Shift control method, device, equipment and storage medium of automatic transmission

Abstract

The application relates to a gear shifting control method and device of an automatic transmission, computer equipment and a storage medium. The method comprises the following steps: determining a current stage according to a current gear position; acquiring a dynamics model corresponding to the current stage, and determining a reference gear position corresponding to the current stage according to bench test data; constructing a target function according to the dynamics model and the reference gear position, and solving an optimal control sequence meeting a preset constraint condition according to the target function; the preset constraint condition comprises minimum gear shift impact; determining an optimal control increment according to the optimal control sequence, and applying the optimal control increment to a control system of the automatic transmission. The method can use the dynamics model corresponding to the stage, improve the accuracy of dynamics simulation, set the constraint condition in combination with the gear shift impact, reduce the gear shift impact in the automatic gear shifting process, improve the smoothness of gear shifting, and continuously correct the output according to the dynamics model in a subsequent control cycle, thereby improving the accuracy of gear shifting control.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a shift control method, device, computer equipment, and storage medium for an automatic transmission. Background Technology

[0002] Currently, commercial vehicles are equipped with multi-speed mechanical automatic transmissions (MAEs), which can effectively reduce speed and increase torque to improve the vehicle's power output, thereby enhancing its performance and fuel economy. A multi-speed MAE adds a transmission controller, shift actuators, and input shaft speed sensors to a traditional automated manual transmission (AMT) to achieve automatic gear shifting. The working principle of a multi-speed MAE is that sensors acquire vehicle driving data and transmit this real-time data to the transmission control unit (TCU). The TCU processes the data and, according to its internal control logic, sends control signals to the corresponding actuators to achieve functions such as starting and automatic gear shifting. During automatic gear shifting, significant shift shock can directly affect driving comfort and shorten the lifespan of key transmission components. Summary of the Invention

[0003] Therefore, it is necessary to provide a shift control method, device, computer equipment, and computer-readable storage medium for an automatic transmission that can reduce shift shock during automatic shifting, in order to address the aforementioned technical problems.

[0004] In a first aspect, this application provides a shift control method for an automatic transmission. The method includes:

[0005] Detect the current gear position and determine the current stage based on the current gear position;

[0006] Obtain the dynamic model corresponding to the current stage, and determine the reference advance position corresponding to the current stage based on the bench test data;

[0007] An objective function is constructed based on the dynamic model and the reference shift position. The optimal control sequence that satisfies preset constraints is then solved based on the objective function. The preset constraints include minimizing shift shock.

[0008] The optimal control increment is determined based on the optimal control sequence, and the optimal control increment is applied to the control system of the automatic transmission.

[0009] In one embodiment, constructing the objective function based on the dynamic model and the reference shift position includes:

[0010] Based on the current state information and the control increment in the control time domain, the predicted state information in the prediction time domain is constructed using the dynamic model described above.

[0011] Construct the target shift position in the time domain based on the predicted state information and the current shift position;

[0012] A target function is constructed based on the target shift position and the reference shift position.

[0013] In one embodiment, the current stage includes an idle stroke elimination stage, and the dynamic model corresponding to the idle stroke elimination stage is:

[0014] ;

[0015] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

[0016] In one embodiment, the current stage includes a gear shift synchronization stage, and the dynamic model corresponding to the gear shift synchronization stage is:

[0017] ;

[0018] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This represents the torque experienced by the sliding gear sleeve during axial movement. This is the torque acting on the sliding gear sleeve half-shaft. Let be the equivalent radius of rotation of the sliding gear sleeve. Let be the equivalent rotation radius of the target advance gear. This indicates shifting gears based on a positive speed difference. This indicates shifting gears with a negative speed difference. The torque exerted on the vertical end face of the target gear is [value missing]. The frictional force on the end face of the target gear. The torque exerted on the vertical end face of the sliding gear sleeve is [value missing]. This refers to the frictional force on the end face of the sliding gear sleeve.

