A method, device, system and medium for electromagnetic valve control in a shift fork pre-synchronization phase

Abstract

The application provides a fork pre-synchronization stage electromagnetic valve control method, device, system and medium. The initial pressure of a pressure electromagnetic valve is controlled to control the full opening of the flow electromagnetic valve as the initial flow. When the oil filling protection time is exceeded, the initial pressure of the pressure electromagnetic valve is increased at a first rate until the distance from the fork to the synchronization point is less than or equal to a preset threshold. When the fork movement is detected, the flow of the flow electromagnetic valve is controlled to enter closed-loop control starting from the initial flow. The position difference between the actual position of the fork and the synchronization point is taken as the control object to adjust the initial flow in real time by using incremental PID control to obtain real-time flow. That is, through dynamic flow adjustment, the fork speed peak value can be made to appear in advance, the coupling of response and end speed is reduced to a certain extent, the fork can respond quickly in the pre-synchronization stage, and the gear hanging noise and impact are avoided as much as possible, which is beneficial to the durability of the fork.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to a method, device, system and medium for controlling a solenoid valve in the pre-synchronization stage of a shift fork. Background Technology

[0002] Dual-clutch transmissions (DCTs) have advantages such as rapid gear shifting, power shifting, and good fuel economy, and have received widespread attention in recent years.

[0003] The shift fork assembly is an important component of a dual-clutch automatic transmission. When the transmission control unit issues a shift command, the shift fork control system moves the shift fork by controlling the opening and closing of the corresponding solenoid valves, thereby engaging or disengaging the gear. Based on hardware characteristics, the shifting process can be divided into three stages: pre-synchronization, synchronization, and post-synchronization. Precise control processing is required for each stage to ensure a rapid and smooth overall shifting process.

[0004] During the pre-synchronization phase, the shift fork, under the action of the engagement force, mainly overcomes the resistance of the positioning pin and the resistance of the slider, and moves from the middle position to the synchronization point. During this process, it is expected that the shift fork can meet the requirements of NVH (noise, vibration and harshness) and hardware durability while responding as quickly as possible.

[0005] However, at the end of the pre-synchronization stage, the locking torque is currently borne by both viscous torque and rough contact torque. When the shift fork moves too fast, the oil film cannot be dissipated in time, and the rough contact torque is established relatively late, which can easily cause the shift fork to directly pass through the synchronizing ring and contact the engagement teeth, generating grinding noise. At the same time, the resulting gear shifting impact is not conducive to the durability of the shift fork.

[0006] Therefore, how to make the shift fork respond quickly during the pre-synchronization phase while minimizing problems such as shift noise and shift shock is a technical problem that needs to be solved in this field. Summary of the Invention

[0007] In view of this, the purpose of this application is to provide a method, device, system and medium for controlling the solenoid valve in the pre-synchronization stage of the shift fork, which can enable the shift fork to respond quickly in the pre-synchronization stage while minimizing gear shifting noise and impact, thereby improving the durability of the shift fork.

[0008] This summary section is provided to briefly introduce the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0009] To achieve the above objectives, this application provides the following technical solution:

[0010] In a first aspect, embodiments of this application provide a method for controlling a solenoid valve during the pre-synchronization stage of a shift fork, including:

[0011] The initial pressure of the pressure solenoid valve is calculated based on the spring stiffness of the locating pin, the spring deformation of the locating pin, the angle between the contact surface of the locating pin and the shift fork shaft and the axial direction of the shift fork, the friction coefficient of the contact surface between the locating pin and the shift fork shaft, the number of sliders, the spring stiffness of the slider, the spring deformation of the slider, the angle between the contact surface of the slider ball and the toothed sleeve and the axial direction of the shift fork, the friction coefficient of the contact surface between the slider ball and the toothed sleeve, and the piston area.

[0012] The pressure solenoid valve is controlled by the initial pressure of the pressure solenoid valve, and the flow solenoid valve is fully opened as the initial flow rate.

[0013] When the oil filling protection time is exceeded, the initial pressure of the pressure solenoid valve is increased at a first rate until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold.

[0014] When the movement of the shift fork is detected, the flow of the flow solenoid valve is controlled to enter closed-loop control with the initial flow as the starting point. The initial flow is adjusted in real time using incremental PID control with the position difference between the actual position of the shift fork and the synchronization point as the control object to obtain the real-time flow.

[0015] When the real-time traffic is adjusted to the preset lower limit, the real-time traffic is controlled to remain at the preset lower limit.

[0016] In one possible implementation, the step of using the initial pressure of the pressure solenoid valve to control the pressure solenoid valve, and controlling the flow solenoid valve to be fully open as the initial flow rate, includes:

[0017] Based on the initial pressure, the pressure current curve of the pre-stored pressure solenoid valve is queried to obtain the initial current of the pressure solenoid valve corresponding to the initial pressure, and the pressure solenoid valve is controlled by the initial current of the pressure solenoid valve.

