Method of engagement testing for electromagnetic dog clutch

Abstract

The application provides a kind of engagement test method of electromagnetic tooth-embedded clutch, the target speed of active side motor is basic speed n1, drive clutch active side rotation, simultaneously drive clutch passive side rotation;After reaching target speed n1, clutch active side and clutch passive side are disconnected, and with the preset speed difference range between clutch active side and clutch passive side as target, active side motor and passive side motor control clutch active side and clutch passive side rotation respectively;Real-time monitoring actual n1 of clutch active side and actual speed n2 of clutch passive side, when the speed difference between n1 and n2 is in the preset speed difference range, power on the clutch, the active side motor or passive side motor is switched to zero torque control while the clutch is powered on, at this time, the clutch active side starts to engage;According to whether successful engagement and the engagement time of successful engagement, the limit engagement speed of electromagnetic tooth-embedded clutch and engagement reliability are obtained.

Description

Technical Field

[0001] This invention relates to the field of electromagnetic clutch testing, and more particularly to a method for testing the engagement of an electromagnetic jaw clutch. Background Technology

[0002] For electromagnetic clutches, in the early stages of research and development, it is necessary to conduct preliminary verification of the characteristics of the jaw clutch, including verification of the limit engagement torque and the limit engagement speed. In the later stages of research and development, it is necessary to conduct reliability verification of the electromagnetic clutch in order to understand the working performance of the clutch. Summary of the Invention

[0003] In order to overcome the above-mentioned technical defects, the purpose of this invention is to provide an engagement test method for an electromagnetic jaw clutch, so as to realize the limit engagement speed test and engagement reliability verification of the jaw clutch electromagnetic clutch.

[0004] This invention discloses an engagement test method for an electromagnetic jaw clutch, comprising the following steps: selecting a base speed n1 for testing, and the allowable speed difference Δn between the clutch driving side and the clutch driven side during engagement; with the driving side motor and the driven side motor stationary, energizing the clutch to engage the clutch driving side and the clutch driven side; the driving side motor driving the clutch driving side to rotate, simultaneously driving the clutch driven side to rotate, with the base speed n1 as the target speed; after the driving side motor reaches the target speed n1, the clutch driving side and the clutch driven side disengage, and with a preset speed difference range between the clutch driving side and the clutch driven side as the target, the driving side motor and the driven side motor respectively control the rotation of the clutch driving side and the clutch driven side; real-time monitoring of the actual n1 of the clutch driving side and the actual speed n2 of the clutch driven side; when the speed difference between n1 and n2 is within the preset speed difference range, energizing the clutch, and simultaneously switching the driving side motor or the driven side motor to zero torque control, at which point the clutch driving side begins to engage; obtaining the limit engagement speed and engagement reliability of the electromagnetic jaw clutch based on whether engagement is successful and the engagement time of successful engagement.

[0005] Preferably, the step of using a preset speed difference range between the clutch active side and the clutch passive side as the target, and controlling the clutch active side and the clutch passive side to rotate respectively by the active side motor and the passive side motor includes: the active side motor controlling the clutch active side to continue rotating at a base speed n1, and the passive side motor controlling the clutch passive side to rotate at a target speed of n1+Δn or n1-Δn.

[0006] The real-time monitoring of the actual speed n1 on the clutch active side and the actual speed n2 on the clutch passive side, and the clutch energization when the speed difference between n1 and n2 is within the preset speed difference range, includes: real-time monitoring of the actual speed n1 on the clutch active side and the actual speed n2 on the clutch passive side, and energizing the clutch when |n1-n2|=Δn;

[0007] The method of obtaining the limit engagement speed of the electromagnetic jaw clutch based on whether engagement is successful and the engagement time of successful engagement includes: if engagement is successful and the engagement time is within the preset engagement time range, the speed difference Δn is increased, and the above steps are repeated; if engagement fails, or engagement is successful but the engagement time exceeds the preset engagement time range, the test is stopped by powering down, and the speed difference Δn of the last successful engagement and engagement time within the preset engagement time range is taken as the limit engagement speed.

