A commutation control method, system and device

Abstract

The application discloses a commutation control method, system and device, and the method comprises the following steps: obtaining a commutation speed and a gear shifting control stage in response to a commutation instruction; determining a target pressure based on the commutation speed, and determining a target torque based on the gear shifting control stage; and controlling a clutch based on the target pressure and the target torque. The torque of the loader commutation process is controlled based on the commutation speed and the gear shifting control stage, the target torque is determined at a suitable clutch control stage, the overall time of the commutation process is shortened, and the different clutch pressure controls corresponding to the commutation speed are matched, so that the gear shifting quality and the gear shifting time are considered, and the gear shifting stability is improved.

Description

Technical Field

[0001] This application relates to the field of control technology, and in particular to a commutation control method, system and device. Background Technology

[0002] During operation, the loader will perform reversing operations at different throttles and speeds. During the reversing process, the clutch of the currently engaged direction is first disengaged, the transmission is put into neutral, and then the clutch of the direction to be reversed is gradually engaged.

[0003] Because loaders require frequent reversing during loading operations, their AT (Automatic Transmission) transmissions need to engage the reversing clutch within a specified time at different engine speeds and vehicle speeds. For example, during high-speed reversing, the throttle is uncontrollable, and sometimes the driver will perform the reversing operation while pressing the accelerator. Under such conditions, downshifting results in a large deceleration of the vehicle, a large reversing impact, and poor shifting stability. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a commutation control method, system, and device to improve the quality of commutation control.

[0005] To address the above problems, the technical solutions provided in this application are as follows:

[0006] The first aspect of this application provides a commutation control method, including:

[0007] In response to a reversing command, obtain the reversing speed and gear shifting control phase;

[0008] The target pressure is determined based on the reversing speed, and the target torque is determined based on the shift control phase.

[0009] The clutch is controlled based on the target pressure and target torque.

[0010] Optionally, determining the target pressure based on the reversing speed includes:

[0011] In response to the commutation speed falling within the low-speed range, the target pressure is determined to be the VKR pressure.

[0012] Optionally, determining the target pressure based on the reversing speed includes:

[0013] In response to the commutation speed falling within the medium speed range, the target pressure is determined to be the KP pressure.

[0014] Optionally, determining the target pressure based on the reversing speed includes:

[0015] In response to the commutation speed falling within the high-speed range, the target pressure is determined to be the TKP pressure.

[0016] Optionally, determining the target torque based on the shift control phase includes:

[0017] In response to the fuel filling phase or the KP holding phase, the current engine's first torque is reduced to the second torque so that the vehicle no longer accelerates;

[0018] In response to the first preset time period of entering the TP phase, the engine torque is maintained at the second torque obtained by reducing torque;

[0019] In response to the engine torque transmission conforming to the preset transmission standard, the engine torque is restored to the first torque.

[0020] Optionally, the method further includes:

[0021] In response to the SP phase, the engine torque is maintained at the second torque obtained by reducing torque;

[0022] In response to the end of the SP phase, the engine torque is restored to the first torque.

[0023] Optionally, restoring the engine torque to the first torque includes:

[0024] The engine torque is restored to the first preset torque at the first preset rate.

[0025] Optionally, determining the target torque based on the shift control phase includes:

[0026] In response to the fuel filling phase or the KP holding phase, the current engine's first torque is reduced to the second torque so that the vehicle no longer accelerates;

[0027] In response to the first preset time period of entering the TP phase, the current engine's second torque is reduced to the third torque;

[0028] In response to the engine torque transmission conforming to the preset transmission standard, the engine torque is restored to the first torque.

[0029] A second aspect of this application provides a commutation control system, comprising:

[0030] The acquisition unit is used to acquire the reversing speed and shift control stage in response to the reversing command;

[0031] A determining unit is used to determine the target pressure based on the reversing speed and to determine the target torque based on the shift control phase.

[0032] A control unit for controlling the clutch based on the target pressure and target torque.

[0033] A third aspect of this application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, it implements the commutation control method described in any one of the first aspects above.

[0034] Compared with the prior art, this application has the following beneficial effects:

[0035] By responding to a reversing command, the reversing speed and shift control stage are obtained; a target pressure is determined based on the reversing speed, and a target torque is determined based on the shift control stage; the clutch is controlled based on the target pressure and target torque. The torque during the loader's reversing process is controlled based on the reversing speed and shift control stage. By determining the target torque at an appropriate clutch control stage, the overall reversing time is shortened. Combined with different clutch pressure controls corresponding to the reversing speed, both shifting quality and shifting time are considered, improving shifting stability. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in this embodiment or the prior art, the drawings used in the description of the embodiment or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram illustrating the relationship between engine speed and turning time.

