Gear shift control method, device, electronic device and storage medium

Abstract

The present invention discloses a shift control method, device, electronic device and storage medium, the method comprising: determining a first speed difference and a first rotation angle difference between a first engagement gear ring and a first engagement sleeve; judging the first speed difference and a first threshold range, generating a first torque based on the first speed difference and a threshold value of the first threshold range according to the judgment result, so as to adjust the first speed difference according to the first torque; judging the first rotation angle difference and a second threshold range, generating a second torque based on the first rotation angle difference and a threshold value of the second threshold range according to the judgment result, so as to adjust the first rotation angle difference according to the second torque; controlling the first engagement sleeve to engage with the first engagement gear ring. By precisely controlling the torque sent to the drive motor assembly, the relative speed and relative rotation angle between the engagement gear ring and the engagement sleeve can be precisely adjusted, realizing dual closed-loop control of speed synchronization and rotation angle synchronization, eliminating the gear shift shock, and realizing high-precision impact-free gear shifting.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle transmissions, and specifically to a gear shift control method, device, electronic equipment and storage medium, and in particular to a gear shift control method, device, electronic equipment and storage medium for new energy vehicles. Background Art

[0002] Transmission is a mechanism used to change the speed and torque of the engine and is an important part of the vehicle. Traditional transmissions usually use synchronizers to ensure the mechanical synchronization of the clutch sleeve and the clutch ring to avoid the shift shock caused by the impact between teeth. However, the use of synchronizers will increase vehicle costs, and synchronizers are prone to wear, which will further increase maintenance costs.

[0003] To solve the above problems, a synchronizer-free transmission has been proposed in recent years. This type of transmission has the comprehensive advantages of simple structure, low cost, high system efficiency, small size and light weight. It has been widely recognized in the industry and is increasingly used in pure electric vehicles and hybrid vehicles.

[0004] However, in this type of transmission, due to the lack of mechanical synchronization between the coupling sleeve and the coupling ring gear, it is easy for the spline teeth of the coupling sleeve to be misaligned with the tooth grooves of the coupling ring gear, resulting in the vehicle experiencing gear shift shock or gear shift setback. Although the current gear shift control method also mentions the content of achieving gear switching by controlling the speed angle synchronization, the specific control method for achieving speed angle synchronization is not disclosed, and the control accuracy of the current gear shift control method is usually low, so that there will still be some gear shift shock during the gear shift process. Therefore, a high-precision impact-free gear shift control method is urgently needed. Summary of the invention

[0005] The present invention provides a shift control method, device, electronic equipment and storage medium, which are used to solve the problem of low control accuracy of the current shift control method, so as to realize high-precision impact-free shift control.

[0006] In a first aspect, an embodiment of the present invention provides a shift control method, comprising:

[0007] Determining a first speed difference and a first rotation angle difference between a first engagement ring gear and a first engagement sleeve, wherein the first engagement ring gear and the first engagement sleeve are the engagement ring gear and the engagement sleeve corresponding to the gear to be switched;

[0008] Determine the magnitude relationship between the first speed difference and a preset first threshold range, and generate a first torque according to the determination result and based on the first speed difference and a threshold value of the first threshold range, so that the drive motor assembly adjusts the first speed difference to within the first threshold range according to the first torque, wherein the threshold value is an upper limit value or a lower limit value;

[0009] Determine the magnitude relationship between the first rotation angle difference and a second threshold range, and generate a second torque according to the determination result and based on the first rotation angle difference and a threshold value of the second threshold range, so that the drive motor assembly adjusts the first rotation angle difference to within the second threshold range according to the second torque, wherein the second threshold range is determined according to the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve;

[0010] The first engagement sleeve is controlled to engage with the first engagement ring gear.

[0011] In the gear shift control method provided by an embodiment of the present invention, during the gear switching process, the transmission first determines a first speed difference and a first angle difference; then, determines the size relationship between the first speed difference and the first threshold range, and based on the determination result, generates a first torque based on the first speed difference and the threshold value of the first threshold range, so as to control the drive motor component to adjust the speed of the first engagement gear ring according to the first torque, until the first speed difference is adjusted to within the first threshold range, so as to achieve speed synchronization between the first engagement gear ring and the first engagement sleeve; then, determines the size relationship between the first angle difference and the second threshold range, and based on the determination result, generates a second torque based on the first angle difference and the threshold value of the second threshold range, so as to control the drive motor component to adjust the angle of the first engagement gear ring according to the second torque, until the first angle difference is adjusted to within the second threshold range, so as to achieve angle synchronization between the first engagement gear ring and the first engagement sleeve, and completes the gear shift. In the gear shift control method provided by the present invention, in the process of actively and accurately adjusting the torque sent to the drive motor assembly, it is necessary to generate a corresponding torque based on the size relationship between the speed difference and the first threshold range, as well as the size relationship between the angle difference and the second threshold range, and refer to data such as the speed difference, the angle difference and the threshold value of the threshold range, so as to accurately control the speed and angle of the first engagement gear ring driven by the drive motor assembly. Compared with the existing gear shift control method, not only is the specific determination method of the torque for adjusting the speed and angle synchronization specifically limited, but the torque determined by the above method is also more accurate in adjusting the speed difference and the angle difference, thereby realizing dual closed-loop high-precision control of speed synchronization and angle synchronization, thereby eliminating gear shift shock, realizing high-precision impact-free gear shifting, and improving the user's driving experience.

[0012] In an optional implementation manner, generating the first torque according to the judgment result and based on the first speed difference and the threshold value of the first threshold range includes:

[0013] When the first speed difference is greater than an upper limit of the first threshold range, the first torque is determined according to a difference between the first speed difference and the upper limit of the first threshold range, wherein the first torque is a negative value and the first torque is greater than or equal to a first torque threshold, and the first torque threshold is used to represent a minimum torque allowed by the drive motor assembly;

[0014] When the first speed difference is less than the lower limit of the first threshold range, the first torque is determined based on the difference between the first speed difference and the lower limit of the first threshold range, wherein the first torque is a positive value and is less than or equal to a second torque threshold, and the second torque threshold is used to characterize the maximum torque allowed by the drive motor assembly.

[0015] In the above method, when the transmission recognizes that the first speed difference is greater than the upper limit of the first threshold range, it means that the speed of the first engagement gear ring exceeds the speed of the first engagement sleeve by a large amount. According to the first speed difference and the upper limit of the first threshold range, the first torque for adjusting the speed is determined, and the first torque is a negative value. By controlling the drive motor component to output the negative first torque, the speed of the first engagement gear ring can be reduced, so that the speed of the first engagement gear ring is almost synchronized with the speed of the first engagement sleeve, and the closed-loop control of speed synchronization is realized, which is conducive to the realization of shock-free shifting. When the transmission recognizes that the first speed difference is less than the lower limit of the first threshold range, it means that the speed of the first engagement gear ring is much lower than the speed of the first engagement sleeve. According to the first speed difference and the lower limit of the first threshold range, the first torque for adjusting the speed is determined, and the first torque is a positive value. By controlling the drive motor component to output the positive first torque, the speed of the first engagement gear ring can be increased, so that the speed of the first engagement gear ring is almost synchronized with the speed of the first engagement sleeve, and the closed-loop control of speed synchronization is realized, which is conducive to the realization of high-precision shock-free shifting.

