A shift self-learning control method and device based on a two-gear transmission assembly
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GAC AION NEW ENERGY AUTOMOBILE CO LTD
- Filing Date
- 2023-11-03
- Publication Date
- 2026-07-14
Smart Images
Figure CN117345853B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of automotive control technology, and more specifically, to a shift self-learning control method and device based on a two-speed transmission assembly. Background Technology
[0002] For two-speed transmission systems in new energy vehicles, achieving fast, accurate, and smooth gear shifts is the core of the control strategy, while obtaining the position of each gear is the foundation and key to shift control. Currently, the main solution to this problem in related technologies is to trigger an algorithm when the shift motor transmission assembly is completed. This algorithm controls each gear of the transmission by outputting PWM (Pulse Width Modulation) control torque through the shift actuator and learns the gear position by reading the rotation angle signal of the shift motor. However, this method has a long learning time and low accuracy in self-learning. Summary of the Invention
[0003] The purpose of this application is to provide a shift self-learning control method and device based on a two-speed transmission assembly, aiming to solve the problems of long learning time and low self-learning accuracy in the shift self-learning method of related technologies.
[0004] In a first aspect, this application provides a shift self-learning control method based on a two-speed transmission assembly, comprising: when the vehicle meets the self-learning conditions, controlling the direction of the shift motor of the shift actuator according to the current gear position; by controlling the shift motor to switch to a speed mode and driving the shift fork to reciprocate at its extreme positions at both ends, obtaining the extreme positions of each gear and the test engagement position of each gear; the test engagement position is determined based on the current change value of the shift motor and the position change of the shift fork; and determining the self-learning engagement position of each gear according to the extreme positions of each gear, the test engagement position, and the mechanical dimension distance.
[0005] In the above implementation process, for the shift self-learning of the two-speed transmission assembly, when the vehicle meets the self-learning conditions, the direction of the shift actuator motor is controlled according to the current gear position, and the shift motor is switched to speed mode. The shift motor drives the shift fork to reciprocate at its extreme positions at both ends, thereby obtaining the extreme positions of each gear. During this process, the change in current of the shift motor and the change in position of the shift fork are monitored to obtain the test engagement position of each gear. Finally, based on the extreme positions of each gear, the test engagement positions, and the mechanical dimension distance, the self-learned engagement position of each gear is determined. In this way, the efficiency of gear position self-learning is improved while ensuring the accuracy of self-learning.
[0006] Furthermore, in some examples, the self-learning conditions include any one of the following: receiving a gear self-learning command sent by the diagnostic tool when the vehicle leaves the factory; the vehicle entering a stationary power-off state, and the number of gear shifts since the last gear shift self-learning exceeds a preset number.
[0007] In the above implementation process, optional triggering conditions are provided for the shift self-learning program.
[0008] Furthermore, in some examples, controlling the direction of the shift motor of the shift actuator according to the current gear position includes: if the distance between the current gear position and the first gear position is greater than or equal to a preset distance, controlling the shift motor of the shift actuator to rotate forward; if the distance between the current gear position and the first gear position is less than the preset distance, controlling the shift motor of the shift actuator to rotate in reverse.
[0009] In the above implementation process, if the current gear position is close to neutral or second gear, the shift motor is controlled to rotate forward to drive the shift fork to move to the second gear position; if the current gear position is close to first gear, the shift motor is controlled to rotate in reverse to drive the shift fork to move to the first gear position, laying the foundation for obtaining the gear limit position and the gear engagement position in the future.
[0010] Furthermore, in some examples, the step of obtaining the limit positions of each gear by controlling the shift motor to switch to speed mode and driving the shift fork to reciprocate at both extreme positions includes: controlling the shift motor to switch to speed mode so that the shift motor operates at a first speed and drives the shift fork to reach both extreme positions; when the actual speed of the shift motor is zero, if the shift motor rotates forward, the current gear position is recorded as the test limit position of second gear, and the shift motor is controlled to rotate in reverse; if the shift motor rotates in reverse, the current gear position is recorded as the test limit position of first gear, and the shift motor is controlled to rotate in forward; when the number of times the shift motor drives the shift fork to reciprocate at both extreme positions reaches the target number, the maximum value among the recorded test limit positions of first gear is determined as the limit position of first gear, and the maximum value among the recorded test limit positions of second gear is determined as the limit position of second gear; the self-learning position of neutral is determined based on the limit positions of first gear, second gear, and neutral position calibration error.
[0011] In the above implementation process, a specific method for learning the extreme positions of each gear is provided.
