Shift drum angle control method, device, equipment and storage medium

Abstract

The application discloses a shift drum angle control method and device, equipment and a storage medium, wherein the method comprises the following steps: in the case of receiving a shift request instruction, determining a target angle and an initial angle of a shift drum; judging whether the initial angle difference between the initial angle and the target angle is less than the lower limit value of a preset interval; in the case that the initial angle difference is less than the lower limit value, keeping the rotating speed of a shift motor unchanged and determining the current angle difference between the current angle of the shift drum and the target angle; in the case that the current angle difference is greater than the upper limit value of the preset interval, adjusting the rotating speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold. Through the above scheme, the reciprocating fluctuation of the rotating speed of the shift motor caused by the rebound of the shift drum during the shift process is effectively avoided, and the service life of the hybrid transmission is increased.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of hybrid transmission control, and particularly relates to a control method and device for a shift drum angle, an equipment and a storage medium. BACKGROUND

[0002] With the increasing attention of the international community to energy security and environmental protection, the requirements for vehicle emission pollutants of various countries are becoming increasingly stringent. Reducing dependence on energy and achieving energy saving and emission reduction have become urgent problems that need to be solved for the sustainable development of the world economy, and thus hybrid electric vehicles and pure electric vehicles have gradually become the trend of the development of the current automobile industry. The hybrid electric vehicle combines an electric motor and an engine together to realize hybrid functions such as energy saving and emission reduction, idling stop, regenerative braking energy recovery, and electric motor driving, has the advantages of reducing fuel consumption, increasing driving range, and relatively high technical maturity, and is widely favored by users.

[0003] The power system of a hybrid electric vehicle generally includes a driving motor, a generator and an engine, and the three power sources can be combined to output torque at a wheel end to drive the vehicle according to a working condition. A common shift mechanism in a hybrid transmission adopts a single gear + clutch form, and the combination of the power sources is controlled by the clutch to make the vehicle enter different working modes: when the clutch is opened, the vehicle is in a pure electric working mode or a series working mode, and the output torque at the wheel end is provided by the driving motor; when the clutch is engaged, the vehicle is in a parallel working mode, and the output torque at the wheel end is provided by the driving motor and the engine or only by the engine. The opening and closing of the clutch are controlled by a vehicle control unit (VCU) and are implemented by relying on an automatic transmission control unit (HTCU). Similarly, the opening and closing of the shift are controlled by the VCU and are implemented by relying on the HTCU. A hybrid transmission without a clutch generally adopts a shift mechanism in the form of a shift drum-pull fork-synchronizer, and a shift motor drives the shift drum to shift through planetary gear reduction.

[0004] At present, in the process of shifting of a vehicle with a hybrid transmission without a clutch, the speed of the shift motor will fluctuate reciprocally due to mechanical rebound of the shift drum in the shift mechanism, and thus the hybrid transmission is damaged. SUMMARY

[0005] Embodiments of the application provide a control method and device for a shift drum angle, an equipment and a storage medium, which can at least reduce the reciprocating fluctuation of the speed of the shift motor in the shifting process and increase the service life of the hybrid transmission.

[0006] Other features and advantages of the present application will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, or can be learned by practice of the application.

[0007] According to a first aspect of embodiments of the present application, a control method for a shift drum angle is provided, the method comprising:

[0008] determining a target angle and an initial angle of the shift drum upon receiving a shift request instruction;

[0009] determining whether an initial angle difference between the initial angle and the target angle is less than a lower limit value of a preset interval;

[0010] maintaining a rotation speed of a shift motor unchanged and determining a current angle difference between a current angle of the shift drum and the target angle in a case where the initial angle difference is less than the lower limit value.

[0011] adjusting the rotation speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold value in a case where the current angle difference is greater than an upper limit value of the preset interval.

[0012] In some embodiments of the present application, based on the foregoing scheme, the determining of the target angle of the shift drum comprises:

[0013] obtaining a target gear from the shift request instruction;

[0014] determining the target angle of the shift drum according to the target gear.

