A clutch position control method and device, a terminal device and a storage medium

Abstract

The application discloses a clutch position control method and device, terminal equipment and storage medium. The clutch position control method comprises the following steps: acquiring a clutch torque-position curve, wherein the clutch torque-position curve comprises a relationship between clutch transmission torque and clutch position; determining a target transmission torque corresponding to a current driving state of a vehicle; and determining a target position of the clutch corresponding to the target transmission torque according to the clutch torque-position curve. By using the above method, the clutch transmission torque can be converted into the clutch position based on the torque transmission characteristics of the clutch, so that the clutch is controlled, the clutch position control precision is improved, the control error is reduced, and the driving stability is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of transmission control technology, and in particular to a clutch position control method, device, terminal equipment and storage medium. Background Technology

[0002] Automatic transmission (AMT) for commercial vehicles is an electronically controlled mechanical automatic transmission used in commercial vehicles. AMT can determine the optimal gear based on parameters such as vehicle speed, throttle, and driver commands. AMT retains the basic structure of the original mechanical transmission and has advantages such as high transmission efficiency, compact structure, low cost, easy manufacturing, reliable operation, and convenient operation. In particular, its fuel-saving feature makes it suitable for use in large and medium-sized buses and heavy-duty trucks in my country.

[0003] As the market share of AMT (Automated Manual Transmission) vehicles increases, users are demanding higher levels of comfort and smoothness from trucks. As a crucial actuator in AMT control, precise and rapid clutch position control is essential for improving vehicle performance. Summary of the Invention

[0004] This invention provides a clutch position control method, device, terminal equipment, and storage medium to improve the accuracy of clutch position control in a vehicle and enhance driver comfort.

[0005] In a first aspect, embodiments of the present invention provide a clutch position control method, comprising:

[0006] Obtain the clutch torque versus position curve, which includes the relationship between the clutch transmitted torque and the clutch position;

[0007] Determine the target transmitted torque corresponding to the vehicle's current driving state;

[0008] The target position of the clutch corresponding to the target transmitted torque is determined based on the clutch torque-position curve.

[0009] Optionally, before obtaining the clutch torque versus position curve, the following may be included:

[0010] During the vehicle's factory testing phase, the clutch undergoes bench testing, in which the input motor, clutch, gearbox, and output motor are connected in a transmission configuration.

[0011] Bench testing includes the following steps:

[0012] Provide input torque to the input motor;

[0013] Control the periodic opening and closing of the clutch;

[0014] Determine the critical position for torque transmission during the periodic closing and opening of the clutch. The critical position for torque transmission is the position of the clutch when it transmits all the input torque to the output motor.

[0015] The input torque is used as the torque transmitted by the clutch at the critical position of torque transmission;

[0016] Obtain the critical position of clutch torque transmission corresponding to different input torques, and form a clutch torque vs. position curve.

[0017] Optionally, determining the critical position for torque transmission during the periodic closing and opening of the clutch includes:

[0018] The real-time speed of the input motor is obtained during the periodic closing and opening of the clutch;

[0019] The critical position for torque transmission is determined based on the relationship between the real-time speed and the load speed. The load speed is the speed of the input motor when the clutch is fully engaged.

[0020] Optionally, the critical position for torque transmission can be determined based on the relationship between real-time rotational speed and load rotational speed, including:

[0021] During the process of the clutch changing from the closed state to the open state, the first critical position of the clutch is recorded when the difference between the real-time speed and the load speed is equal to the first preset speed difference.

[0022] During the process of the clutch changing from the open state to the closed state, the second critical position of the clutch is recorded when the difference between the real-time speed and the load speed is equal to the second preset speed difference.

[0023] The average value of the first critical position and the second critical position is used as the critical position for torque transmission.

[0024] Optionally, after determining the target transmitted torque corresponding to the vehicle's current driving state, the method further includes:

[0025] Obtain the clutch temperature parameters;

[0026] The temperature correction coefficient is determined based on the temperature parameters, and the corresponding torque deviation compensation coefficient is determined based on the current driving conditions.

[0027] The target transmitted torque is corrected by combining the temperature correction coefficient and the torque deviation compensation coefficient to obtain the corrected target transmitted torque;

[0028] Determine the target position of the clutch corresponding to the target transmitted torque based on the clutch torque-position curve, including:

[0029] The target position of the clutch corresponding to the corrected target transmission torque is determined based on the clutch torque-position curve.

