Control method, device and architecture for electric vehicle toothed clutch

Abstract

The application discloses a control method, device and architecture of a tooth-shaped clutch of an electric vehicle. The control method of the tooth-shaped clutch of the electric vehicle comprises detecting a coupling instruction and a decoupling instruction. When the coupling instruction is detected, the motor speed is adjusted to match the tire speed. When the motor speed matches the tire speed, the electromagnetic valve excitation current is adjusted to control the coupling of the tooth-shaped clutch. During the coupling process, the motor speed is adjusted by controlling the motor torque until the coupling is completed. When the decoupling instruction is received, the motor torque is controlled to drop to a decoupling preset motor torque permission interval. The electromagnetic valve excitation current is set to 0 to make the tooth-shaped clutch start decoupling. The motor torque is controlled to cancel the power transmission between the tooth-shaped clutch and the clutch. The decoupling of the tooth-shaped clutch is determined to be completed. The application realizes smooth coupling and decoupling through the method.

Description

Technical Field

[0001] This invention relates to the field of electric vehicles, and in particular to a control method, device, and architecture for a toothed clutch in an electric vehicle. Background Technology

[0002] In electric on-demand four-wheel drive vehicles that use permanent magnet motors, when the drive mode is switched from four-wheel drive to two-wheel drive, a toothed clutch is usually used to decouple the motor from the wheel to avoid the motor dragging backward, generating inductive electromotive force and reducing efficiency due to current.

[0003] Toothed clutches have only two states, coupling and decoupling, and no slippage intermediate state, so they have high transmission efficiency and are very suitable for electric vehicles that are sensitive to energy consumption.

[0004] Toothed clutches do not have a slippage intermediate state, so the impact is large during coupling and decoupling, resulting in a high risk of failure and durability. Summary of the Invention

[0005] The main objective of this invention is to propose a control method for a toothed clutch in electric vehicles, which aims to solve the problem that existing toothed clutches experience significant impact during coupling and decoupling, leading to high failure and durability risks.

[0006] To achieve the above objectives, the present invention proposes a control method for a toothed clutch in an electric vehicle, the control method comprising:

[0007] Detect clutch commands, which include coupling commands and decoupling commands;

[0008] When a coupling command is detected, the motor speed is adjusted to match the tire speed.

[0009] When the motor speed matches the tire speed, the solenoid valve excitation current is adjusted to control the coupling of the toothed clutch.

[0010] During the coupling process, the motor speed is adjusted by controlling the motor torque until coupling is complete.

[0011] Optionally, the step of adjusting the motor speed to match the tire speed when a coupling command is detected specifically includes:

[0012] Upon detecting a coupling command, a synchronous speed is set based on the tire speed before coupling;

[0013] Adjust the motor speed according to the synchronous speed;

[0014] When the speed difference between the synchronous speed and the motor speed is less than a preset speed difference and the duration of the speed difference is consistent with the confirmation time map, the motor speed is considered to match the tire speed.

[0015] Optionally, the step of controlling the coupling of the toothed clutch by adjusting the excitation current of the solenoid valve and the motor torque when the motor speed matches the tire speed specifically includes:

[0016] The excitation current of the solenoid valve is determined by the position of the toothed clutch, the target synchronous speed of the tire, and the allowable range of difference between the tire speed and the motor speed.

[0017] The toothed clutch is started to couple by outputting the excitation current of the solenoid valve.

[0018] Optionally, the step of adjusting the motor speed by controlling the motor torque until coupling is completed during the coupling process specifically includes:

[0019] Set the target rotational speed for coupling based on tire speed;

[0020] The motor torque traction term is determined based on the motor torque, motor inertia, and motor speed.

[0021] The target motor torque is determined based on the motor torque traction term, the motor proportional motor torque term, and the motor internal resistance compensation motor torque term.

[0022] By adjusting the motor torque to the target motor torque, the motor speed is controlled to stabilize at the coupling target speed until coupling is completed.

[0023] Optionally, after the step of detecting the clutch command, which includes a coupling command and a decoupling command, the method further includes:

[0024] Upon receiving a decoupling command, the motor torque is controlled to decrease to within the preset permissible range of motor torque for decoupling.

[0025] When the motor torque drops to within the decoupling preset motor torque allowable range, the decoupling of the toothed clutch is initiated by adjusting the excitation current of the solenoid valve;

[0026] During the decoupling process of the toothed clutch, the power transmission between the engagement and disengagement of the toothed clutch is canceled by controlling the motor torque;

[0027] When the power transmission cancellation is completed, it is determined that the toothed clutch has been decoupled.