[0015] In some embodiments of the present application, based on the foregoing scheme, the determining of the current angle difference between the current angle of the shift drum and the target angle comprises:

[0016] determining a current motor angle according to a current rotation number of the shift motor and a current measured angle of the shift motor;

[0017] determining a current angle of the shift drum as a quotient of the current motor angle and the shift transmission ratio;

[0018] determining the current angle difference as a difference between the current angle and the target angle.

[0019] In some embodiments of the present application, based on the foregoing scheme, the current motor angle is calculated according to the following formula:

[0020] M2 = N * 359 + M1 - M0;

[0021] wherein M2 is the current motor angle, N is the current rotation number, M1 is the current measured angle, and M0 is an angle of the shift motor at zero point.

[0022] In some embodiments of the present application, based on the foregoing scheme, the adjusting the rotating speed of the gear shifting motor according to the current angle difference until the current angle difference is less than a preset threshold value comprises:

[0023] determining a target rotating speed of the gear shifting motor according to the current angle difference;

[0024] determining a rotating speed difference between the current rotating speed of the gear shifting motor and the target rotating speed;

[0025] performing current control of the gear shifting motor according to the rotating speed difference until the current angle difference is less than the preset threshold value.

[0026] In some embodiments of the present application, based on the foregoing scheme, the determining a target rotating speed of the gear shifting motor according to the current angle difference comprises:

[0027] determining an angular velocity of the gear shifting drum according to the current angle difference;

[0028] determining the target rotating speed of the gear shifting motor according to the angular velocity.

[0029] In some embodiments of the present application, based on the foregoing scheme, after the determining the current angle difference between the current angle and the target angle, the method further comprises:

[0030] determining a current angle difference between a current angle of the gear shifting drum and the target angle in a case where the initial angle difference is greater than or equal to the lower limit value;

[0031] adjusting the rotating speed of the gear shifting motor according to the current angle difference until the current angle difference is less than a preset threshold value.

[0032] According to a second aspect of embodiments of the present application, a control device for a gear shifting drum angle is provided, and the device comprises:

[0033] an angle determining unit configured to determine a target angle and an initial angle of the gear shifting drum in a case where a gear shifting request instruction is received;

[0034] an angle judging unit configured to judge whether an initial angle difference between the initial angle and the target angle is less than a lower limit value of a preset interval;

[0035] a rotating speed control unit configured to keep a rotating speed of a gear shifting motor unchanged and determine a current angle difference between a current angle of the gear shifting drum and the target angle in a case where the initial angle difference is less than the lower limit value;

[0036] The rotation speed control unit is further configured to, in a case where the current angle difference is greater than an upper limit value of the preset interval, adjust the rotation speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold value.

[0037] According to a third aspect of the embodiments of the present application, a control device for a shift drum angle is provided, comprising a processor and a memory, the memory storing computer program instructions capable of being executed by the processor, and the processor executes the computer program instructions to implement the instructions of the method according to any one of the first aspect.

[0038] According to a fourth aspect of the embodiments of the present application, a computer readable storage medium is provided, the computer readable storage medium storing computer program instructions, the computer program instructions being loaded and executed by a processor to implement the operations performed by the method according to any one of the first aspect.

[0039] In the present application, in a case where a shift request instruction is received, a target angle of a shift drum and an initial angle are determined; it is determined whether an initial angle difference between the initial angle and the target angle is less than a lower limit value of a preset interval; in a case where the initial angle difference is less than the lower limit value, the rotation speed of the shift motor is kept unchanged, and a current angle difference between a current angle of the shift drum and the target angle is determined; in a case where the current angle difference is greater than an upper limit value of the preset interval, the rotation speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than a preset threshold value. Through the above scheme, the reciprocating fluctuation of the rotation speed of the shift motor caused by the rebound of the shift drum during the shifting process is effectively avoided, and the service life of the hybrid transmission is increased.