[0019] In one embodiment, the current stage includes a tooth advance elimination phase, and the dynamic model corresponding to the tooth advance elimination phase is:

[0020] ;

[0021] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

[0022] In one embodiment, when the current stage is the elimination of idle travel, determining the reference advance position corresponding to the current stage based on bench test data includes:

[0023] Determine the estimated gear shift position for the current stage based on bench test data;

[0024] Obtain the road slope influencing factor, vehicle weight influencing factor, and accelerator pedal influencing factor;

[0025] The estimated gear shift position is corrected based on the road slope influence factor, the vehicle body mass influence factor, and the accelerator pedal influence factor to obtain the reference gear shift position.

[0026] In one embodiment, the objective function is:

[0027] ;

[0028] in, To predict the time domain, To control the time domain, These are the weighting coefficients. This is the weight matrix. To control the increment, For the target shift position, For reference gear shift position, For time parameters, It is a relaxation factor.

[0029] Secondly, this application also provides a shift control device for an automatic transmission. The device includes:

[0030] The detection module is used to detect the current gear shift position and determine the current stage based on the current gear shift position;

[0031] The acquisition module is used to acquire the dynamic model corresponding to the current stage and determine the reference advance position corresponding to the current stage based on the bench test data.

[0032] The calculation module is used to construct an objective function based on the dynamic model and the reference shift position, and to solve for the optimal control sequence that satisfies preset constraints based on the objective function; the preset constraints include minimizing shift shock.

[0033] The control module is used to determine the optimal control increment based on the optimal control sequence and apply the optimal control increment to the control system of the automatic transmission.

[0034] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0035] Detect the current gear position and determine the current stage based on the current gear position;

[0036] Obtain the dynamic model corresponding to the current stage, and determine the reference advance position corresponding to the current stage based on the bench test data;

[0037] An objective function is constructed based on the dynamic model and the reference shift position. The optimal control sequence that satisfies preset constraints is then solved based on the objective function. The preset constraints include minimizing shift shock.

[0038] The optimal control increment is determined based on the optimal control sequence, and the optimal control increment is applied to the control system of the automatic transmission.

[0039] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:

[0040] Detect the current gear position and determine the current stage based on the current gear position;

[0041] Obtain the dynamic model corresponding to the current stage, and determine the reference advance position corresponding to the current stage based on the bench test data;

[0042] An objective function is constructed based on the dynamic model and the reference shift position. The optimal control sequence that satisfies preset constraints is then solved based on the objective function. The preset constraints include minimizing shift shock.

[0043] The optimal control increment is determined based on the optimal control sequence, and the optimal control increment is applied to the control system of the automatic transmission.

[0044] The aforementioned automatic transmission shift control method, device, computer equipment, and storage medium detect the current gear engagement position and determine the current stage based on it; acquire the dynamic model corresponding to the current stage and determine the reference gear engagement position based on bench test data; construct an objective function based on the dynamic model and the reference gear engagement position, and solve for the optimal control sequence that satisfies preset constraints, including minimizing shift shock; determine the optimal control increment based on the optimal control sequence, and apply the optimal control increment to the automatic transmission control system. Through this method, the corresponding stage can be determined based on the gear engagement position, and the dynamic model corresponding to the stage can be used, improving the accuracy of the dynamic simulation; by setting constraints in conjunction with shift shock, the shift shock is minimized when the generated control increment takes effect, improving shift smoothness; and by continuously correcting and solving the control sequence with minimal shift shock based on the dynamic model over multiple control cycles, the accuracy of shift control is improved. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the shift control method of an automatic transmission in one embodiment;

[0046] Figure 2 This is a flowchart illustrating the steps for constructing the objective function in one embodiment;

[0047] Figure 3 This is a flowchart illustrating the step of determining the reference shift position in one embodiment;

[0048] Figure 4 This is a structural block diagram of the shift control device of an automatic transmission in one embodiment;

[0049] Figure 5 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0051] In one embodiment, such as Figure 1 As shown, a shift control method for an automatic transmission is provided. This embodiment illustrates the application of this method to an automatic transmission control unit, including the following steps:

[0052] Step 102: Detect the current gear position and determine the current stage based on the current gear position.

