A control method and device of a clutch, an electronic device, and a storage medium

Abstract

The application provides a clutch control method and device, electronic equipment and a storage medium, wherein the method comprises: in response to a clutch request signal, determining a current position and a request position of the clutch; inputting the current position of the clutch and a target position difference into a target algorithm to obtain an optimized PID coefficient; calculating a clutch assist cylinder solenoid duty cycle through the target position difference of the clutch and the optimized PID coefficient; and based on the clutch assist cylinder solenoid duty cycle, controlling the clutch to separate or combine the clutch; wherein the target position difference is the difference between the request position and the current position of the clutch, so as to improve the accuracy and followability of the clutch control.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a clutch control method, device, electronic device, and storage medium. Background Technology

[0002] During driving, changes in throttle position cause changes in engine speed. The TCU control unit of the AMT transmission performs gear shifting actions according to the control strategy, which involves clutch engagement and disengagement. Clutch control is the core of AMT control and an important means of improving shifting comfort. Traditional clutch PID control obtains the proportional, integral, and derivative gain values ​​by looking up tables, and then uses a PID controller to control the clutch booster cylinder. The horizontal axis of this table represents the actual clutch position, and the vertical axis represents the difference between the actual and requested clutch positions. The values ​​in the table are calibrated based on experience, which can easily lead to problems such as overshoot and poor tracking performance. Summary of the Invention

[0003] The purpose of this application is to provide a clutch control method, device, electronic device, and storage medium to improve the accuracy and responsiveness of clutch control.

[0004] In a first aspect, this application provides a clutch control method, the method comprising responding to a clutch request signal and determining the current position and requested position of the clutch; inputting the current position and the difference between the current position and the target position of the clutch into a target algorithm to obtain optimized PID coefficients; calculating the duty cycle of the clutch booster cylinder solenoid valve using the clutch target position difference and the optimized PID coefficients; and controlling the clutch based on the duty cycle of the clutch booster cylinder solenoid valve to disengage or engage the clutch; wherein the target position difference is the difference between the requested position and the current position of the clutch.

[0005] Preferably, the target algorithm is the particle swarm optimization algorithm, and the optimized PID coefficients are obtained through the following methods:

[0006] N particles are randomly generated. The velocity information of each particle is the difference between the target position and the position information of each particle is the current position of the clutch. The positions of the particles are updated, and the global optimal position is obtained based on the fitness of the particles. The corresponding optimized PID coefficients are then determined.

[0007] Preferably, for each particle, the particle's position is updated in the following way:

[0008] v t+1 =ωv t +c1r1(P t -x t )+c2r2(G t -x t );

[0009] x t+1 =x t +v t+1 ;

[0010] Where, x t x represents the particle's position before the update. t+1 v represents the updated position of the particle. t+1 Let P be the particle's velocity, ω be the inertia factor, c1 and c2 be acceleration constants, r1 and r2 be random numbers, and P be the velocity of the particle. t G represents the optimal position for this particle. t This represents the current optimal position of the particle swarm.

[0011] Preferably, the duty cycle of the clutch booster cylinder solenoid valve is calculated using the following method:

[0012]

[0013] Where u(k) is the duty cycle of the clutch booster cylinder solenoid valve, e(k) is the current target position difference, and k p k i k d To optimize PID coefficients.

[0014] Preferably, the step of controlling the clutch based on the duty cycle of the clutch booster cylinder solenoid valve to disengage or engage the clutch specifically includes:

[0015] The target solenoid valve is determined based on the target position difference and the duty cycle of the clutch booster cylinder solenoid valve. A booster cylinder control signal is generated based on the duty cycle of the clutch booster cylinder solenoid valve and sent to the target solenoid valve to control the clutch disengagement or engagement.

[0016] Preferably, the target solenoid valve is determined by the following method:

[0017] Based on the target position difference, determine the corresponding exhaust solenoid valve or intake solenoid valve; based on the relationship between the duty cycle of the clutch booster cylinder solenoid valve and the preset duty cycle, determine the fast exhaust / intake solenoid valve or slow exhaust / intake solenoid valve.

[0018] Preferably, the current position of the clutch is obtained through a clutch position sensor installed on the target vehicle.

[0019] Secondly, this application provides a clutch control device, the device comprising:

[0020] The response module is used to respond to clutch request signals and determine the current position and requested position of the clutch.