[0018] Based on the initial flow rate, the flow current curve of the pre-stored flow solenoid valve is queried to obtain the initial current of the flow solenoid valve corresponding to the initial flow rate, and the flow solenoid valve is controlled by the initial current of the flow solenoid valve.

[0019] In one possible implementation, the initial pressure of the pressure solenoid valve is specifically calculated according to the following formula:

[0020]

[0021]

[0022] Wherein, P represents the initial pressure of the pressure solenoid valve, F represents the initial required thrust, k1 represents the stiffness of the positioning pin spring, x1 represents the deformation of the positioning pin spring, α represents the angle between the contact surface of the positioning pin and the shift fork shaft and the axial direction of the shift fork, μ1 represents the friction coefficient of the contact surface between the positioning pin and the shift fork shaft, N represents the number of sliders, k2 represents the stiffness of the slider spring, x2 represents the deformation of the slider spring, β represents the angle between the contact surface of the slider steel ball and the toothed sleeve and the axial direction of the shift fork, μ2 represents the friction coefficient of the contact surface between the slider steel ball and the toothed sleeve, and A represents the piston area.

[0023] In one possible implementation, the real-time traffic is calculated using the following formula:

[0024] P(t) = K p ·[error(t)-error(t-1)];

[0025] I(t) = K i error(t);

[0026] D(t) = K d ·[error(t)-2·error(t-1)+error(t-2)];

[0027] Q(t)=Q(t-1)+P(t)+I(t)+D(t):

[0028] Where Kp represents the coefficient of the P term, error(t) represents the current position difference, error(t-1) represents the position difference of the previous period, and K i K represents the coefficient of term I. d Let D represent the coefficient, error(t-2) represent the position difference between the previous two cycles, Q(t-1) represent the target flow rate of the flow solenoid valve in the previous cycle, Q(t) represent the real-time flow rate of the flow solenoid valve in the current cycle, P(t) represent the proportional value of the PID control in the current cycle, D(t) represent the derivative value of the PID control in the current cycle, and I(t) represent the integral value of the PID control in the current cycle.

[0029] Secondly, embodiments of this application provide a solenoid valve control device for the pre-synchronization stage of a shift fork, comprising:

[0030] The initial pressure calculation unit of the pressure solenoid valve is used to calculate the initial pressure of the pressure solenoid valve based on the spring stiffness of the locating pin, the spring deformation of the locating pin, the angle between the contact surface of the locating pin and the fork shaft and the axis of the fork, the friction coefficient of the contact surface of the locating pin and the fork shaft, the number of sliders, the spring stiffness of the slider, the spring deformation of the slider, the angle between the contact surface of the slider ball and the toothed sleeve and the axis of the fork, the friction coefficient of the contact surface of the slider ball and the toothed sleeve, and the piston area.

[0031] The first control unit is used to control the pressure solenoid valve using the initial pressure of the pressure solenoid valve, and to control the flow solenoid valve to be fully open as the initial flow.

[0032] The second control unit is used to control the initial pressure of the pressure solenoid valve to increase at a first rate when the oil filling protection time is exceeded, until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold.

[0033] The third control unit is used to control the flow solenoid valve to enter closed-loop control with the initial flow as the starting point when the movement of the shift fork is detected. The initial flow is adjusted in real time using incremental PID control with the position difference between the actual position of the shift fork and the synchronization point as the control object to obtain the real-time flow.

[0034] The fourth control unit is used to control the real-time flow to remain at the preset lower limit when the real-time flow is adjusted to the preset lower limit.

[0035] In one possible implementation, the first control unit is specifically used for:

[0036] Based on the initial pressure, the pressure current curve of the pre-stored pressure solenoid valve is queried to obtain the initial current of the pressure solenoid valve corresponding to the initial pressure, and the pressure solenoid valve is controlled by the initial current of the pressure solenoid valve.

[0037] Based on the initial flow rate, the flow current curve of the pre-stored flow solenoid valve is queried to obtain the initial current of the flow solenoid valve corresponding to the initial flow rate, and the flow solenoid valve is controlled by the initial current of the flow solenoid valve.

[0038] In one possible implementation, the pressure solenoid valve initial pressure calculation unit is specifically used to calculate the initial pressure P of the pressure solenoid valve:

[0039]

[0040]

[0041] Wherein, P represents the initial pressure of the pressure solenoid valve, F represents the initial required thrust, k1 represents the stiffness of the positioning pin spring, x1 represents the deformation of the positioning pin spring, α represents the angle between the contact surface of the positioning pin and the shift fork shaft and the axial direction of the shift fork, μ1 represents the friction coefficient of the contact surface between the positioning pin and the shift fork shaft, N represents the number of sliders, k2 represents the stiffness of the slider spring, x2 represents the deformation of the slider spring, β represents the angle between the contact surface of the slider steel ball and the toothed sleeve and the axial direction of the shift fork, μ2 represents the friction coefficient of the contact surface between the slider steel ball and the toothed sleeve, and A represents the piston area.