[0012] Furthermore, in some examples, the test gear engagement position is obtained based on the following method: when the current change value of the shift motor is greater than or equal to the first calibration value, and the position change of the shift fork is less than or equal to the second calibration value, if the shift motor rotates in the forward direction, the current gear position is recorded as the trial engagement position for second gear; if the shift motor rotates in the reverse direction, the current gear position is recorded as the trial engagement position for first gear. When the number of times the shift motor drives the shift fork to reciprocate at the extreme positions at both ends reaches the target number, the average value of the recorded trial engagement positions for first gear is determined as the test engagement position for first gear, and the average value of the recorded trial engagement positions for second gear is determined as the test engagement position for second gear.
[0013] In the above implementation process, a specific method is provided for obtaining the test gear position of each gear.
[0014] Furthermore, in some examples, determining the self-learning shift position of each gear based on the extreme positions of each gear, the test shift position, and the mechanical dimension distance includes: determining whether the difference between the extreme position of first gear and the test shift position and mechanical dimension distance of first gear is greater than a preset error value; if so, the self-learning shift position of first gear is determined to be the value of the extreme position of first gear minus the mechanical dimension distance; otherwise, the self-learning shift position of first gear is determined to be the test shift position of first gear. Similarly, determining whether the difference between the extreme position of second gear and the test shift position and mechanical dimension distance of second gear is greater than a preset error value; if so, the self-learning shift position of second gear is determined to be the value of the extreme position of second gear minus the mechanical dimension distance; otherwise, the self-learning shift position of second gear is determined to be the test shift position of second gear.
[0015] In the above implementation process, the self-learning value of the gear shift position is calculated by comparing the change value of the shift motor current and the change amount of the shift fork position with the self-learning value of the extreme position, thereby improving the accuracy of the gear shift position self-learning.
[0016] Furthermore, in some examples, the method further includes: controlling the first drive motor and the second drive motor to switch to torque control mode, transferring the torque of the first drive motor to the second drive motor according to preset parameters and outputting torque to the wheel end; controlling the first drive motor to switch to speed mode so that the first drive motor operates at a second speed; controlling the shift motor to switch to torque control mode so that the shift motor outputs a target torque to push the shift fork engagement sleeve closer to the synchronization ring; when the position value fed back by the gear position sensor no longer changes and continues for a preset time, recording the current synchronization position as the test synchronization position; after the target number of reciprocating actions, determining the average value of the recorded test synchronization positions as the self-learning synchronization position.
[0017] In the above implementation process, the synchronous position self-learning is achieved by transferring torque to another motor and controlling the self-learning electric drive in speed mode, which ensures that the torque output at the wheel end is uninterrupted and the accuracy of the synchronous position self-learning is guaranteed.
[0018] Furthermore, in some examples, the method further includes: recording the extreme positions of each gear learned this time, the self-learned gear shifting position, and the self-learned synchronization position as the current self-learning value; when the difference between the current self-learning value and the stored position self-learning value is less than or equal to the target difference, updating the stored position self-learning value based on the current self-learning value.
[0019] In the above implementation process, bad points in the self-learning process are eliminated to ensure the accuracy of gear shifting self-learning.
[0020] Secondly, this application provides a shift self-learning control device based on a two-speed transmission assembly, comprising: a steering control module, used to control the steering of the shift motor of the shift actuator according to the current gear position when the vehicle meets the self-learning conditions; a position acquisition module, used to acquire the extreme positions of each gear and the test engagement position of each gear by controlling the shift motor to switch to speed mode and driving the shift fork to reciprocate at the extreme positions at both ends; the test engagement position is determined based on the current change value of the shift motor and the position change of the shift fork; and a gear engagement determination module, used to determine the self-learning engagement position of each gear according to the extreme positions of each gear, the test engagement position, and the mechanical dimension distance.
[0021] Thirdly, this application provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method described in any of the first aspects.
[0022] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in any of the first aspects.
[0023] Fifthly, this application provides a computer program product that, when run on a computer, causes the computer to perform the method described in any of the first aspects.
[0024] Other features and advantages disclosed in this application will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the above-described technology disclosed in this application.
[0025] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0026] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0027] Figure 1 A flowchart illustrating a shift self-learning control method based on a two-speed transmission assembly, provided as an embodiment of this application;
[0028] Figure 2 A schematic diagram of the configuration of a two-speed transmission assembly for a dual-motor system provided in an embodiment of this application;
[0029] Figure 3 A schematic diagram of a shift control system for a two-speed transmission assembly provided in an embodiment of this application;
[0030] Figure 4 A schematic diagram of the internal mechanical structure of a gear shifting actuator for a gear position provided in an embodiment of this application;
[0031] Figure 5 A schematic diagram illustrating the workflow of a synchronous position self-learning method provided in an embodiment of this application;
[0032] Figure 6 A block diagram of a shift self-learning control device based on a two-speed transmission assembly provided in this application embodiment;
[0033] Figure 7 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation
[0034] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.