[0038] Figure 2 This is a schematic diagram illustrating the relationship between pressure and torque.

[0039] Figure 3 A flowchart of a commutation control method provided in an embodiment of this application;

[0040] Figure 4 A flowchart of a commutation control method provided in an embodiment of this application;

[0041] Figure 5 This is a structural diagram of a commutation control system provided in an embodiment of this application. Detailed Implementation

[0042] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0043] To facilitate understanding of the technical solutions provided in the embodiments of this application, the terms involved in the embodiments of this application will be explained below.

[0044] AT stands for Automatic Transmission. Torque reduction refers to decreasing engine torque by retarding the ignition timing. KP stands for Kiss Point, meaning the clutch's semi-engaged point; VKP refers to a pressure value slightly less than KP; TKP refers to a pressure value slightly greater than KP; TP stands for Torque Phase, meaning the torque exchange phase; SP stands for Speed ​​Phase, meaning the speed exchange phase; T2P stands for Torque to Pressure, meaning the relationship between torque and pressure.

[0045] To facilitate understanding of the technical solutions provided in the embodiments of this application, the background technology involved in the embodiments of this application will be described below.

[0046] As mentioned earlier, loaders frequently require reversing during loading operations. Their automatic transmissions (AT) need to engage the reversing clutch within a specified timeframe at different engine speeds and vehicle speeds. Due to the varying operating conditions, the input shaft rotational inertia that needs to be eliminated within the same timeframe differs, making it difficult to cover all operating conditions using uniform control parameters. Current technology involves downshifting before reversing, using the engine's drag torque to decelerate the vehicle. However, during high-speed reversing, the throttle position is uncontrollable; sometimes the driver performs the reversing operation while the accelerator is depressed. In such conditions, downshifting results in significant vehicle deceleration and poor shift quality.

[0047] During operation, the loader will perform reversing operations at different throttle positions and speeds. During reversing, firstly, the currently engaged clutch disengages, the transmission shifts to neutral, and then the clutch for the next direction is gradually engaged. In this process, the clutch undergoes a rapid lubrication phase, then enters a holding phase (KP), and then the pressure gradually increases to gradually engage the clutch. For example... Figure 1 As shown, Figure 1This diagram illustrates the relationship between rotational speed and steering time. The broken line represents the input shaft speed. When a loader reverses direction, there are strict requirements on the reversing time; otherwise, there is a risk of burning out the clutch. When reversing under different engine speeds, the input shaft speed needs to be increased after the vehicle speed reaches 0. During this process, since the vehicle speed and engine speed are different but the time is basically the same, different decelerations are required to slow down the input shaft.

[0048] In practical applications, the torque transmitted by the clutch consists of the frictional torque of the clutch plates and the shear torque of the oil film. Since loaders have a large number of clutch plates and a high T2P (Torque to Pressure), meaning a large torque is transmitted per unit pressure, if only a fixed KP (KissPoint, half-engagement point) pressure is used for control, the following problems will occur: Figure 2 , Figure 2 This diagram illustrates the relationship between pressure and torque. If the pressure remains consistently at VKP, there will be a lag in the actual pressure rise at high speeds, leading to discontinuous torque transmission. At higher pressures, the clutch may suddenly engage, causing a shock. If the pressure remains at TKP, the torque generated at TKP during low-speed reversing will cause the input shaft speed to change too rapidly, resulting in another shock. Maintaining the pressure at KP avoids addressing both issues simultaneously. Here, VKP refers to a pressure value slightly less than KP, and TKP refers to a pressure value slightly greater than KP.

[0049] To address this issue, embodiments of this application provide a reversing control method, system, and device. A reversing control method is proposed that performs full-process torque control on the loader's reversing process. By reducing / increasing torque during appropriate clutch control phases, the overall reversing time is shortened. Combined with different clutch pressure controls at high, medium, and low speeds, this achieves a balance between shift quality and shift time, improving the stability of the shifting process.

[0050] It should be noted that the commutation control method, system, and device provided in this application can be applied to the field of clutches. The above are merely examples and do not limit the application field of the commutation control method, system, and device provided in this application. Furthermore, the embodiments of this application may not limit the executing entity of the commutation control method. For example, the commutation control method of the embodiments of this application can be applied to data processing devices such as terminal devices or servers. The terminal device can be an electronic device such as a computer. The server can be a standalone server, a cloud server, or a cluster server composed of multiple servers.