[0053] The current gear position refers to the relative position of the sliding sleeve and the target gear within the current control cycle. Different shifting stages are defined based on the relative position of the sliding sleeve and the target gear, including the elimination of free travel stage, the gear engagement synchronization stage, and the gear engagement elimination of free travel stage. The sliding sleeve achieves the gear shifting function of the transmission by contacting the gears corresponding to different gears. During gear shifting, the control unit sends a signal to cause the sliding sleeve to slide to the corresponding position. The sliding of the sliding sleeve changes the position of the gear, thereby achieving the switching between different gears. The target gear refers to the gear corresponding to the desired gear after the shift operation. Since different gears correspond to different transmission ratios, the gear ratios of different gears are also different.

[0054] During the initial idle travel elimination phase, the sliding sleeve, initially in neutral, moves towards the target gear position. The sliding sleeve and the target gear do not interfere with each other; that is, the end face of the sliding sleeve does not contact the end face of the target gear. During the gear engagement synchronization phase, the end face of the sliding sleeve contacts and rubs against the end face of the target gear, causing interference. The friction between the end faces of the two components synchronizes their rotational speeds. During the gear engagement elimination phase, after the sliding sleeve successfully engages the gear, the tooth surface of the sliding sleeve contacts the tooth surface of the target gear until full engagement.

[0055] Step 104: Obtain the dynamic model corresponding to the current stage, and determine the reference advance position corresponding to the current stage based on the bench test data.

[0056] Each stage has a different dynamic principle and a different force between the sliding sleeve and the target gear. Dynamic models for each stage are analyzed and constructed in advance. After determining the current stage, the dynamic model for that stage is retrieved from multiple pre-constructed models. Reference engagement positions for the elimination of free travel, gear shift synchronization, and gear engagement elimination of free travel stages are determined in advance through bench tests: the automatic transmission shift synchronization contact point, the sliding sleeve tooth tip engagement position, and the sliding sleeve full engagement position are determined through bench tests. When the current stage is the elimination of free travel stage, the reference engagement position is lower than the shift synchronization contact point; when the current stage is the gear shift synchronization stage, the reference engagement position is the sliding sleeve tooth tip engagement position; when the current stage is the gear engagement elimination of free travel stage, the reference engagement position is the sliding sleeve full engagement position.

[0057] Step 106: Construct an objective function based on the dynamic model and the reference shift position, and solve for the optimal control sequence that satisfies preset constraints based on the objective function; the preset constraints include minimizing shift shock.

[0058] Specifically, the target gear shift position is predicted based on the dynamic model after a certain time. An objective function is constructed by combining the dynamic model and the reference gear shift position. The minimum difference between the target gear shift position and the reference gear shift position is used as the optimization objective, ensuring that the system's predicted output tracks the reference gear shift position as closely as possible. Minimizing the shift shock is used as a constraint condition, ensuring that the control quantity of the system's predicted output has the minimum shift shock when applied to the control system, thus improving shift smoothness.

[0059] In one implementation, the preset constraints are expressed as follows:

[0060] ;

[0061] Among them, the shift shock is The duty cycle output constraint of the shift motor is 0-100%. To control the output, , These are the maximum and minimum limits of the controller's soft constraints, respectively. For the state variables of the gear shift control system, These represent a series of control increments and control quantities within the control time domain. These are the sets of maximum and minimum values ​​of the control quantity within the control time domain, respectively. It is a relaxation factor.

[0062] Step 108: Determine the optimal control increment based on the optimal control sequence, and apply the optimal control increment to the control system of the automatic transmission.

[0063] Within each control cycle, the optimal control sequence is obtained by combining the objective function with preset constraints, including a series of control increments and relaxation factors in the control time domain.