[0035] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0036] As described in the background section, the shift self-learning methods in related technologies suffer from long learning times and low self-learning accuracy. Therefore, this application provides a shift self-learning control scheme based on a two-speed transmission assembly to solve the aforementioned problems.
[0037] The embodiments of this application will be described below:
[0038] like Figure 1 As shown, Figure 1 This is a flowchart illustrating a shift self-learning control method based on a two-speed transmission assembly, as provided in an embodiment of this application. The method can be applied to the vehicle management system (VCU) in vehicles based on a dual-motor system.
[0039] The method includes:
[0040] Step 101: When the vehicle meets the self-learning conditions, control the direction of the shift motor of the shift actuator according to the current gear position;
[0041] The shift motor mentioned in this step is the motor of the shift actuator, which is one of the actuators in the automotive transmission control system. In this embodiment, when the vehicle controller determines that the self-learning conditions are met, it learns the extreme positions and engagement positions of each gear. After entering the self-learning program, it first determines the current gear position and controls the direction of the shift motor according to the current gear position to drive the shift fork to move to the corresponding gear position.
[0042] In some embodiments, the self-learning conditions mentioned in this step may include any of the following: receiving a gear position self-learning command sent by the diagnostic tool when the vehicle leaves the factory; the vehicle entering a stationary power-off state, and the number of gear shifts since the last gear shift self-learning exceeds a preset number. In other words, the triggering conditions for the gear shift self-learning program are mainly divided into two conditions: one is that when the vehicle leaves the factory, the diagnostic tool sends a command to the vehicle controller to trigger gear position self-learning; the other is that after leaving the factory, when the vehicle is stationary and powered off, the vehicle controller determines whether to trigger it based on the statistical results of the number of gear shifts after each gear position self-learning. Additionally, in the latter condition, the vehicle controller can also combine factors such as whether there is a starting and driving requirement, and whether the EPB (Electrical Park Brake) is engaged, to determine whether to trigger the gear shift self-learning program.
[0043] Furthermore, in some embodiments, controlling the direction of the shift motor of the shift actuator based on the current gear position mentioned in this step may include: if the distance between the current gear position and the first gear position is greater than or equal to a preset distance, controlling the shift motor of the shift actuator to rotate forward; if the distance between the current gear position and the first gear position is less than the preset distance, controlling the shift motor of the shift actuator to rotate in reverse. That is, if the current gear position is close to neutral or second gear, the shift motor is controlled to rotate forward to drive the shift fork to move towards the second gear position; if the current gear position is close to first gear, the shift motor is controlled to rotate in reverse to drive the shift fork to move towards the first gear position. The preset distance here can be set according to the actual position distances of each gear on the shift lever.
[0044] Step 102: By controlling the shift motor to switch to speed mode and driving the shift fork to reciprocate at the extreme positions at both ends, the extreme positions of each gear and the test engagement position of each gear are obtained; the test engagement position is determined based on the current change value of the shift motor and the position change of the shift fork.
[0045] The motor speed mode refers to a control method that uses the motor speed as the controlled object. Compared with the method of outputting PWM control torque through the shift actuator in related technologies, the solution in this embodiment uses the speed mode of the shift actuator motor for self-learning, which is more convenient and precise in control, and the learning process is fast and accurate. Specifically, the vehicle controller controls the shift motor to switch to speed mode to drive the shift fork to reciprocate at its extreme positions at both ends, thereby measuring the extreme positions of each gear. At the same time, during this process, the change in current of the shift motor and the change in position of the shift fork are monitored to measure the test engagement position of each gear.
[0046] The step mentioned in this section, which involves controlling the shift motor to switch to speed mode and driving the shift fork to reciprocate at both extreme positions to obtain the limit positions of each gear, may include: controlling the shift motor to switch to speed mode so that the shift motor operates at a first speed and drives the shift fork to reach the extreme positions at both ends; when the actual speed of the shift motor is zero, if the shift motor rotates forward, the current gear position is recorded as the test limit position of second gear, and the shift motor is controlled to rotate in reverse; if the shift motor rotates in reverse, the current gear position is recorded as the test limit position of first gear, and the shift motor is controlled to rotate in forward; when the number of times the shift motor drives the shift fork to reciprocate at both extreme positions reaches the target number, the maximum value among the recorded test limit positions of first gear is determined as the limit position of first gear, and the maximum value among the recorded test limit positions of second gear is determined as the limit position of second gear; based on the limit positions of first gear, second gear, and neutral position calibration error, the self-learning position of neutral is determined.