[0008] Preferably, if engagement is successful and the engagement time is within a preset engagement time range, the speed difference Δn is increased, and the above steps are repeated; if engagement fails, or engagement is successful but the engagement time exceeds the preset engagement time range, the test is stopped by powering off, and the speed difference Δn of the last successful engagement with an engagement time within the preset engagement time range is taken as the limit engagement speed, including:

[0009] If engagement is successful and the engagement time is within the preset engagement time range, repeat the above steps until m times are successfully engaged and the engagement time is within the preset engagement time range. Then increase the speed difference Δn and repeat the above steps. Or until engagement fails or engagement is successful but the engagement time exceeds the preset engagement time range, then power off and stop the test, and take the speed difference Δn of the last successful engagement with the engagement time within the preset engagement time range as the limit engagement speed.

[0010] Preferably, the step of stopping the test by powering down if the connection fails or if the connection is successful but the connection time exceeds the preset connection time range includes:

[0011] If engagement fails, the clutch solenoid coil is de-energized to keep the clutch driving and driven sides disengaged. Then, the driving and driven motors slowly decelerate to 0 and are de-energized. The clutch solenoid coil is then de-energized, and the test stops. If engagement is successful but the engagement time exceeds the preset engagement time range, the driving motor slowly decelerates to 0 and the driving and driven motors are de-energized. Then, the clutch solenoid coil is de-energized, and the clutch driving and driven sides disengage, and the test stops.

[0012] Preferably, after the active-side motor reaches the target speed n1, the active-side and passive-side clutches disengage, and with a preset speed difference range between the active-side and passive-side clutches as the target, the active-side motor and passive-side motor respectively control the rotation of the active-side and passive-side clutches, including:

[0013] After the clutch driving side reaches the base speed n1, the driving side motor controls the speed of the clutch driving side to fluctuate within the speed range of (n1-Δn, n1+Δn) according to a preset waveform. Then the clutch driving side and the clutch driven side disengage, and the driving side motor controls the speed of the clutch driving side to continue to fluctuate within the speed range of (n1-Δn, n1+Δn), while the driven side motor controls the rotation of the clutch driven side with the speed of n1 as the target speed.

[0014] The real-time monitoring of the actual speed n1 on the clutch driving side and the actual speed n2 on the clutch driven side, and the energization of the clutch when the speed difference between n1 and n2 is within a preset speed difference range, includes:

[0015] The actual speed n1 on the active side of the clutch and the actual speed n2 on the passive side of the clutch are monitored in real time. When |n1-n2|<Δn, the clutch is energized.

[0016] The reliability of the electromagnetic jaw clutch is determined based on whether engagement is successful and the engagement time.

[0017] If the connection is successful and the connection time is within the preset connection time range, the connection success counter C1 is incremented by 1, and the above steps are repeated; if the connection fails or the connection time exceeds the preset connection time range, the connection success counter C2 is incremented by 1, the shutdown counter S1 is incremented by 1, and the above steps are repeated; until the shutdown counter S1 reaches the preset shutdown number threshold, or C1+C2 reaches the preset test number threshold.

[0018] Preferably, the speed of the active side motor controlling the clutch on the active side fluctuates within the speed range of (n1-Δn, n1+Δn) according to a preset waveform, including: the speed of the active side motor controlling the clutch on the active side fluctuates within the speed range of (n1-Δn, n1+Δn) in the form of a sine wave or a triangular wave.

[0019] Preferably, after switching the active side motor or the passive side motor to zero torque control, the active side or the passive side of the clutch under zero torque control continues to operate under the action of the inertia disc.