[0021] The optimization module is used to input the difference between the current position and the target position of the clutch into the target algorithm to obtain the optimized PID coefficients;

[0022] The PID control module is used to calculate the duty cycle of the clutch booster cylinder solenoid valve using the target position difference of the clutch and the optimized PID coefficients.

[0023] The execution module is used to control the clutch based on the duty cycle of the clutch booster cylinder solenoid valve, so as to disengage or engage the clutch.

[0024] The target position difference is the difference between the clutch's requested position and its current position.

[0025] Thirdly, this application provides an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the clutch control method described above.

[0026] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of the aforementioned clutch control method.

[0027] This application provides a clutch control method, device, electronic device, and storage medium. The method includes responding to a clutch request signal and determining the current position and requested position of the clutch; inputting the current position and the difference between the current position and the target position into a target algorithm to obtain optimized PID coefficients; calculating the duty cycle of the clutch booster cylinder solenoid valve using the clutch target position difference and the optimized PID coefficients; and controlling the clutch based on the clutch booster cylinder solenoid valve duty cycle to disengage or engage the clutch. The target position difference is the difference between the requested position and the current position of the clutch. By performing iterative optimization and global optimization through the optimization algorithm to obtain optimized PID coefficients, and then controlling the clutch, the accuracy and responsiveness of clutch control can be improved. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1A flowchart illustrating a clutch control method provided in this application embodiment;

[0030] Figure 2 A schematic diagram of the control principle of a clutch provided in an embodiment of this application;

[0031] Figure 3 A flowchart of a particle swarm optimization algorithm provided in this application embodiment;

[0032] Figure 4 This is a schematic diagram of the structure of a clutch control device provided in an embodiment of this application;

[0033] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0034] First, the application scenario of this application will be described. The technical solution of this application can be applied to the control of the clutch by the TCU control unit of a vehicle AMT transmission.

[0035] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0036] Figure 1 A flowchart illustrating a clutch control method provided in this application embodiment. Figure 2 This is a schematic diagram illustrating the control principle of a clutch, provided as an embodiment of this application. Figure 1 and Figure 2 As shown, the clutch control method provided in this application specifically includes:

[0037] S1. Respond to the clutch request signal and determine the current position and requested position of the clutch.

[0038] In step S1, the current position of the clutch can be obtained using a clutch position sensor installed on the target vehicle. The requested clutch position can be determined by the position of the accelerator pedal.

[0039] The current and requested positions of the clutch can be represented by the ratio between the actual position height of the clutch and the total height value.

[0040] S2. Input the difference between the current position of the clutch and the target position into the target algorithm to obtain the optimized PID coefficients.

[0041] The target position difference is the difference between the clutch's requested position and its current position.

[0042] like Figure 3As shown, the target algorithm here is the particle swarm optimization algorithm, and the optimized PID coefficients can be obtained in the following ways:

[0043] N particles are randomly generated. The velocity information of each particle is the difference between the target position and the target position of the clutch, and the position information of each particle is the current position of the clutch. The positions of the particles are updated, and the global optimal position is obtained based on the fitness of the particles. The corresponding optimized PID coefficients are then determined.

[0044] Specifically, the current position of the clutch is used as the particle's position information, and the difference between the clutch's target position and the target position is used as the particle's velocity information. A particle swarm consisting of N particles is randomly generated, and the particles are sequentially assigned to k. p k i k d And calculate the fitness of each particle.

[0045] For each particle, compare its fitness value with the fitness value of the current best position Pt. If the fitness value is better, then the particle's position is determined as the current best position.

[0046] The particle's position and velocity information are updated. Through continuous iterative updates, the global optimal position is found, and then the optimal proportional, integral, and derivative values ​​of the PID controller are output.

[0047] For each particle, its position is updated in the following way:

[0048] v t+1 =ωv t +c1r1(P t -x t )+c2r2(G t -x t );

[0049] x t+1 =x t +v t+1 ;

[0050] Where, x t x represents the particle's position before the update. t+1 v represents the updated position of the particle. t+1 Let P be the particle's velocity, ω be the inertia factor, c1 and c2 be acceleration constants, and r1 and r2 be random numbers in the range [0, 1]. t G represents the optimal position for this particle. t This represents the current optimal position of the particle swarm.

