Wear correction method and device for pneumatic clutch, clutch and storage medium

Abstract

The present invention provides a wear correction method, device, clutch and storage medium for a pneumatic clutch, belonging to the field of clutch control technology, and the method includes: obtaining the target relative displacement and actual relative displacement of the pneumatic clutch, and determining the displacement difference based on the target relative displacement and the actual relative displacement; the target relative displacement and the actual relative displacement are the distance between the pneumatic clutch and the engagement point; obtaining the absolute displacement of the pneumatic clutch, and determining the wear correction coefficient based on the absolute displacement, the target relative displacement and the actual relative displacement; adjusting the PID controller based on the wear correction coefficient, and inputting the displacement difference into the adjusted PID controller to obtain the electromagnetic valve opening of the pneumatic clutch. The present invention takes into account the displacement difference and PID controller affected by wear in the process of obtaining the electromagnetic valve opening, thereby ensuring the adjustment accuracy of the electromagnetic valve opening, thereby improving the performance of the pneumatic clutch.

Description

Technical Field

[0001] The present invention relates to the technical field of clutch control, and in particular to a wear correction method and device for a pneumatic clutch, a clutch and a storage medium. Background Art

[0002] The pneumatic clutch is a clutch driven by air pressure. Compared with other types of clutches, it has many advantages, such as soft action, fast stop, instantaneous action response and fast sensitivity. Pneumatic clutches have been widely used. The method of controlling the movement of the clutch is to control the exhaust opening of the exhaust valve alone. The specific control method is to obtain the calibrated intake and exhaust flow of the pneumatic clutch, and based on the displacement difference between the actual displacement of the pneumatic clutch and the calibrated displacement, use the displacement difference as the input of the PID controller, and adjust the opening of the solenoid valve with the calibrated intake and exhaust flow as the adjustment target.

[0003] However, the above control method has the following technical problems: the calibration displacement and the calibrated intake and exhaust flow are obtained by calibrating a completely unworn pneumatic clutch, without considering that the pneumatic clutch will wear during use, and the calibration displacement and the calibrated intake and exhaust flow will change, resulting in inaccurate control and adjustment of the solenoid valve opening, thereby causing the performance of the pneumatic clutch to decline.

[0004] Therefore, there is an urgent need to provide a wear correction method, device, clutch and storage medium for a pneumatic clutch to achieve accurate control of the opening of the pneumatic clutch solenoid valve and ensure the performance of the pneumatic clutch. Summary of the invention

[0005] In view of this, it is necessary to provide a wear correction method, device, clutch and storage medium for a pneumatic clutch to solve the technical problem that the wear of the pneumatic clutch is not taken into account in the prior art, resulting in inaccurate control of the solenoid valve opening of the pneumatic clutch and reduced performance.

[0006] On the one hand, in order to solve the above technical problems, the present invention provides a wear correction method for a pneumatic clutch, comprising:

[0007] Obtaining a target relative displacement and an actual relative displacement of the pneumatic clutch, and determining a displacement difference based on the target relative displacement and the actual relative displacement; the target relative displacement and the actual relative displacement are the distances between the pneumatic clutch and a coupling point;

[0008] Acquiring an absolute displacement of the pneumatic clutch, and determining a wear correction coefficient based on the absolute displacement, the target relative displacement, and the actual relative displacement;

[0009] The PID controller is adjusted based on the wear correction coefficient, and the displacement difference is input into the adjusted PID controller to obtain the opening of the solenoid valve of the pneumatic clutch.

[0010] In a possible implementation, adjusting the PID controller based on the wear correction coefficient includes:

[0011] The wear correction coefficient is used as the proportional coefficient of the PID controller.

[0012] In a possible implementation, determining the wear correction coefficient based on the absolute displacement, the target relative displacement, and the actual relative displacement includes:

[0013] determining a disengagement force of the pneumatic clutch based on the actual relative displacement;

[0014] The wear correction factor is determined based on the breakaway force, the target relative displacement, and the absolute displacement.