[0028] Optionally, the step of controlling the motor torque to decrease upon receiving the decoupling command specifically includes:

[0029] Upon receiving a decoupling instruction, obtain the driver's requirements;

[0030] Match the appropriate motor torque convergence gradient according to the driver's needs and driving conditions.

[0031] The motor torque decreases according to the motor torque convergence gradient.

[0032] Optionally, the step of determining that the toothed clutch decoupling is complete when the power transmission cancellation is completed specifically includes:

[0033] The open / closed state of the toothed clutch is detected by a toothed clutch position sensor;

[0034] When the toothed clutch is in the open state, it is determined that the toothed clutch decoupling is complete.

[0035] Optionally, after the step of determining that the toothed clutch decoupling is complete, the method further includes:

[0036] The motor torque is controlled to be 0 to prevent the toothed clutch from failing to decouple unexpectedly.

[0037] When the motor speed drops to the preset range of the inertial control speed, the control of the motor torque is released.

[0038] The present invention also proposes a control device for a toothed clutch in an electric vehicle, used to engage and disengage the motor and the tires; the control device for the toothed clutch in an electric vehicle includes: a motor speed sensor, a drive shaft, toothed clutch connecting teeth, a return disc spring, toothed clutch engagement teeth, an electromagnetic coil, a wheel speed sensor, a position sensor, and a controller.

[0039] The motor speed sensor is fixed to the motor side and connected to the motor controller; the drive shaft is set in the internal cavity of the motor and is connected to the toothed clutch connecting teeth and the tire respectively, for driving the tire to rotate through the motor; the return disc spring is connected to the motor and the toothed clutch engagement teeth respectively; the electromagnetic coil is fixed to the toothed clutch engagement teeth side; the wheel speed sensor is fixed to the tire side and connected to the motor controller; the position sensor is fixed at the meshing point of the toothed clutch connecting teeth and the toothed clutch engagement teeth and connected to the motor controller.

[0040] The present invention also proposes a control architecture for a toothed clutch in an electric vehicle, the control device architecture of which includes: a toothed clutch state management module, a motor control management module, and a toothed clutch control management module;

[0041] The toothed clutch status management module is used to determine the toothed clutch status based on the coupling request status, toothed clutch position, tire speed, and motor speed.

[0042] The motor control management module is used to control the motor speed and motor torque according to the state of the toothed clutch.

[0043] The toothed clutch control and management module is used to set the solenoid valve excitation current according to the coupling request status and the actual position of the toothed clutch, and control the toothed clutch operation by outputting the solenoid valve excitation current.

[0044] This invention discloses a control method, device, and architecture for a toothed clutch in an electric vehicle, relating to the field of electric vehicles. The control method includes detecting a clutch engagement command, which includes a coupling command and a decoupling command. Upon detecting a coupling command, the motor speed is adjusted to match the tire speed. When the motor speed matches the tire speed, the solenoid valve excitation current is adjusted to control the toothed clutch coupling. During coupling, the motor speed is adjusted by controlling the motor torque until coupling is complete. Upon receiving a decoupling command, the motor torque is controlled to decrease to a preset decoupling torque permissible range. The solenoid valve excitation current is set to 0 to initiate toothed clutch decoupling. The motor torque is controlled to cancel power transmission between the toothed clutch engagement and disengagement. Finally, the decoupling of the toothed clutch is confirmed to be complete. This invention achieves smooth coupling and decoupling through this method. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0046] Figure 1 This is a flowchart illustrating the first embodiment of the control method for the toothed clutch of an electric vehicle according to the present invention.

[0047] Figure 2 This is a flowchart illustrating the second embodiment of the control method for the toothed clutch of an electric vehicle according to the present invention.

[0048] Figure 3 This is a flowchart illustrating the third embodiment of the control method for the toothed clutch of an electric vehicle according to the present invention.

[0049] Figure 4 This is a flowchart illustrating the fourth embodiment of the control method for the toothed clutch of an electric vehicle according to the present invention.

[0050] Figure 5 This is a schematic diagram of the control device for the toothed clutch in an electric vehicle according to the present invention;

[0051] Figure 6 This is a control architecture diagram of the electric vehicle toothed clutch of the present invention;

[0052] Figure 7This is the control logic diagram for the speed synchronization stage;

[0053] Figure 8 This is the clutch excitation control diagram;

[0054] Figure 9 This is a diagram showing the motor torque control during the coupling process.