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0052] The following embodiment illustrates a commutation control method provided in this application. See also... Figure 3 ,Should Figure 3 A flowchart of a commutation control method provided in this application embodiment, the method including:

[0053] S101, in response to the reversing command, acquire the reversing speed and gear shifting control stage.

[0054] The reversing command indicates that the loader needs to perform a reversing operation during operation. Upon receiving a reversing command, the current reversing speed and the current gear shifting control stage are obtained. In practical applications, the reversing speed and gear shifting control stage can be obtained from controllers, sensors, and other devices.

[0055] S102. Determine the target pressure based on the reversing speed, and determine the target torque based on the shift control stage.

[0056] Based on actual working conditions, namely the reversing speed and the gear shifting control stage, torque intervention is performed at different stages of the gear shifting process. Combined with clutch control under different speed conditions, the input shaft speed change and vehicle deceleration have a relatively average deceleration within a limited time, thereby shortening the loader's reversing time and eliminating the loader's reversing shock.

[0057] In one possible implementation, determining the target pressure based on the reversing speed includes:

[0058] In response to the commutation speed falling within the low-speed range, the target pressure is determined to be the VKR pressure.

[0059] The low-speed range is used to characterize the speed range corresponding to low-speed operating conditions. For example, the speed range can be at least one of (a, b), [a, b], (a, b], and [a, b). The values ​​of a and b can be set according to actual needs, and whether the range is open or closed can also be set according to actual needs.

[0060] When the reversing speed obtained in the above process is detected to be in the low speed range, VKR pressure is used for control. That is, according to the reversing speed in the actual working conditions, different clutch controls are used to make the input shaft speed change and the vehicle deceleration have a relatively average deceleration within a limited time, thereby shortening the loader reversing time.

[0061] In one possible implementation, determining the target pressure based on the reversing speed includes:

[0062] In response to the commutation speed falling within the medium speed range, the target pressure is determined to be the KP pressure.

[0063] The medium-speed range is used to characterize the speed range corresponding to medium-speed operating conditions. For example, the speed range can be at least one of (c, d), [c, d], (c, d], and [c, d). The values ​​of c and d can be set according to actual needs, and whether the range is open or closed can also be set according to actual needs. The value c can be the same as or different from the value b.

[0064] When the reversing speed obtained in the above process is detected to be in the above medium speed range, KP pressure is used for control. That is, according to the reversing speed in the actual working conditions, different clutch controls are used to make the input shaft speed change and the vehicle deceleration have a relatively average deceleration within a limited time, thereby shortening the loader reversing time.

[0065] In one possible implementation, determining the target pressure based on the reversing speed includes:

[0066] In response to the commutation speed falling within the high-speed range, the target pressure is determined to be the TKP pressure.

[0067] The medium-speed range is used to characterize the speed range corresponding to high-speed operating conditions. For example, the speed range can be at least one of (e, f), [e, f], (e, f], and [e, f). The values ​​of e and f can be set according to actual needs, and whether the range is open or closed can also be set according to actual needs. The value e can be the same as or different from the value d.

[0068] When the reversing speed obtained in the above process is detected to be in the high-speed range, TKP pressure is used for control. That is, according to the reversing speed in the actual working conditions, different clutch controls are used to make the input shaft speed change and the vehicle deceleration have a relatively average deceleration within a limited time, thereby shortening the loader reversing time.

[0069] In one possible implementation, determining the target torque based on the shift control phase includes:

[0070] Step A1: In response to the fuel filling phase or the KP holding phase, reduce the current engine's first torque to the second torque so that the vehicle stops accelerating.

[0071] That is, the torque reduction is maintained for a calibrable time after the start of TP (Torque Phase), and then the torque reduction is restored at a fixed rate.

[0072] At the start of a gear shift, specifically during the fuel filling and KP holding phase, engine torque intervention is performed to reduce engine torque, thereby stopping vehicle acceleration. This involves lowering the current engine's primary torque to a secondary torque, which can be set according to actual needs and is lower than the primary torque.

[0073] Step A2: In response to the first preset time period of entering the TP stage, maintain the engine torque at the second torque obtained by reducing torque.