[0015] In a possible implementation, determining the separation force of the pneumatic clutch based on the actual relative displacement includes:

[0016] Acquiring a clutch separation characteristic curve of the pneumatic clutch, and constructing a separation force determination model of the pneumatic clutch based on the clutch separation characteristic curve;

[0017] The separation force is determined based on the actual relative displacement and the separation force determination model.

[0018] In a possible implementation, constructing a separation force determination model of the pneumatic clutch based on the clutch separation characteristic curve includes:

[0019] Determining curve characteristics of the clutch release characteristic curve, wherein the curve characteristics include curvature and curvature change rate;

[0020] Segmenting the clutch disengagement characteristic curve based on the curvature and the curvature change rate to obtain multiple segment disengagement characteristic sub-curves;

[0021] A plurality of separation force determination sub-models corresponding to the plurality of separation characteristic sub-curves are constructed, and the plurality of separation force determination sub-models constitute the separation force determination model.

[0022] In a possible implementation, the separation force is:

[0023]

[0024] In the formula, is the separation force; L is the actual relative displacement;LA is the first preset displacement; LB is the second preset displacement, LA< LB ; K is the separation force coefficient; C is a constant.

[0025] In a possible implementation, the wear correction factor is:

[0026]

[0027] In the formula, is the wear correction factor; is the intake and exhaust flow of the pneumatic clutch that is worn; is the intake and exhaust flow rate of the pneumatic clutch without wear; is the absolute displacement of the pneumatic clutch where wear occurs; is the initial offset of the pneumatic clutch without wear; is the target relative displacement of the pneumatic clutch that is worn; is the separation force constant of the pneumatic clutch with wear; is the separation force constant of the pneumatic clutch without wear.

[0028] On the other hand, the present invention also provides a wear correction device for a pneumatic clutch, comprising:

[0029] a displacement difference determination unit, used for obtaining a target relative displacement and an actual relative displacement of the pneumatic clutch, and determining a displacement difference based on the target relative displacement and the actual relative displacement; the target relative displacement and the actual relative displacement are the distances between the pneumatic clutch and a coupling point;

[0030] a wear correction coefficient determination unit, configured to obtain an absolute displacement of the pneumatic clutch and determine a wear correction coefficient based on the absolute displacement, the target relative displacement and the actual relative displacement;

[0031] The wear correction unit is used to adjust the PID controller based on the wear correction coefficient, input the displacement difference into the adjusted PID controller, and obtain the opening of the solenoid valve of the pneumatic clutch.

[0032] On the other hand, the present invention further provides a clutch, comprising a memory and a processor, wherein:

[0033] The memory is used to store programs;

[0034] The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the wear correction method of the pneumatic clutch in any one of the possible implementations described above.

[0035] On the other hand, the present invention also provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps in the wear correction method for the pneumatic clutch described in any possible implementation method mentioned above are implemented.

[0036] The beneficial effects of the present invention are as follows: the wear correction method of the pneumatic clutch provided by the present invention sets the target relative displacement and the actual relative displacement as the distance between the pneumatic clutch and the engagement point. Since the position of the engagement point will also change when the pneumatic clutch is worn, the target relative displacement and the actual relative displacement will change with the wear of the pneumatic clutch, thereby ensuring the matching degree between the displacement difference and the wear degree of the pneumatic clutch. Furthermore, the present invention determines the wear correction coefficient based on the absolute displacement, the target relative displacement and the actual relative displacement, adjusts the PID controller based on the wear correction coefficient, and inputs the displacement difference into the adjusted PID controller to obtain the wear correction coefficient of the solenoid valve opening of the pneumatic clutch, which is a parameter related to the calibrated intake and exhaust flow. The wear correction coefficient is considered in the PID adjustment process, and the influence of wear on the intake flow can be taken into account. In other words, the displacement difference and the PID controller affected by wear are considered in the process of obtaining the solenoid valve opening, thereby ensuring the adjustment accuracy of the solenoid valve opening, thereby improving the performance of the pneumatic clutch. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A schematic flow chart of an embodiment of a wear correction method for a pneumatic clutch provided by the present invention;

[0039] Figure 2 For the present invention Figure 1 A schematic flow chart of an embodiment of step S102;