[0040] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present application. BRIEF DESCRIPTION OF DRAWINGS

[0041] The drawings incorporated in the specification and constituting a part of the specification illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings. In the drawings:

[0042] Figure 1 A structural schematic diagram of a shift mechanism in an embodiment is shown;

[0043] Figure 2 A simulation schematic diagram of the position of a shift drum and the rotation speed of a shift motor in an embodiment is shown;

[0044] Figure 3 Fig. 1 shows a flow chart of a control method of the shift drum angle in one embodiment;

[0045] Figure 4 Fig. 2 shows a simulation diagram of the shift drum position and the shift motor speed in another embodiment;

[0046] Figure 5 Fig. 3 shows a flow chart of a control method of the shift drum angle in another embodiment;

[0047] Figure 6 Fig. 4 shows a block diagram of a control device of the shift drum angle in one embodiment;

[0048] Figure 7 Fig. 5 shows a structural diagram of a control device of the shift drum angle in one embodiment. DETAILED DESCRIPTION

[0049] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0050] In addition, the described features, structures or characteristics can be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to give a full understanding of the embodiments of the present application. However, those skilled in the art will realize that the technical solutions of the present application can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring the aspects of the present application.

[0051] The block diagrams shown in the drawings are only functional entities, which do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0052] The flow charts shown in the drawings are only exemplary illustrations, which do not necessarily include all the contents and operations / steps, and are not necessarily executed in the described order. For example, some operations / steps can be further decomposed, and some operations / steps can be combined or partially combined, so that the actual execution order can be changed according to the actual situation.

[0053] In order for those skilled in the art to better understand the present application, first, the technical problems to be solved by the present application will be describedFigure 1 The shift mechanism involved in the present application is briefly described.

[0054] Referring to Figure 1 , a structural schematic diagram of the shift mechanism in an embodiment is shown. The shift mechanism of the clutchless hybrid multi-gear box adopts the form of shift drum-yoke-synchronizer. The shift motor rotates and outputs torque, which is reduced in torque by the planetary gear reduction mechanism, drives the shift yoke to move laterally along the yoke shaft, and pushes the synchronizer sleeve to move left and right, thereby completing the gear engagement and disengagement. The shift drum is essentially a cam mechanism, and the rotation of the shift drum can be converted into the axial movement of the yoke and the synchronizer.

[0055] Figure 2 A simulation diagram of the shift drum position and the shift motor speed in an embodiment is shown. As shown in Figure 2 , the shift motor will stop actively when the deviation between the actual angle of the shift drum and the target angle is less than a certain fixed value. Assuming that the target angle of the shift drum is 183.123° and the calibrated fixed value is 1.064°, the shift motor will stop when the actual angle of the shift drum is less than the shift drum stop threshold 184.187° (wherein 184.187°=183.123°+1.064°). When the target angle of the shift drum is disengaged from 212° to 183.123°, the shift drum stops at 184.146° due to resistance, at which time the actual angle of the shift drum is less than 184.187°, the target speed of the shift motor is zero, and the shift motor stops. Due to the mechanical spring force, the motor shaft is forced to run in the opposite direction, the angle of the shift drum increases by 0.06°, the actual angle becomes 184.207°, which is greater than 184.187°, at which time the shift motor works again. Such reciprocation causes oscillation.

[0056] To solve the above problems, the present embodiment provides a control method for the angle of the shift drum, as shown in Figure 3 , which can include the following steps 301 to 304.

[0057] In step 301, the target angle and the initial angle of the shift drum are determined when the shift request instruction is received.

[0058] The target angle refers to the angle that the shift drum needs to reach, and the initial angle refers to the angle of the shift drum at the moment when the shift request instruction is received.

[0059] It can be understood that the HTCU, as a shifting mechanism actuator, follows the gear request instruction of the VCU. The HTCU determines whether to shift according to whether the gear request instruction of the VCU is received. When the gear request instruction of the VCU is not received, no shifting is performed, and the current gear is maintained; when the gear request instruction of the VCU is received, the control of the angle deviation is required, and until the angle difference between the current angle of the shifting drum and the target angle is less than a certain threshold, it is considered that the shifting is completed.

[0060] In some embodiments, the target gear can be obtained from the shifting request instruction; and the target angle of the shifting drum is determined according to the target gear.

[0061] Specifically, there is a corresponding relationship between the target gear and the target angle of the shifting drum, and the target angle can be obtained by looking up the table according to the target gear.

[0062] In some embodiments, the initial angle of the shifting drum can be determined according to the initial rotation number of the shifting motor, the initial measured angle of the shifting motor, and the shifting transmission ratio and other parameters.

