Method and device for controlling a dog clutch based on position control

Abstract

The application relates to a kind of control method and device based on position control of toothed electromagnetic clutch, toothed electromagnetic clutch includes electromagnetic valve, driving end tooth, passive end tooth and return spring, when electromagnetic valve is powered, driving end tooth is close to passive end tooth, return spring is deformed, when electromagnetic valve is powered off, driving end tooth is away from passive end tooth under the action of return spring.Control method includes: according to the target state of clutch, determine the target position of driving end tooth;Through the double closed loop control of position control and current control, make driving end tooth reach target position;According to the actual position of driving end tooth, judge whether clutch reaches target state.The application can quickly respond to clutch state demand through double closed loop control, and can make toothed clutch work in partial combination state, can reduce energy consumption and heat, prolong the service life of hardware.

Description

Technical Field

[0001] This invention relates to the field of clutch control, and more specifically, to a control method and apparatus for a jaw-type electromagnetic clutch based on position control. Background Technology

[0002] Electromagnetic clutches are common transmission devices that rely on the energization and de-energization of coils to achieve clutch engagement and disengagement. Based on the structure of the clutch discs, electromagnetic clutches can be classified into friction-type electromagnetic clutches, slip-type electromagnetic clutches, and dog-clutch electromagnetic clutches, among others. Dog-clutch clutches, due to their high transmission efficiency, low heat generation, and wide torque range, are widely used in metal processing, medical machinery, food processing, and automotive transmission systems.

[0003] Existing dog clutch control methods include constant pressure control and segmented constant current control. Constant pressure control uses the maximum current for driving, resulting in high energy consumption and significant heat generation. Segmented constant current control uses a large constant current to drive the clutch during engagement and a smaller constant current to maintain engagement after engagement. This control method experiences a large impact at the moment of engagement, which not only causes NVH problems but also affects the clutch's lifespan. Furthermore, with increased use, the return spring's rebound force gradually diminishes, making constant current control unable to guarantee that the clutch always reaches the expected engagement position. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a control method and device for a dog clutch based on position control, which can quickly respond to clutch state requirements and reduce energy consumption and heat generation.

[0005] The technical solution adopted by this invention to solve its technical problem is: constructing a control method for a jaw-type electromagnetic clutch based on position control. The jaw-type electromagnetic clutch includes a solenoid valve, a driving tooth, a driven tooth, and a return spring. When the solenoid valve is energized, the driving tooth approaches the driven tooth, and the return spring deforms. When the solenoid valve is de-energized, the driving tooth moves away from the driven tooth under the action of the return spring. The control method includes: Determine the target position of the driving end gear based on the target state of the clutch; The active end tooth reaches the target position through dual closed-loop control of position control and current control. Determine whether the clutch has reached the target state based on the actual position of the driving end teeth.

[0006] According to the above scheme, the target state of the clutch includes the disengaged state and the engaged state. When the target state is the disengaged state, the target position of the driving end tooth is the initial position. When the target state is the engaged state, the working position of the clutch in the fully engaged state is first determined, that is, the position when the driving end tooth and the driven end tooth are fully engaged. Then, the working position of the clutch in the partially engaged state is determined, that is, the position when the driving end tooth and the driven end tooth are half engaged.

[0007] According to the above scheme, the method to bring the active end tooth to the initial position through dual closed-loop control of position control and current control includes: When the solenoid valve is de-energized, the active end tooth moves away from the passive end tooth under the action of the return spring, and the active end tooth returns to its initial position.

[0008] According to the above scheme, the method to make the driving end tooth reach the position of full engagement with the driven end tooth through dual closed-loop control of position control and current control includes: Position feedforward calculation is performed with the fully engaged position as input to obtain the open-loop target current of the position. PID closed-loop control is performed with the fully engaged position and the actual position as input to calculate the closed-loop target current of the position. The open-loop and closed-loop target currents of the position are added together to obtain the position control target current. The current feedforward calculation is performed with the target current of position control as input to obtain the open-loop target control duty cycle of the current. The target current and the actual current are used as inputs for PID closed-loop control to obtain the closed-loop target control duty cycle of the current. The sum of the open-loop target control duty cycle and the closed-loop target control duty cycle of the current is the target control duty cycle input to the solenoid valve.

[0009] According to the above scheme, the method for moving the driving end tooth from the fully engaged position to the semi-engaged position through dual closed-loop control of position control and current control includes: Position feedforward calculation is performed with the half-engaged position as input to obtain the open-loop target current of the position. PID closed-loop control is performed with the half-engaged position and the actual position as input to calculate the closed-loop target current of the position. The open-loop and closed-loop target currents of the position are added together to obtain the position control target current. The current feedforward calculation is performed with the target current of position control as input to obtain the open-loop target control duty cycle of the current. The target current and the actual current are used as inputs for PID closed-loop control to obtain the closed-loop target control duty cycle of the current. The sum of the open-loop target control duty cycle and the closed-loop target control duty cycle of the current is the target control duty cycle input to the solenoid valve.