[0055] Figure 10 This is a graph showing the torque convergence gradient control.

[0056] Figure 11 This is a diagram showing the motor torque control during the decoupling process.

[0057] Explanation of icon numbers:

[0058] 1. Motor speed sensor; 2. Motor; 3. Drive shaft; 4. Tire; 5. Clutch connecting teeth; 6. Return disc spring; 7. Clutch engagement teeth; 8. Electromagnetic coil; 9. Wheel speed sensor; 10. Position sensor; 11. Controller; 100. Clutch status management module; 200. Motor control management module; 300. Toothed clutch control management module.

[0059] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0060] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0061] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0062] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0063] Reference Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the control method for the toothed clutch of an electric vehicle according to the present invention.

[0064] In this embodiment, the control method for the electric vehicle toothed clutch includes the following steps:

[0065] S10: Detect clutch commands, the clutch commands including coupling commands and decoupling commands;

[0066] S20: When a coupling command is detected, adjust the motor speed to match the tire speed;

[0067] S30: When the motor speed matches the tire speed, adjust the solenoid valve excitation current to control the toothed clutch coupling;

[0068] S40: During the coupling process, the motor speed is adjusted by controlling the motor torque until coupling is completed.

[0069] It should be noted that the execution entity can be a controller, a control system, or an architecture, and this embodiment does not limit it.

[0070] Understandably, the clutch command can be issued by the electronic control unit in the electric vehicle;

[0071] It should be noted that the motor speed can be adjusted by electromagnetic speed regulation, PWM speed regulation, commutation speed regulation, current speed regulation, controller operation or software adjustment, etc.; this embodiment does not limit this.

[0072] Understandably, when the speed difference between the motor speed and the tire speed is less than the preset speed difference, it can be determined that the motor speed and the tire speed are matched.

[0073] In specific implementation, a clutch command is detected, which includes a coupling command and a decoupling command; when a coupling command is detected, the motor speed is adjusted to match the tire speed; when the motor speed matches the tire speed, the solenoid valve excitation current is adjusted to control the toothed clutch coupling; when the motor speed matches the tire speed, the solenoid valve excitation current is adjusted to control the toothed clutch coupling; during the coupling process, the motor speed is adjusted by controlling the motor torque until coupling is completed.

[0074] This example demonstrates how adjusting the motor speed to match the tire speed before coupling ensures a smooth start to coupling.

[0075] By controlling the torque to adjust the motor speed during coupling, a smooth coupling process is achieved.

[0076] Reference Figure 2 , Figure 2 This is a flowchart illustrating the first embodiment of the control method for the toothed clutch of an electric vehicle according to the present invention.

[0077] S10: Detect clutch commands, the clutch commands including coupling commands and decoupling commands;

[0078] S201: When a coupling command is detected, a synchronous speed is set according to the tire speed before coupling;

[0079] S202: Adjust the motor speed according to the synchronous speed;

[0080] S203: When the speed difference between the synchronous speed and the motor speed is less than the preset speed difference and the duration of the speed difference is consistent with the confirmation time map, it is determined that the motor speed and the tire speed are matched;

[0081] S301: The solenoid valve excitation current is determined by the position of the toothed clutch, the target synchronous speed of the tire, and the allowable range of tire speed and motor speed difference.

[0082] S302: The toothed clutch is started to couple by outputting the excitation current of the solenoid valve;

[0083] S401: Set the target rotational speed for coupling based on tire speed;

[0084] S402: Determine the motor torque traction term based on motor torque, motor inertia, and motor speed;

[0085] S403: Determine the target motor torque based on the motor torque traction term, the motor proportional motor torque term, and the motor internal resistance compensation motor torque term;

[0086] S404: By adjusting the motor torque to the target motor torque, the motor speed is controlled to stabilize at the coupling target speed until coupling is completed.

[0087] Understandably, the solenoid valve excitation current is used to control the action of the toothed clutch. The larger the solenoid valve excitation current, the faster the coupling or decoupling speed. In order to make the coupling process smoother, the magnitude of the solenoid valve excitation current is determined by the position of the toothed clutch, the synchronous target speed of the tire, and the allowable range of tire speed and motor speed difference.