[0064] ;

[0065] The first control increment in the optimal control sequence is taken as the optimal control increment and applied to the control system, that is: In this embodiment, the control increment acting on the control system can be the shift force increment.

[0066] In the aforementioned automatic transmission shift control method, the current gear engagement position is detected, and the current stage is determined based on this position. The corresponding dynamic model for the current stage is acquired, and a reference gear engagement position is determined based on bench test data. An objective function is constructed based on the dynamic model and the reference gear engagement position, and the optimal control sequence satisfying preset constraints is solved using this objective function. These preset constraints include minimizing shift shock. The optimal control increment is determined based on the optimal control sequence and applied to the automatic transmission control system. This approach allows for the determination of the corresponding stage based on the gear engagement position and the use of a dynamic model corresponding to that stage, improving the accuracy of the dynamic simulation. Setting constraints based on shift shock ensures that the shift shock is minimized when the generated control increment takes effect, improving shift smoothness. Continuously correcting and solving the control sequence with minimal shift shock based on the dynamic model over multiple control cycles improves the accuracy of shift control.

[0067] In one embodiment, such as Figure 2 As shown, the step of constructing the objective function based on the dynamic model and the reference shift position includes:

[0068] Step 202: Using the dynamic model, based on the current state information and the control increment in the control time domain, construct the predicted state information in the prediction time domain.

[0069] The current state information includes the mass of the sliding sleeve, the acceleration of the sliding sleeve, the moment of inertia of the engaging sleeve, the angular acceleration of the engaging sleeve, and the moment of inertia of the target gear. The control increment in the control time domain is used to adjust the torques acting on the sliding sleeve and the target gear in the dynamic model. The control increment in the control time domain is applied to the dynamic model, and the predicted state information after a period of time is predicted in combination with the current state information.

[0070] Step 204: Construct the target shift position in the prediction time domain based on the predicted state information and the current shift position.

[0071] The predicted state information includes the acceleration of the sliding sleeve after a period of time, the rotational angular acceleration of the engagement sleeve, and the rotational angular acceleration of the target gear. The shift displacement within the predicted time domain is determined based on the rotational angular acceleration and the time information in the predicted time domain. The target shift position in the predicted time domain can be determined based on the current shift position and the progress displacement.

[0072] Step 206: Construct a target function based on the target shift position and the reference shift position.

[0073] Specifically, an objective function is constructed based on the target gear position and the reference gear position. The minimum value of the difference between the target gear position and the reference gear position is taken as the optimization objective, so that the system prediction output tracks the reference gear position as closely as possible.

[0074] In this embodiment, a predictive state information in the prediction time domain is constructed based on the current state information and the control increment in the control time domain using a dynamic model. A target shift position in the prediction time domain is constructed based on the predicted state information and the current shift position. An objective function is constructed based on the target shift position and the reference shift position. This enables the system to predict the output while satisfying the dynamic model of the stage and to track the reference shift position as much as possible, thereby improving the accuracy of shift control.

[0075] In one embodiment, the current stage includes an idle stroke elimination stage, and the dynamic model corresponding to the idle stroke elimination stage is:

[0076] ;

[0077] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

[0078] in, The torque exerted on the target gear is the assist torque, and the torque exerted on the sliding sleeve is the force torque. The torque of the entire vehicle is the torque experienced by the sliding gear sleeve during axial movement. It is the sum of the shift motor force and the sliding assistance.

[0079] In one embodiment, the current stage includes a gear shift synchronization stage, and the dynamic model corresponding to the gear shift synchronization stage is:

[0080] ;

[0081] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This represents the torque experienced by the sliding gear sleeve during axial movement. This is the torque acting on the sliding gear sleeve half-shaft. Let be the equivalent radius of rotation of the sliding gear sleeve. Let be the equivalent rotation radius of the target advance gear. This indicates shifting gears based on a positive speed difference. This indicates shifting gears with a negative speed difference. The torque exerted on the vertical end face of the target gear is [value missing]. The frictional force on the end face of the target gear. The torque exerted on the vertical end face of the sliding gear sleeve is [value missing]. This refers to the frictional force on the end face of the sliding gear sleeve.