[0074] At the same time, the loss of engine torque will slow down the vehicle to a certain extent. During the period of TP, since more torque is transmitted after disengaging the clutch, the engine torque is maintained at the second torque obtained by reducing torque.

[0075] Step A3: In response to the fact that the transmission of engine torque meets the preset transmission standard, the engine torque is restored to the first torque.

[0076] The preset transmission standard is used to measure whether to restore the starting torque. For example, the preset transmission standard can be set by the torque transmission ratio. For example, when most of the torque (such as 70%) is transmitted through the clutch, the second torque obtained by the above-mentioned torque reduction is restored. At this time, the clutch is engaged to transmit the target gear torque, thereby speeding up the gear shifting process.

[0077] In one possible implementation, determining the target torque based on the shift control phase includes:

[0078] Step B1: In response to the fuel filling phase or the KP holding phase, reduce the current engine's first torque to the second torque so that the vehicle stops accelerating.

[0079] At the start of a gear shift, specifically during the fuel filling and KP holding phase, engine torque intervention is performed to reduce engine torque, thereby stopping vehicle acceleration. This involves lowering the current engine's primary torque to a secondary torque, which can be set according to actual needs and is lower than the primary torque.

[0080] Step B2: In response to the first preset time period of entering the TP stage, reduce the current engine's second torque to the third torque.

[0081] Simultaneously, the engine torque loss will cause some deceleration of the vehicle. During the period of TP (Power Transmission), because more torque is transmitted after disengaging the clutch, torque reduction continues, further reducing the current second torque of the engine to obtain a third torque. The third torque is lower than the second torque and the first torque.

[0082] Step B3: In response to the fact that the transmission of engine torque meets the preset transmission standard, the engine torque is restored to the first torque.

[0083] The preset transmission standard is used to measure whether to restore the starting torque. For example, the preset transmission standard can be set by the torque transmission ratio. For example, when most of the torque (such as 70%) is transmitted through the clutch, the third torque obtained by the above torque reduction is restored. At this time, the clutch is engaged to transmit the target gear torque, thereby speeding up the gear shifting process.

[0084] In one possible implementation, the current torque reduction value is maintained during the SP (Speed ​​Phase) phase, and the engine torque is restored to the current value after the SP phase ends. That is, the method also includes:

[0085] In response to the SP phase, the engine torque is maintained at the second torque obtained by reducing torque. In response to the end of the SP phase, the engine torque is restored to the first torque.

[0086] In one possible implementation, restoring the engine torque to the first torque includes:

[0087] The engine torque is restored to the first preset torque at the first preset rate.

[0088] In practical applications, adjustment rates can be set for both the reduction and recovery of engine torque. For example, the engine torque can be restored to a first preset rate. Similarly, the rate for reducing the first torque to a second preset rate can be set, and so on. Other torque reduction / increase processes in this application can also have corresponding preset rates set.

[0089] S103. Control the clutch based on the target pressure and target torque.

[0090] Based on the target pressure and target torque determined above, clutch control is implemented. That is, torque intervention is applied at different stages of the shifting process according to actual working conditions, in conjunction with clutch control under different speed conditions, so that the input shaft shifts and the vehicle decelerates with a relatively uniform deceleration within a limited time, thereby shortening the loader's reversing time and eliminating the loader's reversing shock.

[0091] In summary, the embodiments of this application achieve torque control throughout the loader's reversing process, shorten the overall reversing time by reducing / increasing torque at appropriate clutch control stages, and combine this with different clutch pressure control at high, medium, and low speeds to balance shifting quality and shifting time, thereby improving the stability of the shifting process.

[0092] The above are some specific implementations of the commutation control method provided in the embodiments of this application. Based on this, this application also provides a corresponding system for commutation control. The system provided in the embodiments of this application will be described below from the perspective of functional modularity. Figure 5 This is a structural diagram of a commutation control system provided in an embodiment of this application.

[0093] The system includes:

[0094] The acquisition unit 110 is used to acquire the reversing speed and the shift control stage in response to the reversing command;

[0095] Determining unit 111 is used to determine the target pressure based on the reversing speed and the target torque based on the shift control stage;

[0096] Control unit 112 is used to control the clutch based on the target pressure and target torque.

[0097] Optionally, the determining unit is specifically used for,

[0098] In response to the commutation speed falling within the low-speed range, the target pressure is determined to be the VKR pressure.

[0099] Optionally, the determining unit is specifically used for,

[0100] In response to the commutation speed falling within the medium speed range, the target pressure is determined to be the KP pressure.