[0088] Understandably, the target torque of the motor is used to control the motor speed to stabilize to the coupling target speed. The magnitude of the target torque directly affects the time it takes for the motor speed to stabilize. In order to make the coupling process smoother, the target torque of the motor is determined based on the motor proportional torque term, the motor internal resistance compensation torque term, and the motor torque traction term. The motor torque traction term is determined based on the measured motor torque, the motor torque and the inertia of the toothed clutch, the calculated inertia torque of the motor and the toothed clutch, the motor speed and the calculated inertia torque of the motor and the toothed clutch, the motor speed at the time Δt before the calculated inertia torque of the motor and the toothed clutch.

[0089] It should be noted that the formula for the target motor torque is: T couple =T P +T I +T D ;

[0090] In the formula, T couple T represents the target motor torque during the coupling phase. P This is the motor proportional torque term, set based on the synchronous target speed, used to optimize and differentiate between vehicle stationary and driving conditions; T I This is a motor torque term used to compensate for the motor's internal resistance, and is employed to eliminate the torque of a naturally decelerated motor; T D For the motor torque traction term, consider the inertia of the motor and clutch, and the motor torque:

[0091]

[0092] In the formula, T E n is the motor torque; J is the motor inertia; n t n is the motor speed; t-1 The motor speed is Δt before the start of the current cycle.

[0093] Reference Figure 7 , Figure 7 This is the control logic diagram for the speed synchronization stage;

[0094] Reference Figure 8 , Figure 8 This is the clutch excitation control diagram;

[0095] Reference Figure 9 , Figure 9 This is a diagram showing the motor torque control during the coupling process.

[0096] In specific implementation, the clutch command is detected. When a coupling command is detected, a synchronous speed is set based on the tire speed before coupling, and the motor speed is adjusted according to the synchronous speed. When the speed difference between the synchronous speed and the motor speed is less than a preset speed difference and the duration of the speed difference matches the confirmation time map, the motor speed is considered to match the tire speed. The solenoid valve excitation current is determined by the position of the toothed clutch, the synchronous target speed of the tire, and the allowable range of tire speed and motor speed difference. The toothed clutch is controlled to start coupling by outputting the solenoid valve excitation current. The coupling target speed is set according to the tire speed, and the motor torque traction term is determined according to the motor torque, motor inertia, and motor speed. The target motor torque is determined according to the motor torque traction term, the motor proportional motor torque term, and the motor internal resistance compensation motor torque term. The motor torque is adjusted to the target motor torque to control the motor speed to stabilize at the coupling target speed until coupling is completed.

[0097] This embodiment achieves a smooth start to coupling by setting synchronous speed and time map, and achieves a smooth coupling process by controlling the excitation current and torque of the solenoid valve.

[0098] Reference Figure 3 , Figure 3 This is a flowchart illustrating the third embodiment of the control method for the toothed clutch of an electric vehicle according to the present invention.

[0099] In this embodiment, the control method for the electric vehicle toothed clutch includes the following steps:

[0100] S10: Detect clutch commands, the clutch commands including coupling commands and decoupling commands;

[0101] S20: When a coupling command is detected, adjust the motor speed to match the tire speed;

[0102] S30: When the motor speed matches the tire speed, adjust the solenoid valve excitation current to control the toothed clutch coupling;

[0103] S40: During the coupling process, the motor speed is adjusted by controlling the motor torque until coupling is completed;

[0104] S50: Upon receiving a decoupling command, control the motor torque to reduce the motor torque to within the preset permissible range of motor torque for decoupling.

[0105] S60: When the motor torque drops to within the decoupling preset motor torque permissible range, the decoupling of the toothed clutch is started by adjusting the excitation current of the solenoid valve.

[0106] S70: During the decoupling process of the toothed clutch, the power transmission between the engagement and disengagement of the toothed clutch is canceled by controlling the motor torque;

[0107] S80: When the power transmission cancellation is completed, it is determined that the toothed clutch decoupling is completed.

[0108] It should be noted that the decoupling preset motor torque permissible range is preset and can be set and changed according to actual needs;

[0109] Understandably, controlling the motor torque to create torque oscillations can be used to cancel the power transmission between the engagement and disengagement of a toothed clutch;

[0110] In specific implementation, the system detects clutch engagement commands, which include coupling and decoupling commands. Upon detecting a coupling command, the motor speed is adjusted to match the tire speed. When the motor speed and tire speed match, the solenoid valve excitation current is adjusted to control the toothed clutch coupling. During coupling, the motor speed is adjusted by controlling the motor torque until coupling is complete. Upon receiving a decoupling command, the motor torque is controlled to decrease to within the preset decoupling torque permissible range. The solenoid valve excitation current is set to 0 to initiate toothed clutch decoupling. The motor torque is controlled to cancel power transmission between the toothed clutch engagement and disengagement. Finally, the decoupling of the toothed clutch is confirmed to be complete.