[0030] Optionally, the target position of the clutch corresponding to the target transmitted torque is determined based on the clutch torque-position curve, including:

[0031] Determine the preset target position corresponding to the target transmitted torque based on the clutch torque-position curve;

[0032] Determine the actual zero torque position of the clutch;

[0033] Obtain the initial zero torque position corresponding to the initial zero torque point in the clutch torque-position curve;

[0034] The target position is obtained by correcting the preset target position based on the relative relationship between the actual zero torque position and the initial zero torque position.

[0035] Optionally, after determining the target position of the clutch corresponding to the target transmitted torque based on the clutch torque-position curve, the method further includes:

[0036] Control the clutch according to the target position.

[0037] Secondly, embodiments of the present invention also provide a clutch position control device for executing the clutch position control method provided in embodiments of the present invention. The clutch position control device includes:

[0038] The clutch torque and position curve acquisition module is used to acquire the clutch torque and position curve, which includes the relationship between the clutch transmitted torque and the clutch position.

[0039] The target transmission torque determination module is used to determine the target transmission torque corresponding to the current driving state of the vehicle.

[0040] The target position determination module is used to determine the target position of the clutch corresponding to the target transmitted torque based on the clutch torque and position curve.

[0041] Thirdly, embodiments of the present invention also provide a terminal device, including:

[0042] One or more processors;

[0043] Storage device for storing one or more programs;

[0044] One or more programs are executed by one or more processors, causing one or more processors to implement the clutch position control method provided in the embodiments of the present invention.

[0045] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the clutch position control method provided in embodiments of the present invention.

[0046] The clutch position control method provided in this invention first obtains a clutch torque-position curve, which includes the relationship between the clutch transmitted torque and the clutch position; secondly, it determines the target transmitted torque corresponding to the current driving state of the vehicle; and then, based on the clutch torque-position curve, it determines the target position of the clutch corresponding to the target transmitted torque. Using this method, the torque to be transmitted by the clutch can be converted into the clutch position based on the clutch's torque transmission characteristics, thereby controlling the clutch, improving clutch position control accuracy, reducing control errors, and enhancing driving stability. Attached Figure Description

[0047] Figure 1 This is a schematic flowchart of a clutch position control method provided in Embodiment 1 of the present invention;

[0048] Figure 2 This is a clutch torque versus position curve provided in Embodiment 1 of the present invention;

[0049] Figure 3 This is a schematic diagram of a bench test process provided in Embodiment 1 of the present invention;

[0050] Figure 4 This is a flowchart illustrating a clutch position control method according to Embodiment 2 of the present invention;

[0051] Figure 5 This is a schematic flowchart of a clutch position control method provided in Embodiment 3 of the present invention;

[0052] Figure 6 This is a schematic flowchart of a clutch position control method provided in Embodiment 4 of the present invention;

[0053] Figure 7 This is a schematic diagram of a clutch position control device provided in Embodiment 5 of the present invention. Detailed Implementation

[0054] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0055] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of these operations can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the operations can be rearranged. The process can be terminated when its operation is completed, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc. Moreover, embodiments and features in the embodiments of the present invention can be combined with each other without conflict.

[0056] The term "comprising" and its variations as used in this invention are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment".

[0057] It should be noted that the concepts of "first" and "second" mentioned in this invention are only used to distinguish the corresponding contents and are not used to limit the order or interdependence.

[0058] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0059] For AMT (Automated Manual Transmission) vehicles, during vehicle start-up and gear shifting, the AMT controls the clutch to close (engage) or open (disengage) via a clutch solenoid valve actuator system. This system typically consists of four solenoid valves: one set of fast and slow solenoid valves handles air intake (clutch engagement), and another set handles air exhaust (clutch disengagement). In related technologies, the target clutch position is generally determined based on driving intention and vehicle status, and then the clutch is adjusted to the target position by regulating the solenoid valves. In simple terms, this involves closed-loop control of the clutch solenoid valve actuator system based on the deviation between the target and current clutch positions. However, the inventors discovered that due to clutch wear and tear during use, this control method has low precision, and the clutch position control may deviate significantly with increasing vehicle usage.

[0060] Based on this, embodiments of the present invention provide a clutch position control method, the method comprising: acquiring a clutch torque-position curve, the clutch torque-position curve including the relationship between clutch transmitted torque and clutch position; determining a target transmitted torque corresponding to the current driving state of the vehicle; and determining a target position of the clutch corresponding to the target transmitted torque based on the clutch torque-position curve.

[0061] In this solution, based on the torque transmission characteristics of the clutch, the torque that the clutch needs to transmit is converted into the clutch position, thereby controlling the clutch. This can solve the problems in related technologies and improve the clutch position control accuracy.