[0101] Optionally, the determining unit is specifically used for,

[0102] In response to the commutation speed falling within the high-speed range, the target pressure is determined to be the TKP pressure.

[0103] Optionally, the determining unit is specifically used for,

[0104] In response to the fuel filling phase or the KP holding phase, the current engine's first torque is reduced to the second torque so that the vehicle no longer accelerates;

[0105] In response to the first preset time period of entering the TP phase, the engine torque is maintained at the second torque obtained by reducing torque;

[0106] In response to the engine torque transmission conforming to the preset transmission standard, the engine torque is restored to the first torque.

[0107] Optionally, the determining unit is further configured to,

[0108] In response to the SP phase, the engine torque is maintained at the second torque obtained by reducing torque;

[0109] In response to the end of the SP phase, the engine torque is restored to the first torque.

[0110] Optionally, the determining unit is specifically used to restore the engine torque to a first torque at a first preset rate.

[0111] Optionally, the determining unit is specifically used for,

[0112] In response to the fuel filling phase or the KP holding phase, the current engine's first torque is reduced to the second torque so that the vehicle no longer accelerates;

[0113] In response to the first preset time period of entering the TP phase, the current engine's second torque is reduced to the third torque;

[0114] In response to the engine torque transmission conforming to the preset transmission standard, the engine torque is restored to the first torque.

[0115] This application also provides corresponding devices and computer storage media for implementing the commutation control method provided in this application.

[0116] The device includes a memory and a processor. The memory is used to store instructions or code, and the processor is used to execute the instructions or code to cause the device to perform the commutation control method described in any embodiment of this application.

[0117] The computer storage medium stores code, and when the code is executed, the device running the code implements the commutation control method described in any embodiment of this application.

[0118] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems or apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section.

[0119] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0120] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0121] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0122] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A commutation control method, characterized in that, include: In response to a reversing command, obtain the reversing speed and gear shifting control phase; The target pressure is determined based on the reversing speed, and the target torque is determined based on the shift control phase. Control the clutch based on the target pressure and target torque; Determining the target torque based on the shift control phase includes: In response to the fuel filling phase or the KP holding phase, the current engine's first torque is reduced to the second torque so that the vehicle no longer accelerates; In response to the first preset time period of entering the TP phase, the engine torque is maintained at the second torque obtained by reducing torque; In response to the engine torque transmission conforming to the preset transmission standard, the engine torque is restored to the first torque.

2. The method according to claim 1, characterized in that, Determining the target pressure based on the reversing speed includes: In response to the commutation speed falling within the low-speed range, the target pressure is determined to be the VKR pressure.

3. The method according to claim 1, characterized in that, Determining the target pressure based on the reversing speed includes: In response to the commutation speed falling within the medium speed range, the target pressure is determined to be the KP pressure.

4. The method according to claim 1, characterized in that, Determining the target pressure based on the reversing speed includes: In response to the commutation speed falling within the high-speed range, the target pressure is determined to be the TKP pressure.

5. The method according to claim 1, characterized in that, The method further includes: In response to the SP phase, the engine torque is maintained at the second torque obtained by reducing torque; In response to the end of the SP phase, the engine torque is restored to the first torque.

6. The method according to claim 1, characterized in that, The process of restoring the engine torque to the first torque includes: The engine torque is restored to the first preset torque at the first preset rate.

7. The method according to claim 1, characterized in that, The replacement of the target torque determined based on the shift control phase includes: In response to the fuel filling phase or the KP holding phase, the current engine's first torque is reduced to the second torque so that the vehicle no longer accelerates; In response to the first preset time period of entering the TP phase, the current engine's second torque is reduced to the third torque; In response to the engine torque transmission conforming to the preset transmission standard, the engine torque is restored to the first torque.

8. A commutation control system, characterized in that, The system includes: The acquisition unit is used to acquire the reversing speed and shift control stage in response to the reversing command; A determining unit is configured to determine a target pressure based on the reversing speed and a target torque based on the shift control phase. The determination of the target torque based on the shift control phase includes: in response to the fuel filling phase or the KP holding phase, reducing the current engine's first torque to a second torque so that the vehicle no longer accelerates; in response to entering the TP phase for a first preset time period, maintaining the engine torque at the reduced torque second torque; and in response to the engine torque transmission meeting a preset transmission standard, restoring the engine torque to the first torque. A control unit for controlling the clutch based on the target pressure and target torque.

9. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the commutation control method as described in any one of claims 1-7.

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