[0111] This embodiment achieves a smooth start to decoupling by controlling the motor torque; and achieves a smooth decoupling process by controlling the motor torque and the solenoid valve excitation current.

[0112] Reference Figure 4 , Figure 4 This is a flowchart illustrating the fourth embodiment of the control method for the toothed clutch of an electric vehicle according to the present invention.

[0113] S10: Detect clutch commands, the clutch commands including coupling commands and decoupling commands;

[0114] S20: When a coupling command is detected, adjust the motor speed to match the tire speed;

[0115] S30: When the motor speed matches the tire speed, adjust the solenoid valve excitation current to control the toothed clutch coupling;

[0116] S40: During the coupling process, the motor speed is adjusted by controlling the motor torque until coupling is completed;

[0117] S501: Upon receiving a decoupling command, obtain the driver's requirements;

[0118] S502: Match the appropriate motor torque convergence gradient according to the driver's needs and driving conditions;

[0119] S503: The motor torque is reduced according to the motor torque convergence gradient;

[0120] S60: When the motor torque drops to within the decoupling preset motor torque permissible range, the decoupling of the toothed clutch is started by adjusting the excitation current of the solenoid valve.

[0121] S701: Detects the open / closed state of the toothed clutch via a toothed clutch position sensor;

[0122] S702: When the toothed clutch is in the open state, confirm that the toothed clutch decoupling is complete;

[0123] S80: Control the motor torque to 0 to prevent the toothed clutch from failing to decouple unexpectedly. When the motor speed drops to the preset range of the inertial control speed, release the control of the motor torque.

[0124] It should be noted that the preset range of the inertial control speed is pre-set and can be set and changed according to actual needs;

[0125] In specific implementation, clutch commands are detected, including coupling and decoupling commands. When a coupling command is detected, the motor speed is adjusted to match the tire speed. When the motor speed matches the tire speed, the solenoid valve excitation current is adjusted to control the toothed clutch coupling. During the coupling process, the motor speed is adjusted by controlling the motor torque until coupling is complete.

[0126] Upon receiving a decoupling command, the system acquires the driver's requirements and matches a corresponding motor torque convergence gradient based on these requirements and driving conditions. The motor torque decreases according to this gradient. When the motor torque drops to within the pre-defined decoupling torque permissible range, the toothed clutch is allowed to begin decoupling. The solenoid valve excitation current is set to 0 to initiate decoupling. The motor torque is controlled to cancel power transmission between the toothed clutch engagement and disengagement. The toothed clutch position sensor detects the open / closed state of the toothed clutch; when the toothed clutch is in the open state, decoupling is confirmed. The motor torque is controlled to 0 to prevent accidental failure to complete decoupling. When the motor speed drops to the pre-defined inertial control speed range, control of the motor torque is released.

[0127] This embodiment achieves a smooth start to decoupling by controlling the motor torque; it also achieves a smooth decoupling process by controlling the motor torque and the solenoid valve excitation current; and it prevents the toothed clutch from failing to complete decoupling unexpectedly by controlling the motor torque to 0.

[0128] In addition, to achieve the above objectives, the present invention also proposes a control device for a toothed clutch in an electric vehicle.

[0129] Reference Figure 5 , Figure 5 This is a schematic diagram of the control device for the electric vehicle toothed clutch of the present invention.

[0130] The control device for the electric vehicle toothed clutch is used to engage and disengage the motor 2 and the tire 4. The control device for the electric vehicle toothed clutch includes: a motor speed sensor 1, a drive shaft 3, a toothed clutch connecting tooth 5, a return disc spring 6, a toothed clutch engagement tooth 7, an electromagnetic coil 8, a wheel speed sensor 9, a position sensor 10, and a controller 11.

[0131] The motor speed sensor 1 is fixed on the side of the motor 2 and connected to the motor controller 11.