[0062] The above is the core idea of ​​this invention. The technical solutions in the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0063] Example 1

[0064] Figure 1 This is a schematic flowchart illustrating a clutch position control method according to Embodiment 1 of the present invention. This control method is applicable to controlling the clutch of a vehicle. The method can be executed by a clutch position control device, which can be integrated into the vehicle controller.

[0065] like Figure 1 As shown, the clutch position control method provided in Embodiment 1 of the present invention includes the following steps:

[0066] S110, Obtain the clutch torque and position curve.

[0067] The clutch torque-position curve includes the relationship between the clutch transmitted torque and the clutch position. As those skilled in the art will know, the clutch, as a transmission structure between the engine and the gearbox, transmits engine torque to the gearbox when the clutch is engaged, and cannot transmit torque when the clutch is fully disengaged. The clutch transmitted torque is the torque delivered by the clutch, and the clutch position can be understood as the axial position (or displacement) of the clutch when it transmits a certain torque. Different clutch positions (or displacements) result in different torques that the clutch can transmit.

[0068] In this embodiment, the relationship between the torque transmitted by the clutch and the position of the clutch can be obtained through experiments during vehicle factory testing, thus obtaining the clutch torque-position curve. Figure 2 A clutch torque-position curve is provided in Embodiment 1 of the present invention, such as Figure 2 As shown, there is a one-to-one correspondence between the torque transmitted by the clutch and the clutch position. When the torque transmitted by the clutch is different, the position of the clutch is also different.

[0069] The present invention does not limit how to obtain the clutch torque and position curve, and any test method that can obtain the clutch torque and position curve is within the scope of the technical solution protected by the present invention.

[0070] After obtaining the clutch torque and position curve, the clutch torque and position curve can be stored in the clutch position control device. When the vehicle is actually driving, the clutch torque and position curve can be directly called.

[0071] S120. Determine the target transmission torque corresponding to the vehicle's current driving state.

[0072] Furthermore, the torque that the clutch needs to transmit varies depending on the vehicle's driving state, such as starting, creeping, and shifting gears. In this embodiment, the torque that the clutch needs to transmit under different driving states can be calculated experimentally first, establishing a correspondence between driving states and transmitted torque. When the vehicle is actually driving, the current driving state can be obtained, and then the target transmitted torque that the clutch needs to transmit under the current driving state can be determined.

[0073] The vehicle's driving state is not limited to starting, creeping, and shifting as described above, and this invention does not limit these states. Furthermore, it should be noted that as the vehicle's usage time increases, the correspondence between the experimentally obtained driving state and transmitted torque may deviate from the actual correspondence between the driving state and transmitted torque. In this embodiment, the clutch position control device can use a self-learning method to complete the self-learning of transmitted torque, updating the correspondence between driving state and transmitted torque. Subsequently, the target transmitted torque is determined based on the updated correspondence between driving state and transmitted torque. The specific implementation method of torque self-learning is not limited and can be implemented using any known technology in the art; this embodiment of the invention does not elaborate on or limit this method.

[0074] S130. Determine the target position of the clutch corresponding to the target transmitted torque based on the clutch torque and position curve.

[0075] Furthermore, the clutch target position that matches the target transmitted torque can be determined based on the clutch torque and position curve. The clutch target position is the displacement that the clutch needs to move under the current driving state of the vehicle.

[0076] Furthermore, once the target position of the clutch is determined, the clutch can be controlled according to that position. Specifically, the target position can be converted into control commands for each solenoid valve in the clutch solenoid valve actuator system. Then, the solenoid valves are directly controlled to perform corresponding actions according to the control commands, causing the clutch to move to the target position and ensuring that the clutch transmits the target torque.

[0077] The first embodiment of this invention provides a clutch position control method. First, a clutch torque-position curve is obtained, which includes the relationship between the clutch transmitted torque and the clutch position. Second, a target transmitted torque corresponding to the current driving state of the vehicle is determined. Then, based on the clutch torque-position curve, the target position of the clutch corresponding to the target transmitted torque is determined. Using this method, the torque to be transmitted by the clutch can be converted into the clutch position based on the clutch's torque transmission characteristics, thereby controlling the clutch. This improves clutch position control accuracy, reduces control errors, and enhances driving stability.

[0078] Optionally, based on the above embodiment one, the present invention also proposes several refined embodiments.

[0079] In one embodiment, prior to the above (S110), the following can be performed: during the vehicle's factory testing phase, a bench test is conducted on the clutch, in which the input motor, clutch, gearbox, and output motor are connected in a drive connection. Figure 3 This is a schematic diagram of a bench test provided in Embodiment 1 of the present invention, which can be referred to. Figure 3 The bench test includes the following steps: S101, providing input torque to the input motor; S102, controlling the clutch to periodically close and open; S103, determining the torque transmission critical position of the clutch during the periodic closing and opening process, the torque transmission critical position being the position of the clutch when all the input torque is transmitted to the output motor; S104, using the input torque as the torque transmitted by the clutch at the torque transmission critical position; S105, obtaining the torque transmission critical position of the clutch corresponding to different input torques, forming a clutch torque versus position curve.