[0042] In one possible implementation, the second control unit is specifically used to calculate the real-time flow Q(t):

[0043] P(t) = K p ·[error(t)-error(t-1)];

[0044] I(t) = K i error(t);

[0045] D(t) = K d ·[error(t)-2·error(t-1)+error(t-2)];

[0046] Q(t)=Q(t-1)+P(t)+I(t)+D(t):

[0047] Where Kp represents the coefficient of the P term, error(t) represents the current position difference, error(t-1) represents the position difference of the previous period, and K i K represents the coefficient of term I. d Let D represent the coefficient, error(t-2) represent the position difference between the previous two cycles, Q(t-1) represent the target flow rate of the flow solenoid valve in the previous cycle, Q(t) represent the real-time flow rate of the flow solenoid valve in the current cycle, P(t) represent the proportional value of the PID control in the current cycle, D(t) represent the derivative value of the PID control in the current cycle, and I(t) represent the integral value of the PID control in the current cycle.

[0048] Thirdly, this application provides a solenoid valve control system for the pre-synchronization stage of a shift fork, comprising:

[0049] Memory, used to store computer programs;

[0050] A processor is used to execute the computer program to implement the steps of the solenoid valve control method for the pre-synchronization stage of the shift fork as described above.

[0051] Fourthly, embodiments of this application provide a computer-readable medium storing a computer program, which, when processed and executed, implements the steps of the solenoid valve control method for the pre-synchronization stage of the shift fork as described above.

[0052] Compared with the prior art, the embodiments of this application have the following beneficial effects:

[0053] This application provides a method, device, system, and medium for controlling a solenoid valve during the pre-synchronization stage of a shift fork. The method includes: calculating the initial pressure of a pressure solenoid valve based on the stiffness of the locating pin spring, the deformation of the locating pin spring, the angle between the contact surface between the locating pin and the shift fork shaft and the axial direction of the shift fork, the friction coefficient of the contact surface between the locating pin and the shift fork shaft, the number of sliders, the stiffness of the slider spring, the deformation of the slider spring, the angle between the contact surface between the slider ball and the toothed sleeve and the axial direction of the shift fork, the friction coefficient of the contact surface between the slider ball and the toothed sleeve, and the piston area. The initial pressure of the pressure solenoid valve is used to control the pressure solenoid valve. The flow control solenoid valve is fully open as the initial flow rate. When the oil filling protection time is exceeded, the initial pressure of the pressure solenoid valve is increased at a first rate until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold. When shift fork movement is detected, the flow control solenoid valve enters closed-loop control starting from the initial flow rate. Incremental PID control is used to adjust the initial flow rate in real time, using the position difference between the actual position of the shift fork and the synchronization point as the control object, to obtain the real-time flow rate. When the real-time flow rate is adjusted to a preset lower limit, the real-time flow rate is maintained at the preset lower limit. In other words, by adjusting the flow rate, the peak speed of the shift fork can be brought forward, which reduces the coupling between the response and the end speed to a certain extent. This allows the shift fork to respond quickly in the pre-synchronization phase while minimizing gear shifting noise and impact, which is beneficial to the durability of the shift fork. Attached Figure Description

[0054] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0055] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0056] Figure 1 A schematic diagram of a shift fork control system provided in an embodiment of this application is shown;

[0057] Figure 2 A flowchart of a solenoid valve control method for the pre-synchronization stage of a shift fork provided in an embodiment of this application is shown;

[0058] Figure 3 A schematic diagram of a pre-stored pressure current curve of a pressure solenoid valve provided in an embodiment of this application is shown;

[0059] Figure 4A schematic diagram of a pre-stored flow current curve of a flow solenoid valve provided in an embodiment of this application is shown;

[0060] Figure 5 A schematic diagram of a solenoid valve control device for the pre-synchronization stage of a shift fork provided in an embodiment of this application is shown. Detailed Implementation

[0061] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0062] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, this application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0063] As described in the background section, the applicant has found through research that dual-clutch transmissions (DCTs) have advantages such as rapid gear shifting, power shifting, and good fuel economy, and have received widespread attention in recent years.

[0064] The shift fork assembly is an important component of a dual-clutch automatic transmission. When the transmission control unit issues a shift command, the shift fork control system moves the shift fork by controlling the opening and closing of the corresponding solenoid valves, thereby engaging or disengaging the gear. Based on hardware characteristics, the shifting process can be divided into three stages: pre-synchronization, synchronization, and post-synchronization. Precise control processing is required for each stage to ensure a rapid and smooth overall shifting process.

[0065] During the pre-synchronization phase, the shift fork, under the action of the engagement force, mainly overcomes the resistance of the positioning pin and the resistance of the slider, and moves from the middle position to the synchronization point. During this process, it is expected that the shift fork can meet the requirements of NVH (noise, vibration and harshness) and hardware durability while responding as quickly as possible.

[0066] However, at the end of the pre-synchronization stage, the locking torque is currently borne by both viscous torque and rough contact torque. When the shift fork moves too fast, the oil film cannot be dissipated in time, and the rough contact torque is established relatively late, which can easily cause the shift fork to directly pass through the synchronizing ring and contact the engagement teeth, generating grinding noise. At the same time, the resulting gear shifting impact is not conducive to the durability of the shift fork.