[0063] Specifically, the initial motor angle can be determined according to the initial rotation number of the shifting motor and the initial measured angle of the shifting motor; and the quotient of the initial motor angle and the shifting transmission ratio is determined as the initial angle of the shifting drum.

[0064] In step 302, it is determined whether the initial angle difference between the initial angle and the target angle is less than the lower limit value of the preset interval.

[0065] It can be understood that the preset interval can also be referred to as a hysteresis interval, and the upper limit value and the lower limit value of the interval can be set according to actual conditions. For example, the preset interval can be set to (0.5°, 0.68°).

[0066] In step 303, when the initial angle difference is less than the lower limit value, the rotation speed of the shifting motor is kept unchanged, and the current angle difference between the current angle of the shifting drum and the target angle is determined.

[0067] It should be emphasized that the control strategy in the prior art is usually to compare the initial angle difference with a certain fixed value, and if the initial angle difference is less than the fixed value, the shifting motor is stopped. Since the shifting drum has a rebound, the angle difference will change, and when the angle difference is greater than the fixed value, the shifting motor will work again, which causes the rotation speed of the shifting motor to fluctuate repeatedly. In the present application, the preset interval is set, and when the initial angle difference is less than the lower limit value of the preset interval, the rotation speed of the shifting motor is kept unchanged, and only when the current angle difference is greater than the upper limit value of the preset interval, the rotation speed of the shifting motor is adjusted to reduce the current angle difference to the preset threshold, and the shifting is completed.

[0068] It can be understood that due to the mechanical rebound of the shift drum, the actual angle of the shift drum will change after the initial angle of the shift drum is determined, and therefore the current angle of the shift drum needs to be calculated and more accurate control is performed according to the current angle.

[0069] In some embodiments, the current motor angle can be determined according to the current rotation number of the shift motor and the current measured angle of the shift motor; the current motor angle and the quotient of the shift transmission ratio are determined as the current angle of the shift drum; and the difference between the current angle and the target angle is determined as the current angle difference.

[0070] Specifically, the current motor angle can be obtained in various ways. In some embodiments, the current motor angle is calculated according to the following formula:

[0071] M2=N*359°+M1-M0;

[0072] Wherein, M2 is the current motor angle, N is the current rotation number, M1 is the current measured angle, and M0 is the angle of the shift motor at zero.

[0073] In other embodiments, the current motor angle can also be obtained by multiplying the current rotation number by 360°.

[0074] Assuming that the current rotation number is 5.81 revolutions and the shift transmission ratio is 61.07, the current angle of the shift drum can be 5.81*360° / 61.07=34.25°.

[0075] It can be understood that the current motor angle calculated by the above-mentioned method can obtain a more accurate motor angle relative to the motor angle obtained by measurement, and thus a more accurate current angle value can be obtained.

[0076] In step 304, in the case that the current angle difference is greater than the upper limit value of the preset interval, the speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than the preset threshold.

[0077] Wherein, the preset threshold can be set according to actual conditions, which can be 1°, 1.2°, etc., and the embodiments of the present application do not limit this.

[0078] It can be understood that if the current angle difference is less than the preset threshold, it can be determined that the shift is completed, and if the current angle difference is greater than or equal to the preset threshold, it can be determined that the shift is not completed and the speed of the shift motor needs to be continuously adjusted.

[0079] In some embodiments, the target speed of the shift motor can be determined according to the current angle difference; the speed difference between the current speed of the shift motor and the target speed is determined; the current control of the shift motor is performed according to the speed difference until the current angle difference is less than the preset threshold.

[0080] In the control of the current of the shift motor, PID control can be performed according to the speed difference.

[0081] Specifically, the angular velocity of the shift drum can be determined according to the current angle difference; and the target speed of the shift motor can be determined according to the angular velocity.

[0082] In some embodiments, in a case where the initial angle difference is greater than or equal to the lower limit value, a current angle difference between the current angle of the shift drum and the target angle is determined; and the speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than the preset threshold.

[0083] It can be understood that, if the initial angle difference is greater than or equal to the lower limit value, the speed of the shift motor can be directly adjusted to make the current angle difference between the current angle and the target angle less than the preset threshold, and the gear shifting is completed.