[0080] In the bench test, the input motor, clutch, gearbox and output motor are connected in sequence. The test environment temperature is controlled at about 25℃. The gearbox can be engaged to a gear ratio of 1 first. In this way, when the clutch transmits all the torque of the input motor to the gearbox, the torque detected on the output motor side is the same as the torque input by the input motor.

[0081] Subsequently, the controllable input motor provides an input torque, and then controls the clutch to periodically close and open at a preset rate. That is, the position of the clutch is periodically adjusted, and the clutch is controlled to periodically change from a fully closed state to a fully open state.

[0082] Furthermore, during the clutch position adjustment process, the position of the clutch can be detected when it is just able to transmit all the torque from the output motor side to the output motor side, which is the torque transmission critical position in S103 above. At the torque transmission critical position, the torque that the clutch can transmit is the torque input by the input motor (input torque).

[0083] Specifically, a torque sensor can be installed on the output motor side to detect the torque on that side. The clutch's internal position sensor provides feedback on the clutch position. When the output motor's torque equals the input torque, it indicates that the clutch has reached the critical position for torque transmission.

[0084] Furthermore, the input torque can be set at a certain torque interval between 0 torque and the rated torque of the clutch, and the above S101 to S104 are repeated. Then, the data is sorted out to obtain the critical position of torque transmission of the clutch under different input torques, that is, the clutch torque and position curve.

[0085] For example, assuming the rated torque of the clutch is 2000 Nm, the input torque can be set in 100 N intervals between 0 and 2000 Nm. By sequentially setting 0 Nm, 100 Nm, 200 Nm, 300 Nm, ..., 2000 Nm, the critical torque transmission position corresponding to each input torque can be determined, resulting in the clutch torque versus position curve.

[0086] In this embodiment, the position information of the clutch when transmitting different torques can be accurately obtained based on bench tests, thereby generating a clutch torque and position curve with high accuracy.

[0087] Optionally, in some alternative embodiments, the above (S103) can be further refined as follows: obtaining the real-time speed of the input motor during the periodic closing and opening of the clutch; determining the torque transmission critical position based on the relationship between the real-time speed and the load speed, wherein the load speed is the speed of the input motor when the clutch is fully closed.

[0088] Specifically, since the clutch, transmission, and output motor act as a load, the input motor's speed will differ depending on the engagement between the load and the input motor. For example, when the clutch is fully engaged, the input motor drives the entire load with its input torque; at this time, the input motor's speed is the load speed. As the clutch disengages, the torque transmitted by the clutch gradually decreases, and the load on the input motor gradually decreases; therefore, the input motor's speed will increase compared to the load speed. The inventors have discovered that the relationship between the input motor's speed and the load speed also differs when the torque transmitted by the clutch varies.

[0089] Based on this, this embodiment proposes that the input motor speed can be monitored in real time during the clutch position adjustment process, and then the torque transmission status of the clutch can be determined according to the relationship between the motor speed and the load speed. When the motor speed and the load speed meet a preset relationship, it is determined that the clutch can just transmit the full torque, and the clutch position at this time is taken as the critical position for clutch torque transmission.

[0090] Optionally, in some embodiments, the above-mentioned "determining the critical position for torque transmission based on the relationship between real-time speed and load speed" can be further refined as follows: during the process of the clutch changing from a closed state to an open state, the first critical position of the clutch is recorded when the difference between the real-time speed and the load speed is equal to a first preset speed difference; during the process of the clutch changing from an open state to a closed state, the second critical position of the clutch is recorded when the difference between the real-time speed and the load speed is equal to a second preset speed difference; and the average value of the first critical position and the second critical position is used as the critical position for torque transmission.

[0091] The inventors discovered that when the clutch can transmit its full torque, a certain relationship exists between the input motor speed and the load speed. Specifically, when the clutch reaches the critical torque transmission position, the difference between the input motor speed and the load speed reaches a critical speed difference value. Furthermore, the critical speed difference value differs during the clutch's transition from closed to open and from open to closed states. It can be defined that during the clutch's transition from a fully closed to a fully open state, the critical speed difference value of the input motor is a first preset speed difference value; and during the clutch's transition from a fully open to a fully closed state, the critical speed difference value of the input motor is a second preset speed difference value.