[0020] Preferably, obtaining the limit engagement speed and engagement reliability of the electromagnetic jaw clutch based on whether engagement is successful and the engagement time includes: if the clutch driving side runs to the limit position of the driven side during engagement, such that the tooth tip of the clutch driving side is in contact with the tooth root of the clutch driven side, and / or the tooth root of the clutch driving side is in contact with the tooth tip of the clutch driven side, then engagement is successful.

[0021] Compared with existing technologies, the above technical solution has the following advantages:

[0022] 1. This invention verifies the limit engagement speed and reliability of an electromagnetic dog clutch to determine its performance. Specifically, when the clutch is energized, the active or passive motor is switched to zero torque control to avoid gear grinding between the active and passive sides of the clutch during engagement, which could lead to severe overheating and energy loss.

[0023] 2. During the extreme engagement speed test, m independent experiments were conducted for each set Δn to avoid test errors caused by the different positions of the clutch driving side and the clutch driven side, thus ensuring the accuracy of the test.

[0024] 3. By setting an inertia disk, the active or passive motor under zero torque control can maintain operation under the action of the inertia disk, thus avoiding the situation where the active or passive motor will rapidly decrease in speed due to resistance after zero torque control. Attached Figure Description

[0025] Figure 1 A flowchart of a preferred embodiment of the test method for the limiting engagement speed of the electromagnetic tooth clutch provided by the present invention;

[0026] Figure 2 A flowchart of a preferred embodiment of the reliability testing method for the electromagnetic tooth clutch provided by the present invention. Detailed Implementation

[0027] The advantages of the present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments.

[0028] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0029] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The singular forms “a,” “the,” and “the” as used in this disclosure and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0030] It should be understood that although the terms first, second, third, etc., may be used in this disclosure to describe various information, such information should not be limited to these terms. These terms are used only to distinguish information of the same type from one another. For example, without departing from the scope of this disclosure, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0031] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0032] In the description of this invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to mechanical or electrical connections, or internal connections between two components. They can be direct connections or indirect connections through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0033] In the following description, suffixes such as "module," "part," or "unit" used to denote elements are used only for the convenience of the description of the invention and have no specific meaning in themselves. Therefore, "module" and "part" can be used interchangeably.

[0034] See appendix Figure 1-2 The engagement test method for an electromagnetic jaw clutch disclosed in this invention is mainly used to test the limit engagement speed and reliability of jaw clutches.

[0035] First, the necessity of testing the limiting engagement speed is explained. For an electromagnetic jaw clutch, which includes driving and driven teeth, when the clutch is disengaged, the driving and driven teeth are in a non-contact state. When the clutch is engaged, the driving and driven teeth mesh, forming a stable force transmission mechanism. Typically, both the driving and driven teeth are rotating at (high speed) during engagement. If the speed is too high, the driving and driven teeth are prone to tooth jamming, making engagement difficult. If the speed is too low, engagement is easier, but the engagement time will be longer. Therefore, for an electromagnetic jaw clutch, it is necessary to know the speed range within which the driving and driven sides of the clutch can engage smoothly and the engagement time meets the requirements. Furthermore, within this speed range, it is also necessary to know the higher speed value, which can be understood as the upper limit of this speed range, i.e., the limiting engagement speed of this invention.

[0036] The necessity of reliability testing is explained. For a well-designed electromagnetic jaw clutch, it is necessary to clearly understand the number of times the electromagnetic jaw clutch can successfully engage, which can also be understood as the fatigue limit of the clutch. Simply put, it is necessary to know whether the clutch can achieve a certain number of successful engagements. If it can, then it can be basically judged that the clutch engagement capability meets the requirements in this part; if it cannot, then it can be basically judged that the clutch engagement capability does not meet the requirements in this part.

[0037] This invention primarily tests the clutch's limit engagement speed by setting an artificial speed difference between the driving and driven sides of the clutch, and then attempting engagement at this speed difference to determine the clutch's engagement reliability within that speed difference range. Specifically, it includes the following steps:

[0038] S100, Select the base speed n1 for testing, and the speed difference Δn between the clutch driving side and the clutch driven side when engaged;

[0039] S200: When the active side motor and the passive side motor are stationary, the clutch is energized so that the active side and the passive side of the clutch are engaged.