[0047] In other words, by controlling the shift motor to switch to speed mode and setting a fixed speed to drive the shift fork to its extreme positions at both ends, when the actual speed of the shift motor reaches 0, the actual gear position no longer changes. This indicates that the current position is the test limit position for first or second gear. This process is repeated to drive the shift motor and shift fork back and forth to the target number of times, and the test limit position is recorded each time. The maximum value is taken to obtain the limit positions for first and second gear. The self-learning position for neutral can be determined based on the limit positions for first and second gear, as well as the neutral position calibration error. For example, the self-learning position for neutral can be equal to the sum of the learned limit positions for first and second gear, divided by 2, plus the neutral position calibration error. This neutral position calibration error can be the factory-calibrated error value for the neutral position. Furthermore, the first speed and the target number of repetitions can be set according to the specific needs of the scenario; this application does not impose any restrictions on this.
[0048] Furthermore, in some embodiments, the test gear engagement position mentioned in this step can be obtained in the following manner: when the current change value of the shift motor is greater than or equal to the first calibration value, and the position change of the shift fork is less than or equal to the second calibration value, if the shift motor rotates in the forward direction, the current gear position is recorded as the trial gear engagement position for second gear; if the shift motor rotates in the reverse direction, the current gear position is recorded as the trial gear engagement position for first gear; when the number of times the shift motor drives the shift fork to reciprocate at the extreme positions at both ends reaches the target number, the average value of the recorded trial gear engagement positions for first gear is determined as the test gear engagement position for first gear, and the average value of the recorded trial gear engagement positions for second gear is determined as the test gear engagement position for second gear.
[0049] In other words, during the self-learning limit position process, the current change value of the shift motor and the position change of the shift fork are monitored in real time. When the self-learning gear direction is the second gear direction, if the current change value is greater than or equal to the first calibration value and the position change is less than or equal to the second calibration value, it indicates that the shift fork movement encounters resistance, causing the current to increase and the displacement to decrease. That is, the steel ball is currently in the second gear position. Therefore, this position value can be recorded. By driving the shift fork to move back and forth a target number of times and taking the average value, the test gear position of the second gear can be obtained. Similarly, when the self-learning gear direction is the first gear direction, the test gear position of the first gear can be obtained in the same way.
[0050] Step 103: Determine the self-learning shift position of each gear based on the extreme positions of each gear, the test shift position, and the mechanical dimension distance.
[0051] This step refers to the following: For a two-speed transmission assembly in a dual-motor system, the limit position is when the shift lever is at its mechanical limit position for each gear. The engagement position refers to the position where the steel balls in first gear, second gear, and neutral lie in the self-locking groove; this is the target position when engaging a gear. This position has a fixed mechanical dimensional relationship with the limit position. Therefore, based on the limit position of each gear, the tested engagement position, and the mechanical dimensional distance, the self-learning engagement position for each gear can be determined.
[0052] In some embodiments, this step may include: determining whether the difference between the extreme position of first gear and the test gear position and mechanical dimension distance, respectively, is greater than a preset error value; if so, the self-learning gear position of first gear is determined to be the value of the extreme position of first gear minus the mechanical dimension distance; otherwise, the self-learning gear position of first gear is determined to be the test gear position of first gear; determining whether the difference between the extreme position of second gear and the test gear position and mechanical dimension distance, respectively, is greater than a preset error value; if so, the self-learning gear position of second gear is determined to be the value of the extreme position of second gear minus the mechanical dimension distance; otherwise, the self-learning gear position of second gear is determined to be the test gear position of second gear. That is, taking first gear as an example, the target position of first gear is obtained by subtracting the mechanical dimension distance from the extreme position of first gear. If the difference between the target position of first gear and the test gear position of first gear is greater than a preset error value, the target position of first gear is determined to be the self-learning gear position of first gear; if the difference is less than or equal to the preset error value, the test gear position of first gear is determined to be the self-learning gear position of first gear. Similarly, the self-learned shift position for second gear can be obtained using the same calculation method. At the same time, the self-learned shift position for neutral gear can also be calculated based on the self-learned shift positions for first and second gear, as well as the neutral position calibration error. This improves the accuracy of the gear shift position self-learning.