[0092] During the process of adjusting the clutch from a fully engaged state to a fully engaged state, if the real-time speed of the input motor is exactly greater than the load speed by a first preset speed difference, it can be determined that the clutch has reached the torque transmission critical position (i.e., the first critical position) during this adjustment process. During the process of adjusting the clutch from a fully engaged state to a fully engaged state, if the real-time speed of the input motor is exactly greater than the load speed by a second preset speed difference, it can be determined that the clutch has reached the torque transmission critical position (i.e., the second critical position) during this adjustment process.

[0093] Furthermore, the average of the first and second critical positions can be taken as the critical position for torque transmission of the clutch under that input torque. This setting improves the accuracy of clutch torque critical position determination, ensuring that the clutch torque-position curve matches the actual situation.

[0094] When the parameters of components such as the input motor, clutch, and gearbox are different, the specific values ​​of the first preset speed difference and the second preset speed difference may be different. This invention does not limit the specific values ​​of the two parameters. Generally, the first preset speed difference is greater than the second preset speed difference. For example, in a specific embodiment of this invention, the first preset speed difference may be 10 rpm and the second preset speed difference may be 5 rpm, but it is not limited to these.

[0095] Example 2

[0096] Figure 4This is a flowchart illustrating a clutch position control method according to Embodiment 2 of the present invention. Embodiment 2 is an optimization based on the above embodiments. In this embodiment, after step (S120) above, the following steps may be performed: S221, obtaining the clutch temperature parameters; S222, determining a temperature correction coefficient based on the temperature parameters, and determining a corresponding torque deviation compensation coefficient based on the current driving state; S223, correcting the target transmitted torque by combining the temperature correction coefficient and the torque deviation compensation coefficient to obtain the corrected target transmitted torque. Step (S130) above can be further specified as: S230, determining the target position of the clutch corresponding to the corrected target transmitted torque based on the clutch torque and position curve.

[0097] like Figure 4 As shown, a clutch position control method provided in Embodiment 2 of the present invention includes the following steps:

[0098] S210, Obtain the clutch torque and position curve.

[0099] The clutch torque-position curve includes the relationship between the clutch transmitted torque and the clutch position.

[0100] S220. Determine the target transmission torque corresponding to the vehicle's current driving state.

[0101] The specific implementation of the above steps can be found in Embodiment 1 above, and will not be repeated here.

[0102] S221. Obtain the temperature parameters of the clutch.

[0103] During vehicle operation, the clutch temperature can be monitored using a temperature sensor.

[0104] S222. Determine the temperature correction coefficient based on the temperature parameters, and determine the corresponding torque deviation compensation coefficient based on the current driving conditions.

[0105] During actual vehicle operation, certain factors may cause a difference between the actual torque required by the clutch and the target torque under current driving conditions. For example, the clutch expands due to heat at higher temperatures, leading to a discrepancy between the target and actual torque. Additionally, torque deviations exist under different driving conditions, which can also cause a difference between the target and actual torque. By considering thermal expansion and torque deviation factors, the target torque can be corrected.

[0106] Specifically, the coefficient of thermal expansion of the clutch varies at different temperatures, thus affecting the torque transmitted by the clutch to varying degrees. In this embodiment, before the vehicle leaves the factory, the operator can obtain the temperature correction coefficients corresponding to different coefficients of thermal expansion of the clutch through experiments or simulation calculations, generate the correspondence between the coefficient of thermal expansion and the temperature correction coefficient, and store this correspondence in the clutch position control device. During vehicle operation, the coefficient of thermal expansion at the current actual temperature of the clutch can be determined, and then the required temperature correction coefficient can be obtained by looking up a table.

[0107] Accordingly, the correspondence between vehicle driving status and torque deviation compensation coefficient can be stored in the clutch position control device beforehand. During vehicle operation, the required torque deviation compensation coefficient is obtained by looking up a table based on the vehicle's current actual driving status.

[0108] S223. The target transmitted torque is corrected by combining the temperature correction coefficient and the torque deviation compensation coefficient to obtain the corrected target transmitted torque.

[0109] Furthermore, the target transmitted torque can be corrected according to the following formula: Corrected target transmitted torque = Target transmitted torque * Temperature correction coefficient + Torque deviation coefficient. Of course, the formula for correcting the target transmitted torque is not limited to this, and this invention does not impose any limitations on it.

[0110] S230. Determine the target position of the clutch corresponding to the corrected target transmission torque based on the clutch torque and position curve.

[0111] Furthermore, the target position of the clutch that matches the corrected target transmission torque can be determined based on the clutch torque and position curve, and the clutch movement can then be controlled according to the target clutch position.