[0016] In an optional implementation manner, determining the first torque according to a difference between the first speed difference and an upper limit value of the first threshold range includes:

[0017] Determine a first coefficient according to a ratio of a first difference to a first value, wherein the first difference is a difference between the first speed difference and an upper limit of the first threshold range, the first value is a sum of a first time and a second time, the first time is used to characterize an information collection period, and the second time is used to characterize a communication delay duration;

[0018] The negative value of the ratio of the first moment of inertia and the first coefficient and the first gear ratio is taken as the first torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

[0019] In an optional implementation manner, determining the first torque according to a difference between the first speed difference and a lower limit of the first threshold range includes:

[0020] Determine a second coefficient according to a ratio of a second difference to the first value, wherein the second difference is a difference between the first speed difference and a lower limit of the first threshold range;

[0021] The negative value of the product of the first moment of inertia and the second coefficient and the ratio of the first gear speed ratio is taken as the first torque.

[0022] In an optional implementation manner, generating the second torque according to the judgment result, the first rotation angle difference and the threshold value of the second threshold range includes:

[0023] When the first rotation angle difference is greater than an upper limit of the second threshold range, determining the second torque according to a difference between the first rotation angle difference and the upper limit of the second threshold range, wherein the second torque is a negative value and is greater than or equal to the first torque threshold;

[0024] When the first rotation angle difference is less than the lower limit of the second threshold range, the second torque is determined based on the difference between the first rotation angle difference and the lower limit of the second threshold range, wherein the second torque is a positive value and is less than or equal to the second torque threshold.

[0025] In the above method, when the transmission recognizes that the first rotation angle difference is greater than the upper limit value of the second threshold range, it means that the rotation angle of the first engagement gear ring is greater than the rotation angle of the first engagement sleeve. According to the first rotation angle difference and the upper limit value of the second threshold range, the second torque for adjusting the rotation angle is determined, and the second torque is a negative value. By controlling the drive motor assembly to output a negative second torque, the rotation angle of the first engagement gear ring can be reduced, so that the rotation angle of the first engagement gear ring is almost synchronized with the rotation angle of the first engagement sleeve, thereby realizing closed-loop control of rotation angle synchronization, which is conducive to shock-free gear shifting. When the transmission recognizes that the first rotation angle difference is less than the lower limit of the second threshold range, it means that the rotation angle of the first engagement gear ring is less than the rotation angle of the first engagement sleeve. According to the first rotation angle difference and the lower limit of the second threshold range, the second torque for adjusting the rotation angle is determined, and the second torque is a positive value. By controlling the drive motor assembly to output a positive second torque, the rotation angle of the first engagement gear ring can be increased, so that the rotation angle of the first engagement gear ring is almost synchronized with the rotation angle of the first engagement sleeve, thereby realizing closed-loop control of rotation angle synchronization, which is conducive to achieving high-precision impact-free gear shifting.

[0026] In an optional implementation manner, determining the second torque according to a difference between the first rotation angle difference and an upper limit value of the second threshold range includes:

[0027] Determine a third coefficient according to a ratio of the third difference to the second value, wherein the third difference is a difference between the first turning angle difference and an upper limit of the second threshold range, the second value is a square of a sum of the first time and the second time, the first time is used to characterize an information collection period, and the second time is used to characterize a communication delay duration;

[0028] The negative value of the ratio of the first constant, the first moment of inertia and the third coefficient and the first gear ratio is used as the second torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

[0029] In an optional implementation manner, determining the second torque according to a difference between the first rotation angle difference and a lower limit of the second threshold range includes:

[0030] determining a fourth coefficient according to a ratio of a fourth difference value to the second value, wherein the fourth difference value is a difference between the first rotation angle difference value and a lower limit value of the second threshold range;

[0031] The negative value of the ratio of the first constant, the first moment of inertia and the fourth coefficient, and the first gear ratio is taken as the second torque.

[0032] In an optional implementation, the second threshold range is determined by:

[0033] taking the ratio of the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve to a second constant as the upper limit of the second threshold range;

[0034] The negative value of the ratio of the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve to the second constant is used as the lower limit value of the second threshold range.

[0035] The above method determines the upper limit and lower limit of the second threshold range according to the curvature of the tooth side clearance between the first engaging gear ring and the first engaging sleeve, so that when the first rotation angle difference is adjusted to within the second threshold range, the rotation angle of the first engaging gear ring and the rotation angle of the first engaging sleeve are synchronized, thereby avoiding the phenomenon that the tooth grooves of the first engaging gear ring and the spline teeth of the first engaging sleeve cannot be aligned, eliminating the "tooth hitting" problem during the gear shifting process, and facilitating impact-free gear shifting.

[0036] In an optional implementation, the determining of the first speed difference and the first rotation angle difference between the first engagement ring gear and the first engagement sleeve includes:

[0037] determining the first speed difference according to a difference between first speed information of the first engagement ring gear and second speed information of the first engagement sleeve;

[0038] The first rotational angle difference is determined according to the difference between the first rotational angle information of the first engagement ring gear and the second rotational angle information of the first engagement sleeve.

[0039] In a second aspect, an embodiment of the present invention provides a shift control device, comprising:

[0040] a difference determination module, configured to determine a first speed difference and a first rotation angle difference between a first engagement ring gear and a first engagement sleeve, wherein the first engagement ring gear and the first engagement sleeve are engagement ring gear and engagement sleeve corresponding to the gear to be switched;

[0041] a speed regulating module, configured to determine a magnitude relationship between the first speed difference and a preset first threshold range, and generate a first torque according to the determination result and based on the first speed difference and a threshold value of the first threshold range, so that the drive motor assembly regulates the first speed difference to within the first threshold range according to the first torque, wherein the threshold value is an upper limit value or a lower limit value;

[0042] a rotation angle adjustment module, configured to determine a magnitude relationship between the first rotation angle difference and a second threshold range, and generate a second torque according to the determination result and based on the first rotation angle difference and a threshold value of the second threshold range, so that the drive motor assembly adjusts the first rotation angle difference to within the second threshold range according to the second torque, wherein the second threshold range is determined according to an arc of a tooth side clearance between the first engagement gear ring and the first engagement sleeve;

[0043] The gear shift execution module is used to control the first engagement sleeve to engage with the first engagement ring gear.

[0044] In an optional implementation, the speed regulation module is specifically used for:

[0045] When the first speed difference is greater than an upper limit of the first threshold range, the first torque is determined according to a difference between the first speed difference and the upper limit of the first threshold range, wherein the first torque is a negative value and the first torque is greater than or equal to a first torque threshold, and the first torque threshold is used to represent a minimum torque allowed by the drive motor assembly;

[0046] When the first speed difference is less than the lower limit of the first threshold range, the first torque is determined based on the difference between the first speed difference and the lower limit of the first threshold range, wherein the first torque is a positive value and is less than or equal to a second torque threshold, and the second torque threshold is used to characterize the maximum torque allowed by the drive motor assembly.

[0047] In an optional implementation, the speed regulation module is specifically used for:

[0048] Determine a first coefficient according to a ratio of a first difference to a first value, wherein the first difference is a difference between the first speed difference and an upper limit of the first threshold range, the first value is a sum of a first time and a second time, the first time is used to characterize an information collection period, and the second time is used to characterize a communication delay duration;

[0049] The negative value of the ratio of the first moment of inertia and the first coefficient and the first gear ratio is taken as the first torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

[0050] In an optional implementation, the speed regulation module is specifically used for:

[0051] Determine a second coefficient according to a ratio of a second difference to the first value, wherein the second difference is a difference between the first speed difference and a lower limit of the first threshold range;

[0052] The negative value of the product of the first moment of inertia and the second coefficient and the ratio of the first gear speed ratio is taken as the first torque.

[0053] In an optional implementation, the angle adjustment module is specifically used for:

[0054] When the first rotation angle difference is greater than an upper limit of the second threshold range, determining the second torque according to a difference between the first rotation angle difference and the upper limit of the second threshold range, wherein the second torque is a negative value and is greater than or equal to the first torque threshold;

[0055] When the first rotation angle difference is less than the lower limit of the second threshold range, the second torque is determined based on the difference between the first rotation angle difference and the lower limit of the second threshold range, wherein the second torque is a positive value and is less than or equal to the second torque threshold.