[0053] The shifting actuator of the two-speed transmission assembly in the dual-motor system adopts a mechanical transmission mechanism with a synchronizer. Therefore, the self-learning of gear positions, in addition to self-learning the extreme positions and engagement positions of each gear, can also include self-learning the synchronization position. Here, the synchronization position refers to the position where the synchronization ring and the engagement sleeve begin to contact during the gear shifting synchronization process. Therefore, in some embodiments, the above method may further include: controlling the first drive motor and the second drive motor to switch to torque control mode, transferring the torque of the first drive motor to the second drive motor according to preset parameters and outputting torque to the wheel end; controlling the first drive motor to switch to speed mode so that the first drive motor operates at a second speed; controlling the shifting motor to switch to torque control mode so that the shifting motor outputs a target torque to push the shift fork engagement sleeve closer to the synchronization ring; when the position value fed back by the gear position sensor no longer changes and continues for a preset time, the current synchronization position is recorded as the test synchronization position; after a target number of reciprocating actions, the average value of the recorded test synchronization positions is determined as the self-learned synchronization position. In other words, during the synchronization position self-learning process, the vehicle controller can request both drive motors to be in torque control mode via the motor controller. The torque of the first drive motor is transferred to the second drive motor according to preset parameters, and torque is output to the wheel end. Then, the first drive motor is controlled to switch to speed mode and rotate at a fixed speed. Afterward, the shift motor is controlled to switch to torque control mode and output the target torque to push the shift fork engagement sleeve closer to the synchronization ring. When the shift fork encounters resistance and the displacement drops to zero, the position value fed back by the gear position sensor no longer changes and remains unchanged for a certain period. The vehicle controller can then record the current synchronization position as the test synchronization position. After repeating the action a target number of times, the average value is taken to obtain the self-learned synchronization position. This ensures both uninterrupted torque output to the wheel end and accuracy in synchronization position self-learning.
[0054] Furthermore, in some embodiments, the above method may further include: recording the learned extreme positions of each gear, the self-learned engagement position, and the self-learned synchronization position as the current self-learning value; when the difference between the current self-learning value and the stored position self-learning value is less than or equal to the target difference, updating the stored position self-learning value based on the current self-learning value. That is, if the difference between the current self-learning value and the stored position self-learning value is too large, the current self-learning value is considered invalid and not stored; otherwise, the stored position self-learning value is corrected using the learned extreme gear positions, engagement positions, and synchronization positions.
[0055] In this embodiment, for the shift self-learning of a two-speed transmission assembly, when the vehicle meets the self-learning conditions, the direction of the shift actuator motor is controlled according to the current gear position. The shift motor is switched to speed mode, and the shift motor drives the shift fork to reciprocate at its extreme positions, thereby obtaining the extreme positions of each gear. During this process, the change in current of the shift motor and the change in position of the shift fork are monitored to obtain the test engagement position of each gear. Finally, based on the extreme positions of each gear, the test engagement positions, and the mechanical dimension distance, the self-learning engagement position of each gear is determined. This improves the efficiency of gear position self-learning while ensuring its accuracy.
[0056] To provide a more detailed explanation of the solution in this application, a specific embodiment is described below:
[0057] This embodiment provides a vehicle shift self-learning control scheme based on a dual-motor mechanism. The configuration of the two-speed transmission assembly of the dual-motor system is as follows: Figure 2 As shown, it includes drive motor EM1 (numbered 21 in the figure), drive motor EM2 (numbered 22 in the figure), wheel end (numbered 23 in the figure), shift synchronizer (numbered 24 in the figure), first gear (numbered 25 in the figure), second gear (numbered 26 in the figure), and intermediate transmission shaft system (numbered 27 in the figure).
[0058] The structure of the shift control system of this two-speed transmission assembly is as follows: Figure 3 As shown, it includes the vehicle controller VCU (number 31 in the figure), the drive motor controller MCU (number 32 in the figure), the shift controller GSMC (number 33 in the figure), the drive motor EM1, the drive motor EM2, the shift actuator (number 34 in the figure), the transmission (number 35 in the figure), the differential (number 36 in the figure), and the wheel ends.
[0059] The internal mechanical structure of the gear shifting actuator is as follows: Figure 4 As shown in the diagram. In this embodiment, the self-learning of gear position includes the gear limit position, the engagement position, and the synchronization position. All position signals are identified by the shift controller through the conversion of sensors into electrical signals.
[0060] The signals involved in this embodiment include: the target speed of the drive motor, provided by the vehicle controller, in r / min; the actual speed of the drive motor, provided by the drive motor controller, in r / min; the target speed of the shift mechanism motor, provided by the vehicle controller, in r / min; the actual speed of the shift mechanism motor, provided by the shift controller, in r / min; the actual position of the shift fork, provided by the shift controller, in mm; the current of the shift mechanism control motor, provided by the shift controller, in amperes (A); and the storage of gear information, self-learning control request strategy, and self-learning results, provided by the vehicle controller.
[0061] The gear self-learning control steps of this embodiment include the following:
[0062] Gear position self-learning program triggering conditions: There are two main operating conditions. One is the gear position self-learning trigger when the vehicle leaves the factory. This operation is mainly triggered by the diagnostic tool sending a command to the VCU to trigger the gear position self-learning. The other is the gear position self-learning program triggered by the VCU when the vehicle is stationary and powered off after leaving the factory, based on the number of gear shifts after each gear position self-learning, the vehicle being stationary and powered off, the EPB being engaged, and the state of no starting and driving requirements. In addition, the VCU monitors the changes in gear position and transmission ratio data during the vehicle's driving and gear shifting process to perform dynamic self-learning.