[0112] In this embodiment, the target transmission torque of the clutch is corrected by combining the temperature correction coefficient and the torque deviation compensation coefficient. This ensures that the target transmission torque of the clutch matches the transmission torque required to complete the current driving needs, further improving the accuracy of clutch position control.

[0113] Example 3

[0114] Figure 5This is a flowchart illustrating a clutch position control method according to Embodiment 3 of the present invention. Embodiment 3 is an optimization based on the above embodiments. In this embodiment, step (S130) can be specifically defined as follows: S331, determining the preset target position corresponding to the target transmitted torque based on the clutch torque and position curve; S332, determining the actual zero torque position of the clutch; S333, obtaining the initial zero torque position corresponding to the initial zero torque point in the clutch torque and position curve; S334, correcting the preset target position based on the relative relationship between the actual zero torque position and the initial zero torque position to obtain the target position.

[0115] refer to Figure 5 The clutch position control method provided in Embodiment 3 of the present invention includes the following steps:

[0116] S310, Obtain the clutch torque and position curve.

[0117] The clutch torque-position curve includes the relationship between the clutch transmitted torque and the clutch position.

[0118] S320, Determine the target transmission torque corresponding to the vehicle's current driving state.

[0119] The specific implementation of the above steps can be found in Embodiment 1 above, and will not be repeated here.

[0120] S331. Determine the preset target position corresponding to the target transmitted torque based on the clutch torque and position curve.

[0121] The preset target position here refers to the clutch position that matches the target transmitted torque, obtained directly from the clutch torque and position curve.

[0122] S332. Determine the actual zero torque position of the clutch.

[0123] S333, Obtain the initial zero torque position corresponding to the initial zero torque point in the clutch torque-position curve.

[0124] S334. Correct the preset target position according to the relative relationship between the actual zero torque position and the initial zero torque position to obtain the target position.

[0125] With prolonged use, factors such as high temperature, wear, and durability can easily lead to a decrease in the clutch's torque transmission capacity. When the clutch's torque transmission capacity decreases, if the clutch position is still adjusted based on the originally calibrated clutch torque and position curve, the torque transmitted by the clutch may not reach the actual required torque. Based on this, this embodiment further proposes to take into account the wear problem of the clutch during its life cycle, and to compensate for the preset target position obtained based on the clutch torque and position curve according to the actual use condition of the clutch, so as to obtain a target position that meets the actual use condition of the clutch.

[0126] Specifically, the clutch position control device can use a self-learning method to learn the actual zero torque position of the clutch. The actual zero torque position can be understood as the critical point where the clutch can transmit torque and cannot transmit torque; at the actual zero torque position, the clutch transmits zero torque. The self-learning method for the actual zero torque position is not limited and can be set by those skilled in the art according to actual needs.

[0127] Furthermore, the preset target position can be corrected based on the difference between the actual zero torque position and the initial zero torque position in the clutch torque and position curve. For example, the preset target position can be adjusted according to a certain difference ratio between the actual zero torque position and the initial zero torque position to obtain the final target position.

[0128] For example, assuming the difference between the actual zero torque position and the initial zero torque position is a first torque difference, the first torque difference can be multiplied by a proportional adjustment coefficient to compensate for the initial zero torque position. The proportional adjustment coefficient can be set according to the actual situation. Of course, the actual method of correcting the preset target position may differ from this example. In practical applications, those skilled in the art can determine how to correct the preset target position according to the actual situation.

[0129] Example 4

[0130] Figure 6 This is a flowchart illustrating a clutch position control method according to Embodiment 4 of the present invention. Embodiment 4 is an optimization based on the above embodiments. (See also...) Figure 6 The control method includes the following steps:

[0131] S410, Obtain the clutch torque and position curve.

[0132] The clutch torque-position curve includes the relationship between the clutch transmitted torque and the clutch position.

[0133] S420, Determine the target transmission torque corresponding to the vehicle's current driving state.

[0134] S421. Obtain the temperature parameters of the clutch.

[0135] S422. Determine the temperature correction coefficient based on the temperature parameters, and determine the corresponding torque deviation compensation coefficient based on the current driving conditions.

[0136] S423. The target transmitted torque is corrected by combining the temperature correction coefficient and the torque deviation compensation coefficient to obtain the corrected target transmitted torque.

[0137] S431. Determine the preset target position corresponding to the corrected target transmission torque based on the clutch torque and position curve.

[0138] S432. Determine the actual zero torque position of the clutch.

[0139] S433. Obtain the initial zero torque position corresponding to the initial zero torque point in the clutch torque-position curve.

[0140] S434. Correct the preset target position according to the relative relationship between the actual zero torque position and the initial zero torque position to obtain the target position.