[0040] S300, The active side motor drives the active side of the clutch to rotate with the base speed n1 as the target speed, and at the same time drives the passive side of the clutch to rotate.

[0041] S400. After the target speed n1 is reached, the clutch active side and the clutch passive side are disengaged, and the active side motor and the passive side motor control the rotation of the clutch active side and the clutch passive side respectively, with the preset speed difference range between the clutch active side and the clutch passive side as the target.

[0042] S500: Real-time monitoring of the actual speed n1 on the active side of the clutch and the actual speed n2 on the passive side of the clutch. When the speed difference between n1 and n2 is within the preset speed difference range, the clutch is energized. At the same time as the clutch is energized, the active side motor or the passive side motor is switched to zero torque control. At this time, the active side of the clutch begins to engage.

[0043] S600: The limit engagement speed and engagement reliability of the electromagnetic jaw clutch are obtained based on whether engagement is successful and the engagement time.

[0044] In step S500, either the active side motor or the passive side motor can be switched to zero torque control, as long as both are prevented from operating under torque control. This can prevent gear grinding between the active and passive sides of the clutch during engagement, which could lead to severe overheating and energy loss.

[0045] Furthermore, to prevent the active or passive motor from rapidly decreasing in speed due to resistance after zero torque control, an inertia disk is installed so that the active or passive motor of the clutch under zero torque control can maintain operation under the action of the inertia disk.

[0046] In step S600, a preferred criterion for determining whether engagement is successful is: if the clutch driving side moves to the limit position of the clutch driven side during engagement, such that the tooth tip of the clutch driving side is in contact with the tooth root of the clutch driven side, and / or the tooth root of the clutch driving side is in contact with the tooth tip of the clutch driven side, then engagement is successful. For example, a position sensor is set to calibrate the position of the clutch driving side in the clutch disengaged state (referred to as position A), and the position of the clutch driving side in the state where the tooth tip of the clutch driving side is in contact with the tooth root of the clutch driven side (i.e., engaged) (referred to as position B). When the position sensor detects that the position of the clutch driving side has shifted from position A to position B, it is determined that the clutch driving side and the clutch driven side have successfully engaged (100% engagement).

[0047] A preferred method for determining whether the engagement time meets the requirements is as follows: Calculate the time it takes for the clutch driving side to move from the disengaged position to the fully engaged (100% engaged) position (i.e., from position A to position B above), and compare this time with a preset engagement time: if it is less than the preset engagement time, the time is considered to meet the requirements; if it is greater than the preset engagement time, the time is considered to not meet the requirements. For reference, the preset engagement time is, for example, 0.3 seconds.

[0048] The present invention provides a preferred embodiment of the test process for the limiting engagement speed.

[0049] It should be noted that because the positions of the clutch's driving and driven sides differ each time the clutch engages, the engagement condition has a certain degree of randomness. That is, the clutch may engage at the correct positions, or it may engage only slightly (partially), or it may engage completely. During operation, the clutch needs to ensure complete (100%) engagement. Therefore, each engagement in this test process is an independent, repeated experiment. Through numerous attempts under random boundary conditions (as shown below, m times), it is ensured that the clutch can engage 100% within the limit engagement speed. In other words, if the test is repeated m times, only if engagement is successful in all m attempts is the test considered passed; if engagement fails even once out of the m attempts, the test is considered a failure.

[0050] (1) Select the base speed n1 for testing, the allowable speed difference Δn between the clutch driving side and the clutch driven side when engaged, and the number of single test cycles m;

[0051] (2) When the active side motor and the passive side motor are stationary, the electromagnetic coil of the clutch is energized so that the active side and the passive side of the clutch are engaged and kept in the engaged state.