[0063] Gear Limit Position Self-Learning: When the VCU determines that the self-learning conditions are met, it learns the limit positions of each gear. After entering the self-learning program, it first detects the current gear position. If the current gear position is close to the second gear position or neutral position, it controls the GSMC motor to rotate forward and determines the current self-learning gear direction as the second gear direction. If the current gear position is close to the first gear position, it controls the GSMC motor to rotate in reverse and determines the current self-learning gear direction as the first gear direction. Then, it controls the shift motor to switch to speed mode control, sets a fixed speed to drive the shift fork to reach the limit positions at both ends. When the actual speed of the shift motor is 0, according to the current self-learning gear direction, it records the current gear position as the trial limit position of first or second gear, and then switches the GSMC motor direction. It controls the shift motor to drive the shift fork to move back and forth three times to reach the limit position, and records the trial limit position each time. Based on the recorded trial limit positions, the maximum value is taken to obtain the limit position P of first gear. 1L And the extreme position P of second gear 2L And store it in EEPROM.
[0064] Neutral self-learning position calculation: Neutral self-learning position P0 = (P 1L +P 2L ) / 2+Δf, where Δf is the error of the initial factory-calibrated neutral position.
[0065] Gear position self-learning: During the self-learning process of gear limit positions, the current change value ΔI of the shift motor and the position change value ΔS of the shift fork are monitored and recorded in real time. shift_pos Based on the relationship, taking second gear as an example, a self-learning algorithm for gear shift position is designed. When the self-learned gear direction is the second gear direction, if the current change value ΔI is greater than or equal to the first calibration value I... TBD Meanwhile, the position change of the shift fork ΔS shift_pos Less than or equal to the calibration value S TBD This indicates that the shift fork encountered resistance, causing a larger current and a smaller displacement, meaning the steel ball is currently in second gear. Therefore, this position value is recorded. By driving the shift fork back and forth for three cycles and taking the average value, the test engagement position P for second gear can be obtained. 2_test If the test shift position for second gear is P 2_test Satisfy (P) 2L -L TBD -P 2_test )≤Δf TBD Determine the second gear self-learning position P2 = P 2_test Otherwise, determine the second gear self-learning position P2 = P 2L -L TBD , where L TBD This is the fixed mechanical dimension distance between the second gear engagement position and the extreme position; similarly, the first gear engagement position can be obtained using the same calculation method.
[0066] Synchronization location self-learning: The workflow of this step is as follows Figure 5 As shown, it includes:
[0067] S501 and VCU request the drive motors EM1 and EM2 to be in torque control mode through the MCU, transfer the torque of drive motor EM1 to drive motor EM2 according to preset parameters and output torque to the wheel end;
[0068] S502 and VCU request the MCU to put the drive motor EM1 into speed mode and rotate it at a fixed speed of 30 rpm (revolutions per minute);
[0069] S503, VCU determines whether the speed of drive motor EM1 is adjusted to 30rpm. If yes, execute S504; otherwise, return to S502.
[0070] S504 and VCU control the shift actuator motor to switch to torque mode and output 5 Nm (Newton-meter) to drive the shift fork.
[0071] S505, VCU determines whether the position value fed back by the position sensor has stopped changing and has continued for a certain period of time. If yes, execute S506; otherwise, return to S504.
[0072] S506. Identify the location as a synchronization location and store the synchronization location in the storage value;
[0073] S507. Determine if the number of learning attempts has reached 3. If yes, execute S508; otherwise, return to S501.
[0074] S508. Take the average value of the three synchronization positions in the stored value as the synchronization position self-learning value, and store the synchronization position self-learning value.
[0075] Self-learning value update condition judgment: It is mainly divided into two working conditions. One is to monitor the gear ratio in real time during vehicle driving to verify the accuracy of the self-learning value of each gear position. When a working condition that does not meet the current gear ratio is detected, or when the gear ratio is detected to be in line with the actual gear ratio but the current gear position value and the stored gear position value are significantly different, shifting is stopped and self-learning is restarted. Shifting is allowed again after the self-learning value is updated. The other is that when the cumulative number of self-learning value updates is greater than a set value, it is considered that the gear position needs to be corrected. Then, the stored self-learning value is allowed to be corrected and updated. For example, when the cumulative number of negative self-learning gear position values of the shift fork is greater than or equal to 5, the stored gear position self-learning value is corrected and the stored value is updated.
[0076] Self-learning defect elimination: If the difference between the current self-learning value and the stored gear position value is greater than 0.8mm, the current self-learning value is considered invalid and will not be stored.