[0082] In one embodiment, the current stage includes a tooth advance elimination phase, and the dynamic model corresponding to the tooth advance elimination phase is:

[0083] ;

[0084] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

[0085] In one embodiment, such as Figure 3 As shown, in the case that the current stage is the elimination of idle travel, the step of determining the reference advance position corresponding to the current stage based on bench test data includes:

[0086] Step 302: Determine the estimated gear shift position corresponding to the current stage based on the bench test data.

[0087] Among these measures, the estimated gear engagement positions for each stage are determined in advance through bench testing: the position of the automatic transmission shift synchronization contact point, the position of the sliding sleeve tooth tip entering the gear, and the position of the sliding sleeve fully entering the gear are determined through bench testing.

[0088] Step 304: Obtain the road slope influencing factor, vehicle body mass influencing factor, and accelerator pedal influencing factor.

[0089] The system includes pre-setting road slope influence factors for multiple road slope ranges, determining the corresponding road slope influence factor based on the current road slope range. The vehicle weight influence factor is a pre-set fixed value. The accelerator pedal influence factors include accelerator pedal position influence factors and accelerator pedal change rate influence factors. A pre-set accelerator pedal position influence factor curve includes multiple accelerator pedal positions and their corresponding influence factors; the corresponding accelerator pedal position influence factor is retrieved from this curve based on the current accelerator pedal position. Similarly, a pre-set accelerator pedal change rate influence factor curve includes multiple accelerator pedal change rates and their corresponding influence factors; the corresponding accelerator pedal change rate influence factor is retrieved from this curve based on the current accelerator pedal change rate.

[0090] Step 306: Correct the estimated gear shift position based on the road slope influence factor, the vehicle weight influence factor, and the accelerator pedal influence factor to obtain the reference gear shift position.

[0091] Wherein, it is assumed that the position of the shift synchronization contact point is The position of the sliding gear sleeve tooth tip is... The fully engaged position of the sliding tooth sleeve is In the current stage, which aims to eliminate free travel, the reference gear-entry position is lower than the shift synchronization contact point position, and a position deviation is preset. The estimated gear shift position is corrected using the following formula:

[0092] ;

[0093] In the formula, , The influencing factors set in this embodiment are road slope influencing factor, vehicle body weight influencing factor, and accelerator pedal influencing factor. More influencing factors can be set according to actual working conditions. To eliminate the reference gear position during the idle travel phase.

[0094] When the current stage is the shifting synchronization stage, the reference shifting position is the position where the sliding sleeve tooth tip enters the gear. When the current stage is the process of eliminating idle travel during gear engagement, the reference engagement position is the position where the sliding sleeve is fully engaged. .

[0095] In this embodiment, the estimated gear shift position corresponding to the current stage is determined based on bench test data; the road slope influence factor, vehicle weight influence factor, and accelerator pedal influence factor are obtained; the estimated gear shift position is corrected based on the road slope influence factor, vehicle weight influence factor, and accelerator pedal influence factor to obtain a reference gear shift position. By comprehensively considering the influencing factors such as road slope, vehicle weight, and accelerator pedal, the reference position is set, effectively ensuring the smoothness of gear shifting and the power interruption time under different driving environments and intentions.

[0096] In one embodiment, the objective function is:

[0097] ;

[0098] in, To predict the time domain, To control the time domain, These are the weighting coefficients. This is the weight matrix. To control the increment, For the target shift position, For reference gear shift position, For time parameters, It is a relaxation factor.

[0099] The purpose of setting the relaxation factor is to maximize the possibility that the objective function has a solution. Solving for the objective function can be understood as solving for the control increment to minimize the objective function. The first term of the objective function reflects the system's ability to follow the reference gear position. Minimizing the difference between the target gear position and the reference gear position is used as the optimization objective, so that the system's predicted output tracks the reference gear position as closely as possible. The second term reflects the change in the control increment, so that the optimized control minimizes the control amplitude and improves the smoothness of the shift control.