[0052] (3) The active side motor drives the active side of the clutch to rotate with the base speed n1 as the target speed. At this time, since the clutch is engaged, it also drives the passive side of the clutch to rotate.

[0053] (4) When the speed sensor on the active side reaches the target speed n1, the electromagnetic coil is de-energized, and the active side and the passive side of the clutch disengage. At this time, the active side motor controls the active side of the clutch to continue rotating at the base speed n1, and the passive side motor controls the passive side of the clutch to rotate with the speed of n1+Δn or n1-Δn as the target speed.

[0054] (5) Monitor the speed n1 fed back by the speed sensor on the active side and the speed n2 fed back by the speed sensor on the passive side in real time. When the speed difference n1-n2 between the two reaches the preset value Δn, that is, when |n1-n2|=Δn, the electromagnetic coil is immediately energized and the active side of the clutch attempts to engage. At the same time as the clutch is energized, the passive side motor is switched to zero torque control. At this time, the passive side of the clutch under zero torque control maintains operation under the inertia of the inertia plate.

[0055] (6) The position sensor detects whether the active side of the clutch has reached the limit position of the passive side (i.e., position B above); if the engagement is successful, the engagement time is calculated based on the time when the clutch reaches the limit position of the passive side as fed back by the position sensor and the time when the clutch solenoid coil is energized.

[0056] (7) If engagement is successful and engagement time is within the preset engagement time range, the coil is kept energized and the clutch remains engaged. Steps 4) to 6) are repeated until m times, or engagement fails or engagement is successful but engagement time exceeds the preset engagement time range.

[0057] (8) If the engagement is successful every time it is repeated m times and the engagement time is within the preset engagement time range, then increase the speed difference Δn and repeat steps 2)-6).

[0058] (9) If engagement is successful but engagement time exceeds the preset engagement time range, the active side motor will slowly decelerate to 0, the active side motor and the passive side motor will be de-energized, the clutch electromagnetic coil will be de-energized, the clutch active side and the clutch passive side will disengage and the test will stop. The speed difference Δn at the last 100% engagement success and time target is the limit engagement speed.

[0059] (10) If engagement fails, the clutch solenoid coil is energized to keep the clutch active side and the clutch passive side disengaged. Then the active side motor and the passive side motor are slowly decelerated to 0 and energized. Then the clutch solenoid coil is energized and the test is stopped. The speed difference Δn at which the clutch is 100% engaged and the time is up to standard is the limit engagement speed.

[0060] The present invention provides a preferred embodiment of a reliability testing process.

[0061] (1) Select the base speed n1 for testing, the allowable speed difference Δn between the clutch driving side and the clutch driven side when engaged, and set the threshold for the number of stops;

[0062] (2) When the active side motor and the passive side motor are stationary, the electromagnetic coil of the clutch is energized so that the active side and the passive side of the clutch are engaged and kept in the engaged state.

[0063] (3) The active side motor drives the active side of the clutch to rotate with the base speed n1 as the target speed. At this time, since the clutch is engaged, it also drives the passive side of the clutch to rotate.

[0064] (4) After the clutch reaches the base speed n1, the motor on the active side controls the speed of the clutch active side to fluctuate in the range of (n1-Δn, n1+Δn) in the form of a sine wave or a triangular wave.

[0065] (5) When the electromagnetic coil is de-energized, the active side and the passive side of the clutch disengage, and the active side motor controls the speed of the active side of the clutch to continue to fluctuate within the speed range of (n1-Δn, n1+Δn), while the passive side motor controls the rotation of the passive side of the clutch with the speed of n1 as the target speed.

[0066] (6) The encoders of the active side motor and the passive side motor monitor the actual speed n1 of the clutch active side and the actual speed n2 of the clutch passive side in real time, respectively.

[0067] (7) When |n1-n2|<Δn, the clutch is energized and the clutch active side attempts to engage; at the same time the clutch is energized, the passive side motor is switched to zero torque control. At this time, the passive side of the clutch under zero torque control maintains operation under the inertia of the inertia plate.