[0067] Therefore, how to make the shift fork respond quickly during the pre-synchronization phase while minimizing problems such as shift noise and shift shock is a technical problem that needs to be solved in this field.

[0068] To address the aforementioned technical problems, this application provides a method, device, system, and medium for controlling a solenoid valve during the pre-synchronization stage of a shift fork. The method includes: calculating the initial pressure of the pressure solenoid valve based on the spring stiffness of the locating pin, the spring deformation of the locating pin, the angle between the contact surface between the locating pin and the shift fork shaft and the axial direction of the shift fork, the friction coefficient of the contact surface between the locating pin and the shift fork shaft, the number of sliders, the spring stiffness of the sliders, the spring deformation of the sliders, the angle between the contact surface between the slider steel ball and the toothed sleeve and the axial direction of the shift fork, the friction coefficient of the contact surface between the slider steel ball and the toothed sleeve, and the piston area. The initial pressure of the pressure solenoid valve is used to control the pressure solenoid valve. The flow control solenoid valve is fully open as the initial flow rate. When the oil filling protection time is exceeded, the initial pressure of the pressure solenoid valve is increased at a first rate until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold. When shift fork movement is detected, the flow control solenoid valve enters closed-loop control starting from the initial flow rate. Incremental PID control is used to adjust the initial flow rate in real time, using the position difference between the actual position of the shift fork and the synchronization point as the control object, to obtain the real-time flow rate. When the real-time flow rate is adjusted to the preset lower limit, the real-time flow rate is maintained at the preset lower limit. That is, by dynamically adjusting the flow rate, the peak speed of the shift fork can be brought forward, which reduces the coupling between the response and the end speed to a certain extent. This allows the shift fork to respond quickly in the pre-synchronization phase while minimizing gear shifting noise and impact, which is beneficial to the durability of the shift fork.

[0069] First see Figure 1 The diagram shows a shift fork control system provided in this application embodiment. Oil flows sequentially through the main oil circuit, pressure solenoid valve P, and flow solenoid valve Q into the piston chamber 10, pushing the piston to move. The shift fork is connected to the end of the piston rod 3. Under the action of the shifting force, it drives the toothed sleeve to move axially via the shift fork shaft 5, sequentially eliminating the gaps between the shift fork and the toothed sleeve 6, the slider 7 and the synchronizing ring 8, the synchronizing ring 8 and the friction cone surface, and the toothed sleeve 6 and the synchronizing ring 8. Finally, it reaches the synchronization point to eliminate the speed difference between the two ends of the synchronizer. This process is defined as the pre-synchronization stage in the control system. In the pre-synchronization stage, the first three gap elimination processes are idle strokes, mainly overcoming the resistance of the positioning pin 4. Eliminating the gap between the toothed sleeve 6 and the synchronizing ring 8 also requires overcoming the slider force to cause relative displacement between the steel ball on the slider 7 and the toothed sleeve 6. The function of the slider 7 is to ensure that the oil film between the synchronizing ring 8 and the friction cone surface is displaced before the toothed sleeve 6 contacts the synchronizing ring 8 to generate sufficient locking torque, preventing the toothed sleeve 6 from passing through the synchronizing ring 8 to reach the engaging tooth 9 before the speed is synchronized.

[0070] Exemplary methods

[0071] See Figure 2 The diagram shown is a flowchart of a solenoid valve control method for the pre-synchronization stage of a shift fork according to an embodiment of this application, including:

[0072] S101: The initial pressure of the pressure solenoid valve is calculated based on the spring stiffness of the locating pin, the spring deformation of the locating pin, the angle between the contact surface of the locating pin and the shift fork shaft and the axial direction of the shift fork, the friction coefficient of the contact surface between the locating pin and the shift fork shaft, the number of sliders, the spring stiffness of the slider, the spring deformation of the slider, the angle between the contact surface of the slider ball and the toothed sleeve and the axial direction of the shift fork, the friction coefficient of the contact surface between the slider ball and the toothed sleeve, and the piston area.

[0073] In this embodiment of the application, considering the process of filling the cavity in the early stage of pre-synchronization, the initial pressure in the pre-synchronization stage is controlled by constant pressure, which should in principle be no less than the sum of the theoretically calculated values ​​of the positioning pin resistance and the slider resistance.

[0074] Specifically, in one possible implementation, the initial pressure of the pressure solenoid valve can be calculated using the following formula:

[0075]

[0076]

[0077] Wherein, P represents the initial pressure of the pressure solenoid valve, F represents the initial required thrust, k1 represents the stiffness of the locating pin spring, x1 represents the deformation of the locating pin spring, α represents the angle between the contact surface of the locating pin and the shift fork shaft and the axial direction of the shift fork, μ1 represents the friction coefficient of the contact surface between the locating pin and the shift fork shaft, N represents the number of sliders, k2 represents the stiffness of the slider spring, x2 represents the deformation of the slider spring, β represents the angle between the contact surface of the slider steel ball and the toothed sleeve and the axial direction of the shift fork, μ2 represents the friction coefficient of the contact surface between the slider steel ball and the toothed sleeve, and A represents the piston area.