[0100] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0101] Based on the same inventive concept, this application also provides a shift control device for an automatic transmission to implement the shift control method of the automatic transmission described above. The solution provided by this device is similar to the implementation described in the above method. Therefore, the specific limitations of one or more embodiments of the automatic transmission shift control device provided below can be found in the limitations of the automatic transmission shift control method described above, and will not be repeated here.

[0102] In one embodiment, such as Figure 4 As shown, a shift control device for an automatic transmission is provided, comprising:

[0103] The detection module 10 is used to detect the current gear shift position and determine the current stage based on the current gear shift position.

[0104] The acquisition module 20 is used to acquire the dynamic model corresponding to the current stage and determine the reference advance position corresponding to the current stage based on the bench test data.

[0105] The calculation module 30 is used to construct an objective function based on the dynamic model and the reference shift position, and to solve for the optimal control sequence that satisfies preset constraints based on the objective function; the preset constraints include minimizing shift shock.

[0106] The control module 40 is used to determine the optimal control increment based on the optimal control sequence and apply the optimal control increment to the control system of the automatic transmission.

[0107] In the aforementioned automatic transmission shift control device, the current gear engagement position is detected, and the current stage is determined based on this position. The corresponding dynamic model for the current stage is acquired, and a reference gear engagement position is determined based on bench test data. An objective function is constructed based on the dynamic model and the reference gear engagement position, and the optimal control sequence satisfying preset constraints is solved using this objective function. These preset constraints include minimizing shift shock. The optimal control increment is determined based on the optimal control sequence and applied to the automatic transmission control system. Through this method, the corresponding stage can be determined based on the gear engagement position, and a dynamic model corresponding to that stage can be used, improving the accuracy of the dynamic simulation. By setting constraints in conjunction with shift shock, the shift shock is minimized when the generated control increment takes effect, improving shift smoothness. Furthermore, by continuously correcting and solving the control sequence with minimal shift shock based on the dynamic model over multiple control cycles, the accuracy of shift control is improved.

[0108] In one embodiment, the calculation module 30 is further configured to construct predicted state information in the prediction time domain based on the current state information and the control increment in the control time domain using the dynamic model; construct a target shift position in the prediction time domain based on the predicted state information and the current shift position; and construct a target function based on the target shift position and the reference shift position.

[0109] In one embodiment, the current stage includes an idle stroke elimination stage, and the dynamic model corresponding to the idle stroke elimination stage is:

[0110] ;

[0111] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

[0112] In one embodiment, the current stage includes a gear shift synchronization stage, and the dynamic model corresponding to the gear shift synchronization stage is:

[0113] ;

[0114] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This represents the torque experienced by the sliding gear sleeve during axial movement. This is the torque acting on the sliding gear sleeve half-shaft. Let be the equivalent radius of rotation of the sliding gear sleeve. Let be the equivalent rotation radius of the target advance gear. This indicates shifting gears based on a positive speed difference. This indicates shifting gears with a negative speed difference. The torque exerted on the vertical end face of the target gear is [value missing]. The frictional force on the end face of the target gear. The torque exerted on the vertical end face of the sliding gear sleeve is [value missing]. This refers to the frictional force on the end face of the sliding gear sleeve.

[0115] In one embodiment, the current stage includes a tooth advance elimination phase, and the dynamic model corresponding to the tooth advance elimination phase is:

[0116] ;

[0117] in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

[0118] In one embodiment, when the current stage is the elimination of idle travel stage, the acquisition module 20 is further configured to determine the estimated gear shift position corresponding to the current stage based on bench test data; acquire the road slope influence factor, the vehicle body mass influence factor, and the accelerator pedal influence factor; and correct the estimated gear shift position based on the road slope influence factor, the vehicle body mass influence factor, and the accelerator pedal influence factor to obtain a reference gear shift position.

