the pre-synchronization stage when the synchronizing ring is close to the gear, the synchronization stage when the engaging sleeve and the synchronizing ring are synchronized, the pre-engagement stage when the engaging sleeve is close to the gear, and the gear engagement completion state after the engaging sleeve engages with the gear. Based on the state parameters, determine the standard time corresponding to each stage state; The target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve are determined according to the standard time in each of the said stage states; The movement of the shift fork is controlled according to the target pressure value and the target flow rate value, so that in each stage state, the shift fork completes the target action within the standard time, until the stage state of the shift fork is the gear engagement completion state. The step of sequentially obtaining the vehicle's state parameters at each stage state based on the stage state of the shift fork includes: When the shift fork is in the pre-synchronization stage, the first state parameters of the vehicle are acquired; the first state parameters include: vehicle speed, throttle signal, braking signal, and gradient value. The step of determining the standard time corresponding to each stage state based on the state parameters includes: The first standard time corresponding to the first state parameter is determined by a first relationship table; the first relationship table stores the correspondence between the first state parameter and the first standard time; the first standard time is the time when the synchronization ring contacts the gear. The step of determining the target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve in each stage state according to the standard time includes: The first speed and first pressure corresponding to the shift fork are determined based on the first standard time and the transmission oil temperature. The first target flow value corresponding to the flow valve is determined based on the first speed, and the first target pressure value corresponding to the pressure valve is determined based on the first pressure. The step of controlling the movement of the shift fork based on the target pressure value and the target flow rate value includes: The first position of the shift fork at the first sampling time point and the second position at the second sampling time point are obtained; there is a first time difference between the first sampling time point and the second sampling time point; The first actual speed of the shift fork is determined based on the first time difference, the first position, and the second position. A first speed compensation value is determined based on the first speed difference between the first actual speed and the first speed. The first compensation flow rate corresponding to the flow valve is determined based on the first speed compensation value, and the movement of the shift fork is controlled based on the first compensation flow rate.

2. The method according to claim 1, characterized in that, The step of determining the first speed compensation value based on the first speed difference between the first actual speed and the first speed includes: The first speed compensation value corresponding to the first speed difference is determined by the second relationship table; the second relationship table stores the correspondence between the speed difference and the first speed compensation value. The step of determining the first compensated flow rate corresponding to the flow valve based on the first speed compensation value, and controlling the movement of the shift fork based on the first compensated flow rate, includes: The first compensation flow rate corresponding to the first speed compensation value is determined by the third relationship table, and the movement of the shift fork is controlled based on the first compensation flow rate until the pre-synchronization stage ends; the third relationship table stores the correspondence between the first speed compensation value and the first compensation flow rate.

3. The method according to claim 1, characterized in that, Before acquiring the first state parameters of the vehicle when the shift fork is in the pre-synchronization phase, the method further includes: Obtain the position information of the shift fork; If the position information indicates that the shift fork is not in the initial position, the shift fork is controlled to move to the initial position by adjusting the pressure valve and the flow valve.

4. The method according to claim 1, characterized in that, The step of sequentially obtaining the vehicle's state parameters at each stage state based on the stage state of the shift fork includes: When the shift fork is in the synchronization phase, the second state parameters of the vehicle are acquired; the second state parameters include: vehicle speed, throttle signal, brake signal, gradient value, input shaft speed and output shaft speed; The step of determining the standard time corresponding to each stage state based on the state parameters includes: The second standard time corresponding to the second state parameter is determined by the fourth relation table; the fourth relation table stores the correspondence between the second state parameter and the second standard time; the second standard time is the synchronization time of the coupling sleeve and the synchronization ring. The step of determining the target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve in each stage state according to the standard time includes: The second speed and second pressure corresponding to the shift fork are determined based on the second standard time and transmission oil temperature. The second target flow value corresponding to the flow valve is determined based on the second speed, and the second target pressure value corresponding to the pressure valve is determined based on the second pressure.

5. The method according to claim 4, characterized in that, The step of controlling the movement of the shift fork based on the target pressure value and the target flow rate value includes: The first speed difference during the synchronization phase is determined based on the input shaft speed and the output shaft speed. The first rotational speed of the input shaft at the third sampling time point and the second rotational speed at the fourth sampling time point are obtained; there is a second time difference between the third sampling time point and the fourth sampling time point; The speed synchronization rate is determined based on the second time difference, the second speed difference between the first speed and the second speed; The estimated synchronization time is determined based on the first speed difference and the speed synchronization rate; The pressure compensation value is determined based on the third time difference between the expected synchronization time and the second standard time; The compensation pressure corresponding to the pressure valve is determined based on the pressure compensation value, and the movement of the shift fork is controlled based on the compensation pressure.