[0078] S102: The pressure solenoid valve is controlled by the initial pressure of the pressure solenoid valve, and the flow solenoid valve is fully opened as the initial flow rate.

[0079] In this embodiment, the pressure solenoid valve can be controlled by the initial pressure of the pressure solenoid valve. Specifically, the control duration can correspond to the time required for the oil to fill the cavity, and can be controlled by the oil filling protection time. The specific calibration parameters can be obtained by installing a pressure sensor in the piston oil inlet chamber to test the pressure build-up time.

[0080] In addition, in order to overcome the resistance of the positioning pin as soon as possible and make the shift fork start to move, the flow valve can be fully opened in the early stage of pre-synchronization, that is, the flow solenoid valve is fully opened as the initial flow. That is, during the shifting process, the pressure solenoid valve and the flow solenoid valve are first controlled with constant pressure and constant flow.

[0081] In one possible implementation, see Figure 3The diagram shows a pre-stored pressure-current curve of a pressure solenoid valve, i.e., the PC (Pressure current) curve. Based on the initial pressure, the pre-stored pressure-current curve of the pressure solenoid valve can be queried to obtain the initial current of the pressure solenoid valve corresponding to the initial pressure, and the pressure solenoid valve can be controlled using the initial current of the pressure solenoid valve.

[0082] See Figure 4 The diagram shows a pre-stored flow-current curve of the flow solenoid valve, i.e., the QI (quantity of flow, intensity of current) curve. Based on the initial flow, the pre-stored flow-current curve of the flow solenoid valve can be queried to obtain the initial current of the flow solenoid valve corresponding to the initial flow, and the flow solenoid valve can be controlled using the initial current of the flow solenoid valve.

[0083] Optionally, considering the effects of sample deviation and temperature, the initial pressure can be adaptively controlled by setting a target pre-synchronization time or target pre-synchronization speed to ensure consistency.

[0084] S103: When the oil filling protection time is exceeded, the initial pressure of the pressure solenoid valve is controlled to increase at a first rate until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold.

[0085] In this embodiment of the application, when the oil filling protection time is exceeded, the initial pressure of the pressure solenoid valve can be controlled to increase at a first rate until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold.

[0086] Specifically, the pre-synchronization pressure is increased at a certain rate until the shift fork reaches the synchronization point. Here, the first rate is defined as the pressure change step size within a single cycle of the control system. The condition for the shift fork to reach the synchronization point is that the distance from the shift fork to the synchronization point is less than or equal to a preset threshold. Alternatively, the speed difference inflection point can be detected to determine whether the synchronization point has been reached.

[0087] S104: When the movement of the shift fork is detected, the flow rate of the flow solenoid valve is controlled to enter closed-loop control with the initial flow rate as the starting point. The initial flow rate is adjusted in real time using incremental PID control with the position difference between the actual position of the shift fork and the synchronization point as the control object to obtain the real-time flow rate.

[0088] In this embodiment of the application, when the movement of the shift fork is detected, the flow rate of the flow solenoid valve can be controlled to enter closed-loop control with the initial flow rate as the starting point. The initial flow rate is adjusted in real time using incremental PID control with the position difference between the actual position of the shift fork and the synchronization point as the control object, so as to obtain the real-time flow rate.

[0089] Incremental PID control (Incremental Proportional-Integral-Derivative Control) is a basic form of digital PID control algorithm. It is a control algorithm that uses PID control to control the increment of the control quantity (the difference between the current control quantity and the previous control quantity).

[0090] Specifically, the method for detecting the movement of the shift fork here includes position detection and speed detection. That is, when a significant displacement or a significant increase in speed is detected in the shift fork, it is considered that the shift fork has started to move. The specific settings can be made by those skilled in the art according to the actual situation. This application embodiment does not make specific limitations here.

[0091] In one possible implementation, real-time traffic can be calculated using the following formula:

[0092] P(t) = K p ·[error(t)-error(t-1)];

[0093] I(t) = K i error(t);

[0094] D(t) = K d ·[error(t)-2·error(t-1)+error(t-2)];

[0095] Q(t)=Q(t-1)+P(t)+I(t)+D(t):

[0096] Where Kp represents the coefficient of the P term, error(t) represents the current position difference, error(t-1) represents the position difference of the previous period, and K i K represents the coefficient of term I. d Let D represent the coefficient, error(t-2) represent the position difference between the previous two cycles, Q(t-1) represent the target flow rate of the flow solenoid valve in the previous cycle, Q(t) represent the real-time flow rate of the flow solenoid valve in the current cycle, P(t) represent the proportional value of the PID control in the current cycle, D(t) represent the derivative value of the PID control in the current cycle, and I(t) represent the integral value of the PID control in the current cycle.

[0097] Steps S103 and S104 can be controlled in parallel to improve efficiency.

[0098] S105: When the real-time flow rate is adjusted to the preset lower limit, the real-time flow rate is controlled to remain at the preset lower limit.