[0084] Referring to Figure 4 , Figure 4 After the control of the shift drum angle by the control method in the embodiments of the present application, a simulation diagram of the shift drum position and the shift motor speed is shown in Figure 4 It can be seen that the angle of the shift drum rebounds by 0.048° at most, and the target speed of the shift motor changes by 0, which shows that the preset interval can cover the range of the reverse force, and the target speed of the shift motor does not exist the problem of fluctuation.

[0085] In the embodiments of the present application, the target angle and the initial angle of the shift drum are determined when the gear shifting request instruction is received; it is determined whether the initial angle difference between the initial angle and the target angle is less than the lower limit value of the preset interval; in a case where the initial angle difference is less than the lower limit value, the speed of the shift motor is kept unchanged, and a current angle difference between the current angle of the shift drum and the target angle is determined; and in a case where the current angle difference is greater than the upper limit value of the preset interval, the speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than the preset threshold. Through the above scheme, the speed of the shift motor is effectively prevented from reciprocating fluctuation due to the rebound of the shift drum in the gear shifting process, and the service life of the hybrid transmission is increased.

[0086] Figure 5 A flowchart of the control method of the shift drum angle in another embodiment is shown in Figure 5 As shown in the figure, the control method of the shift drum angle can include the following steps:

[0087] Step 501, in a case where a gear shifting request instruction is received, a target gear position is obtained from the gear shifting request instruction, and a target angle of a shift drum is determined according to the target gear position;

[0088] Step 502, determine the initial angle of the shift drum, and determine whether the initial angle difference between the initial angle and the target angle is less than the lower limit value of the preset interval;

[0089] Step 503, in the case where the initial angle difference is less than the lower limit value, keep the speed of the shift motor unchanged, and determine the current angle difference between the current angle of the shift drum and the target angle;

[0090] Step 504, in the case where the current angle difference is greater than the upper limit value of the preset interval, determine the target speed of the shift motor according to the current angle difference;

[0091] Step 505, determine the speed difference between the current speed of the shift motor and the target speed;

[0092] Step 506, perform current control of the shift motor according to the speed difference until the current angle difference is less than the preset threshold value;

[0093] Step 503', in the case where the initial angle difference is greater than or equal to the lower limit value, determine the current angle difference between the current angle of the shift drum and the target angle;

[0094] Step 504', adjust the speed of the shift motor according to the current angle difference until the current angle difference is less than the preset threshold value.

[0095] The embodiments of the present application improve the stability of the speed of the shift motor, avoid damage to the gearbox caused by repeated fluctuations in the speed, and avoid repeated driving of the shift motor when the gearbox is directly driven.

[0096] The following describes the device embodiments of the present application, which can be used to perform the shift drum angle control method in the above-mentioned embodiments of the present application. For details not disclosed in the device embodiments of the present application, please refer to the above-mentioned embodiments of the shift drum angle control method.

[0097] Referring to Figure 6 , a block diagram of the shift drum angle control device in the embodiments of the present application is shown.

[0098] As Figure 6As shown, the shift drum angle control device of the embodiments of the present application comprises an angle determination unit 601, an angle judgment unit 602, and a rotating speed control unit 603, wherein the angle determination unit 601 is configured to determine a target angle and an initial angle of the shift drum upon receiving a shift request instruction; the angle judgment unit 602 is configured to judge whether an initial angle difference between the initial angle and the target angle is less than a lower limit value of a preset interval; the rotating speed control unit 603 is configured to keep the rotating speed of the shift motor unchanged and determine a current angle difference between a current angle of the shift drum and the target angle in the case that the initial angle difference is less than the lower limit value; the rotating speed control unit 603 is further configured to adjust the rotating speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold in the case that the current angle difference is greater than an upper limit value of the preset interval.

[0099] In some embodiments of the present application, based on the foregoing scheme, the angle determination unit 601 is further configured to obtain a target gear from the shift request instruction; and determine the target angle of the shift drum according to the target gear.

[0100] In some embodiments of the present application, based on the foregoing scheme, the rotating speed control unit 603 is further configured to determine a current motor angle according to a current rotating number of the shift motor and a current measured angle of the shift motor; determine a current angle of the shift drum as a quotient of the current motor angle and the shift transmission ratio; and determine the current angle difference as a difference between the current angle and the target angle.