[0040] Figure 3 For the present invention Figure 2 A schematic flow chart of an embodiment of step S201;

[0041] Figure 4 For the present invention Figure 3 A schematic flow chart of an embodiment of step S301;

[0042] Figure 5 A schematic diagram of an embodiment of a clutch disengagement characteristic curve provided by the present invention;

[0043] Figure 6 A schematic structural diagram of an embodiment of a wear correction device for a pneumatic clutch provided by the present invention;

[0044] Figure 7 A schematic structural diagram of an embodiment of a clutch provided by the present invention. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] It should be understood that the schematic drawings are not drawn to scale. The flowchart used in the present invention shows the operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowchart can be implemented out of order, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present invention, can add one or more other operations to the flowchart, and can also remove one or more operations from the flowchart. Some of the block diagrams shown in the accompanying drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0047] Reference to an "embodiment" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0048] The present invention provides a wear correction method, device, clutch and storage medium for a pneumatic clutch, which are described below respectively.

[0049] Before describing the embodiment, the pneumatic clutch is introduced first. The pneumatic clutch refers to a clutch that transmits power by pushing the friction component with air pressure and is released by a return spring.

[0050] Figure 1 A schematic flow chart of an embodiment of a wear correction method for a pneumatic clutch provided by the present invention is shown in FIG. Figure 1 As shown, the wear correction method of the pneumatic clutch includes:

[0051] S101, obtaining a target relative displacement and an actual relative displacement of the pneumatic clutch, and determining a displacement difference based on the target relative displacement and the actual relative displacement; the target relative displacement and the actual relative displacement are the distances between the pneumatic clutch and the engagement point;

[0052] S102, obtaining the absolute displacement of the pneumatic clutch, and determining a wear correction coefficient based on the absolute displacement, the target relative displacement, and the actual relative displacement;

[0053] S103, adjusting the PID controller based on the wear correction coefficient, and inputting the displacement difference into the adjusted PID controller to obtain the opening of the solenoid valve of the pneumatic clutch.

[0054] The target relative displacement refers to the relative displacement when the pneumatic clutch is not worn; the actual relative displacement refers to the relative displacement when the pneumatic clutch is worn.

[0055] Specifically, the displacement difference is the difference between the target relative displacement and the actual relative displacement.

[0056] Among them, the clutch engagement point refers to the semi-clutch engagement point, where the clutch is engaged but not fully engaged. At this time, the output torque is not enough to move the car forward, but it can just resist the sliding of the car.

[0057] It should be noted that the absolute displacement refers to the displacement of the cylinder in the pneumatic clutch. In a specific embodiment, when the displacement of the cylinder is 20 mm, the clutch is located at the engagement point, and the relative displacement is zero.

[0058] It should be understood that the PID controller is composed of a proportional unit P, an integral unit I and a differential unit D. The proportional unit is an amplifier with adjustable amplification, the integral unit is used to eliminate the residual error, and the differential unit is used to overcome the lag of the regulated object.

[0059] It should also be noted that after the opening of the solenoid valve of the pneumatic clutch is obtained, the solenoid valve of the pneumatic clutch is controlled to operate according to the opening so that the displacement of the pneumatic clutch is the target relative displacement.

[0060] Compared with the prior art, the wear correction method of the pneumatic clutch provided in the embodiment of the present invention sets the target relative displacement and the actual relative displacement as the distance between the pneumatic clutch and the engagement point. Since the position of the engagement point will also change when the pneumatic clutch wears, the target relative displacement and the actual relative displacement will change with the wear of the pneumatic clutch, thereby ensuring the matching degree between the displacement difference and the wear degree of the pneumatic clutch. Furthermore, the embodiment of the present invention determines the wear correction coefficient based on the absolute displacement, the target relative displacement and the actual relative displacement, adjusts the PID controller based on the wear correction coefficient, and inputs the displacement difference into the adjusted PID controller to obtain the wear correction coefficient of the solenoid valve opening of the pneumatic clutch, which is a parameter related to the calibrated intake and exhaust flow. The wear correction coefficient is considered in the PID adjustment process, and the influence of wear on the intake flow can be taken into account. In other words, the displacement difference and the PID controller affected by wear are considered in the process of obtaining the solenoid valve opening, thereby ensuring the adjustment accuracy of the solenoid valve opening, thereby improving the performance of the pneumatic clutch.