[0099] In this embodiment, when the real-time flow rate is adjusted to a preset lower limit, the real-time flow rate is controlled to remain at the preset lower limit. This means that a minimum flow rate boundary can be set to prevent gear shifting failure.

[0100] When the shift fork reaches the synchronization point, the control ends. The conditions for reaching the synchronization point are consistent with those for the pressure solenoid valve control.

[0101] This application provides a method for controlling a solenoid valve during the pre-synchronization stage of a shift fork. The method includes: calculating the initial pressure of the pressure solenoid valve based on the spring stiffness of the locating pin, the spring deformation of the locating pin, the angle between the contact surface of the locating pin and the shift fork shaft and the axial direction of the shift fork, the friction coefficient of the contact surface between the locating pin and the shift fork shaft, the number of sliders, the spring stiffness of the sliders, the spring deformation of the sliders, the angle between the contact surface of the slider steel ball and the toothed sleeve and the axial direction of the shift fork, the friction coefficient of the contact surface between the slider steel ball and the toothed sleeve, and the piston area. The initial pressure of the pressure solenoid valve is used to control the pressure solenoid valve. The flow solenoid valve is fully open as the initial flow rate. When the oil filling protection time is exceeded, the initial pressure of the pressure solenoid valve is increased at a first rate until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold. When shift fork movement is detected, the flow solenoid valve enters closed-loop control starting from the initial flow rate. Incremental PID control is used to adjust the initial flow rate in real time, using the position difference between the actual position of the shift fork and the synchronization point as the control object, to obtain the real-time flow rate. When the real-time flow rate is adjusted to a preset lower limit, the real-time flow rate is maintained at the preset lower limit. In other words, by adjusting the flow rate, the peak speed of the shift fork can be brought forward, which reduces the coupling between the response and the end speed to a certain extent. This allows the shift fork to respond quickly in the pre-synchronization phase while minimizing gear shifting noise and impact, which is beneficial to the durability of the shift fork.

[0102] Exemplary device

[0103] See Figure 5 The diagram shown is a schematic of a solenoid valve control device for the pre-synchronization stage of a shift fork provided in an embodiment of this application, including:

[0104] The pressure solenoid valve initial pressure calculation unit 201 is used to calculate the initial pressure of the pressure solenoid valve based on the locating pin spring stiffness, locating pin spring deformation, the angle between the contact surface of the locating pin and the shift fork shaft and the axial direction of the shift fork, the friction coefficient of the contact surface of the locating pin and the shift fork shaft, the number of sliders, slider spring stiffness, slider spring deformation, the angle between the contact surface of the slider steel ball and the toothed sleeve and the axial direction of the shift fork, the friction coefficient of the contact surface of the slider steel ball and the toothed sleeve, and the piston area.

[0105] The first control unit 202 is used to control the pressure solenoid valve using the initial pressure of the pressure solenoid valve, and to control the flow solenoid valve to be fully open as the initial flow.

[0106] The second control unit 203 is used to control the initial pressure of the pressure solenoid valve to increase at a first rate when the oil filling protection time is exceeded, until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold.

[0107] The third control unit 204 is used to control the flow solenoid valve to enter closed-loop control with the initial flow as the starting point when the movement of the shift fork is detected. The initial flow is adjusted in real time by incremental PID control with the position difference between the actual position of the shift fork and the synchronization point as the control object to obtain the real-time flow.

[0108] The fourth control unit 205 is used to control the real-time flow to remain at the preset lower limit when the real-time flow is adjusted to the preset lower limit.

[0109] In one possible implementation, the first control unit is specifically used for:

[0110] Based on the initial pressure, the pressure solenoid valve pressure-current curve of the pre-stored pressure solenoid valve is queried to obtain the initial current of the pressure solenoid valve corresponding to the initial pressure, and the pressure solenoid valve is controlled by the initial current of the pressure solenoid valve.

[0111] Based on the initial flow rate, the flow current curve of the pre-stored flow solenoid valve is queried to obtain the initial current of the flow solenoid valve corresponding to the initial flow rate, and the flow solenoid valve is controlled by the initial current of the flow solenoid valve.

[0112] In one possible implementation, the pressure solenoid valve initial pressure calculation unit is specifically used to calculate the initial pressure P of the pressure solenoid valve:

[0113]

[0114]

[0115] Wherein, P represents the initial pressure of the pressure solenoid valve, F represents the initial required thrust, k1 represents the stiffness of the positioning pin spring, x1 represents the deformation of the positioning pin spring, α represents the angle between the contact surface of the positioning pin and the shift fork shaft and the axial direction of the shift fork, μ1 represents the friction coefficient of the contact surface between the positioning pin and the shift fork shaft, N represents the number of sliders, k2 represents the stiffness of the slider spring, x2 represents the deformation of the slider spring, β represents the angle between the contact surface of the slider steel ball and the toothed sleeve and the axial direction of the shift fork, μ2 represents the friction coefficient of the contact surface between the slider steel ball and the toothed sleeve, and A represents the piston area.

