Solution method for the shortest control law of speed synchronization angle alignment time during gear shifting

Abstract

The present invention discloses a method for solving the shortest control law for speed synchronization and angle alignment time during a gear shifting process, the method comprising establishing an optimization problem according to the solution result of a state transfer matrix; solving the optimal control law of the optimization problem according to a dynamic programming algorithm; performing speed differential and angle difference analysis according to the optimal control law to obtain speed differential and angle difference analysis results; determining the number of control stages according to the speed differential and angle difference analysis results, and performing motor torque trajectory analysis according to the determined number of control stages to obtain motor torque trajectory analysis results. The present invention can simultaneously achieve zero speed difference and zero angle difference, and can also achieve zero speed difference and zero angle difference in the shortest time.

Description

Technical Field

[0001] The present invention relates to the technical field of drive transmission systems for electric vehicles, and in particular to a method for solving a control law for minimizing the time for synchronous rotational speed and angle alignment during a gear shifting process. Background Art

[0002] Low-carbon development is a key strategic decision for national development. Heavy-duty commercial vehicles contribute significantly to transportation carbon emissions, making electrification an inevitable trend. Installing multi-speed transmissions in heavy-duty commercial vehicles can reduce motor size, maximize efficiency, and lower overall system costs. However, mechanical transmissions suffer from difficult shifting and long power interruptions, which hinder transmission shifting performance. Summary of the Invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, the present invention proposes a method for solving the control law with the shortest speed synchronization and angle alignment time during the gear shifting process. The method can achieve zero speed difference and zero angle difference in the shortest time, and the control law is available online.

[0005] Another object of the present invention is to provide a device for solving the control law for minimizing the time for aligning the speed synchronization angle during the gear shifting process.

[0006] A third object of the present invention is to provide an electronic device.

[0007] A fourth object of the present invention is to provide a non-transitory computer-readable storage medium.

[0008] To achieve the above objectives, the present invention provides a method for solving a control law for minimizing the time required for aligning the speed synchronization angle during a gear shift process, comprising:

[0009] Establish an optimization problem based on the solution of the state transfer matrix;

[0010] Solving the optimal control law of the optimization problem according to a dynamic programming algorithm;

[0011] Performing speed differential and angle difference analysis according to the optimal control law to obtain speed differential and angle difference analysis results;

[0012] The number of control stages is determined according to the analysis results of the rotational differential speed and the rotational angle difference, and the motor torque trajectory analysis is performed according to the determined number of control stages to obtain the motor torque trajectory analysis result.

[0013] The method for solving the control law for minimizing the time for aligning the speed synchronization angle during the gear shifting process according to the embodiment of the present invention may also have the following additional technical features:

[0014] In one embodiment of the present invention, the state quantity and the control quantity of the motor are initialized to determine the corresponding possible values ​​of the state quantity and the control quantity;

[0015] Based on the possible values ​​of the state quantity and the control quantity, the optimal drive motor torque instruction and the optimal steady-state process time are solved according to the dynamic programming reverse deduction law;

[0016] Based on the optimal drive motor torque instruction and the optimal steady-state process time, the time-optimal drive motor torque instruction sequence, the optimal steady-state process time sequence and the total time under the optimal control law are obtained.

[0017] In one embodiment of the present invention, an optimization problem is established based on the solution of the state transition matrix, including:

[0018] In order to meet the condition of no aftereffect and introduce the driving motor torque response process, the driving motor torque is added as another state quantity in the dynamic model of the synchronization process to determine the state transfer matrix;

[0019] An optimization problem is established based on the solution result of the state transfer matrix, and an objective function of the optimization problem that achieves optimal time is defined.

[0020] In one embodiment of the present invention, the state quantity includes torque, speed difference and angle difference; the control quantity includes torque command and steady-state process time.

[0021] To achieve the above-mentioned object, the present invention further provides a device for solving a control law for minimizing the time for aligning the speed synchronization angle during a gear shift process, comprising:

[0022] An optimization problem establishment module is used to establish an optimization problem based on the solution of the state transfer matrix;

[0023] An optimal control law determination module, used for solving the optimal control law of the optimization problem according to a dynamic programming algorithm;

[0024] a rotation differential speed analysis and determination module, configured to perform rotation differential speed and rotation angle difference analysis according to the optimal control law to obtain rotation differential speed and rotation angle difference analysis results;

[0025] The motor torque trajectory analysis module is used to determine the number of control stages according to the analysis results of the rotational differential speed and the rotational angle difference, and perform motor torque trajectory analysis according to the determined number of control stages to obtain a motor torque trajectory analysis result.