[0056] In an optional implementation, the angle adjustment module is specifically used for:

[0057] Determine a third coefficient according to a ratio of the third difference to the second value, wherein the third difference is a difference between the first turning angle difference and an upper limit of the second threshold range, the second value is a square of a sum of the first time and the second time, the first time is used to characterize an information collection period, and the second time is used to characterize a communication delay duration;

[0058] The negative value of the ratio of the first constant, the first moment of inertia and the third coefficient and the first gear ratio is used as the second torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

[0059] In an optional implementation, the angle adjustment module is specifically used for:

[0060] determining a fourth coefficient according to a ratio of a fourth difference value to the second value, wherein the fourth difference value is a difference between the first rotation angle difference value and a lower limit value of the second threshold range;

[0061] The negative value of the ratio of the first constant, the first moment of inertia and the fourth coefficient, and the first gear ratio is taken as the second torque.

[0062] In an optional implementation, the second threshold range is determined by:

[0063] taking the ratio of the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve to a second constant as the upper limit of the second threshold range;

[0064] The negative value of the ratio of the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve to the second constant is used as the lower limit value of the second threshold range.

[0065] In an optional implementation, the difference determination module is specifically used to:

[0066] determining the first speed difference according to a difference between first speed information of the first engagement ring gear and second speed information of the first engagement sleeve;

[0067] The first rotational angle difference is determined according to the difference between the first rotational angle information of the first engagement ring gear and the second rotational angle information of the first engagement sleeve.

[0068] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0069] A memory for storing executable instructions;

[0070] A processor is used to read and execute the executable instructions stored in the memory to implement the steps of the shift control method as described in any one of the embodiments of the first aspect above.

[0071] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer executes the steps of the shift control method as described in any one of the embodiments in the first aspect above.

[0072] For the technical effects that may be achieved by the shift control device disclosed in the second aspect, the electronic device disclosed in the third aspect, and the computer-readable storage medium disclosed in the fourth aspect, please refer to the technical effects that can be achieved by the first aspect or various possible schemes in the first aspect, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0074] Figure 1 A schematic diagram of an application scenario of a gear shift control method provided by an embodiment of the present invention;

[0075] Figure 2 A schematic diagram of the structure of a transmission provided by an embodiment of the present invention;

[0076] Figure 3 A schematic diagram of a working process of a shift control method provided by an embodiment of the present invention;

[0077] Figure 4 A schematic diagram of a complete working process of a shift control method provided by an embodiment of the present invention;

[0078] Figure 5 A schematic diagram of a module structure of a shift control device provided by an embodiment of the present invention;

[0079] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention;

[0080] Marks and corresponding parts names in the attached drawings:

[0081] 100-transmission, 200-drive motor assembly, 1-power transmission assembly, 2-controller, 3-shift control assembly, 11-input shaft, 12-output shaft, 13-gear position gear, 14-engagement ring gear, 15-engagement sleeve, 16-spline hub. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0083] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0084] As mentioned above, in new energy vehicles, such as pure electric vehicles and hybrid vehicles, synchronizer-free transmissions are mostly used. However, in this type of transmission, due to the lack of mechanical synchronization between the clutch sleeve and the clutch ring, it is easy for the spline teeth of the clutch sleeve and the tooth grooves of the clutch ring to not align, and "tooth knocking" problems will occur during the engagement process, resulting in gear shift shock or gear shift frustration in the vehicle, seriously affecting the user's driving experience.

[0085] In the current gear shift control method, although the relevant content of achieving gear switching by controlling the speed angle synchronization is also mentioned, the specific control method for achieving the speed angle synchronization is not disclosed, and the control accuracy of the current gear shift control method is usually low, so that there will still be some gear shift shocks during the gear shift process. Therefore, a high-precision shock-free gear shift control method is urgently needed.

[0086] Based on this, an embodiment of the present invention provides a shift control method, device, electronic device and storage medium to achieve high-precision impact-free shift control.

[0087] In order to better understand the technical solution provided by the embodiment of the present invention, the following briefly introduces the application scenarios to which the technical solution provided by the embodiment of the present invention is applicable. It should be noted that the application scenarios introduced below are only used to illustrate the embodiment of the present invention and are not limited. In specific implementation, the technical solution provided by the embodiment of the present invention can be flexibly applied according to actual needs.

[0088] Figure 1 An application scenario of the shift control method provided by an embodiment of the present invention is shown. For example, the application scenario may be a scenario of a new energy vehicle driving. Figure 1 As shown, the application scenario includes a vehicle 10 , which is traveling on a road, wherein a transmission without a synchronizer is disposed inside the vehicle 10 .

[0089] In actual applications, when the vehicle 10 is driving on the road, it is necessary to switch gears and adjust the running speed of the vehicle 10 according to different road conditions. For example, when passing through a school section, the vehicle 10 needs to slow down; when entering a fast lane or a high-speed section, the vehicle 10 needs to accelerate. Therefore, in the process of switching gears, the transmission in the vehicle 10 implements the shift control method provided by the embodiment of the present invention to achieve impact-free shifting, thereby improving the user's driving experience.

[0090] After introducing the application scenarios of the embodiments of the present invention, the preferred implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In addition, the embodiments of the present invention and the features in the embodiments may be combined with each other if there is no conflict.

[0091] In addition, although the embodiments of the present invention provide method operation steps as shown in the following embodiments or drawings, more or fewer operation steps may be included in the method based on routine or no creative labor. In the steps where there is no necessary causal relationship logically, the execution order of these steps is not limited to the execution order provided by the embodiments of the present invention. The method may be executed in the order of the method shown in the embodiments or drawings or in parallel during the actual processing process or when the device is executed.

[0092] The shift control method provided by the embodiment of the present invention is described in detail below with reference to the accompanying drawings:

[0093] The shift control method provided in the embodiment of the present invention can be applied to a transmission without a synchronizer. The structure and connection relationship of the transmission are described below:

[0094] Figure 2 FIG. 2 shows a schematic diagram of the structure of a transmission provided by an embodiment of the present invention. Figure 2 As shown, the transmission 100 is connected to the drive motor assembly 200, and the transmission 100 includes a power transmission assembly 1, a controller 2 and a shift control assembly 3; the shift control assembly 3 is connected to the power transmission assembly 1 and the controller 2 respectively, and the shift control assembly 3 is used to control the power transmission assembly 1 to perform a shift action according to the shift control instruction output by the controller 2 to achieve a shift.

[0095] The controller 2 may be an automatic transmission control unit (English: Transmission Control Unit, abbreviated as: TCU); the shift control component 3 may be a shift motor.

[0096] The power transmission assembly 1 may include an input shaft 11, an output shaft 12, a plurality of gears 13, a plurality of engagement rings 14, at least one engagement sleeve 15 and at least one spline hub 16, wherein:

[0097] One gear gear 13 corresponds to one engaging gear ring 14, one engaging sleeve 15 corresponds to one spline hub 16, one engaging sleeve 15 corresponds to two engaging gear rings 14, and the corresponding two engaging gear rings 14 are respectively located on both sides of the engaging sleeve 15; multiple gears 13 are arranged on the input shaft 11 in sequence, and the gears 13 are connected to the corresponding engaging gear rings 14; at least one spline hub 16 is arranged on the output shaft 12, and the spline hub 16 is spline-engaged with the corresponding engaging sleeve 15, and the engaging sleeve 15 can slide axially along the corresponding spline hub and mesh with one of the two corresponding engaging gear rings 14.