[0119] In one embodiment, the objective function is:

[0120] ;

[0121] in, To predict the time domain, To control the time domain, These are the weighting coefficients. This is the weight matrix. To control the increment, For the target shift position, For reference gear shift position, For time parameters, It is a relaxation factor.

[0122] The various modules in the shift control device of the aforementioned automatic transmission can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0123] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 5 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a shift control method for an automatic transmission.

[0124] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0125] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0126] Detect the current gear position and determine the current stage based on the current gear position;

[0127] Obtain the dynamic model corresponding to the current stage, and determine the reference advance position corresponding to the current stage based on the bench test data;

[0128] An objective function is constructed based on the dynamic model and the reference shift position. The optimal control sequence that satisfies preset constraints is then solved based on the objective function. The preset constraints include minimizing shift shock.

[0129] The optimal control increment is determined based on the optimal control sequence, and the optimal control increment is applied to the control system of the automatic transmission.

[0130] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0131] Based on the current state information and the control increment in the control time domain, the predicted state information in the prediction time domain is constructed using the dynamic model described above.

[0132] Construct the target shift position in the time domain based on the predicted state information and the current shift position;

[0133] A target function is constructed based on the target shift position and the reference shift position.

[0134] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0135] Determine the estimated gear shift position for the current stage based on bench test data;

[0136] Obtain the road slope influencing factor, vehicle weight influencing factor, and accelerator pedal influencing factor;

[0137] The estimated gear shift position is corrected based on the road slope influence factor, the vehicle body mass influence factor, and the accelerator pedal influence factor to obtain the reference gear shift position.

[0138] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0139] Detect the current gear position and determine the current stage based on the current gear position;

[0140] Obtain the dynamic model corresponding to the current stage, and determine the reference advance position corresponding to the current stage based on the bench test data;

[0141] An objective function is constructed based on the dynamic model and the reference shift position. The optimal control sequence that satisfies preset constraints is then solved based on the objective function. The preset constraints include minimizing shift shock.

[0142] The optimal control increment is determined based on the optimal control sequence, and the optimal control increment is applied to the control system of the automatic transmission.

[0143] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0144] Based on the current state information and the control increment in the control time domain, the predicted state information in the prediction time domain is constructed using the dynamic model described above.

[0145] Construct the target shift position in the time domain based on the predicted state information and the current shift position;

[0146] A target function is constructed based on the target shift position and the reference shift position.

[0147] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0148] Determine the estimated gear shift position for the current stage based on bench test data;

[0149] Obtain the road slope influencing factor, vehicle weight influencing factor, and accelerator pedal influencing factor;

[0150] The estimated gear shift position is corrected based on the road slope influence factor, the vehicle body mass influence factor, and the accelerator pedal influence factor to obtain the reference gear shift position.

[0151] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0152] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0153] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0154] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A shift control method for an automatic transmission, characterized in that, The method includes: Detect the current gear position and determine the current stage based on the current gear position; Obtain the dynamic model corresponding to the current stage, and determine the reference advance position corresponding to the current stage based on the bench test data; An objective function is constructed based on the dynamic model and the reference shift position. The optimal control sequence that satisfies preset constraints is then solved based on the objective function. The preset constraints include minimizing shift shock. The optimal control increment is determined based on the optimal control sequence, and the optimal control increment is applied to the control system of the automatic transmission. The step of constructing the objective function based on the dynamic model and the reference shift position includes: Based on the current state information and the control increment in the control time domain, the predicted state information in the prediction time domain is constructed using the dynamic model described above. Construct the target shift position in the time domain based on the predicted state information and the current shift position; Construct a target function based on the target gear shift position and the reference gear shift position; The current stage includes an empty travel elimination stage, and the dynamic model corresponding to the empty travel elimination stage is as follows: ； in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