[0061] In a specific embodiment of the present invention, the wear correction coefficient is a ratio of the intake and exhaust flow rate of the pneumatic clutch with wear to the intake and exhaust flow rate of the pneumatic clutch without wear.

[0062] Since the function of the proportional unit P in the PID controller is to confirm whether the current intake and exhaust flow rate is the target intake and exhaust flow rate, therefore, in some embodiments of the present invention, the PID controller is adjusted based on the wear correction coefficient in step S103, specifically: the wear correction coefficient is used as the proportional coefficient of the PID controller.

[0063] The embodiment of the present invention uses the wear correction coefficient as the proportional coefficient of the PID controller, and can determine the accurate target intake and exhaust flow of the pneumatic clutch when wear occurs based on the proportional coefficient and the calibrated intake and exhaust flow. The accurate target intake and exhaust flow of the worn clutch is directly used as the adjustment target of the PID controller, thereby improving the adjustment accuracy and adjustment efficiency of the PID controller, thereby improving the accuracy and determination efficiency of the solenoid valve opening.

[0064] In some embodiments of the present invention, Figure 2 As shown, step S102 includes:

[0065] S201, determining a separation force of the pneumatic clutch based on the actual relative displacement;

[0066] S202: Determine a wear correction coefficient based on the separation force, the target relative displacement and the absolute displacement.

[0067] It should be noted that in the process of determining the wear correction coefficient based on the separation force, the clutch pressure and air pressure formulas are also needed. The clutch pressure formula is an existing technology and will not be elaborated in detail here.

[0068] In order to improve the accuracy of the determined separation force and ensure the accuracy of the solenoid valve opening, in some embodiments of the present invention, Figure 3 As shown, step S201 includes:

[0069] S301, obtaining a clutch separation characteristic curve of the pneumatic clutch, and constructing a separation force determination model of the pneumatic clutch based on the clutch separation characteristic curve;

[0070] S302: Determine the separation force based on the actual relative displacement and the separation force determination model.

[0071] The embodiment of the present invention improves the compatibility of the separation force determination model with the clutch separation characteristic curve by constructing a separation force determination model based on the clutch separation characteristic curve, that is, the separation force determination model is more compatible with the performance of the pneumatic clutch, thereby improving the accuracy of the determined separation force.

[0072] It should be noted that the clutch separation characteristic curve in step S301 can be obtained by a finite element simulation method. What is obtained is a simulation curve composed of multiple discrete points. Since the clutch separation characteristic curve obtained by the finite element simulation method cannot know the separation force corresponding to any actual relative displacement, the embodiment of the present invention constructs a separation force determination model based on the clutch separation characteristic curve, and the separation force corresponding to any actual relative displacement can be determined by the separation force determination model.

[0073] In order to avoid the technical problem that when the clutch separation characteristic curve is very complex, it is impossible to find a single separation force determination model to accurately characterize the clutch separation characteristic curve, resulting in an inaccurate separation force determination model, in some embodiments of the present invention, such as Figure 4 As shown, step S301 includes:

[0074] S401, determining curve characteristics of a clutch release characteristic curve, where the curve characteristics include curvature and curvature change rate;

[0075] S402, segmenting the clutch disengagement characteristic curve based on the curvature and the curvature change rate to obtain multiple segment disengagement characteristic sub-curves;

[0076] S403, constructing a plurality of separation force determination sub-models corresponding to the plurality of separation characteristic sub-curves, wherein the plurality of separation force determination sub-models constitute a separation force determination model.

[0077] The embodiment of the present invention segments the clutch separation characteristic curve based on the curve characteristics, and constructs a separation force determination sub-model for each segment of the separation characteristic sub-curve, so that each separation force determination sub-model is more closely fitted to the corresponding separation characteristic sub-curve, that is, a plurality of simple separation determination sub-models can be used to characterize the entire clutch separation characteristic curve, thereby achieving the purpose of improving the determination efficiency of the separation force determination sub-model while further ensuring the accuracy of the separation force determination model.