[0141] In this embodiment, the methods in Embodiment 2 and Embodiment 3 can be combined, and the target transmitted torque and target position can be corrected to further improve the clutch position control accuracy.

[0142] Example 5

[0143] Figure 7 This is a schematic diagram of a clutch position control device according to Embodiment 5 of the present invention. This device can be used to control the clutch of a vehicle. This clutch position control device can execute the clutch position control method provided in any embodiment of the present invention, and possesses the corresponding functional modules and beneficial effects for executing the clutch position control method. For example... Figure 7 As shown, the clutch position control device includes:

[0144] The clutch torque and position curve acquisition module 100 is used to acquire the clutch torque and position curve, which includes the relationship between the clutch transmitted torque and the clutch position.

[0145] The target transmission torque determination module 200 is used to determine the target transmission torque corresponding to the current driving state of the vehicle;

[0146] The target position determination module 300 is used to determine the target position of the clutch corresponding to the target transmitted torque based on the clutch torque and position curve.

[0147] By adopting the above scheme, the torque that the clutch needs to transmit can be converted into the clutch position based on the torque transmission characteristics of the clutch, thereby controlling the clutch, improving the clutch position control accuracy, reducing control error, and improving driving stability.

[0148] Optionally, in possible embodiments, the clutch position control device may further include a clutch torque and position curve determination module, which can perform clutch bench testing functions during the vehicle's factory testing phase. The clutch torque and position curve determination module can be used to perform the following processes: providing input torque to the input motor; controlling the clutch to periodically close and open; determining the torque transmission critical position of the clutch during the periodic closing and opening process, the torque transmission critical position being the clutch position when the clutch transmits all the input torque to the output motor; using the input torque as the torque transmitted by the clutch at the torque transmission critical position; obtaining the clutch torque transmission critical position corresponding to different input torques, forming a clutch torque and position curve. The clutch torque and position curve can be stored in the clutch torque and position curve determination module and retrieved by the clutch torque and position curve acquisition module.

[0149] Optionally, in a possible embodiment, the clutch torque and position curve determination module can be used to: obtain the real-time speed of the input motor during the periodic closing and opening of the clutch; determine the torque transmission critical position based on the relationship between the real-time speed and the load speed, wherein the load speed is the speed of the input motor when the clutch is fully closed.

[0150] Optionally, in possible embodiments, the clutch torque and position curve determination module may also be used to: record the first critical position of the clutch when the difference between the real-time speed and the load speed is equal to a first preset speed difference during the process of the clutch changing from a closed state to an open state; record the second critical position of the clutch when the difference between the real-time speed and the load speed is equal to a second preset speed difference during the process of the clutch changing from an open state to a closed state; and use the average value of the first critical position and the second critical position as the torque transmission critical position.

[0151] Optionally, in possible embodiments, the clutch position control device may further include a clutch temperature acquisition module, a compensation coefficient determination module, and a transmission torque correction module. The clutch temperature acquisition module acquires the clutch temperature parameters; the compensation coefficient determination module determines a temperature correction coefficient based on the temperature parameters and a corresponding torque deviation compensation coefficient based on the current driving state; the transmission torque correction module combines the temperature correction coefficient and the torque deviation compensation coefficient to correct the target transmission torque, obtaining the corrected target transmission torque. The target position determination module can also be used to determine the target position of the clutch corresponding to the corrected target transmission torque based on the clutch torque versus position curve.

[0152] Optionally, in possible embodiments, the clutch position control device may further include a preset target position acquisition module, an actual zero torque position determination module, an initial zero torque position acquisition module, and a position correction module. The preset target position acquisition module is used to determine the preset target position corresponding to the target transmitted torque based on the clutch torque-position curve; the actual zero torque position determination module is used to determine the actual zero torque position of the clutch; the initial zero torque position acquisition module is used to acquire the initial zero torque position corresponding to the initial zero torque point in the clutch torque-position curve; and the position correction module is used to correct the preset target position based on the relative relationship between the actual zero torque position and the initial zero torque position to obtain the target position.

[0153] Optionally, in a possible embodiment, the clutch position control device further includes a solenoid valve control module for controlling the clutch according to a target position.

[0154] Example 6

[0155] Embodiment 6 of the present invention also provides a terminal device, which includes: one or more processors and a storage device; the processors in the terminal device may be one or more, and the storage device is used to store one or more programs; the one or more programs are executed by one or more processors, so that the one or more processors implement the clutch position control method as provided in any embodiment of the present invention.