6. The method according to claim 5, characterized in that, The step of determining the pressure compensation value based on the third time difference between the expected synchronization time and the second standard time includes: The pressure compensation value corresponding to the third time difference is determined by the fifth relationship table; the fifth relationship table stores the correspondence between the third time difference and the pressure compensation value. The step of determining the compensation pressure corresponding to the pressure valve based on the pressure compensation value, and controlling the movement of the shift fork based on the compensation pressure, includes: The compensation pressure corresponding to the pressure compensation value is determined by the sixth relation table, and the movement of the shift fork is controlled based on the compensation pressure.

7. The method according to claim 1, characterized in that, The step of sequentially obtaining the vehicle's state parameters at each stage state based on the stage state of the shift fork includes: When the shift fork is in the pre-engagement stage, the third state parameters of the vehicle are acquired; the third state parameters include: vehicle speed, throttle signal, braking signal, and gradient value. The step of determining the standard time corresponding to each stage state based on the state parameters includes: The third standard time corresponding to the third state parameter is determined by the seventh relation table; the seventh relation table stores the correspondence between the third state parameter and the third standard time; the third standard time is the time when the engagement sleeve approaches the gear. The step of determining the target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve in each stage state according to the standard time includes: The third speed and third pressure corresponding to the shift fork are determined based on the third standard time, transmission oil temperature, and current shift fork movement speed. The third target flow value corresponding to the flow valve is determined based on the third speed, and the third target pressure value corresponding to the pressure valve is determined based on the third pressure.

8. The method according to claim 7, characterized in that, The step of controlling the movement of the shift fork based on the target pressure value and the target flow rate value includes: Obtain the third position of the shift fork at the fifth sampling time point and the fourth position at the sixth sampling time point; there is a fourth time difference between the fifth sampling time point and the sixth sampling time point; The second actual speed of the shift fork is determined based on the fourth time difference, the third position, and the fourth position; The second speed compensation value is determined based on the second speed difference between the second actual speed and the third speed; The second compensated flow rate corresponding to the flow valve is determined based on the second speed compensation value, and the movement of the shift fork is controlled based on the second compensated flow rate.

9. The method according to claim 8, characterized in that, The step of determining the second speed compensation value based on the second speed difference between the second actual speed and the third speed includes: The second speed compensation value corresponding to the second speed difference is determined by the eighth relationship table; the eighth relationship table stores the correspondence between the second speed difference and the second speed compensation value; The step of determining the second compensated flow rate corresponding to the flow valve based on the second speed compensation value, and controlling the movement of the shift fork based on the second compensated flow rate, includes: The second compensation flow rate corresponding to the second speed compensation value is determined by the ninth relationship table. The movement of the shift fork is controlled based on the second compensation flow rate, and the flow valve stops outputting the second compensation flow rate within a preset time period before the gear shift is completed.

10. A shift fork gear shifting control device, characterized in that, An application in a dual-clutch transmission, the dual-clutch transmission including a shift fork, an engagement sleeve, a synchronizer ring, a pressure valve, and a flow valve; the pressure valve is used to provide pressure to the shift fork, and the flow valve is used to adjust the speed of the shift fork; the device includes: The acquisition module is used to sequentially acquire the state parameters of the vehicle in each stage state according to the stage state of the shift fork; the stage states include: the pre-synchronization stage when the synchronizing ring is close to the gear, the synchronization stage when the engaging sleeve and the synchronizing ring are synchronized, the pre-engagement stage when the engaging sleeve is close to the gear, and the gear engagement completion state after the engaging sleeve engages with the gear. The first determining module is used to determine the standard time corresponding to each stage state based on the state parameters. The second determining module is used to determine, based on the standard time, the target pressure value corresponding to the pressure valve and the target flow value corresponding to the flow valve in each of the said stage states; The control module is used to control the movement of the shift fork according to the target pressure value and the target flow rate value, so that in each stage state, the shift fork completes the target action within the standard time, until the stage state of the shift fork is the gear engagement completion state. The acquisition module is also used for: When the shift fork is in the pre-synchronization stage, the first state parameters of the vehicle are acquired; the first state parameters include: vehicle speed, throttle signal, braking signal, and gradient value. The first determining module is further configured to: The first standard time corresponding to the first state parameter is determined by a first relationship table; the first relationship table stores the correspondence between the first state parameter and the first standard time; the first standard time is the time when the synchronization ring contacts the gear. The second determining module is further used for The first speed and first pressure corresponding to the shift fork are determined based on the first standard time and the transmission oil temperature. The first target flow value corresponding to the flow valve is determined based on the first speed, and the first target pressure value corresponding to the pressure valve is determined based on the first pressure. The control module is also used for: The first position of the shift fork at the first sampling time point and the second position at the second sampling time point are obtained; there is a first time difference between the first sampling time point and the second sampling time point; The first actual speed of the shift fork is determined based on the first time difference, the first position, and the second position. A first speed compensation value is determined based on the first speed difference between the first actual speed and the first speed. The first compensation flow rate corresponding to the flow valve is determined based on the first speed compensation value, and the movement of the shift fork is controlled based on the first compensation flow rate.

11. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the method as described in any one of claims 1 to 9.

12. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1 to 9.

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