[0010] According to the above scheme, in the method of determining whether the clutch has reached the target state based on the actual position of the active end tooth, a threshold range is set with the target position as the reference, and hysteresis logic is used to determine the clutch disengagement state and the fully engaged state.

[0011] According to the above scheme, the method of using hysteresis logic to determine the clutch state to determine the clutch disengagement state and the fully engaged state includes: Determining the disengagement state: When the actual position of the clutch is less than the minimum value of the threshold range, it indicates that the clutch has entered the disengagement state; when the actual position of the clutch is greater than the maximum value of the threshold range, it indicates that the clutch has exited the disengagement state. Determining the fully engaged state: When the actual position of the active end tooth increases, if it is greater than the maximum value of the threshold range, it indicates that the fully engaged state has been entered. When the actual position decreases, if it is less than the minimum value of the threshold range, it indicates that the fully engaged state has been exited.

[0012] According to the above scheme, in the method of determining whether the clutch has reached the target state based on the actual position of the driving end tooth, the method of determining the partial engagement state includes: taking the target position of the clutch partial engagement state as a reference, setting a threshold range, if the actual position of the driving end tooth is within the range, it indicates that it has entered the partial engagement state, otherwise it indicates that it has exited the partial engagement state.

[0013] The present invention also provides a position-controlled jaw-type electromagnetic clutch control device, comprising: The target position acquisition module is used to determine the target position of the driving end tooth based on the target state of the clutch. The control module is used to enable the active end tooth to reach the target position through dual closed-loop control of position control and current control; The judgment module determines whether the clutch has reached the target state based on the actual position of the active end teeth.

[0014] The present invention provides an electronic device comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; characterized in that the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the position-controlled jaw-type electromagnetic clutch control method.

[0015] The position-controlled jaw electromagnetic clutch control method of the present invention has the following advantages: 1. This invention can quickly respond to clutch status requirements through dual closed-loop control, and can make the jaw clutch work in a partially engaged state, which can reduce energy consumption and heat generation, and extend the service life of hardware.

[0016] 2. This invention can correct position deviations in real time through position control, improve the system's anti-interference ability, and avoid control deviations caused by the aging of the return spring.

[0017] 3. In view of the characteristics of different clutch states, the present invention adopts different state confirmation methods to avoid frequent state switching caused by frequent changes in clutch position signals, thereby improving the stability of system control. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings: Figure 1 This is a schematic diagram of a toothed electromagnetic clutch; Figure 2 This is a flowchart of the position-controlled jaw electromagnetic clutch control method of the present invention; Figure 3 This is a flowchart illustrating the dual closed-loop control of the clutch position. Figure 4 This is a schematic diagram of hysteresis logic. Detailed Implementation

[0019] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0020] Example 1 like Figure 1 As shown, the jaw-type electromagnetic clutch includes a drive shaft 1, a bearing 2, a position sensor 4, a solenoid valve 3, a driving end gear 5, a driven end gear 7, a return spring 6, a power input end shaft drive gear 8, and a power output end shaft gear 9. When the solenoid valve 3 is energized, the driving end gear 5 compresses the return spring 6 under the action of electromagnetic force, moving closer to the driving end gear 6 of the electromagnetic clutch, ultimately causing the driving end gear 5 and the driven end gear 7 to mesh. The position signal from the position sensor 4 confirms the clutch engagement state. When the electromagnetic clutch is engaged, power is transmitted from the input end shaft drive gear 8 through the driven end gear 7 to the driving end gear 5, and then output to the output end shaft gear 9 via the drive shaft 1.

[0021] like Figure 2 As shown, the control method for a dog clutch based on position control includes the following steps: S1. Determine the target position of the driving teeth based on the target state of the clutch. The target state of the clutch includes disengagement and engagement. When the target state is disengagement, the target position of the driving teeth is the initial position. When the target state is engagement, first determine the working position of the clutch in the fully engaged state, i.e., the position when the driving and driven teeth are fully engaged, and then determine the working position of the clutch in the partially engaged state, i.e., the position when the driving and driven teeth are partially engaged. The actual position of the driving teeth is detected by position sensor 4.

[0022] Furthermore, as shown in Table 1, the initial position of the clutch is when the solenoid valve is not energized. When the solenoid valve is energized, the initial engagement position is recorded when the tip of the driving tooth of the clutch just contacts the tip of the driven tooth, and the fully engaged position is recorded when the tip of the driving tooth contacts the root of the driven tooth. The working position of the clutch is generally the middle position between the initial engagement position and the fully engaged position, i.e., the partial engagement state.