[0026] To achieve the above-mentioned purpose, a third embodiment of the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor;

[0027] The memory stores computer-executable instructions;

[0028] The processor executes the computer-executable instructions stored in the memory to implement the method as described in any one of the first aspects above.

[0029] The method and device for solving a control law for minimizing speed synchronization and angle alignment time during gear shifting, according to embodiments of the present invention, obtains a theoretically optimal solution offline and proposes a control law solution that can be applied online, resulting in a rule-based control law suitable for engineering applications. This embodiment of the present invention can simultaneously achieve zero speed difference and zero angle difference; achieving both in the shortest possible time. It utilizes a hierarchical optimization approach, prioritizing offline optimization followed by rule extraction, with a clear distinction between priorities and enabling online application.

[0030] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0032] Figure 1 is a flow chart of a method for solving a control law for minimizing the time for aligning the speed synchronization angle during a gear shifting process according to an embodiment of the present invention;

[0033] Figure 2 is a logic diagram of a method for solving a control law for minimizing the time for aligning the speed synchronization angle during a gear shifting process according to an embodiment of the present invention;

[0034] Figure 3 2. It is a schematic diagram showing how the synchronization process time varies with the number of control stages according to an embodiment of the present invention;

[0035] Figure 4 is a schematic diagram showing how the rotation speed and the rotation angle error vary with the number of control stages according to an embodiment of the present invention;

[0036] Figure 5 2 is a schematic structural diagram of a device for solving a control law for minimizing the time for synchronizing speed and angle during a gear shift according to an embodiment of the present invention;

[0037] Figure 6 An electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0038] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0039] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0040] The following describes, with reference to the accompanying drawings, a method, device, electronic device, and non-transitory computer-readable storage medium for solving a control law for minimizing the time for aligning the speed synchronization angle during a gear shifting process according to an embodiment of the present invention.

[0041] Figure 1 4 is a flow chart of a method for solving a control law for minimizing the time for synchronizing speed and angle alignment during a gear shifting process according to an embodiment of the present invention.

[0042] like Figure 1 As shown, the method includes but is not limited to the following steps:

[0043] S1, establish the optimization problem based on the solution of the state transfer matrix;

[0044] S2, solving the optimal control law of the optimization problem according to a dynamic programming algorithm;

[0045] S3, performing speed differential and angle differential analysis according to the optimal control law to obtain speed differential and angle differential analysis results;

[0046] S4, determining the number of control stages according to the analysis results of the rotational differential speed and the rotational angle difference, and performing motor torque trajectory analysis according to the determined number of control stages to obtain a motor torque trajectory analysis result.

[0047] As you can understand, this invention addresses the issues of high impact and prolonged power interruption during gear shifting by devising a method for minimizing the time required for speed synchronization and angle alignment. This method obtains a theoretically optimal solution offline and proposes a control law that can be applied online, resulting in a regular control law suitable for engineering applications.

[0048] Specifically, the present invention is divided into two parts: offline time optimal control law solution and online rule extraction. Figure 2 shown.

[0049] In one embodiment of the present invention, the first part is to solve the optimal control law for offline time:

[0050] First, the state transition equation is determined. This state transition equation must satisfy the Markov property, meaning that the future state depends only on the current state. To ensure this and to incorporate the drive motor torque response, the drive motor torque is added as another state variable in the dynamic model of the synchronization process.

[0051]

[0052] in, and are the driving motor torques in the i+1th and ith stages respectively, is the target torque of the driving motor in stage i and are the speed differences between the clutch sleeve and the clutch ring gear at the i+1 and i stages, and are the periodic rotation angle differences between the clutch sleeve and the clutch ring in the i+1th and ith stages, is the time taken for the steady-state process in stage i.

[0053] Then, we establish an optimization problem. To achieve the optimal time, we define the objective function of the control problem as:

[0054]

[0055] Among them, J is the objective function, which is the total time here. They are the initial driving motor torque, the speed difference and the angle difference between the clutch sleeve and the clutch ring gear respectively. t ss are the torque instruction sequence of the driving motor and the time sequence of the steady-state process respectively. N is the total number of stages. and are the time taken for the transient process and steady state process of the driving motor in stage i respectively. end is a penalty term. Depending on whether the torque of the driving motor in the Nth stage, the speed difference and the angle difference between the clutch sleeve and the clutch ring are 0, it is initialized to 0 or infinity to ensure that the terminal state of the optimal control law is zero. The physical constraints are:

[0056]

[0057] in, and They are respectively the driving motor torque in stage i, the speed difference and the angle difference between the clutch sleeve and the clutch ring gear. is the maximum torque of the driving motor, N is the maximum possible speed difference between the clutch sleeve and the clutch ring gear, gr is the number of teeth of the engaging ring gear.