[0098] In practical applications, if the transmission 100 is a 4-speed transmission, the power transmission assembly 1 includes 4 gears 13, and correspondingly, also includes 4 engagement rings 14, 2 engagement sleeves 15 and 2 spline hubs 16 ( Figure 2 The one shown is a 4-speed transmission. If the transmission 100 is a 2-speed transmission, the power transmission assembly 1 includes two gears 13 , and correspondingly, also includes two engagement ring gears 14 , one engagement sleeve 15 and one spline hub 16 .

[0099] The following is based on Figure 2 The transmission structure shown in the figure is used to illustrate the technical solution of the shift control method provided by the embodiment of the present invention:

[0100] Figure 3 FIG. 2 is a flow chart of a shift control method provided by an embodiment of the present invention. Figure 3 As shown, the shift control method can be executed by the controller 2 in the transmission 100, and specifically includes the following steps:

[0101] Step S301 : determining a first speed difference and a first rotation angle difference between a first engagement ring gear and a first engagement sleeve, wherein the first engagement ring gear and the first engagement sleeve are engagement ring gear and engagement sleeve corresponding to the gear to be switched.

[0102] For example, based on Figure 2 In the 4-speed transmission structure shown, assuming that the vehicle switches from 1st gear to 2nd gear, the engagement ring gear connected to the gear gear 13 corresponding to the 2nd gear is the first engagement ring gear, and the engagement sleeve corresponding to the engagement ring gear is the first engagement sleeve.

[0103] In some embodiments, the controller 2 generates a first rotation speed information of the first engagement ring gear according to the first rotation speed information of the first engagement ring gear. and the second speed information of the first clutch , determine the first speed difference Specifically, the first speed information With the second speed information The difference between , where the first speed difference It can be expressed as: .

[0104] In a specific implementation, the first speed information of the first engagement ring gear and the second speed information of the first clutch The speed angle sensor may obtain the information in real time and send it to the controller 2, or the controller 2 may obtain the speed information of the drive motor assembly 200 and the load motor ( Figure 2 The rotation speed information is determined by the rotation speed information (not shown), and the embodiment of the present invention does not impose any limitation on this.

[0105] In some embodiments, the controller 2 can determine the first speed information according to the following formula: :

[0106] ;

[0107] in, Used to characterize the speed information of the drive motor assembly 200, It is used to characterize the gear ratio of the gear to be switched. For example, assuming that the transmission is a 4-speed transmission, then k=1, 2, 3, 4. The gear ratio is 1st gear. The gear ratio is 2nd gear. The gear ratio is 3 gears. The gear ratio is 4th gear.

[0108] In some embodiments, the controller 2 can determine the second speed information according to the following formula: :

[0109] ;

[0110] in, Used to characterize the speed information of the load motor.

[0111] In some embodiments, the controller 2 uses the first rotation angle information of the first engagement gear ring to and the second rotation angle information of the first coupling sleeve , determine the first angle difference Specifically, the first corner information can be With the second corner information The difference is taken as the first angle difference , where the first angle difference It can be expressed as: .

[0112] In a specific implementation, the first rotation angle information of the first engagement gear ring and the second rotation angle information of the first coupling sleeve The speed angle sensor may obtain the information in real time and send it to the controller 2, or the controller 2 may obtain the speed information of the drive motor assembly 200 and the load motor ( Figure 2 The rotation speed information is determined by the rotation speed information (not shown), and the embodiment of the present invention does not impose any limitation on this.

[0113] In some embodiments, the controller 2 can determine the first turning angle information according to the following formula: :

[0114] ;

[0115] Among them, mod is used to represent the remainder function, The first rotation speed information N1 is used to represent the first engagement gear ring, and the number of spline teeth on the first engagement gear ring is N1.

[0116] In some embodiments, the controller 2 can determine the second turning angle information according to the following formula: :

[0117] ;

[0118] Among them, mod is used to represent the remainder function, It is used to represent the speed information of the load motor, and N2 is used to represent the number of spline teeth on the first coupling sleeve.

[0119] In a specific implementation, the controller 2 determines the first speed difference Difference between the first turning angle and After that, determine the first speed difference Is it within the preset first threshold range? If the first speed difference If it is within the first threshold range, continue to determine the first turning angle difference Is it within the second threshold range? If the first speed difference If the first speed difference is outside the first threshold range, the first speed difference is adjusted as follows: , until it is within the first threshold range, as follows:

[0120] The first threshold value range is used to represent the limit value range of the speed difference. When the first threshold value is within the range, it indicates that the speed of the first engagement ring gear and the first engagement sleeve are synchronized; the second threshold value range is used to indicate the limit value range of the rotation angle difference. When it is within the second threshold range, it indicates that the rotational angles of the first engagement ring gear and the first engagement sleeve are synchronized.

[0121] Step S302, determine the size relationship between the first speed difference and a preset first threshold range, and generate a first torque based on the determination result and based on the threshold value of the first speed difference and the first threshold range, so that the drive motor assembly adjusts the first speed difference to within the first threshold range according to the first torque, wherein the threshold value includes an upper limit value and a lower limit value.

[0122] For ease of understanding, in the following embodiments, the first threshold range may be expressed as: ,in, represents the upper limit value of the first threshold range, represents the lower limit of the first threshold range; the second threshold range can be expressed as: ,in represents the upper limit value of the second threshold range, Indicates the lower limit value of the second threshold range.

[0123] The controller 2 can generate the first torque in the following manner:

[0124] In some embodiments, when the first speed difference is greater than the upper limit of the first threshold range, the first torque is determined based on the difference between the first speed difference and the upper limit of the first threshold range, wherein the first torque is a negative value and the first torque is greater than or equal to the first torque threshold, and the first torque threshold is used to characterize the minimum torque allowed by the drive motor assembly 200.

[0125] In practical applications, to ensure the normal operation of the drive motor assembly 200, the minimum value of the torque allowed is the first torque threshold, which can be expressed as: , the maximum value of the torque allowed is the second torque threshold, which can be expressed as: , therefore, the torque variation range of the drive motor assembly 200 can be expressed as: .

[0126] In a specific implementation, the controller 2 first determines the first speed difference With the first threshold range If the first speed difference In the first threshold range If the first turning angle difference is within With the second threshold range If the first speed difference In the first threshold range In addition, the first speed difference Greater than the upper limit of the first threshold range ,Right now > , the controller 2 can specifically determine the first torque by the following steps:

[0127] Step S401, determine the first coefficient according to the ratio of the first difference and the first value, wherein the first difference is the difference between the first speed difference and the upper limit value of the first threshold range, the first value is the sum of the first time and the second time, the first time is used to characterize the information collection period, and the second time is used to characterize the communication delay duration.

[0128] In a specific implementation, the first speed difference is expressed as , the upper limit value of the first threshold range is expressed as , therefore, the first difference can be expressed as: ; The first time is expressed as , the second time is expressed as , therefore, the first value can be expressed as: , the first coefficient can be expressed as: .

[0129] Step S402, taking the negative value of the ratio of the first moment of inertia and the first coefficient and the first gear ratio as the first torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

[0130] In a specific implementation, after calculating the first torque, the controller 2 determines the relationship between the absolute value of the first torque and the second torque threshold. When the absolute value of the first torque is less than the second torque threshold, the controller 2 directly outputs the first torque to the drive motor assembly 200; when the absolute value of the first torque is greater than or equal to the second torque threshold, the controller 2 uses the first torque threshold as the first torque and outputs it to the drive motor assembly 200; the drive motor assembly 200 adjusts the speed of the first engagement gear ring according to the received first torque, thereby changing the relative speed between the first engagement gear ring and the first engagement sleeve, that is, the first speed difference, until the first speed difference is adjusted to within the first threshold range.

[0131] Therefore, in > In this case, the first torque generated It can be expressed as:

[0132]

[0133] in: represents the first moment of inertia, i represents the first gear ratio, Characterize the first time, Representing the second time, Characterizes the first speed difference, Characterizes the upper limit value of the first threshold range, Characterizes the second torque threshold, Characterizes a first torque threshold.