[0023] Table 1 Examples of Clutch Target States and Clutch Target Positions

[0024] S2. Through dual closed-loop control of position control and current control, the active end tooth reaches the target position, specifically including: S201. When the clutch target state is disengaged, the target duty cycle is directly output as 0. If the actual clutch position is within the clutch target position threshold range, it means that disengagement is complete.

[0025] S202. When the target state of the clutch is engagement, the first position control is performed with the clutch fully engaged position as the target. For example... Figure 3 As shown, firstly, position feedforward calculation is performed with the target position as input to obtain the open-loop target current. Then, PID closed-loop control is performed with the target position and the actual position as input to calculate the closed-loop target current. Finally, the open-loop and closed-loop target currents are added together to obtain the position control target current. Next, current feedforward calculation is performed with this target current as input to obtain the open-loop target control duty cycle. Then, PID closed-loop control is performed with the target current and the actual current as input to obtain the closed-loop target control duty cycle. Finally, the sum of the two duty cycles is the target control duty cycle input to the solenoid valve.

[0026] The mathematical expression for PID control with feedforward is:

[0027] In the target current calculation process, U(t) represents the target current, and F(t) represents the feedforward target current based on the target position. Open-loop control can establish a one-to-one correspondence between the target position and the feedforward target current. Kp, Ki, and Kd are the proportional, integral, and derivative coefficients of the target current PID control, respectively. The input deviation is the difference between the target position and the actual position.

[0028] In the calculation of the target duty cycle, U(t) represents the target duty cycle, and F(t) represents the feedforward target duty cycle based on the target current. Through open-loop control, a one-to-one correspondence between the target current and the feedforward target duty cycle can be established. Kp, Ki, and Kd are the proportional, integral, and derivative coefficients of the target duty cycle PID control, respectively. This is the system input deviation, which is the difference between the duty cycle and the actual duty cycle.

[0029] S203. When the clutch target state is engaged, and the clutch is fully engaged, a second position control is performed, that is, the control is performed with the partially engaged clutch position as the target. The control process is similar to S201. First, position feedforward calculation is performed with the target position as input to obtain the open-loop target current. PID closed-loop control is performed with the target position and the actual position as input to calculate the closed-loop target current. Then, the open-loop and closed-loop target currents are added to obtain the position control target current. Next, current feedforward calculation is performed with this target current as input to obtain the open-loop target control duty cycle. PID closed-loop control is performed with the target current and the actual current as input to obtain the closed-loop target control duty cycle. Finally, the sum of the two duty cycles is the target control duty cycle input to the solenoid valve.

[0030] S3. Based on the actual position of the driving end teeth, determine whether the clutch has reached the target state, which specifically includes: S301. Determining the clutch disengagement and full engagement states. The smaller the clutch position, the more complete the disengagement; the larger the position, the more fully engaged. Based on this characteristic, in order to accurately determine the disengagement and full engagement states and avoid frequent changes in the clutch state due to frequent fluctuations in the position of the driving teeth, a threshold range is set based on the target position corresponding to the target state, and hysteresis logic is used to determine the clutch state.

[0031] Specifically, when determining the separation state, such as Figure 4 As shown by the dashed arrow, when the actual clutch position decreases, if it is less than the minimum threshold value, it indicates that the clutch is in the disengaged state. As shown by the solid arrow, when the actual clutch position increases, if it is greater than the maximum threshold value, it indicates that the clutch is out of the disengaged state. When determining the fully engaged state, as shown by the solid arrow, if the actual clutch position increases and is greater than the maximum value of the threshold range, it indicates that the fully engaged state has been entered. As shown by the dashed arrow, if the actual clutch position decreases and is less than the minimum value of the threshold range, it indicates that the fully engaged state has been exited.

[0032] Theoretically, the minimum threshold range for separation is the lower dead center, and the maximum is the initial bonding position; the minimum threshold range for complete bonding is the bonding position of the target portion, and the maximum is the upper dead center. In practical engineering applications, the threshold range is generally set to ±5%.

[0033] S302. Determination of partial clutch engagement state. Based on the target position of the partial clutch engagement state, a threshold range is set. If the actual clutch position is within the range, it indicates that the clutch has entered the partial engagement state; otherwise, it indicates that the clutch has exited the partial engagement state.

[0034] Example 2 The present invention also provides a position-controlled jaw-type electromagnetic clutch control device, comprising: The target position acquisition module is used to determine the target position of the driving end tooth based on the target state of the clutch. The control module is used to enable the active end tooth to reach the target position through dual closed-loop control of position control and current control; The judgment module determines whether the clutch has reached the target state based on the actual position of the active end teeth.

[0035] Example 3 The present invention also provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of a position-controlled jaw-type electromagnetic clutch control method.