[0058] The terminal constraints are:

[0059]

[0060] in, and They are respectively the driving motor torque in stage N, the speed difference and the angle difference between the clutch sleeve and the clutch ring gear.

[0061] Next, the optimal control law and the corresponding objective function are derived according to the dynamic programming algorithm. The specific process includes:

[0062] The first step is initialization, which includes three state variables, namely torque, speed difference and angle difference, and two control variables, namely torque command and steady-state process time, to determine the possible values ​​of the state variables and control variables.

[0063] Initialize the current stage number k to N; initialize the cost function of the Nth stage to 0 or infinity according to whether the state quantity is 0 to ensure that the terminal state of the optimal control law is zero.

[0064] After initialization is complete, the cost function, optimal drive motor torque command, and steady-state process time for the k-1th stage can be solved according to the reverse deduction rules of dynamic programming. This recursive process ultimately yields the time-optimal drive motor torque command sequence, steady-state process time sequence, and total time under the optimal control law.

[0065] In one embodiment of the present invention, the second part is control rule extraction:

[0066] First, the number of control stages required is analyzed based on the dynamic programming results. The total time of the synchronization process and the calculation error are used as the basis for selecting the number of control stages.

[0067] Furthermore, when more than three control stages are completed, the synchronization process time almost stops decreasing. At the same time, the speed and angle errors will increase with the increase in the number of control stages. Three control stages are the optimal choice. The control rules for the three stages can be summarized as follows: in the first stage, adjust the angle difference; in the second stage, adjust the speed difference; in the third stage, adjust the torque and make preparations. That is, the three-stage control method of angle phase advance is obtained. Figure 3 and Figure 4 shown.

[0068] The method for solving the control law for the shortest speed synchronization and angle alignment time during the gear shifting process of the embodiment of the present invention can achieve zero speed difference and zero angle difference at the same time, and can also achieve zero speed difference and zero angle difference in the shortest time; at the same time, the present invention adopts hierarchical optimization, first offline optimization, then rule extraction, with clear priorities, and can be applied online.

[0069] In order to implement the above embodiment, Figure 5As shown, this embodiment also provides a device 10 for solving the control law for minimizing the time for synchronizing the speed and the angle during the gear shifting process. The device 10 includes an optimization problem establishment module 100, an optimal control law determination module 200, a speed differential analysis and determination module 300, and a motor torque trajectory analysis module 400.

[0070] An optimization problem establishing module 100 is used to establish an optimization problem based on the solution of the state transfer matrix;

[0071] An optimal control law determination module 200 is used to solve the optimal control law of the optimization problem according to a dynamic programming algorithm;

[0072] A rotation differential speed analysis and determination module 300 is configured to perform rotation differential speed and rotation angle difference analysis according to an optimal control law to obtain rotation differential speed and rotation angle difference analysis results;

[0073] The motor torque trajectory analysis module 400 is used to determine the number of control stages according to the analysis results of the rotational differential speed and the rotational angle difference, and perform motor torque trajectory analysis according to the determined number of control stages to obtain a motor torque trajectory analysis result.

[0074] Furthermore, the optimal control law determination module 200 is further configured to:

[0075] Initialize the state quantity and control quantity of the motor to determine the corresponding possible values ​​of the state quantity and control quantity;

[0076] Based on the possible values ​​of state variables and control variables, the optimal drive motor torque command and the optimal steady-state process time are solved according to the reverse deduction law of dynamic programming;

[0077] Based on the optimal drive motor torque command and the optimal steady-state process time, the time-optimal drive motor torque command sequence, the optimal steady-state process time sequence and the total time under the optimal control law are obtained.

[0078] Furthermore, the optimization problem establishment module 100 is also used to:

[0079] In order to meet the condition of no aftereffect and introduce the driving motor torque response process, the driving motor torque is added as another state quantity in the dynamic model of the synchronization process to determine the state transfer matrix;

[0080] An optimization problem is established based on the solution result of the state transfer matrix, and an objective function of the optimization problem that achieves optimal time is defined.

[0081] Furthermore, the state quantity includes torque, speed difference and angle difference; the control quantity includes torque command and steady-state process time.

[0082] The device for solving the control law for minimizing the time for synchronizing speed and angle alignment during the gear shifting process according to the embodiment of the present invention can achieve zero speed difference and zero angle difference at the same time, and can also achieve zero speed difference and zero angle difference in the shortest time; at the same time, the present invention adopts hierarchical optimization, first offline optimization, then rule extraction, with clear priorities, and can be applied online.