[0134] In the above embodiment, when the transmission recognizes that the first speed difference is greater than the upper limit value of the first threshold range, it means that the speed of the first engagement gear ring exceeds the speed of the first engagement sleeve by a large amount. According to the first speed difference and the upper limit value of the first threshold range, the first torque for adjusting the speed is determined, and the first torque is a negative value. By controlling the drive motor assembly to output a negative first torque, the speed of the first engagement gear ring can be reduced, so that the speed of the first engagement gear ring is almost synchronized with the speed of the first engagement sleeve, thereby realizing closed-loop control of speed synchronization. Through precise control of the first torque, high-precision impact-free gear shifting control is achieved.

[0135] In some embodiments, when the first speed difference is less than the lower limit of the first threshold range, the first torque is determined based on the difference between the first speed difference and the lower limit of the first threshold range, wherein the first torque is a positive value and the first torque is less than or equal to the second torque threshold, and the second torque threshold is used to characterize the maximum torque allowed by the drive motor assembly 200.

[0136] In a specific implementation, if the first speed difference In the first threshold range In addition, the first speed difference Less than the lower limit of the first threshold range ,Right now < , the controller 2 can specifically determine the first torque by the following steps:

[0137] Step S501, determining a second coefficient according to a ratio of a second difference to a first value, wherein the second difference is a difference between the first rotation speed difference and a lower limit of a first threshold range.

[0138] In a specific implementation, the first speed difference is expressed as , the lower limit of the first threshold range is expressed as , therefore, the second difference can be expressed as: ; The first time is expressed as , the second time is expressed as , therefore, the first value can be expressed as: , the second coefficient can be expressed as: .

[0139] Step S502: taking the negative value of the ratio of the first moment of inertia and the second coefficient to the first gear ratio as the first torque.

[0140] In a specific implementation, after calculating the first torque, the controller 2 also needs to determine the relationship between the absolute value of the first torque and the second torque threshold. The specific determination method can be found in > The embodiments of the present invention will not be described in detail here.

[0141] exist < In the case of It can be expressed as:

[0142]

[0143] in: represents the first moment of inertia, i represents the first gear ratio, Characterize the first time, Representing the second time, Characterizes the first speed difference, Characterizes the lower limit value of the first threshold range, Characterizes the second torque threshold.

[0144] In the above embodiment, when the transmission recognizes that the first speed difference is less than the lower limit of the first threshold range, it means that the speed of the first engagement gear ring is much lower than the speed of the first engagement sleeve. According to the first speed difference and the lower limit of the first threshold range, the first torque for adjusting the speed is determined, and the first torque is a positive value. By controlling the drive motor assembly to output a positive first torque, the speed of the first engagement gear ring can be increased, so that the speed of the first engagement gear ring is almost synchronized with the speed of the first engagement sleeve, thereby realizing closed-loop control of speed synchronization. Through precise control of the first torque, high-precision impact-free gear shifting control is achieved.

[0145] In a specific implementation, the controller 2 controls the drive motor assembly 200 to adjust the speed of the first engagement gear ring according to the first torque in step S302, so that the speed of the first engagement gear ring is synchronized with the speed of the first engagement sleeve, that is, the first speed difference is within the first threshold range; then, the controller 2 executes the control process of rotation angle synchronization, which is as follows:

[0146] Step S303, determine the size relationship between the first angle difference and the second threshold range, and generate a second torque based on the determination result and based on the threshold value of the first angle difference and the second threshold range, so that the drive motor assembly adjusts the first angle difference to within the second threshold range according to the second torque, wherein the second threshold range is determined based on the arc of the tooth side clearance between the first engaging gear ring and the first engaging sleeve.

[0147] In an embodiment of the present invention, the ratio of the radian of the tooth side clearance between the first engaging gear ring and the first engaging sleeve to the second constant is used as the upper limit value of the second threshold range; the negative value of the ratio of the radian of the tooth side clearance between the first engaging gear ring and the first engaging sleeve to the second constant is used as the lower limit value of the second threshold range to obtain the second threshold range.

[0148] It should be noted that, in the embodiment of the present invention, the second constant can adopt any constant value between 2 and 5. For example, the second constant can be 2, 5, or 4. In practical applications, the second constant can be flexibly selected according to actual business needs, and the embodiment of the present invention does not impose any restrictions on this.

[0149] The following embodiments are all described with the second constant being 2. It should be understood that the following embodiments are only used to explain the present invention and should not impose any limitation on the present invention.

[0150] In a specific implementation, the second threshold range is , the radian of the tooth side clearance between the first engagement ring gear and the first engagement sleeve is represented by α, and the second constant is 2, then the upper limit value of the second threshold range can be expressed as: =α / 2, the lower limit of the second threshold range can be expressed as: =-α / 2, therefore, the second threshold range can be expressed as: = (-α / 2, α / 2).

[0151] Since the second threshold range is determined according to the curvature of the tooth side clearance between the first engaging gear ring and the first engaging sleeve, when the first rotation angle difference is within the second threshold range, the spline teeth on the first engaging gear ring and the tooth grooves of the first engaging sleeve exactly correspond to each other. At this time, the first engaging gear ring is controlled to engage with the first engaging sleeve, which can avoid the phenomenon that the tooth grooves of the first engaging gear ring and the spline teeth of the first engaging sleeve cannot be aligned, eliminates the problem of "tooth hitting" during the gear shifting process, and is conducive to achieving high-precision impact-free gear shifting.

[0152] The controller 2 can generate the second torque in the following manner:

[0153] In some embodiments, when the first angle difference is greater than the upper limit value of the second threshold range, the second torque is determined based on the difference between the first angle difference and the upper limit value of the second threshold range, wherein the second torque is a negative value and is greater than or equal to the first torque threshold.

[0154] In a specific implementation, the controller 2 determines the first rotation angle difference With the second threshold range If the first angle difference In the second threshold range In this case, the controller 2 generates a shift control instruction and sends it to the shift control component 3. The shift control component 3 responds to the shift control instruction and drives the first engagement sleeve to move toward the first engagement gear ring until the first engagement sleeve engages with the first engagement gear ring to achieve shifting.

[0155] If the first angle difference In the second threshold range In addition, the first angle difference Greater than the upper limit of the second threshold range ,Right now > ( >α / 2), the controller 2 can specifically determine the second torque by the following steps:

[0156] Step S601, determine the third coefficient based on the ratio of the third difference to the second value, wherein the third difference is the difference between the first turning angle difference and the upper limit value of the second threshold range, the second value is the square of the sum of the first time and the second time, the first time is used to characterize the information collection period, and the second time is used to characterize the communication delay duration.

[0157] In a specific implementation, the first rotation angle difference is expressed as , the upper limit value of the second threshold range is expressed as , therefore, the third difference can be expressed as: ; The first time is expressed as , the second time is expressed as , therefore, the second value can be expressed as: , the third coefficient can be expressed as: .

[0158] Step S602, taking the negative value of the ratio of the first constant, the first moment of inertia and the third coefficient, and the first gear ratio as the second torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

[0159] In a specific implementation, after calculating the second torque, the controller 2 determines the relationship between the absolute value of the second torque and the second torque threshold. When the absolute value of the second torque is less than the second torque threshold, the controller 2 directly outputs the second torque to the drive motor assembly 200; when the absolute value of the second torque is greater than or equal to the second torque threshold, the controller 2 uses the first torque threshold as the second torque and outputs it to the drive motor assembly 200; the drive motor assembly 200 adjusts the rotation angle of the second engagement gear ring according to the received second torque, thereby changing the relative rotation angle between the first engagement gear ring and the first engagement sleeve, that is, the first rotation angle difference, until the first rotation angle difference is adjusted to within the second threshold range.