[0132] The drive shaft 3 is installed inside the cavity of the motor 2 and is connected to the toothed clutch connecting tooth 5 and the tire 4 respectively, for driving the tire to rotate through the motor; the return disc spring 6 is connected to the motor 2 and the toothed clutch engaging tooth 7 respectively; the electromagnetic coil 8 is fixed on the side of the toothed clutch engaging tooth 7; the wheel speed sensor 9 is fixed on the side of the tire 4 and connected to the motor controller 11; the position sensor 10 is fixed at the meshing point of the toothed clutch connecting tooth 5 and the toothed clutch engaging tooth 7 and connected to the motor controller.

[0133] Understandably, the motor speed sensor 1 is used to transmit motor speed information to the controller 11; the wheel speed sensor 1 is used to transmit wheel speed information to the controller 11; the position sensor is used to transmit the toothed clutch position information to the controller; the return disc spring 6 and the electromagnetic coil 8 are used to control the action of the toothed clutch; and the controller 11 is used to control the motor speed, motor torque, and excitation current of the electromagnetic coil.

[0134] Furthermore, to achieve the above objectives, the present invention also proposes a control architecture for a toothed clutch in an electric vehicle.

[0135] Reference Figure 6 , Figure 6 This is a control architecture diagram of the toothed clutch for electric vehicles according to the present invention.

[0136] The control device architecture of the electric vehicle toothed clutch includes: a toothed clutch status management module 10, a motor control management module 20, and a toothed clutch control management module 30;

[0137] The toothed clutch state management module 10 is used to determine the toothed clutch state based on the coupling request state, toothed clutch position, tire speed and motor speed.

[0138] The motor control management module 20 is used to control the motor speed and motor torque according to the state of the toothed clutch.

[0139] The toothed clutch control management module 30 is used to set the solenoid valve excitation current according to the coupling request status and the actual position of the toothed clutch, and control the toothed clutch operation by outputting the solenoid valve excitation current.

[0140] Understandably, the state of the toothed clutch can be determined based on the coupling request status, the position of the toothed clutch, the tire speed, and the motor speed. The toothed clutch state can be divided into toothed clutch stages such as after coupling, drive torque, initialization, torque cancellation, decoupling, decoupling completion, synchronization, coupling, and convergence.

[0141] Understandably, in order to ensure smooth coupling and decoupling of the toothed clutch, different motor torque control and motor speed control are required for different stages.

[0142] Understandably, in order for the toothed clutch to perform coupling and decoupling actions, it is necessary to control the action of the toothed clutch by controlling the excitation current of the solenoid valve.

[0143] Reference Figure 10 , Figure 10 This is a graph showing the torque convergence gradient control.

[0144] Reference Figure 11 , Figure 11 Torque control diagram for the decoupling process;

[0145] In specific implementation, the toothed clutch state management module 10 determines the toothed clutch state based on the coupling request state, the toothed clutch position, the tire speed, and the motor speed; the motor control management module 20 controls the motor speed and motor torque accordingly based on the toothed clutch state; and the toothed clutch control management module 30 sets the solenoid valve excitation current based on the coupling request state and the actual position of the toothed clutch, and controls the toothed clutch action by outputting the solenoid valve excitation current.

[0146] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A control method for a toothed clutch in an electric vehicle, characterized in that, The control method for the electric vehicle toothed clutch includes: Detect clutch commands, which include coupling commands and decoupling commands; When a coupling command is detected, the motor speed is adjusted to match the tire speed. When the motor speed matches the tire speed, the solenoid valve excitation current is adjusted to control the coupling of the toothed clutch. During the coupling process, the motor speed is adjusted by controlling the motor torque until coupling is completed; The steps of adjusting the motor speed by controlling the motor torque until coupling is completed during the coupling process specifically include: Set the target rotational speed for coupling based on tire speed; The motor torque traction term is determined based on the motor torque, motor inertia, and motor speed. The target motor torque is determined based on the motor torque traction term, the motor proportional motor torque term, and the motor internal resistance compensation motor torque term to make the coupling process smoother. The motor proportional motor torque term is set based on the synchronous target speed to optimize and distinguish between vehicle stopping and vehicle driving conditions. The motor internal resistance compensation motor torque term is used to eliminate the motor torque of natural deceleration. By adjusting the motor torque to the target motor torque, the motor speed is controlled to stabilize at the coupling target speed until coupling is completed.