[0101] In some embodiments of the present application, based on the foregoing scheme, the current motor angle is calculated according to the following formula:

[0102] M2 = N * 359 + M1 - M0;

[0103] wherein M2 is the current motor angle, N is the current rotating number, M1 is the current measured angle, and M0 is an angle of the shift motor at zero point.

[0104] In some embodiments of the present application, based on the foregoing scheme, the rotating speed control unit 603 is further configured to determine a target rotating speed of the shift motor according to the current angle difference; determine a rotating speed difference between a current rotating speed of the shift motor and the target rotating speed; and perform current control of the shift motor according to the rotating speed difference until the current angle difference is less than the preset threshold.

[0105] In some embodiments of the present application, based on the foregoing scheme, the rotating speed control unit 603 is further configured to determine an angular velocity of the shift drum according to the current angle difference; and determine the target rotating speed of the shift motor according to the angular velocity.

[0106] In some embodiments of the present application, based on the foregoing scheme, the rotation speed control unit 603 is further configured to, in a case where the initial angle difference is greater than or equal to the lower limit value, determine a current angle difference between the current angle of the shift drum and the target angle; and adjust the rotation speed of the shift motor according to the current angle difference until the current angle difference is less than the preset threshold.

[0107] Based on the same inventive concept, the embodiments of the present application further provide a shift drum angle control device, which is described below with reference to Figure 7 , which shows a structural schematic diagram of the shift drum angle control device in the embodiments of the present application. The shift drum angle control device comprises one or more memories 704, one or more processors 702, and at least one computer program (computer program instructions) stored in the memory 704 and executable on the processor 702, and the processor 702 implements the method as described above when executing the computer program.

[0108] In the foregoing method, the shift drum angle control device comprises one or more memories 704, one or more processors 702, and at least one computer program (computer program instructions) stored in the memory 704 and executable on the processor 702, and the processor 702 implements the method as described above when executing the computer program. Figure 7 In the foregoing method, the shift drum angle control device comprises one or more memories 704, one or more processors 702, and at least one computer program (computer program instructions) stored in the memory 704 and executable on the processor 702, and the processor 702 implements the method as described above when executing the computer program. The bus architecture (represented by the bus 700) can include any number of interconnecting buses and bridges, and the bus 700 links various circuits including the processor(s) 702 represented by the processor(s) 702 and the memory represented by the memory 704. The bus 700 can also link various other circuits such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art and thus, are not further described herein. The bus interface 705 provides an interface between the bus 700 and the receiver 701 and the transmitter 703. The receiver 701 and the transmitter 703 can be the same element, i.e., a transceiver, which provides a unit for communicating with various other devices on a transmission medium. The processor 702 is responsible for managing the bus 700 and general processing, while the memory 704 can be used for storing data used by the processor 702 in performing operations.

[0109] Based on the same inventive concept, the embodiments of the present application further provide a computer readable storage medium, which stores at least one computer program instruction, and the at least one computer program instruction is loaded and executed by a processor to implement the operations performed by the method as described above.

[0110] The functions described herein can be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions can be stored on or transferred over as one or more instructions or code on a computer-readable medium. Other examples and implementations are within the scope and spirit of the disclosure and appended claims. For example, due to the nature of software, functions described above can be implemented using software executed by a processor, hardware, firmware, hardwiring, or combinations of any of these. Features implementing functions can also be physically located at various positions, including being distributed such that portions of functions are implemented at different physical locations. Also, as used herein, including in the claims, "or" as used in a list of items prefaced by "comprising" to indicate a disjunctive list means each single item in the list has been recited before "or" one or more additional disjunctive items also appear in the list. Thus, the list of items formatted "comprising A, or B, or C" means: "A" has been recited, "B" has been recited, "C" has been recited, "A or B" has been recited, "A or C" has been recited, "B or C" has been recited or "A or B or C" has been recited. Further, as used herein, including in the claims, "comprising" or "comprise" means that other steps, options, features, structures, and / or components can be added. Also, as used herein, including in the claims, "exemplary" or "illustrative" means "serving as an example or illustration." As used herein, including in the claims, "or" as used in a list of items prefaced by "comprising" to indicate a disjunctive list means each single item in the list has been recited before "or" one or more additional disjunctive items also appear in the list. Thus, the list of items formatted "comprising A, or B, or C" means: "A" has been recited, "B" has been recited, "C" has been recited, "A or B" has been recited, "A or C" has been recited, "B or C" has been recited or "A or B or C" has been recited. Further, as used herein, including in the claims, "comprising" or "comprise" means that other steps, options, features, structures, and / or components can be added.