[0083] Figure 6 A schematic block diagram of an example electronic device 700 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or claimed herein.

[0084] like Figure 6 As shown, the device 700 includes a computing unit 701, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 702 or a computer program loaded from a storage unit 708 into a random access memory (RAM) 703. Various programs and data required for the operation of the device 700 can also be stored in the RAM 703. The computing unit 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input / output (I / O) interface 705 is also connected to the bus 704.

[0085] Various components in device 700 are connected to I / O interface 705, including an input unit 706, such as a keyboard, mouse, etc.; an output unit 707, such as various types of displays, speakers, etc.; a storage unit 708, such as a magnetic disk, optical disk, etc.; and a communication unit 709, such as a network card, modem, wireless communication transceiver, etc. The communication unit 709 allows device 700 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0086] The computing unit 701 can be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 701 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 701 performs the various methods and processes described above, such as the voice command response method. For example, in some embodiments, the voice command response method can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as a storage unit 708. In some embodiments, part or all of the computer program can be loaded and / or installed on the device 700 via the ROM 702 and / or the communication unit 709. When the computer program is loaded into the RAM 703 and executed by the computing unit 701, one or more steps of the voice command response method described above can be performed. Alternatively, in other embodiments, the computing unit 701 can be configured to perform the voice command response method in any other appropriate manner (e.g., by means of firmware).

[0087] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0088] The program code for implementing the methods of the present application can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the program code is executed by the processor or controller, the functions / operations specified in the flow charts and / or block diagrams are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0089] In the context of the present application, a machine-readable medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0090] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0091] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0092] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0093] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this application can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of this application can be achieved. This is not limited herein.

[0094] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

[0095] In order to implement the above embodiments, the present application further proposes a non-transitory computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the method described in the above embodiments is implemented.

[0096] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0097] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

Claims

1. A method for solving the shortest control law for the speed synchronization angle alignment time during the gear shifting process, characterized in that: The method comprises: Establish an optimization problem based on the solution of the state transfer matrix; Solving the optimal control law of the optimization problem according to a dynamic programming algorithm; Perform speed difference and rotation angle difference analysis according to the optimal control law to obtain speed difference and rotation angle difference analysis results; Determining the number of control stages according to the speed difference and the angle difference analysis results, and performing motor torque trajectory analysis according to the determined number of control stages to obtain a motor torque trajectory analysis result; According to the solution of the state transfer matrix, an optimization problem is established, including: Determine the state transfer equation: The state transfer equation needs to meet the condition of no aftereffect, that is, the future state depends only on the current state. In order to meet the condition of no aftereffect and introduce the drive motor torque response process, the drive motor torque is added as another state quantity in the dynamic model of the synchronization process: in, and are the driving motor torques of the i+1th and ith stages respectively, is the target torque of the driving motor in the i-th stage, and are the speed differences between the clutch sleeve and the clutch ring gear in the i+1th and ith stages, and are the periodic rotation angle differences between the clutch sleeve and the clutch gear ring in the i+1th and ith stages, is the time taken for the steady-state process in stage i; Establish an optimization problem: To achieve time optimization, define the objective function of the control problem as: in, is the objective function, is the total time, They are the initial driving motor torque, the speed difference and the angle difference between the clutch sleeve and clutch ring gear respectively; They are the driving motor torque command sequence and the steady-state process time sequence respectively; is the total number of stages; and are the time taken for the transient process and steady-state process of the driving motor in the i-th stage respectively; is a penalty term. According to whether the torque of the driving motor in the Nth stage, the speed difference and the angle difference between the clutch sleeve and the clutch ring are 0, it is initialized to 0 or infinity to ensure that the terminal state of the optimal control law is zero. The physical constraints are: in, , and are the driving motor torque, the speed difference and the angle difference between the clutch sleeve and the clutch ring respectively in the i-th stage, is the maximum torque of the driving motor, is the maximum speed difference between the clutch sleeve and the clutch ring gear, is the number of teeth of the engaging teeth of the engaging ring gear; The terminal constraints are: in, , and They are respectively the driving motor torque in the Nth stage, the speed difference and the angle difference between the coupling sleeve and the coupling ring gear.

2. The method according to claim 1, characterized in that Solving the optimal control law of the optimization problem according to the dynamic programming algorithm includes: Initialize the state quantity and control quantity of the motor to determine the corresponding possible values ​​of the state quantity and control quantity; Based on the possible values ​​of the state quantity and the control quantity, the optimal drive motor torque command and the optimal steady-state process time are solved according to the dynamic programming reverse deduction law; Based on the optimal drive motor torque command and the optimal steady-state process time, the time-optimal drive motor torque command sequence, the optimal steady-state process time sequence and the total time under the optimal control law are obtained.