[0078] It should be noted that the curve characteristics may also include other characteristics besides the curvature and the curvature change rate, which will not be described one by one here.

[0079] In a specific embodiment of the present invention, the clutch release characteristic curve is as follows: Figure 5 As shown, the horizontal axis is the actual relative displacement, and the vertical axis is the separation force. Figure 5 It can be seen that when the abscissa is between 0mm-4mm, the curvature is a constant, and it is approximately a straight line. When the abscissa is between 4mm-11mm, the curvature and the rate of change of curvature change with the abscissa, and it is approximately a parabola. When the abscissa is greater than 11mm, the curvature and the rate of change of curvature are both zero, and it is a straight line with a constant ordinate.

[0080] Based on the above clutch release characteristic curve, the embodiment of the present invention includes three release force determination sub-models, namely a linear sub-model, a parabolic sub-model and a straight line sub-model with a constant ordinate.

[0081] It can be understood that: when a certain section of the clutch separation characteristic sub-curve is particularly complex (for example, it can only be expressed by a third-order or even higher-order function), and the corresponding range of actual relative displacement is also small, in order to further improve the efficiency of determining the separation force, the separation force can be determined based on the separation force determination sub-model corresponding to other sections of the clutch separation characteristic sub-curve, and then the separation force of the actual relative displacement within this range can be determined by a preset interpolation method.

[0082] The preset interpolation algorithm may be a linear interpolation algorithm, a parabola interpolation algorithm, or the like, which should be set or selected according to the clutch release characteristic curve within this range. Specifically, when the clutch release characteristic curve within this range is a straight line, a linear interpolation algorithm is used, and when the clutch release characteristic curve within this range is a parabola, a parabola interpolation algorithm is used.

[0083] In a specific embodiment of the present invention, the separation force is:

[0084]

[0085] In the formula, is the separation force; L is the actual relative displacement; LAis the first preset displacement; LB is the second preset displacement, LA< LB ; K is the separation force coefficient; C is a constant.

[0086] Specifically, when the pneumatic clutch is the Figure 5 pneumatic clutch in, the first preset displacement is 4 mm and the second preset displacement is 11 mm.

[0087] In some embodiments of the present invention, when LA < L < LB, the separation force is obtained based on the linear interpolation method.

[0088] In some embodiments of the present invention, the wear correction coefficient is:

[0089]

[0090] In the formula, is the wear correction coefficient; is the intake and exhaust flow rate of the pneumatic clutch with wear; is the intake and exhaust flow rate of the pneumatic clutch without wear; is the absolute displacement of the pneumatic clutch with wear; is the initial offset of the pneumatic clutch without wear; is the target relative displacement of the pneumatic clutch with wear; is the separation force constant of the pneumatic clutch with wear; is the separation force constant of the pneumatic clutch without wear.

[0091] Similarly, when LA < L < LB, the wear correction coefficient is obtained based on the linear interpolation method.

[0092] In the control process of the pneumatic clutch in the embodiments of the present invention, the wear of the clutch is considered. Therefore, the control of the entire life cycle of the pneumatic clutch can be realized.

[0093] It should be understood that: , , , , , , These parameters can all be obtained according to sensor acquisition, experimental calibration, and / or look-up tables.

[0094] In a specific embodiment of the present invention, the initial offset of the pneumatic clutch without wear is 30 mm, the absolute displacement of the completely worn clutch is 13 mm, the separation force constant C of the new clutch disc is 8000, the separation force constant of the clutch after wear is 9600, the target relative displacement of the clutch is 4 mm, and the actual relative displacement of the clutch is 12 mm. Then, the wear correction coefficient of the completely worn clutch disc is calculated as follows:

[0095] When L < LA, Vw = (1 - Lw / (Lo + Lt + L)) * V = 0.72V;

[0096] When L > LB, Vw = Cw / C * V = 1.2V.