2. The control method for the toothed clutch of an electric vehicle as described in claim 1, characterized in that, The step of adjusting the motor speed to match the tire speed when a coupling command is detected specifically includes: Upon detecting a coupling command, a synchronous speed is set based on the tire speed before coupling; Adjust the motor speed according to the synchronous speed; When the speed difference between the synchronous speed and the motor speed is less than a preset speed difference and the duration of the speed difference is consistent with the confirmation time map, the motor speed is considered to match the tire speed.

3. The control method for the toothed clutch of an electric vehicle as described in claim 1, characterized in that, The step of controlling the coupling of the toothed clutch by adjusting the solenoid valve excitation current and the motor torque when the motor speed matches the tire speed specifically includes: The excitation current of the solenoid valve is determined by the position of the toothed clutch, the target synchronous speed of the tire, and the allowable range of difference between the tire speed and the motor speed. The toothed clutch is started to couple by outputting the excitation current of the solenoid valve.

4. The control method for the toothed clutch of an electric vehicle as described in claim 1, characterized in that, Following the step of detecting the clutch command, wherein the clutch command includes a coupling command and a decoupling command, the method further includes: Upon receiving a decoupling command, the motor torque is controlled to decrease to within the preset permissible range of motor torque for decoupling. When the motor torque drops to within the decoupling preset motor torque allowable range, the decoupling of the toothed clutch is initiated by adjusting the excitation current of the solenoid valve; During the decoupling process of the toothed clutch, the power transmission between the engagement and disengagement of the toothed clutch is canceled by controlling the motor torque; When the power transmission cancellation is completed, it is determined that the toothed clutch has been decoupled.

5. The control method for the toothed clutch of an electric vehicle as described in claim 4, characterized in that, The step of controlling the motor torque to decrease upon receiving a decoupling command specifically includes: Upon receiving a decoupling instruction, obtain the driver's requirements; Match the appropriate motor torque convergence gradient according to the driver's needs and driving conditions. The motor torque decreases according to the motor torque convergence gradient.

6. The control method for the toothed clutch of an electric vehicle as described in claim 4, characterized in that, The step of determining that the toothed clutch decoupling is complete when the power transmission cancellation is completed specifically includes: The open / closed state of the toothed clutch is detected by a toothed clutch position sensor; When the toothed clutch is in the open state, the decoupling of the toothed clutch is confirmed to be complete.

7. The control method for a toothed clutch in an electric vehicle as described in claim 4, further comprising, after the step of determining that the toothed clutch decoupling is complete: The motor torque is controlled to be 0 to prevent the toothed clutch from failing to decouple unexpectedly. When the motor speed drops to the preset range of the inertial control speed, the control of the motor torque is released.

8. A control device for a toothed clutch in an electric vehicle, used for engaging and disengaging the motor and the tire; characterized in that, The control device for the electric vehicle toothed clutch is used to execute the control method for the electric vehicle toothed clutch according to any one of claims 1 to 7. The control device for the electric vehicle toothed clutch includes: a motor speed sensor, a drive shaft, toothed clutch connecting teeth, a return disc spring, toothed clutch engagement teeth, an electromagnetic coil, a wheel speed sensor, a position sensor, and a motor controller. The motor speed sensor is fixed to the motor side and connected to the motor controller; the drive shaft is set in the internal cavity of the motor and is connected to the toothed clutch connecting teeth and the tire respectively, for driving the tire to rotate through the motor; the return disc spring is connected to the motor and the toothed clutch engagement teeth respectively; the electromagnetic coil is fixed to the toothed clutch engagement teeth side; the wheel speed sensor is fixed to the tire side and connected to the motor controller; the position sensor is fixed at the meshing point of the toothed clutch connecting teeth and the toothed clutch engagement teeth and connected to the motor controller.

9. A control architecture for a toothed clutch in an electric vehicle, characterized in that, The control architecture of the electric vehicle toothed clutch is used to execute the control method of the electric vehicle toothed clutch according to any one of claims 1 to 7. The control architecture of the electric vehicle toothed clutch includes: a toothed clutch state management module, a motor control management module, and a toothed clutch control management module. The toothed clutch status management module is used to determine the toothed clutch status based on the coupling request status, toothed clutch position, tire speed, and motor speed. The motor control management module is used to control the motor speed and motor torque according to the state of the toothed clutch. The toothed clutch control and management module is used to set the solenoid valve excitation current according to the coupling request status and the actual position of the toothed clutch, and control the toothed clutch operation by outputting the solenoid valve excitation current.

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