[0111] In several embodiments provided in the present application, it should be understood that the disclosed technology can be implemented by other ways. Among them, the above-mentioned device embodiments are only schematic, for example, the division of the units can be a logical function division, and other division ways can be used in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or modules shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, and can be electrical or other forms.

[0112] The units described as separate components can or can not be physically separate, and the components of the control device can or can not be physical units, i.e. can be located in one place or can be distributed on multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0113] The integrated units, if implemented in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the part of the prior art or the whole or part of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in the embodiments of the present application. The foregoing storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and various computer program instruction storage media.

[0114] The above merely provides an example of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the scope of claims of the present application.

Claims

1. A control method of a shift drum angle, characterized by, The method comprises: In the case of receiving a shift request instruction, determining a target angle and an initial angle of a shift drum; determining whether the initial angle difference between the initial angle and the target angle is less than a lower limit value of a preset interval; In the case that the initial angle difference is less than the lower limit value, the speed of the shift motor is kept unchanged, and the current angle difference between the current angle of the shift drum and the target angle is determined; In the case that the current angle difference is greater than the upper limit value of the preset interval, the speed of the shift motor is adjusted according to the current angle difference until the current angle difference is less than a preset threshold.

2. The method of claim 1, wherein, The determination of the target angle of the shift drum comprises: Obtaining a target gear position from the shift request instruction; According to the target gear position, the target angle of the shift drum is determined.

3. The method of claim 2, wherein, The determination of the current angle difference between the current angle of the shift drum and the target angle comprises: According to the current rotation number of the shift motor and the current measurement angle of the shift motor, a current motor angle is determined; The quotient of the current motor angle and the shift transmission speed ratio is determined as the current angle of the shift drum; The difference between the current angle and the target angle is determined as the current angle difference.

4. The method of claim 3, wherein, The current motor angle is calculated according to the following formula: M2=N*359+M1-M0; Wherein, M2 is the current motor angle, N is the current rotation number, M1 is the current measurement angle, and M0 is the angle of the shift motor at zero point.

5. The method of claim 1, wherein, The adjustment of the speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold comprises: According to the current angle difference, the target speed of the shift motor is determined; The speed difference between the current speed of the shift motor and the target speed is determined; According to the speed difference, the current control of the shift motor is performed until the current angle difference is less than the preset threshold.

6. The method of claim 5, wherein, The determination of the target speed of the shift motor according to the current angle difference comprises: According to the current angle difference, the angular velocity of the shift drum is determined; According to the angular velocity, the target speed of the shift motor is determined.

7. The method of claim 1, wherein, After determining the current angle difference between the current angle and the target angle, the method further comprises: In the case that the initial angle difference is greater than or equal to the lower limit value, the current angle difference between the current angle of the shift drum and the target angle is determined; According to the current angle difference, the speed of the shift motor is adjusted until the current angle difference is less than a preset threshold.

8. A control device for shift drum angle, characterized by, The device comprises: An angle determination unit for determining a target angle and an initial angle of a shift drum in the case of receiving a shift request instruction; An angle judgment unit for determining whether the initial angle difference between the initial angle and the target angle is less than a lower limit value of a preset interval; A speed control unit for keeping the speed of the shift motor unchanged in the case that the initial angle difference is less than the lower limit value, and determining the current angle difference between the current angle of the shift drum and the target angle. The rotation speed control unit is further configured to adjust the rotation speed of the shift motor according to the current angle difference until the current angle difference is less than a preset threshold, in a case where the current angle difference is greater than an upper limit value of the preset range.

9. A shift drum angle control device comprising a processor and a memory, wherein, The memory stores computer program instructions capable of being executed by the processor, and the processor executes the computer program instructions to implement instructions of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are loaded and executed by the processor to implement operations performed by the method according to any one of claims 1 to 7.

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