[0160] Therefore, in > ( >α / 2), the second torque generated It can be expressed as:

[0161]

[0162] in: represents the first moment of inertia, i represents the first gear ratio, Characterize the first time, Representing the second time, Characterizes the first rotation angle difference, Characterizes the upper limit value of the second threshold range, Characterizes the second torque threshold, represents the first torque threshold, and 2 represents the first constant.

[0163] It should be noted that, in the embodiment of the present invention, the first constant can use any constant value between 2 and 4. For example, the first constant can be 2, 4, or 3. It should be understood that the use of 2 as the first constant in the above formula is only an example. In practical applications, the first constant can be flexibly selected according to actual business needs, and the embodiment of the present invention does not impose any restrictions on this.

[0164] In the above embodiment, when the transmission recognizes that the first rotation angle difference is greater than the upper limit value of the second threshold range, it means that at this time the rotation angle of the first engagement gear ring is greater than the rotation angle of the first engagement sleeve. According to the first rotation angle difference and the upper limit value of the second threshold range, the second torque for adjusting the rotation angle is determined, and the second torque is a negative value. By controlling the drive motor assembly to output a negative second torque, the rotation angle of the first engagement gear ring can be reduced, so that the rotation angle of the first engagement gear ring is almost synchronized with the rotation angle of the first engagement sleeve, thereby realizing closed-loop control of rotation angle synchronization. Through precise control of the second torque, high-precision shock-free gear shifting control is achieved.

[0165] In some embodiments, when the first angle difference is less than the lower limit of the second threshold range, the second torque is determined based on the difference between the first angle difference and the lower limit of the second threshold range, wherein the second torque is a positive value and is less than or equal to the second torque threshold.

[0166] In a specific implementation, if the first rotation angle difference In the second threshold range In addition, the first angle difference Less than the lower limit of the second threshold range ,Right now < ( <-α / 2), the controller 2 can specifically determine the second torque through the following steps:

[0167] Step S701, determining a fourth coefficient according to a ratio of a fourth difference to the second value, wherein the fourth difference is a difference between the first rotation angle difference and a lower limit of the second threshold range.

[0168] In a specific implementation, the first rotation angle difference is expressed as , the lower limit value of the second threshold range is expressed as , therefore, the fourth difference can be expressed as: ; The first time is expressed as , the second time is expressed as , therefore, the second value can be expressed as: , the third coefficient can be expressed as: .

[0169] Step S702: taking the negative value of the ratio of the first constant, the first moment of inertia and the fourth coefficient, and the first gear ratio as the second torque.

[0170] In a specific implementation, after calculating the second torque, the controller 2 also needs to determine the relationship between the absolute value of the second torque and the second torque threshold. The specific determination method can be found in > ( The embodiments under the situation of >α / 2) will not be described in detail here.

[0171] exist < ( <-α / 2), the second torque generated It can be expressed as:

[0172]

[0173] in: represents the first moment of inertia, i represents the first gear ratio, Characterize the first time, Representing the second time, Characterizes the first rotation angle difference, Characterizes the lower limit value of the second threshold range, represents the second torque threshold, and 2 represents the first constant.

[0174] In the above embodiment, when the transmission recognizes that the first rotation angle difference is smaller than the lower limit of the second threshold range, it indicates that at this time the rotation angle of the first engagement gear ring is smaller than the rotation angle of the first engagement sleeve. According to the first rotation angle difference and the lower limit of the second threshold range, a second torque for adjusting the rotation angle is determined, and the second torque is a positive value. By controlling the drive motor assembly to output a positive second torque, the rotation angle of the first engagement gear ring can be increased, so that the rotation angle of the first engagement gear ring is almost synchronized with the rotation angle of the first engagement sleeve, thereby realizing closed-loop control of rotation angle synchronization. Through precise control of the second torque, high-precision shock-free gear shifting control is achieved.

[0175] In a specific implementation, the rotation speed of the first engagement ring gear and the rotation speed of the first engagement sleeve can be synchronized through the above step S302, and the rotation angle of the first engagement ring gear and the rotation angle of the first engagement sleeve can be synchronized through the above step S303. When the first engagement ring gear and the first engagement sleeve achieve dual synchronization of speed and angle, the shifting operation can be performed, which is specifically as follows:

[0176] Step S304, controlling the first engagement sleeve to engage with the first engagement ring gear.

[0177] In a specific implementation, the controller 2 generates a shift control instruction and sends the shift control instruction to the shift control component 3; after receiving the shift control instruction, the shift control component 3 drives the first engagement sleeve to move toward the first engagement gear ring until the spline teeth on the first engagement sleeve engage with the tooth grooves of the first engagement gear ring to achieve gear shifting.

[0178] In the shift control method provided in the embodiment of the present invention, in the process of actively and accurately adjusting the torque sent to the drive motor assembly, it is necessary to generate a corresponding torque based on the size relationship between the speed difference and the first threshold range, as well as the size relationship between the angle difference and the second threshold range, and refer to data such as the speed difference, the angle difference and the threshold value of the threshold range, so as to accurately control the speed and angle of the first engagement gear ring driven by the drive motor assembly. Compared with the existing shift control method, not only is the specific determination method of the torque for adjusting the speed and angle synchronization specifically limited, but the torque determined by the above method is also more accurate in adjusting the speed difference and the angle difference, thereby realizing dual closed-loop high-precision control of speed synchronization and angle synchronization, thereby eliminating the shift shock, realizing high-precision shockless shifting, and improving the user's driving experience.

[0179] Figure 4 FIG. 4 shows a complete flow chart of a shift control method provided by an embodiment of the present invention. Figure 4 As shown, the method comprises the following steps:

[0180] Step S801, the controller 2 acquires first speed information and first rotation angle information of the first engagement ring gear in real time, and acquires second speed information and second rotation angle information of the first engagement sleeve in real time;

[0181] Step S802, the controller 2 calculates the difference between the first rotation speed information and the second rotation speed information to obtain a first rotation speed difference, and calculates the difference between the first rotation angle information and the second rotation angle information to obtain a first rotation angle difference;

[0182] Step S803, the controller 2 determines whether the first speed difference is within a first threshold range, if so, executes step S809, otherwise, executes step S804;

[0183] Step S804, the controller 2 determines whether the first speed difference is greater than the upper limit of the first threshold range, if so, executes step S805, otherwise, executes step S806;

[0184] Step S805, the controller 2 generates a first torque based on the first speed difference and an upper limit value of the first threshold range;

[0185] Step S806, the controller 2 generates a first torque based on the first speed difference and a lower limit of the first threshold range;

[0186] Step S807, the controller 2 sends the generated first torque to the driving motor assembly 200;

[0187] Step S808, the driving motor assembly 200 adjusts the rotation speed of the first engagement ring gear according to the first torque until the first rotation speed difference is within a first threshold range;

[0188] Step S809, the controller 2 determines whether the first rotation angle difference is within the second threshold range, if so, executes step S815, otherwise, executes step S810;

[0189] Step S810, the controller 2 determines whether the first turning angle difference is greater than the upper limit of the second threshold range, if so, executes step S811, otherwise, executes step S812;

[0190] Step S811, the controller 2 generates a second torque based on the first rotation angle difference and the upper limit of the second threshold range;

[0191] Step S812, the controller 2 generates a second torque based on the first rotation angle difference and the lower limit of the second threshold range;

[0192] Step S813, the controller 2 sends the generated second torque to the driving motor assembly 200;

[0193] Step S814, the driving motor assembly 200 adjusts the rotation angle of the first engagement gear ring according to the second torque until the first rotation angle difference is within a second threshold range;

[0194] Step S815, the controller 2 generates a shift control instruction, and sends the shift control instruction to the shift control component 3;

[0195] Step S816, the shift control component 3 responds to the shift control instruction to drive the first engagement sleeve to move toward the first engagement ring gear until the first engagement sleeve engages with the first engagement ring gear;

[0196] Step S817, gear shifting is completed.