[0156] The storage device in this terminal device serves as a computer-readable storage medium, capable of storing one or more programs. These programs can be software programs, computer-executable programs, or modules, such as the program instructions / modules corresponding to the clutch position control methods provided in Embodiments 1 to 4 of this invention. The processor executes various functional applications and data processing of the terminal device by running the software programs, instructions, and modules stored in the storage device, thereby implementing the clutch position control method in the above method embodiments.

[0157] The storage device may include a stored program area and a stored data area, wherein the stored program area may store the operating system and applications required for at least one function; the stored data area may store data created based on the use of the terminal device, etc. Furthermore, the storage device may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the storage device may further include memory remotely located relative to the processor, which can be connected to the device via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0158] Example 7

[0159] Embodiment 7 of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is used to perform the clutch position control method provided in any embodiment of the present invention.

[0160] The computer storage medium of this invention can be any combination of one or more computer-readable media. A computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination thereof. A computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0161] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0162] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0163] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0164] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A clutch position control method, characterized in that, include: Obtain the clutch torque-position curve, which includes the relationship between the clutch transmitted torque and the clutch position; Determine the target transmitted torque corresponding to the vehicle's current driving state; The target position of the clutch corresponding to the target transmitted torque is determined based on the clutch torque-position curve. Before obtaining the clutch torque versus position curve, the following steps are included: During the factory testing phase of the vehicle, the clutch is subjected to bench testing, in which the input motor, the clutch, the gearbox, and the output motor are connected in a transmission connection. The bench test includes the following steps: Provide input torque to the input motor; Control the clutch to periodically close and open; Determine the critical position for torque transmission of the clutch during the periodic closing and opening process. The critical position for torque transmission is the position of the clutch when it transmits all the input torque to the output motor. The input torque is used as the torque transmitted by the clutch at the critical torque transmission position; Obtain the critical position of clutch torque transmission corresponding to different input torques, and form the clutch torque vs. position curve; Determining the critical position for torque transmission during the periodic closing and opening of the clutch includes: acquiring the real-time rotational speed of the input motor during the periodic closing and opening of the clutch; determining the critical position for torque transmission based on the relationship between the real-time rotational speed and the load rotational speed, wherein the load rotational speed is the rotational speed of the input motor when the clutch is fully closed; Determining the torque transmission critical position based on the relationship between the real-time rotational speed and the load rotational speed includes: during the process of the clutch changing from a closed state to an open state, recording the first critical position of the clutch when the difference between the real-time rotational speed and the load rotational speed is equal to a first preset rotational speed difference; during the process of the clutch changing from an open state to a closed state, recording the second critical position of the clutch when the difference between the real-time rotational speed and the load rotational speed is equal to a second preset rotational speed difference; and using the average value of the first critical position and the second critical position as the torque transmission critical position.

2. The clutch position control method according to claim 1, characterized in that, After determining the target transmitted torque corresponding to the vehicle's current driving state, the following is also included: Obtain the temperature parameters of the clutch; A temperature correction coefficient is determined based on the temperature parameters, and a corresponding torque deviation compensation coefficient is determined based on the current driving state. The target transmitted torque is corrected by combining the temperature correction coefficient and the torque deviation compensation coefficient to obtain the corrected target transmitted torque; Determining the target position of the clutch corresponding to the target transmitted torque based on the clutch torque-position curve includes: The target position of the clutch corresponding to the corrected target transmitted torque is determined based on the clutch torque and position curve.

3. The clutch position control method according to claim 1, characterized in that, Determining the target position of the clutch corresponding to the target transmitted torque based on the clutch torque-position curve includes: The preset target position corresponding to the target transmitted torque is determined based on the clutch torque-position curve. Determine the actual zero torque position of the clutch; Obtain the initial zero torque position corresponding to the initial zero torque point in the clutch torque-position curve; The preset target position is corrected based on the relative relationship between the actual zero torque position and the initial zero torque position to obtain the target position.

4. The clutch position control method according to claim 1, characterized in that, After determining the target position of the clutch corresponding to the target transmitted torque based on the clutch torque-position curve, the method further includes: Control the clutch according to the target position.

5. A clutch position control device, characterized in that, For performing the clutch position control method according to any one of claims 1-4, the clutch position control device comprises: A clutch torque and position curve acquisition module is used to acquire a clutch torque and position curve, wherein the clutch torque and position curve includes the relationship between the clutch transmitted torque and the clutch position; The target transmission torque determination module is used to determine the target transmission torque corresponding to the current driving state of the vehicle. The target position determination module is used to determine the target position of the clutch corresponding to the target transmitted torque based on the clutch torque and position curve.

6. A terminal device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the clutch position control method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the clutch position control method as described in any one of claims 1-4.

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