[0097] To better implement the wear correction method of the pneumatic clutch in the embodiments of the present invention, correspondingly, based on the wear correction method of the pneumatic clutch, the embodiments of the present invention further provide a wear correction device for a pneumatic clutch, as Figure 6 shown. The wear correction device 600 of the pneumatic clutch includes:

[0098] A displacement difference determination unit 601, configured to obtain the target relative displacement and the actual relative displacement of the pneumatic clutch, and determine the displacement difference based on the target relative displacement and the actual relative displacement; the target relative displacement and the actual relative displacement are the distances between the pneumatic clutch and the engagement point;

[0099] A wear correction coefficient determination unit 602, configured to obtain the absolute displacement of the pneumatic clutch, and determine the wear correction coefficient based on the absolute displacement, the target relative displacement, and the actual relative displacement;

[0100] A wear correction unit 603, configured to adjust the PID controller based on the wear correction coefficient, input the displacement difference into the adjusted PID controller, and obtain the solenoid valve opening degree of the pneumatic clutch.

[0101] The wear correction device 600 of the pneumatic clutch provided in the embodiment of the present invention sets the target relative displacement and the actual relative displacement as the distance between the pneumatic clutch and the connection point. Since the position of the connection point will also change when the pneumatic clutch wears, the target relative displacement and the actual relative displacement will change with the wear of the pneumatic clutch, thereby ensuring the matching degree between the displacement difference and the wear degree of the pneumatic clutch. Furthermore, the embodiment of the present invention determines the wear correction coefficient based on the absolute displacement, the target relative displacement and the actual relative displacement, adjusts the PID controller based on the wear correction coefficient, and inputs the displacement difference into the adjusted PID controller to obtain the wear correction coefficient of the solenoid valve opening of the pneumatic clutch, which is a parameter related to the calibrated intake and exhaust flow. The wear correction coefficient is considered in the PID adjustment process, and the influence of wear on the intake flow can be taken into account. In other words, the displacement difference and the PID controller affected by wear are considered in the process of obtaining the solenoid valve opening, thereby ensuring the adjustment accuracy of the solenoid valve opening, thereby improving the performance of the pneumatic clutch.

[0102] The wear correction coefficient determination unit 602 is specifically used to: determine the separation force of the pneumatic clutch based on the actual relative displacement; and determine the wear correction coefficient based on the separation force, the target relative displacement and the absolute displacement.

[0103] The wear correction coefficient determination unit 602 is also specifically used to: obtain the clutch separation characteristic curve of the pneumatic clutch, and construct a separation force determination model of the pneumatic clutch based on the clutch separation characteristic curve; determine the separation force based on the actual relative displacement and the separation force determination model.

[0104] It should be noted that the clutch separation characteristic curve can be obtained by a finite element simulation method. What is obtained is a simulation curve composed of multiple discrete points. Since the clutch separation characteristic curve obtained by the finite element simulation method cannot know the separation force corresponding to any actual relative displacement, the embodiment of the present invention constructs a separation force determination model based on the clutch separation characteristic curve, and the separation force corresponding to any actual relative displacement can be determined by the separation force determination model.

[0105] In some embodiments of the present invention, the wear correction coefficient determination unit 602 is also specifically used to: determine the curve characteristics of the clutch separation characteristic curve, the curve characteristics including curvature and curvature change rate; segment the clutch separation characteristic curve based on the curvature and curvature change rate to obtain multiple separation characteristic sub-curves; construct multiple separation force determination sub-models corresponding to the multiple separation characteristic sub-curves, and the multiple separation force determination sub-models constitute a separation force determination model.

[0106] In the embodiment of the present invention, by segmenting the clutch separation characteristic curve based on curve features and respectively constructing separation force determination sub-models for each obtained segment of the separation characteristic sub-curve, each separation force determination sub-model is more fitted to the corresponding separation characteristic sub-curve, that is: the entire clutch separation characteristic curve can be characterized by multiple simple separation determination sub-models, achieving the purpose of improving the determination efficiency of the separation force determination sub-model while further ensuring the accuracy of the separation force determination model.

[0107] In a specific embodiment of the present invention, the separation force is:

[0108]

[0109] In the formula, is the separation force; L is the actual relative displacement; LA is the first preset displacement; LB is the second preset displacement, LA< LB ; K is the separation force coefficient; C is a constant.