[0051] If the termination condition is not met (usually a preset maximum number of iterations and a lower fitness limit), the particles are updated continuously; otherwise, the algorithm exits and the optimal solution, i.e., the proportional gain k, is obtained.p Integral gain k i Differential gain k d .

[0052] S3. Calculate the duty cycle of the clutch booster cylinder solenoid valve using the target position difference of the clutch and the optimized PID coefficient.

[0053] In step S3, the duty cycle of the clutch booster cylinder solenoid valve can be calculated as follows:

[0054]

[0055] Where u(k) is the duty cycle of the clutch booster cylinder solenoid valve, e(k) is the current target position difference, and k p k i k d To optimize PID coefficients.

[0056] S4. Based on the duty cycle of the solenoid valve of the clutch booster cylinder, control the clutch to disengage or engage the clutch.

[0057] The clutch booster cylinder here can be equipped with four solenoid valves: fast advance, fast discharge, slow advance, and slow discharge.

[0058] Based on the duty cycle of the clutch booster cylinder solenoid valve, the steps for controlling the clutch to disengage or engage include:

[0059] The target solenoid valve is determined based on the target position difference and the duty cycle of the clutch booster cylinder solenoid valve. The target solenoid valve can be determined in the following way:

[0060] Based on the target position difference, determine the corresponding exhaust solenoid valve or intake solenoid valve. Based on the relationship between the duty cycle of the clutch booster cylinder solenoid valve and the preset duty cycle, determine the fast exhaust / intake solenoid valve or the slow exhaust / intake solenoid valve.

[0061] The control signal for the clutch booster cylinder is generated based on the duty cycle of the clutch booster cylinder solenoid valve and sent to the target solenoid valve to control the clutch disengagement or engagement.

[0062] It is understandable that the duty cycle of the clutch booster cylinder solenoid valve calculated by the PID control can be linearly transformed to ensure that it falls within the actual duty cycle range of the clutch booster cylinder solenoid valve.

[0063] The clutch control method provided in this application improves the accuracy and tracking performance of clutch control by optimizing the PID coefficients of the PID controller through an optimization algorithm.

[0064] Figure 4This is a schematic diagram of a clutch control device provided in an embodiment of this application. Figure 4 As shown, based on the same inventive concept, this application also provides a clutch control device 400, the device comprising:

[0065] The response module 410 is used to respond to the clutch request signal and determine the current position and the requested position of the clutch.

[0066] The optimization module 420 is used to input the difference between the current position and the target position of the clutch into the target algorithm to obtain the optimized PID coefficients;

[0067] The PID control module 430 is used to calculate the duty cycle of the clutch booster cylinder solenoid valve using the target position difference of the clutch and the optimized PID coefficients.

[0068] Execution module 440 is used to control the clutch based on the duty cycle of the clutch booster cylinder solenoid valve, so as to disengage or engage the clutch.

[0069] The target position difference is the difference between the clutch's requested position and its current position.

[0070] In a preferred embodiment, the target algorithm is a particle swarm optimization algorithm, and the optimization module 420 obtains the optimized PID coefficients in the following manner:

[0071] N particles are randomly generated. The velocity information of each particle is the difference between the target position and the position information of each particle is the current position of the clutch. The positions of the particles are updated, and the global optimal position is obtained based on the fitness of the particles. The corresponding optimized PID coefficients are then determined.

[0072] In a preferred embodiment, for each particle, the optimization module 420 updates the particle's position in the following manner:

[0073] v t+1 =ωv t +c1r1(P t -x t )+c2r2(G t -x t );

[0074] x t+1 =x t +v t+1 ;

[0075] Where, x t x represents the particle's position before the update. t+1 v represents the updated position of the particle. t+1Let P be the particle's velocity, ω be the inertia factor, c1 and c2 be acceleration constants, r1 and r2 be random numbers, and P be the velocity of the particle. t G represents the optimal position for this particle. t This represents the current optimal position of the particle swarm.

[0076] In a preferred embodiment, the PID control module 430 calculates the duty cycle of the clutch booster cylinder solenoid valve in the following manner:

[0077]

[0078] Where u(k) is the duty cycle of the clutch booster cylinder solenoid valve, e(k) is the current target position difference, and k p k i k d To optimize PID coefficients.