[0116] In one possible implementation, the second control unit is specifically used to calculate the real-time flow Q(t):

[0117] P(t) = K p ·[error(t)-error(t-1)];

[0118] I(t) = K i error(t);

[0119] D(t) = K d ·[error(t)-2·error(t-1)+error(t-2)];

[0120] Q(t)=Q(t-1)+P(t)+I(t)+D(t);

[0121] Where Kp represents the coefficient of the P term, error(t) represents the current position difference, error(t-1) represents the position difference of the previous period, and K i K represents the coefficient of term I. d Let D represent the coefficient, error(t-2) represent the position difference between the previous two cycles, Q(t-1) represent the target flow rate of the flow solenoid valve in the previous cycle, Q(t) represent the real-time flow rate of the flow solenoid valve in the current cycle, P(t) represent the proportional value of the PID control in the current cycle, D(t) represent the derivative value of the PID control in the current cycle, and I(t) represent the integral value of the PID control in the current cycle.

[0122] Based on the above embodiments, this application provides a solenoid valve control system for the pre-synchronization stage of a shift fork, comprising:

[0123] Memory, used to store computer programs;

[0124] A processor is used to execute the computer program to implement the steps of the solenoid valve control method for the pre-synchronization stage of the shift fork as described above.

[0125] Based on the above embodiments, this application also provides a computer-readable medium storing a computer program, which, when processed and executed, implements the steps of the solenoid valve control method for the pre-synchronization stage of the shift fork described above.

[0126] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in connection with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0127] The aforementioned computer-readable medium may be included in the aforementioned system, or it may exist independently and not assembled into the system.

[0128] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts.

[0129] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on its differences from other embodiments. In particular, the apparatus embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0130] The above description is merely a preferred embodiment of this application. Although this application has disclosed preferred embodiments above, it is not intended to limit this application. Any person skilled in the art can make many possible variations and modifications to the technical solutions of this application using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of this application. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this application without departing from the content of the technical solutions of this application shall still fall within the protection scope of the technical solutions of this application.

Claims

1. A method for controlling a solenoid valve during the pre-synchronization stage of a shift fork, characterized in that, include: The initial pressure of the pressure solenoid valve is calculated based on the spring stiffness of the locating pin, the spring deformation of the locating pin, the angle between the contact surface of the locating pin and the shift fork shaft and the axial direction of the shift fork, the friction coefficient of the contact surface between the locating pin and the shift fork shaft, the number of sliders, the spring stiffness of the slider, the spring deformation of the slider, the angle between the contact surface of the slider ball and the toothed sleeve and the axial direction of the shift fork, the friction coefficient of the contact surface between the slider ball and the toothed sleeve, and the piston area. The pressure solenoid valve is controlled by the initial pressure of the pressure solenoid valve, and the flow solenoid valve is fully opened as the initial flow rate. When the oil filling protection time is exceeded, the initial pressure of the pressure solenoid valve is increased at a first rate until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold. When the movement of the shift fork is detected, the flow of the flow solenoid valve is controlled to enter closed-loop control with the initial flow as the starting point. The initial flow is adjusted in real time using incremental PID control with the position difference between the actual position of the shift fork and the synchronization point as the control object to obtain the real-time flow. When the real-time traffic is adjusted to the preset lower limit, the real-time traffic is controlled to remain at the preset lower limit.

2. The method according to claim 1, characterized in that, The method of using the initial pressure of the pressure solenoid valve to control the pressure solenoid valve, and controlling the flow solenoid valve to be fully open as the initial flow rate, includes: Based on the initial pressure, the pressure current curve of the pre-stored pressure solenoid valve is queried to obtain the initial current of the pressure solenoid valve corresponding to the initial pressure, and the pressure solenoid valve is controlled by the initial current of the pressure solenoid valve. Based on the initial flow rate, the flow current curve of the pre-stored flow solenoid valve is queried to obtain the initial current of the flow solenoid valve corresponding to the initial flow rate, and the flow solenoid valve is controlled by the initial current of the flow solenoid valve.

3. The method according to claim 1, characterized in that, The initial pressure of the pressure solenoid valve is calculated using the following formula: Wherein, P represents the initial pressure of the pressure solenoid valve, F represents the initial required thrust, k1 represents the stiffness of the positioning pin spring, x1 represents the deformation of the positioning pin spring, α represents the angle between the contact surface of the positioning pin and the shift fork shaft and the axial direction of the shift fork, μ1 represents the friction coefficient of the contact surface between the positioning pin and the shift fork shaft, N represents the number of sliders, k2 represents the stiffness of the slider spring, x2 represents the deformation of the slider spring, β represents the angle between the contact surface of the slider steel ball and the toothed sleeve and the axial direction of the shift fork, μ2 represents the friction coefficient of the contact surface between the slider steel ball and the toothed sleeve, and A represents the piston area.