[0197] Based on the same concept, an embodiment of the present invention also provides a shift control device. Since the device is the device in the method in the embodiment of the present invention, and the principle of solving the problem by the device is similar to that of the method, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0198] like Figure 5 As shown, the above device includes the following modules:

[0199] The difference determination module 501 is used to determine a first speed difference and a first rotation angle difference between a first engagement ring gear and a first engagement sleeve, wherein the first engagement ring gear and the first engagement sleeve are the engagement ring gear and the engagement sleeve corresponding to the gear to be switched;

[0200] The speed regulating module 502 is used to determine the magnitude relationship between the first speed difference and a preset first threshold range, and generate a first torque according to the determination result and based on the first speed difference and a threshold value of the first threshold range, so that the driving motor component adjusts the first speed difference to the first threshold range according to the first torque, wherein the threshold value is an upper limit value or a lower limit value;

[0201] The rotation angle adjustment module 503 is used to determine the magnitude relationship between the first rotation angle difference and the second threshold range, and generate a second torque according to the determination result and based on the threshold value of the first rotation angle difference and the second threshold range, so that the drive motor assembly adjusts the first rotation angle difference to within the second threshold range according to the second torque, wherein the second threshold range is determined according to the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve;

[0202] The shift execution module 504 is used to control the first engagement sleeve to engage with the first engagement ring gear.

[0203] In an optional implementation, the speed adjustment module 502 is specifically configured to:

[0204] When the first speed difference is greater than an upper limit of the first threshold range, a first torque is determined according to a difference between the first speed difference and the upper limit of the first threshold range, wherein the first torque is a negative value and the first torque is greater than or equal to a first torque threshold, and the first torque threshold is used to characterize a minimum torque allowed by the drive motor assembly;

[0205] When the first speed difference is less than the lower limit of the first threshold range, the first torque is determined based on the difference between the first speed difference and the lower limit of the first threshold range, wherein the first torque is a positive value and the first torque is less than or equal to the second torque threshold, and the second torque threshold is used to characterize the maximum torque allowed by the drive motor assembly.

[0206] In an optional implementation, the speed adjustment module 502 is specifically configured to:

[0207] Determine a first coefficient according to a ratio of the first difference to the first value, wherein the first difference is a difference between the first speed difference and an upper limit of the first threshold range, the first value is a sum of the first time and the second time, the first time is used to characterize an information collection period, and the second time is used to characterize a communication delay duration;

[0208] The negative value of the ratio of the first moment of inertia and the first coefficient and the first gear ratio is taken as the first torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

[0209] In an optional implementation, the speed adjustment module 502 is specifically configured to:

[0210] Determine a second coefficient according to a ratio of a second difference to the first value, wherein the second difference is a difference between the first speed difference and a lower limit of the first threshold range;

[0211] The negative value of the ratio of the product of the first moment of inertia and the second coefficient to the first gear speed ratio is taken as the first torque.

[0212] In an optional implementation, the angle adjustment module 503 is specifically used for:

[0213] When the first rotation angle difference is greater than an upper limit of the second threshold range, a second torque is determined according to a difference between the first rotation angle difference and the upper limit of the second threshold range, wherein the second torque is a negative value and is greater than or equal to the first torque threshold;

[0214] When the first rotation angle difference is less than the lower limit of the second threshold range, the second torque is determined according to the difference between the first rotation angle difference and the lower limit of the second threshold range, wherein the second torque is a positive value and is less than or equal to the second torque threshold.

[0215] In an optional implementation, the angle adjustment module 503 is specifically used for:

[0216] Determine a third coefficient according to a ratio of the third difference to the second value, wherein the third difference is a difference between the first turning angle difference and an upper limit of the second threshold range, the second value is a square of a sum of the first time and the second time, the first time is used to characterize an information collection period, and the second time is used to characterize a communication delay duration;

[0217] The negative value of the ratio of the first constant, the first moment of inertia and the third coefficient and the first gear ratio is taken as the second torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

[0218] In an optional implementation, the angle adjustment module 503 is specifically used for:

[0219] Determine a fourth coefficient according to a ratio of a fourth difference value to the second value, wherein the fourth difference value is a difference between the first rotation angle difference value and a lower limit value of the second threshold range;

[0220] The negative value of the product of the first constant, the first moment of inertia and the fourth coefficient, and the ratio of the first gear speed ratio is taken as the second torque.

[0221] In an optional implementation, the second threshold range is determined by:

[0222] The ratio of the arc of the tooth side clearance between the first engagement ring gear and the first engagement sleeve to the second constant is used as the upper limit value of the second threshold range;

[0223] The negative value of the ratio of the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve to the second constant is used as the lower limit value of the second threshold range.

[0224] In an optional implementation manner, the difference determination module 501 is specifically configured to:

[0225] determining a first speed difference according to a difference between first speed information of the first engagement ring gear and second speed information of the first engagement sleeve;

[0226] A first rotational angle difference is determined according to a difference between first rotational angle information of the first engagement ring gear and second rotational angle information of the first engagement sleeve.

[0227] Corresponding to the above-mentioned embodiment of the shift control method, the embodiment of the present invention further provides an electronic device. The electronic device may be a server, or a terminal such as a mobile terminal or a computer. Exemplarily, the electronic device may be a vehicle-mounted control device.

[0228] The electronic device at least includes a memory for storing data and a processor for data processing. Among them, for the processor for data processing, when executing the processing, it can be implemented by MCU (English: Microcontroller Unit, Chinese: Micro Control Unit), CPU (English: Central Processing Unit, Chinese: Central Processing Unit), DSP (English: Digital Signal Processor, Chinese: Digital Signal Processor), FPGA (English: Field Programmable Gate Array, Chinese: Field Programmable Gate Array), etc. For the memory, the memory stores operation instructions, which can be computer executable codes, and the various steps in the process of the shift control method of the above embodiment of the present invention are implemented by the operation instructions.

[0229] Figure 6 FIG. 1 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Figure 6As shown, in the embodiment of the present invention, the electronic device 600 includes: a processor 610, a memory 620 and a bus 630; the processor 610 and the memory 620 are connected via the bus 630, and the bus 630 is used to transmit data between the processor 610 and the memory 620.

[0230] The memory 620 can be used to store software programs and modules, such as program instructions / modules corresponding to the shift control method in the embodiment of the present invention. The processor 610 executes various functional applications and data processing of the electronic device 600, such as the shift control method provided in the embodiment of the present invention, by running the software programs and modules stored in the memory 620. The memory 620 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application application, etc.; the data storage area can store data created according to the use of the electronic device 600 (such as reference image set and other related data), etc. In addition, the memory 620 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0231] The processor 610 is the control center of the electronic device 600, and uses the bus 630 and various interfaces and lines to connect various parts of the entire electronic device 600, and executes various functions and processes data of the electronic device 600 by running or executing software programs and / or modules stored in the memory 620, and calling data stored in the memory 620. Optionally, the processor 610 may include one or more processing units, such as a CPU, a digital processing unit, etc.