[0077] Other controls: The vehicle is not allowed to start or drive during the gear position self-learning process.
[0078] This embodiment of the solution can accurately learn the position values of each gear and the synchronization position value. Verified through implementation in actual projects, this solution is applicable to the factory self-learning test of the assembly's installation pass rate for electric drives and their transmission assemblies, and is also applicable to static gear position self-learning and dynamic synchronization position self-learning in vehicles. The entire self-learning algorithm and storage time does not exceed one minute, enabling rapid and accurate self-learning of each gear position in dual-electric mechanism configurations. This avoids repeated calibration during factory and vehicle installation debugging, and also prevents gear position deviations due to wear and tear after prolonged vehicle use. It has strong adaptability and effectively improves shifting accuracy and smoothness. Furthermore, this embodiment of the solution is also applicable to multi-gear self-learning control.
[0079] Corresponding to the embodiments of the aforementioned methods, this application also provides embodiments of a shift self-learning control device based on a two-speed transmission assembly and a terminal thereof:
[0080] like Figure 6 As shown, Figure 6This is a block diagram of a shift self-learning control device based on a two-speed transmission assembly provided in an embodiment of this application. The device includes:
[0081] Steering control module 61 is used to control the direction of the shift motor of the shift actuator according to the current gear position when the vehicle meets the self-learning conditions.
[0082] The position acquisition module 62 is used to control the shift motor to switch to speed mode and drive the shift fork to reciprocate at the extreme positions at both ends to acquire the extreme positions of each gear and the test engagement position of each gear; the test engagement position is determined based on the current change value of the shift motor and the position change of the shift fork.
[0083] The gear shift determination module 63 is used to determine the self-learning gear shift position of each gear based on the extreme positions of each gear, the test gear shift position, and the mechanical dimension distance.
[0084] The specific implementation process of the functions and roles of each module in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.
[0085] This application also provides an electronic device, please refer to [link to application]. Figure 7 , Figure 7 This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device may include a processor 710, a communication interface 720, a memory 730, and at least one communication bus 740. The communication bus 740 is used to enable direct communication between these components. In this embodiment, the communication interface 720 of the electronic device is used for signaling or data communication with other node devices. The processor 710 may be an integrated circuit chip with signal processing capabilities.
[0086] The processor 710 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or the processor 710 can be any conventional processor.
[0087] The memory 730 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 730 stores computer-readable instructions, and when these computer-readable instructions are executed by the processor 710, the electronic device can perform the aforementioned operations. Figure 1 The various steps involved in the method implementation examples.
[0088] Alternatively, the electronic device may also include a storage controller and an input / output unit.
[0089] The memory 730, storage controller, processor 710, peripheral interface, and input / output unit are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses 740. The processor 710 is used to execute executable modules stored in the memory 730, such as software function modules or computer programs included in electronic devices.
[0090] The input / output unit is used to provide users with the ability to create tasks and to set optional start periods or preset execution times for those tasks, thereby enabling user-server interaction. The input / output unit may be, but is not limited to, a mouse and keyboard.
[0091] Understandable. Figure 7 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 7 The more or fewer components shown, or having the same Figure 7 The different configurations shown. Figure 7 The components shown can be implemented using hardware, software, or a combination thereof.
[0092] This application also provides a storage medium storing instructions. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described again here.
[0093] This application also provides a computer program product that, when run on a computer, causes the computer to perform the method described in the method embodiment.
[0094] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.
[0095] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0096] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0097] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0098] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
[0099] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
Claims
1. A shift self-learning control method based on a two-speed transmission assembly, characterized in that, include: When the vehicle meets the self-learning conditions, the direction of the shift motor of the shift actuator is controlled according to the current gear position; By controlling the shift motor to switch to speed mode and driving the shift fork to reciprocate at its extreme positions at both ends, the extreme positions of each gear and the test engagement position of each gear are obtained; the test engagement position is determined based on the change in current of the shift motor and the change in position of the shift fork. Based on the extreme positions of each gear, the test gear engagement position, and the mechanical dimension distance, determine the self-learning gear engagement position for each gear; The test gear shift position was obtained based on the following method: When the change in current of the shift motor is greater than or equal to the first calibration value, and the change in position of the shift fork is less than or equal to the second calibration value, if the shift motor rotates forward, the current gear position is recorded as the trial engagement position of second gear; if the shift motor rotates in reverse, the current gear position is recorded as the trial engagement position of first gear. When the number of times the shift motor drives the shift fork to reciprocate at the extreme positions at both ends reaches the target number, the average value of the recorded trial engagement positions of first gear is determined as the test engagement position of first gear, and the average value of the recorded trial engagement positions of second gear is determined as the test engagement position of second gear.