[0036] Example 4 The present invention also provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to implement the position-controlled jaw-type electromagnetic clutch control method described above.

[0037] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0038] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0039] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0040] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0041] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A control method for a jaw-type electromagnetic clutch based on position control, wherein the jaw-type electromagnetic clutch includes a solenoid valve, a driving tooth, a driven tooth, and a return spring; when the solenoid valve is energized, the driving tooth approaches the driven tooth, and the return spring deforms; when the solenoid valve is de-energized, the driving tooth moves away from the driven tooth under the action of the return spring, characterized in that... Control methods include: Determine the target position of the driving end gear based on the target state of the clutch; The active end tooth reaches the target position through dual closed-loop control of position control and current control. Determine whether the clutch has reached the target state based on the actual position of the driving end teeth; The target state of the clutch includes the disengaged state and the engaged state. When the target state is the disengaged state, the target position of the driving end tooth is the initial position. When the target state is the engaged state, the working position of the clutch in the fully engaged state is first determined, that is, the position when the driving end tooth and the driven end tooth are fully engaged. Then the working position of the clutch in the partially engaged state is determined, that is, the position when the driving end tooth and the driven end tooth are half engaged. Methods for bringing the active end tooth to its initial position using dual closed-loop control combining position control and current control include: When the solenoid valve is de-energized, the active end tooth moves away from the passive end tooth under the action of the return spring, and the active end tooth returns to its initial position. Methods for achieving full engagement between the driving end tooth and the driven end tooth through dual closed-loop control using position control and current control include: Position feedforward calculation is performed with the fully engaged position as input to obtain the open-loop target current of the position. PID closed-loop control is performed with the fully engaged position and the actual position as input to calculate the closed-loop target current of the position. The open-loop and closed-loop target currents of the position are added together to obtain the position control target current. The current feedforward calculation is performed with the target current of position control as input to obtain the open-loop target control duty cycle of the current. The target current and the actual current are used as inputs for PID closed-loop control to obtain the closed-loop target control duty cycle of the current. The sum of the open-loop target control duty cycle and the closed-loop target control duty cycle of the current is the target control duty cycle input to the solenoid valve. Methods for moving the driving tooth from a fully engaged position to a partially engaged position using dual closed-loop control of position and current control include: Position feedforward calculation is performed with the half-engaged position as input to obtain the open-loop target current of the position. PID closed-loop control is performed with the half-engaged position and the actual position as input to calculate the closed-loop target current of the position. The open-loop and closed-loop target currents of the position are added together to obtain the position control target current. The current feedforward calculation is performed with the target current of position control as input to obtain the open-loop target control duty cycle of the current. The target current and the actual current are used as inputs for PID closed-loop control to obtain the closed-loop target control duty cycle of the current. The sum of the open-loop target control duty cycle and the closed-loop target control duty cycle of the current is the target control duty cycle input to the solenoid valve. In the method of determining whether the clutch has reached the target state based on the actual position of the driving end tooth, a threshold range is set with the target position as the reference, and hysteresis logic is used to determine the clutch disengagement state and the fully engaged state.

2. The control method for a jaw clutch based on position control according to claim 1, characterized in that, Methods that use hysteresis logic to determine the clutch state, including those for determining clutch disengagement and full engagement, include: Determining the disengagement state: When the actual position of the clutch is less than the minimum value of the threshold range, it indicates that the clutch has entered the disengagement state; when the actual position of the clutch is greater than the maximum value of the threshold range, it indicates that the clutch has exited the disengagement state. Determining the fully engaged state: When the actual position of the active end tooth increases, if it is greater than the maximum value of the threshold range, it indicates that the fully engaged state has been entered. When the actual position decreases, if it is less than the minimum value of the threshold range, it indicates that the fully engaged state has been exited.

3. The control method for a jaw clutch based on position control according to claim 1, characterized in that, In the method for determining whether the clutch has reached the target state based on the actual position of the driving end tooth, the method for determining the partial engagement state includes: taking the target position of the clutch partial engagement state as a reference, setting a threshold range; if the actual position of the driving end tooth is within the range, it indicates that the clutch has entered the partial engagement state; otherwise, it indicates that the clutch has exited the partial engagement state.

4. A position-controlled jaw-type electromagnetic clutch control device, used to implement the control method according to any one of claims 1 to 3, characterized in that, The control device includes: The target position acquisition module is used to determine the target position of the driving end tooth based on the target state of the clutch. The control module is used to enable the active end tooth to reach the target position through dual closed-loop control of position control and current control; The judgment module determines whether the clutch has reached the target state based on the actual position of the active end teeth.

5. An electronic device, comprising: The system comprises a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; characterized in that the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method according to any one of claims 1 to 3.

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