[0232] The processor 610 executes the executable instructions to implement the following steps:

[0233] Determining a first speed difference and a first rotation angle difference between a first engagement ring gear and a first engagement sleeve, wherein the first engagement ring gear and the first engagement sleeve are engagement ring gear and engagement sleeve corresponding to the gear to be switched;

[0234] Determine the magnitude relationship between the first speed difference and a preset first threshold range, and generate a first torque according to the determination result and based on the first speed difference and a threshold value of the first threshold range, so that the drive motor assembly adjusts the first speed difference to within the first threshold range according to the first torque, wherein the threshold value is an upper limit value or a lower limit value;

[0235] Determine the magnitude relationship between the first rotation angle difference and the second threshold range, and generate a second torque according to the determination result and based on the threshold value of the first rotation angle difference and the second threshold range, so that the drive motor assembly adjusts the first rotation angle difference to within the second threshold range according to the second torque, wherein the second threshold range is determined according to the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve;

[0236] The first engagement sleeve is controlled to engage with the first engagement ring gear.

[0237] The embodiment of the present invention further provides a storage medium readable by a computing device for the shift control method, i.e., the content is not lost after power failure. The storage medium stores a software program, including program code, and when the program code is run on a computing device, the software program can implement any of the shift control methods provided by the embodiment of the present invention when read and executed by one or more processors.

[0238] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented 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.

[0239] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0240] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0241] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0242] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0243] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A gear shift control method, characterized in that: Applied to a transmission without a synchronizer, the method comprises: Determining a first speed difference and a first rotation angle difference between a first engagement ring gear and a first engagement sleeve, wherein the first engagement ring gear and the first engagement sleeve are the engagement ring gear and the engagement sleeve corresponding to the gear to be switched; Based on the first speed difference and a preset first threshold range, a first torque is generated, so that the drive motor assembly adjusts the first speed difference to within the first threshold range according to the first torque; Determine the magnitude relationship between the first turning angle difference and a second threshold range; When the first rotation angle difference is greater than the upper limit of the second threshold range, a third coefficient is determined according to the ratio of the third difference to the second value, and a second torque is determined according to the first constant, the product of the first moment of inertia and the third coefficient, and the negative value of the ratio of the first gear ratio, so that the drive motor assembly adjusts the first rotation angle difference to within the second threshold range according to the second torque; When the first rotation angle difference is less than the lower limit of the second threshold range, a fourth coefficient is determined according to the ratio of the fourth difference to the second value, and the second torque is determined according to the first constant, the product of the first moment of inertia and the fourth coefficient, and the negative value of the ratio of the first gear ratio, so that the drive motor assembly adjusts the first rotation angle difference to within the second threshold range according to the second torque; Controlling the first engagement sleeve to engage with the first engagement ring gear, wherein the second threshold range is determined according to the arc of the tooth side clearance between the first engagement ring gear and the first engagement sleeve; Among them, the third difference is the difference between the first rotation angle difference and the upper limit value of the second threshold range, the fourth difference is the difference between the first rotation angle difference and the lower limit value of the second threshold range, the second value is the square of the sum of the first time and the second time, the first time is used to characterize the information collection period, the second time is used to characterize the communication delay duration, the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

2. The method according to claim 1, characterized in that The generating a first torque based on the first speed difference and a preset first threshold range includes: Determining a magnitude relationship between the first speed difference and the first threshold range; When the first speed difference is greater than an upper limit of the first threshold range, the first torque is determined according to a difference between the first speed difference and the upper limit of the first threshold range, wherein the first torque is a negative value and the first torque is greater than or equal to a first torque threshold, and the first torque threshold is used to represent a minimum torque allowed by the drive motor assembly; When the first speed difference is less than the lower limit of the first threshold range, the first torque is determined based on the difference between the first speed difference and the lower limit of the first threshold range, wherein the first torque is a positive value and is less than or equal to a second torque threshold, and the second torque threshold is used to characterize the maximum torque allowed by the drive motor assembly.

3. The method according to claim 2, characterized in that The determining the first torque according to the difference between the first speed difference and the upper limit of the first threshold range includes: Determine a first coefficient according to a ratio of a first difference to a first value, wherein the first difference is a difference between the first speed difference and an upper limit of the first threshold range, the first value is a sum of a first time and a second time, the first time is used to characterize an information collection period, and the second time is used to characterize a communication delay duration; The negative value of the ratio of the first moment of inertia and the first coefficient and the first gear ratio is taken as the first torque, wherein the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

4. The method according to claim 3, characterized in that The determining the first torque according to the difference between the first speed difference and the lower limit of the first threshold range includes: Determine a second coefficient according to a ratio of a second difference to the first value, wherein the second difference is a difference between the first speed difference and a lower limit of the first threshold range; The negative value of the product of the first moment of inertia and the second coefficient and the ratio of the first gear speed ratio is taken as the first torque.

5. The method according to claim 1, characterized in that When the first rotation angle difference is greater than the upper limit of the second threshold range, the determined second torque is a negative value, and the second torque is greater than or equal to a first torque threshold, and the first torque threshold is used to characterize the minimum torque allowed by the drive motor assembly.

6. The method according to claim 5, characterized in that When the first rotation angle difference is less than the lower limit of the second threshold range, the determined second torque is a positive value, and the second torque is less than or equal to a second torque threshold, and the second torque threshold is used to characterize the maximum torque allowed by the drive motor assembly.

7. The method according to any one of claims 1 to 6, characterized in that The second threshold range is determined by: taking the ratio of the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve to a second constant as the upper limit of the second threshold range; The negative value of the ratio of the arc of the tooth side clearance between the first engagement gear ring and the first engagement sleeve to the second constant is used as the lower limit value of the second threshold range.

8. The method according to any one of claims 1 to 6, characterized in that The determining of a first speed difference and a first rotation angle difference between the first engagement ring gear and the first engagement sleeve comprises: determining the first speed difference according to a difference between first speed information of the first engagement ring gear and second speed information of the first engagement sleeve; The first rotation angle difference is determined according to the difference between the first rotation angle information of the first engagement ring gear and the second rotation angle information of the first engagement sleeve.

9. A gear shift control device, characterized in that: include: a difference determination module, configured to determine a first speed difference and a first rotation angle difference between a first engagement ring gear and a first engagement sleeve, wherein the first engagement ring gear and the first engagement sleeve are engagement ring gear and engagement sleeve corresponding to the gear to be switched; a speed regulating module, configured to generate a first torque based on the first speed difference and a preset first threshold range, so that the driving motor assembly regulates the first speed difference within the first threshold range according to the first torque; A rotation angle adjustment module, used for determining the magnitude relationship between the first rotation angle difference and the second threshold range; when the first rotation angle difference is greater than the upper limit of the second threshold range, determining a third coefficient according to the ratio of the third difference to the second value, and determining a second torque according to a first constant, a product of the first moment of inertia and the third coefficient, and a negative value of the ratio of the first gear ratio, so that the drive motor component adjusts the first rotation angle difference to within the second threshold range according to the second torque; when the first rotation angle difference is less than the lower limit of the second threshold range, determining a fourth coefficient according to the ratio of the fourth difference to the second value, and determining the second torque according to the first constant, a product of the first moment of inertia and the fourth coefficient, and a negative value of the ratio of the first gear ratio, so that the drive motor component adjusts the first rotation angle difference to within the second threshold range according to the second torque; a shift execution module, configured to control the first engagement sleeve to engage with the first engagement ring gear, wherein the second threshold range is determined according to an arc of a tooth side clearance between the first engagement ring gear and the first engagement sleeve; Among them, the third difference is the difference between the first rotation angle difference and the upper limit value of the second threshold range, the fourth difference is the difference between the first rotation angle difference and the lower limit value of the second threshold range, the second value is the square of the sum of the first time and the second time, the first time is used to characterize the information collection period, the second time is used to characterize the communication delay duration, the first moment of inertia is used to characterize the moment of inertia of the input shaft end of the transmission, and the first gear ratio is the gear ratio corresponding to the gear to be switched.

10. An electronic device, characterized in that: include: A memory for storing executable instructions; A processor is used to read and execute the executable instructions stored in the memory to implement the steps of the shift control method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes the steps of the shift control method according to any one of claims 1 to 8.

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