2. The method according to claim 1, characterized in that, The self-learning conditions include any one of the following: Received the gear self-learning command sent by the diagnostic tool when the vehicle left the factory; The vehicle enters a stationary, power-off state, and the number of gear shifts since the last gear shift self-learning exceeds the preset number.
3. The method according to claim 1, characterized in that, The step of controlling the direction of the shift motor of the shift actuator according to the current gear position includes: If the distance between the current gear position and the first gear position is greater than or equal to the preset distance, the shift motor of the shift actuator is controlled to rotate forward; If the distance between the current gear position and the first gear position is less than the preset distance, the shift motor of the shift actuator will reverse.
4. The method according to claim 3, characterized in that, The step of controlling the shift motor to switch to speed mode and driving the shift fork to reciprocate at its extreme positions at both ends to obtain the extreme positions of each gear includes: Control the shift motor to switch to speed mode so that the shift motor operates at a first speed and drives the shift fork to reach the extreme positions at both ends; When the actual speed of the shift motor is zero, if the shift motor is rotating forward, the current gear position is recorded as the test limit position of second gear, and the shift motor is controlled to switch to reverse rotation; if the shift motor is rotating in the opposite direction, the current gear position is recorded as the test limit position of first gear, and the shift motor is controlled to switch to forward rotation. When the number of times the shift motor drives the shift fork to reciprocate at the extreme positions at both ends reaches the target number, the maximum value among the recorded test extreme positions of first gear is determined as the extreme position of first gear, and the maximum value among the recorded test extreme positions of second gear is determined as the extreme position of second gear. The self-learning position of neutral is determined based on the extreme positions of first gear, second gear, and the calibration error of neutral position.
5. The method according to claim 4, characterized in that, The process of determining the self-learning shift position for each gear based on its extreme positions, test shift positions, and mechanical dimension distances includes: Determine whether the difference between the extreme position of first gear and the test engagement position of first gear and the mechanical dimension distance is greater than the preset error value. If it is, determine the self-learning engagement position of first gear as the value after subtracting the mechanical dimension distance from the extreme position of first gear; otherwise, determine the self-learning engagement position of first gear as the test engagement position of first gear. If the difference between the extreme position of second gear and the test shift position of second gear and the mechanical dimension distance is greater than the preset error value, then the self-learning shift position of second gear is determined to be the value of the extreme position of second gear minus the mechanical dimension distance; otherwise, the self-learning shift position of second gear is determined to be the test shift position of second gear.
6. The method according to claim 1, characterized in that, The method further includes: The first drive motor and the second drive motor are switched to torque control mode, and the torque of the first drive motor is transferred to the second drive motor according to preset parameters and the torque is output to the wheel end. Control the first drive motor to switch to speed mode so that the first drive motor operates at a second speed; Control the shift motor to switch to torque control mode so that the shift motor outputs the target torque to push the shift fork engagement sleeve closer to the synchronization ring; When the position value fed back by the gear position sensor no longer changes and remains unchanged for a preset time, the current synchronization position is recorded as the test synchronization position; After the target number of reciprocating movements is reached, the average value of the recorded test synchronization positions is determined as the self-learning synchronization position.
7. The method according to claim 6, characterized in that, The method further includes: The extreme positions of each gear, the self-learned gear shifting position, and the self-learned synchronization position learned in this study are recorded as the self-learning values for this study. When the difference between the current self-learning value and the stored location self-learning value is less than or equal to the target difference, the stored location self-learning value is updated based on the current self-learning value.
8. A shift self-learning control device based on a two-speed transmission assembly, characterized in that, include: The steering control module is used to control the direction of the shift motor of the shift actuator according to the current gear position when the vehicle meets the self-learning conditions. The position acquisition module is used to control the shift motor to switch to speed mode and drive the shift fork to reciprocate at the extreme positions at both ends to acquire the extreme positions of each gear and the test engagement position of each gear; the test engagement position is determined based on the current change value of the shift motor and the position change of the shift fork. The gear shift determination module is used to determine the self-learning gear shift position of each gear based on the extreme positions of each gear, the test gear shift position, and the mechanical dimension distance. The position acquisition module is specifically used for: when the current change value of the shift motor is greater than or equal to the first calibration value, and the position change of the shift fork is less than or equal to the second calibration value, if the shift motor rotates forward, the current gear position is recorded as the trial engagement position of second gear; if the shift motor rotates in reverse, the current gear position is recorded as the trial engagement position of first gear; when the number of times the shift motor drives the shift fork to reciprocate at the extreme positions at both ends reaches the target number, the average value of the recorded trial engagement positions of first gear is determined as the test engagement position of first gear, and the average value of the recorded trial engagement positions of second gear is determined as the test engagement position of second gear.
9. An electronic device, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method as described in any one of claims 1 to 7.