[0079] In a preferred embodiment, the execution module 440 is specifically used for:

[0080] The target solenoid valve is determined based on the target position difference and the duty cycle of the clutch booster cylinder solenoid valve. A booster cylinder control signal is generated based on the duty cycle of the clutch booster cylinder solenoid valve and sent to the target solenoid valve to control the clutch disengagement or engagement.

[0081] In a preferred embodiment, the execution module 440 determines the target solenoid valve in the following manner:

[0082] Based on the target position difference, determine the corresponding exhaust solenoid valve or intake solenoid valve; based on the relationship between the duty cycle of the clutch booster cylinder solenoid valve and the preset duty cycle, determine the fast exhaust / intake solenoid valve or slow exhaust / intake solenoid valve.

[0083] In a preferred embodiment, the response module 410 obtains the current position of the clutch through a clutch position sensor installed on the target vehicle.

[0084] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 5 As shown, the electronic device 500 includes a processor 510, a memory 520, and a bus 530.

[0085] The memory 520 stores machine-readable instructions that can be executed by the processor 510. When the electronic device 500 is running, the processor 510 and the memory 520 communicate via the bus 530. When the machine-readable instructions are executed by the processor 510, the steps of a clutch control method as described in the above method embodiment can be executed. For specific implementation details, please refer to the method embodiment, which will not be repeated here.

[0086] This application also provides a computer-readable storage medium storing a computer program. When the computer program is run by a processor, it can execute the steps of a clutch control method as described in the above method embodiments. For specific implementation details, please refer to the method embodiments, which will not be repeated here.

[0087] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0088] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0089] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0090] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0091] It should be noted that if the function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0092] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0093] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling a clutch, characterized in that, The method includes: a TCU control unit for a vehicle AMT transmission. In response to a clutch request signal, determine the current position and the requested position of the clutch, wherein the requested position of the clutch is determined by the position of the accelerator pedal; Input the difference between the current position and the target position of the clutch into the target algorithm to obtain the optimized PID coefficients; The duty cycle of the clutch booster cylinder solenoid valve is calculated using the target position difference of the clutch and the optimized PID coefficient. The target solenoid valve is determined based on the target position difference and the duty cycle of the clutch booster cylinder solenoid valve. Based on the duty cycle of the clutch booster cylinder solenoid valve, a booster cylinder control signal is generated and sent to the clutch to control clutch disengagement or engagement through the opening and closing of the target solenoid valve. The target solenoid valve is determined in the following ways: based on the target position difference, the corresponding exhaust solenoid valve or intake solenoid valve is determined; based on the relationship between the duty cycle of the clutch booster cylinder solenoid valve and the preset duty cycle, the fast exhaust / intake solenoid valve or slow exhaust / intake solenoid valve is determined. The target position difference is the difference between the requested position and the current position of the clutch. The target algorithm is particle swarm optimization, and the optimized PID coefficients are obtained through the following methods: N particles are randomly generated. The velocity information of each particle is the difference between the target position and the position information of each particle is the current position of the clutch. The particle positions are updated, and the global optimal position is obtained based on the particle's fitness. The corresponding optimized PID coefficients are then determined. For each particle, its position is updated in the following way: ； ； in, This represents the particle's position before the update. The updated position of the particle. For the velocity of the particle, Inertia factor , Let be the acceleration constant. , It is a random number. This represents the optimal position for the particle. This represents the current optimal position of the particle swarm. The duty cycle of the clutch booster cylinder solenoid valve is calculated using the following method: in, The duty cycle of the clutch booster cylinder solenoid valve. The difference between the current target position and the target position. , , To optimize PID coefficients.

2. The method according to claim 1, characterized in that, The current position of the clutch is obtained by using the clutch position sensor installed on the target vehicle.

3. A clutch control device, characterized in that, The control method for the clutch according to any one of claims 1 or 2, the apparatus comprising: The response module is used to respond to clutch request signals and determine the current position and requested position of the clutch. The optimization module is used to input the difference between the current position and the target position of the clutch into the target algorithm to obtain the optimized PID coefficients; The PID control module is used to calculate the duty cycle of the clutch booster cylinder solenoid valve using the target position difference of the clutch and the optimized PID coefficients. The execution module is used to control the clutch based on the duty cycle of the clutch booster cylinder solenoid valve, so as to disengage or engage the clutch. The target position difference is the difference between the clutch's requested position and its current position.

4. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the clutch control method as described in claim 1 or 2.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the clutch control method as described in any one of claims 1 or 2.

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