4. The method according to claim 1, characterized in that, The real-time traffic is calculated using the following formula: P(t)=K p ·[error(t)-error(t-1)]; I(t)=K i ·error(t); D(t)=K d ·[error(t)-2·error(t-1)+error(t-2)]; Q(t)=Q(t-1)+P(t)+I(t)+D(t); Where Kp represents the coefficient of the P term, error(t) represents the current position difference, error(t-1) represents the position difference of the previous period, and K i K represents the coefficient of term I. d Let D represent the coefficient, error(t-2) represent the position difference between the previous two cycles, Q(t-1) represent the target flow rate of the flow solenoid valve in the previous cycle, Q(t) represent the real-time flow rate of the flow solenoid valve in the current cycle, P(t) represent the proportional value of the PID control in the current cycle, D(t) represent the derivative value of the PID control in the current cycle, and I(t) represent the integral value of the PID control in the current cycle.

5. A solenoid valve control device for the pre-synchronization stage of a shift fork, characterized in that, include: The initial pressure calculation unit of the pressure solenoid valve is used to calculate the initial pressure of the pressure solenoid valve based on the spring stiffness of the locating pin, the spring deformation of the locating pin, the angle between the contact surface of the locating pin and the fork shaft and the axis of the fork, the friction coefficient of the contact surface of the locating pin and the fork shaft, the number of sliders, the spring stiffness of the slider, the spring deformation of the slider, the angle between the contact surface of the slider ball and the toothed sleeve and the axis of the fork, the friction coefficient of the contact surface of the slider ball and the toothed sleeve, and the piston area. The first control unit is used to control the pressure solenoid valve using the initial pressure of the pressure solenoid valve, and to control the flow solenoid valve to be fully open as the initial flow. The second control unit is used to control the initial pressure of the pressure solenoid valve to increase at a first rate when the oil filling protection time is exceeded, until the distance from the shift fork to the synchronization point is less than or equal to a preset threshold. The third control unit is used to control the flow solenoid valve to enter closed-loop control with the initial flow as the starting point when the movement of the shift fork is detected. The initial flow is adjusted in real time using incremental PID control with the position difference between the actual position of the shift fork and the synchronization point as the control object to obtain the real-time flow. The fourth control unit is used to control the real-time flow to remain at the preset lower limit when the real-time flow is adjusted to the preset lower limit.

6. The apparatus according to claim 5, characterized in that, The first control unit is specifically used for: Based on the initial pressure, the pressure current curve of the pre-stored pressure solenoid valve is queried to obtain the initial current of the pressure solenoid valve corresponding to the initial pressure, and the pressure solenoid valve is controlled by the initial current of the pressure solenoid valve. Based on the initial flow rate, the flow current curve of the pre-stored flow solenoid valve is queried to obtain the initial current of the flow solenoid valve corresponding to the initial flow rate, and the flow solenoid valve is controlled by the initial current of the flow solenoid valve.

7. The apparatus according to claim 5, characterized in that, The initial pressure calculation unit for the pressure solenoid valve is specifically used to calculate the initial pressure P of the pressure solenoid valve. Wherein, P represents the initial pressure of the pressure solenoid valve, F represents the initial required thrust, k1 represents the stiffness of the positioning pin spring, x1 represents the deformation of the positioning pin spring, α represents the angle between the contact surface of the positioning pin and the shift fork shaft and the axial direction of the shift fork, μ1 represents the friction coefficient of the contact surface between the positioning pin and the shift fork shaft, N represents the number of sliders, k2 represents the stiffness of the slider spring, x2 represents the deformation of the slider spring, β represents the angle between the contact surface of the slider steel ball and the toothed sleeve and the axial direction of the shift fork, μ2 represents the friction coefficient of the contact surface between the slider steel ball and the toothed sleeve, and A represents the piston area.

8. The apparatus according to claim 5, characterized in that, The second control unit is specifically used to calculate the real-time flow rate Q(t): P(t)=K p ·[error(t)-error(t-1)]; I(t)=K i ·error(t); D(t)=K d ·[error(t)-2·error(t-1)+error(t-2)]; Q(t)=Q(t-1)+P(t)+I(t)+D(t); Where Kp represents the coefficient of the P term, error(t) represents the current position difference, error(t-1) represents the position difference of the previous period, and K i K represents the coefficient of term I. d Let D represent the coefficient, error(t-2) represent the position difference between the previous two cycles, Q(t-1) represent the target flow rate of the flow solenoid valve in the previous cycle, Q(t) represent the real-time flow rate of the flow solenoid valve in the current cycle, P(t) represent the proportional value of the PID control in the current cycle, D(t) represent the derivative value of the PID control in the current cycle, and I(t) represent the integral value of the PID control in the current cycle.

9. A solenoid valve control system for the pre-synchronization stage of a shift fork, characterized in that, include: Memory, used to store computer programs; A processor, configured to execute the computer program to implement the steps of the solenoid valve control method for the pre-synchronization stage of the shift fork as described in any one of claims 1-4.

10. A computer-readable medium, characterized in that, The computer-readable medium stores a computer program that, when processed and executed, implements the steps of the solenoid valve control method for the pre-synchronization stage of the shift fork as described in any one of claims 1-4.

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