[0068] (8) The position sensor detects whether the active side of the clutch has reached the limit position of the passive side (i.e., position B above); if the engagement is successful, the engagement time is calculated based on the time when the clutch reaches the limit position of the passive side as fed back by the position sensor and the time when the clutch solenoid coil is energized.

[0069] (9) If the engagement is successful and the engagement time is within the preset engagement time range, the engagement success counter C1 is incremented by 1, and the process jumps to step 5) to repeat the disconnect-engage process.

[0070] (10) If the engagement fails or the engagement time exceeds the preset engagement time range, the engagement success counter C2 is incremented by 1, the shutdown counter S1 is incremented by 1, and the process jumps to step 5) to retry the disconnect-engage process.

[0071] (11) Repeat the above steps until the shutdown counter S1 reaches the preset shutdown number threshold, or C1+C2 reaches the preset test number threshold, then the system shuts down and the test ends.

[0072] It should be noted that the embodiments of the present invention have better implementability and are not intended to limit the present invention in any way. Any person skilled in the art may use the above-disclosed technical content to change or modify it into equivalent effective embodiments. However, any modifications or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of the technical solution of the present invention.

Claims

1. A method for testing the engagement of an electromagnetic jaw clutch, characterized in that, Includes the following steps: Select the base speed n1 for testing, and the allowable speed difference Δn between the clutch driving side and the clutch driven side when engaged; When the active and passive motors are stationary, the clutch is energized, causing the active and passive sides of the clutch to engage. The active side motor drives the active side of the clutch to rotate, with the base speed n1 as the target speed, and at the same time drives the passive side of the clutch to rotate. After the active side motor reaches the target speed n1, the active side of the clutch and the passive side of the clutch disengage, and with the preset speed difference range between the active side of the clutch and the passive side of the clutch as the target, the active side motor and the passive side motor respectively control the active side of the clutch and the passive side of the clutch to rotate. The actual speed n1 on the active side of the clutch and the actual speed n2 on the passive side of the clutch are monitored in real time. When the speed difference between n1 and n2 is within the preset speed difference range, the clutch is energized. At the same time as the clutch is energized, the active side motor or the passive side motor is switched to zero torque control. At this time, the active side of the clutch begins to engage. The limit engagement speed and engagement reliability of the electromagnetic jaw clutch are obtained based on whether engagement is successful and the engagement time. The step of controlling the rotation of the clutch's active and passive sides respectively, with the preset speed difference range between the clutch's active and passive sides as the target, includes: The active side motor controls the active side of the clutch to continue rotating at the base speed n1, while the passive side motor controls the passive side of the clutch to rotate at the target speed of n1+Δn or n1-Δn. The real-time monitoring of the actual speed n1 on the clutch driving side and the actual speed n2 on the clutch driven side, and the energization of the clutch when the speed difference between n1 and n2 is within a preset speed difference range, includes: Real-time monitoring of the actual speed n1 on the clutch driving side and the actual speed n2 on the clutch driven side, when Then the clutch is energized; The method of obtaining the limit engagement speed of the electromagnetic jaw clutch based on whether engagement is successful and the engagement time includes: If engagement is successful and the engagement time is within the preset engagement time range, the speed difference Δn is increased, and the above steps are repeated; if engagement fails, or engagement is successful but the engagement time exceeds the preset engagement time range, the test is stopped by powering off, and the speed difference Δn of the last successful engagement and engagement time within the preset engagement time range is taken as the limit engagement speed. After switching the active-side motor or the passive-side motor to zero-torque control, the following is also included: Under zero torque control, the active or passive side of the clutch maintains operation under the action of the inertia disc.