2. The method according to claim 1, characterized in that, The current stage includes a gear shift synchronization stage, and the dynamic model corresponding to the gear shift synchronization stage is: ； Among them, among them, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This represents the torque experienced by the sliding gear sleeve during axial movement. This is the torque acting on the sliding gear sleeve half-shaft. Let be the equivalent radius of rotation of the sliding gear sleeve. Let the effective rotation radius of the target advance gear be denoted as . This indicates shifting gears based on a positive speed difference. This indicates shifting gears with a negative speed difference. The torque exerted on the vertical end face of the target gear is [value missing]. The frictional force on the end face of the target gear. The torque exerted on the vertical end face of the sliding gear sleeve is [value missing]. This refers to the frictional force on the end face of the sliding gear sleeve.

3. The method according to claim 1, characterized in that, The current stage includes a tooth-feeding empty stroke elimination stage, and the dynamic model corresponding to the tooth-feeding empty stroke elimination stage is: ； in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

4. The method according to any one of claims 1 to 3, characterized in that, In the case that the current stage is for eliminating idle travel, determining the reference advance position corresponding to the current stage based on bench test data includes: Determine the estimated gear shift position for the current stage based on bench test data; Obtain the road gradient influencing factor, vehicle weight influencing factor, and accelerator pedal influencing factor; The estimated gear shift position is corrected based on the road slope influence factor, the vehicle body mass influence factor, and the accelerator pedal influence factor to obtain the reference gear shift position.

5. The method according to any one of claims 1 to 3, characterized in that, The objective function is: ； in, To predict the time domain, To control the time domain, These are the weighting coefficients. This is the weight matrix. To control the increment, For the target shift position, For reference gear shift position, For time parameters, It is a relaxation factor.

6. A shift control device for an automatic transmission, characterized in that, The device includes: The detection module is used to detect the current gear shift position and determine the current stage based on the current gear shift position; The acquisition module is used to acquire the dynamic model corresponding to the current stage and determine the reference advance position corresponding to the current stage based on the bench test data. The calculation module is used to construct an objective function based on the dynamic model and the reference shift position, and to solve for the optimal control sequence that satisfies preset constraints based on the objective function. The preset constraints include minimizing shift shock. The control module is used to determine the optimal control increment based on the optimal control sequence and apply the optimal control increment to the control system of the automatic transmission. The calculation module is further configured to construct predicted state information in the prediction time domain based on the current state information and the control increment in the control time domain using the dynamic model; construct a target shift position in the prediction time domain based on the predicted state information and the current shift position; and construct a target function based on the target shift position and the reference shift position. The current stage includes an empty travel elimination stage, and the dynamic model corresponding to the empty travel elimination stage is as follows: ； in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

7. The apparatus according to claim 6, characterized in that, The current stage includes a gear shift synchronization stage, and the dynamic model corresponding to the gear shift synchronization stage is: ； Among them, among them, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This represents the torque experienced by the sliding gear sleeve during axial movement. This is the torque acting on the sliding gear sleeve half-shaft. Let be the equivalent radius of rotation of the sliding gear sleeve. Let the effective rotation radius of the target advance gear be denoted as . This indicates shifting gears based on a positive speed difference. This indicates shifting gears with a negative speed difference. The torque exerted on the vertical end face of the target gear is [value missing]. The frictional force on the end face of the target gear. The torque exerted on the vertical end face of the sliding gear sleeve is [value missing]. This refers to the frictional force on the end face of the sliding gear sleeve.

8. The apparatus according to claim 6, characterized in that, The current stage includes a tooth-feeding empty stroke elimination stage, and the dynamic model corresponding to the tooth-feeding empty stroke elimination stage is: ； in, For the mass of the sliding gear sleeve, For the acceleration of the sliding toothed sleeve, The moment of inertia of the coupling sleeve, The rotational angular acceleration of the coupling sleeve, The moment of inertia of the target gear. Let be the rotational angular acceleration of the target gear. The torque acting on the target gear. The torque acting on the sliding gear sleeve. This is the torque experienced by the sliding gear sleeve during axial movement.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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