[0110] In some embodiments of the present invention, when LA < L < LB, the separation force is obtained based on the linear interpolation method.

[0111] In a specific embodiment of the present invention, the wear correction coefficient is:

[0112]

[0113] In the formula, is the wear correction coefficient; is the intake and exhaust flow rate of the pneumatic clutch with wear; is the intake and exhaust flow rate of the pneumatic clutch without wear; is the absolute displacement of the pneumatic clutch with wear; is the initial offset of the pneumatic clutch without wear; is the target relative displacement of the pneumatic clutch with wear; is the separation force constant of the pneumatic clutch with wear; is the separation force constant of the pneumatic clutch without wear.

[0114] Similarly, when LA < L < LB, the wear correction coefficient is obtained based on the linear interpolation method.

[0115] The wear correction device 600 of the pneumatic clutch provided in the above embodiment can implement the technical solution described in the above pneumatic clutch wear correction method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above pneumatic clutch wear correction method embodiment, which will not be repeated here.

[0116] like Figure 7 As shown, the present invention also provides a clutch 700 . The clutch 700 includes a processor 701 , a memory 702 , and a display 703 . Figure 7 Only some of the components of the clutch 700 are shown, but it should be understood that implementation of all of the components shown is not a requirement, and more or fewer components may alternatively be implemented.

[0117] In some embodiments, the processor 701 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 702, such as the wear correction method of the pneumatic clutch in the present invention.

[0118] In some embodiments of the present invention, the processor 701 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processor 701 may be local or remote. In some embodiments, the processor 701 may be implemented in a cloud platform. In one embodiment, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-cloud, etc., or any combination thereof.

[0119] In some embodiments, the memory 702 may be an internal storage unit of the clutch 700, such as a hard disk or memory of the clutch 700. In other embodiments, the memory 702 may also be an external storage device of the clutch 700, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the clutch 700.

[0120] Furthermore, the memory 702 may include both an internal storage unit of the clutch 700 and an external storage device. The memory 702 is used to store application software installed on the clutch 700 and various data.

[0121] In some embodiments, the display 703 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 703 is used to display information of the clutch 700 and to display a visual user interface. The components 701-703 of the clutch 700 communicate with each other via a system bus.

[0122] In some embodiments of the present invention, when the processor 701 executes the wear correction program of the pneumatic clutch in the memory 702, the following steps may be implemented:

[0123] Obtaining a target relative displacement and an actual relative displacement of the pneumatic clutch, and determining a displacement difference based on the target relative displacement and the actual relative displacement; the target relative displacement and the actual relative displacement are the distances between the pneumatic clutch and the engagement point;

[0124] Obtaining the absolute displacement of the pneumatic clutch, and determining a wear correction factor based on the absolute displacement, the target relative displacement, and the actual relative displacement;

[0125] The PID controller is adjusted based on the wear correction coefficient, and the displacement difference is input into the adjusted PID controller to obtain the solenoid valve opening of the pneumatic clutch.

[0126] It should be understood that: when the processor 701 executes the wear correction program of the pneumatic clutch in the memory 702, in addition to the above functions, other functions can also be realized. For details, please refer to the description of the corresponding method embodiment above.

[0127] Furthermore, the embodiment of the present invention does not specifically limit the type of the clutch 700 mentioned, and the clutch 700 may be a portable clutch such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable clutches include but are not limited to portable clutches equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable clutch may also be other portable clutches, and it should also be understood that in some other embodiments of the present invention, the clutch 700 may not be a portable clutch, but a desktop computer with a touch-sensitive surface (such as a touch panel).

[0128] Correspondingly, an embodiment of the present invention also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, it can implement the steps or functions of the wear correction method of the pneumatic clutch provided in the above-mentioned method embodiments.