2. The engagement test method for the electromagnetic jaw clutch according to claim 1, characterized in that, If engagement is successful and the engagement time is within the preset engagement time range, the speed difference Δn is increased, and the above steps are repeated; if engagement fails, or engagement is successful but the engagement time exceeds the preset engagement time range, the test is stopped by powering off, and the speed difference Δn of the last successful engagement with an engagement time within the preset engagement time range is taken as the limit engagement speed, including: If the connection is successful and the connection time is within the preset connection time range, repeat the above steps. If the engagement is successful every time m times and the engagement time is within the preset engagement time range, then increase the rotational speed difference Δn and repeat the above steps. The test will continue until either engagement fails or engagement is successful but the engagement time exceeds the preset engagement time range. In this case, the power will be turned off to stop the test, and the speed difference Δn between the last successful engagement and the engagement time within the preset engagement time range will be taken as the limit engagement speed.

3. The engagement test method for the electromagnetic jaw clutch according to claim 1, characterized in that, The step of stopping the test by powering down if the connection fails or if the connection is successful but the connection time exceeds the preset connection time range includes: If engagement fails, the clutch solenoid coil is de-energized to keep the clutch driving side and the clutch driven side disengaged. Then, the driving side motor and the driven side motor are slowly de-energized to 0 and de-energized. Then, the clutch solenoid coil is de-energized, and the test is stopped. If engagement is successful but the engagement time exceeds the preset engagement time range, the active side motor will slowly decelerate to 0, and then both the active and passive side motors will be de-energized. Next, the clutch's electromagnetic coil will be de-energized, and the test will stop after the clutch's active and passive sides disengage.

4. The engagement test method for the electromagnetic jaw clutch according to claim 1, characterized in that, After the active-side motor reaches the target speed n1, the active-side and passive-side clutches disengage, and with a preset speed difference range between the active-side and passive-side clutches as the target, the active-side motor and passive-side motor respectively control the rotation of the active-side and passive-side clutches, including: After the clutch driving side reaches the base speed n1, the driving side motor controls the speed of the clutch driving side to fluctuate within the speed range of (n1-Δn, n1+Δn) according to the preset waveform. Then the clutch driving side and the clutch driven side disengage, and the driving side motor controls the speed of the clutch driving side to continue to fluctuate within the speed range of (n1-Δn, n1+Δn), while the driven side motor controls the rotation of the clutch driven side with the speed of n1 as the target speed. The real-time monitoring of the actual speed n1 on the clutch driving side and the actual speed n2 on the clutch driven side, and the energization of the clutch when the speed difference between n1 and n2 is within a preset speed difference range, includes: Real-time monitoring of the actual speed n1 on the clutch driving side and the actual speed n2 on the clutch driven side, when Then the clutch is energized; The method of determining the reliability of the electromagnetic jaw clutch based on whether engagement is successful and the engagement time includes: If the connection is successful and the connection time is within the preset connection time range, the connection success counter C1 is incremented by 1, and the above steps are repeated; if the connection fails or the connection time exceeds the preset connection time range, the connection success counter C2 is incremented by 1, the shutdown counter S1 is incremented by 1, and the above steps are repeated; until the shutdown counter S1 reaches the preset shutdown number threshold, or C1+C2 reaches the preset test number threshold.

5. The engagement test method for the electromagnetic jaw clutch according to claim 4, characterized in that, The speed of the active side motor-controlled clutch fluctuates within the speed range (n1-Δn, n1+Δn) according to a preset waveform, including: The speed of the active side motor controlling the clutch on the active side fluctuates within the range of (n1-Δn, n1+Δn) in the form of a sine wave or a triangular wave.

6. The engagement test method for the electromagnetic jaw clutch according to claim 1, characterized in that, The method of obtaining the limit engagement speed and engagement reliability of the electromagnetic jaw clutch based on whether engagement is successful and the engagement time includes: If the driving side of the clutch moves to the limit position of the driven side during engagement, such that the tooth tip of the driving side of the clutch contacts the tooth root of the driven side of the clutch, and / or the tooth root of the driving side of the clutch contacts the tooth tip of the driven side of the clutch, then engagement is successful.

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