3. The method according to claim 2, characterized in that According to the solution of the state transfer matrix, the optimization problem is established, including: In order to meet the condition of no aftereffect and introduce the driving motor torque response process, the driving motor torque is added as another state quantity in the dynamic model of the synchronization process to determine the state transfer matrix; An optimization problem is established based on the solution result of the state transfer matrix, and an objective function of the optimization problem that achieves optimal time is defined.

4. The method according to claim 2, characterized in that: The state quantity includes torque, speed difference and angle difference; the control quantity includes torque command and steady-state process time.

5. A device for solving the shortest control law for the synchronization of speed and angle during gear shifting, characterized in that: include: An optimization problem establishment module is used to establish an optimization problem according to the solution result of the state transfer matrix; An optimal control law determination module, used for solving the optimal control law of the optimization problem according to a dynamic programming algorithm; A speed difference analysis and determination module, used for performing speed difference and rotation angle difference analysis according to the optimal control law to obtain speed difference and rotation angle difference analysis results; A motor torque trajectory analysis module, used to determine the number of control stages according to the speed difference and angle difference analysis results, and perform motor torque trajectory analysis according to the determined number of control stages to obtain a motor torque trajectory analysis result; According to the solution of the state transfer matrix, the optimization problem is established, including: Determine the state transfer equation: The state transfer equation needs to meet the condition of no aftereffect, that is, the future state depends only on the current state. In order to meet the condition of no aftereffect and introduce the drive motor torque response process, the drive motor torque is added as another state quantity in the dynamic model of the synchronization process: in, and are the driving motor torques of the i+1th and ith stages respectively, is the target torque of the driving motor in the i-th stage, and are the speed differences between the clutch sleeve and the clutch ring gear in the i+1th and ith stages, and are the periodic rotation angle differences between the clutch sleeve and the clutch gear ring in the i+1th and ith stages, is the time taken for the steady-state process in stage i; Establish an optimization problem: To achieve time optimization, define the objective function of the control problem as: in, is the objective function, is the total time, They are the initial driving motor torque, the speed difference and the angle difference between the clutch sleeve and clutch ring gear respectively; They are the driving motor torque command sequence and the steady-state process time sequence respectively; is the total number of stages; and are the time taken for the transient process and steady-state process of the driving motor in the i-th stage respectively; is a penalty term. According to whether the torque of the driving motor in the Nth stage, the speed difference and the angle difference between the clutch sleeve and the clutch ring are 0, it is initialized to 0 or infinity to ensure that the terminal state of the optimal control law is zero. The physical constraints are: in, , and are the driving motor torque, the speed difference and the angle difference between the clutch sleeve and the clutch ring respectively in the i-th stage, is the maximum torque of the driving motor, is the maximum speed difference between the clutch sleeve and the clutch ring gear, is the number of teeth of the engaging teeth of the engaging ring gear; The terminal constraints are: in, , and They are respectively the driving motor torque in the Nth stage, the speed difference and the angle difference between the coupling sleeve and the coupling ring gear.

6. The device according to claim 5, characterized in that The optimal control law determination module is also used for: Initialize the state quantity and control quantity of the motor to determine the corresponding possible values ​​of the state quantity and control quantity; Based on the possible values ​​of the state quantity and the control quantity, the optimal drive motor torque command and the optimal steady-state process time are solved according to the dynamic programming reverse deduction law; Based on the optimal drive motor torque command and the optimal steady-state process time, the time-optimal drive motor torque command sequence, the optimal steady-state process time sequence and the total time under the optimal control law are obtained.

7. The device according to claim 6, characterized in that The optimization problem establishment module is also used for: In order to meet the condition of no aftereffect and introduce the driving motor torque response process, the driving motor torque is added as another state quantity in the dynamic model of the synchronization process to determine the state transfer matrix; An optimization problem is established based on the solution result of the state transfer matrix, and an objective function of the optimization problem that achieves optimal time is defined.

8. The device according to claim 6, characterized in that The state quantity includes torque, speed difference and angle difference; the control quantity includes torque command and steady-state process time.

9. An electronic device, characterized in that: including a processor and a memory; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method for solving the shortest control law for speed synchronization angle alignment time during the gear shifting process as described in any one of claims 1-4.

10. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method for solving the shortest control law for speed synchronization angle alignment time during a gear shifting process as described in any one of claims 1 to 4 is implemented.

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