[0129] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0130] The above is a detailed introduction to the wear correction method, device, clutch and storage medium of a pneumatic clutch provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A wear correction method for a pneumatic clutch, characterized in that: include: Acquiring a target relative displacement and an actual relative displacement of the pneumatic clutch, and determining a displacement difference based on the target relative displacement and the actual relative displacement; The target relative displacement and the actual relative displacement are the distances between the pneumatic clutch and the engagement point; Acquiring an absolute displacement of the pneumatic clutch, and determining a wear correction coefficient based on the absolute displacement, the target relative displacement, and the actual relative displacement; Adjusting the PID controller based on the wear correction coefficient, and inputting the displacement difference into the adjusted PID controller to obtain the solenoid valve opening of the pneumatic clutch; The determining of the wear correction coefficient based on the absolute displacement, the target relative displacement and the actual relative displacement comprises: Acquire a clutch release characteristic curve of the pneumatic clutch; and determine curve characteristics of the clutch release characteristic curve, wherein the curve characteristics include curvature and curvature change rate; Segmenting the clutch disengagement characteristic curve based on the curvature and the curvature change rate to obtain multiple segment disengagement characteristic sub-curves; Constructing a plurality of separation force determination sub-models corresponding to the plurality of separation characteristic sub-curves, wherein the plurality of separation force determination sub-models constitute a separation force determination model; determining a separation force based on the actual relative displacement and the separation force determination model; The wear correction factor is determined based on the breakaway force, the target relative displacement, and the absolute displacement.

2. The wear correction method for a pneumatic clutch according to claim 1, characterized in that: The adjusting the PID controller based on the wear correction coefficient comprises: The wear correction coefficient is used as the proportional coefficient of the PID controller.

3. The wear correction method for a pneumatic clutch according to claim 1, characterized in that: The separation force is: In the formula, is the separation force; L is the actual relative displacement; LA is the first preset displacement; LB is the second preset displacement, LA <LB ; K is the separation force coefficient; C is a constant.

4. The wear correction method for a pneumatic clutch according to claim 3, characterized in that: The wear correction factor is: In the formula, is the wear correction factor; is the intake and exhaust flow of the pneumatic clutch that is worn; is the intake and exhaust flow rate of the pneumatic clutch without wear; is the absolute displacement of the pneumatic clutch where wear occurs; is the initial offset of the pneumatic clutch without wear; is the target relative displacement of the pneumatic clutch that is worn; is the separation force constant of the pneumatic clutch with wear; is the separation force constant of the pneumatic clutch without wear.

5. A wear correction device for a pneumatic clutch, characterized in that: include: a displacement difference determination unit, used for acquiring a target relative displacement and an actual relative displacement of the pneumatic clutch, and determining a displacement difference based on the target relative displacement and the actual relative displacement; The target relative displacement and the actual relative displacement are the distances between the pneumatic clutch and the engagement point; a wear correction coefficient determination unit, configured to obtain an absolute displacement of the pneumatic clutch and determine a wear correction coefficient based on the absolute displacement, the target relative displacement and the actual relative displacement; A wear correction unit, used for adjusting the PID controller based on the wear correction coefficient, inputting the displacement difference into the adjusted PID controller, and obtaining the opening of the solenoid valve of the pneumatic clutch; The determining of the wear correction coefficient based on the absolute displacement, the target relative displacement and the actual relative displacement comprises: Acquire a clutch release characteristic curve of the pneumatic clutch; and determine curve characteristics of the clutch release characteristic curve, wherein the curve characteristics include curvature and curvature change rate; Segmenting the clutch disengagement characteristic curve based on the curvature and the curvature change rate to obtain multiple segment disengagement characteristic sub-curves; Constructing a plurality of separation force determination sub-models corresponding to the plurality of separation characteristic sub-curves, wherein the plurality of separation force determination sub-models constitute a separation force determination model; determining a separation force based on the actual relative displacement and the separation force determination model; The wear correction factor is determined based on the breakaway force, the target relative displacement, and the absolute displacement.

6. A clutch, characterized in that: comprising a memory and a processor, wherein: The memory is used to store programs; The processor is coupled to the memory and is used to execute the program stored in the memory to implement the steps in the wear correction method for the pneumatic clutch as described in any one of claims 1 to 4 above.

7. A computer-readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps in the wear correction method of the pneumatic clutch described in any one of 1 to 4 are implemented.

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