Method and system for learning hard dead center position of vehicle disconnection mechanism and vehicle

Abstract

The invention provides a learning method and system for the hard dead center position of a vehicle disconnecting mechanism and a vehicle, and belongs to the technical field of vehicles. The method comprises the steps that a rotating motor is controlled to rotate to drive a shifting fork to move towards the hard dead center position on a synchronizer assembly; first information and second information of the rotating motor in the rotating process and the moving position of the shifting fork are obtained; wherein the first information comprises the rotation direction and the rotation angle, and the second information comprises the working current; based on the first information, the second information and the moving position, locked-rotor detection is conducted on the hard dead center; and based on a detection result, determining whether to exit learning of the hard dead center position. The learning method for the hard dead center position of the vehicle disconnecting mechanism is applied to the disconnecting mechanism, and smooth and reliable gear shifting of the disconnecting mechanism can be guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicles, and in particular relates to a method and system for learning the hard stop position of a vehicle disconnect mechanism, and a vehicle. Background Art

[0002] In the four-wheel drive system of new energy vehicles, the auxiliary drive motor usually adopts a permanent magnet synchronous motor. In order to achieve the best efficiency performance, it is usually necessary to add a disconnect mechanism device to the auxiliary drive permanent magnet synchronous motor power to minimize the energy loss caused by the permanent magnet motor under high-speed rotation. However, the entire dimensional chain of the disconnect mechanism device from the shift assembly, shift fork to the synchronizer is relatively long, which often causes shift jamming and leads to shift failure. Summary of the invention

[0003] In view of the above problems, embodiments of the present application provide a method, system and vehicle for learning the hard stop position of a vehicle disconnect mechanism, so as to overcome the above problems or at least partially solve the above problems.

[0004] In a first aspect of an embodiment of the present application, a method for learning a hard stop position of a vehicle disconnect mechanism is provided, wherein the disconnect mechanism comprises a rotating motor, a shift fork and a synchronizer assembly connected in sequence, and the learning method comprises:

[0005] Controlling the rotary motor to rotate and drive the shift fork to move toward the hard stop position on the synchronizer assembly;

[0006] Acquire first information and second information of the rotating motor during rotation, and the moving position of the shift fork; wherein the first information includes the rotation direction and the rotation angle, and the second information includes the working current;

[0007] Based on the first information, the second information and the movement position, performing a stall detection on the hard stop;

[0008] Based on the detection result, it is determined whether to exit the learning of the hard stop position.

[0009] Further, the performing stall detection on the hard stop point based on the first information, the second information and the moving position includes:

[0010] Based on the first information, determine the target rotation angle and rotation angle change rate of the rotary motor; wherein the target rotation angle is the rotation angle at which the rotary motor drives the shift fork to reach the hard stop position; and the rotation angle change rate is the rotation angle difference between the Hall position of the rotary motor in the current cycle and the Hall position of the previous cycle;

[0011] Based on the target rotation angle and the rotation angle change rate, performing a first stall detection on the rotating electrical machine;

[0012] Based on the second information and the rotation angle change rate, performing a second stall detection on the rotating electrical machine;

[0013] performing a sticking detection on the shift fork based on a difference between the shift position and the hard stop position;

[0014] Based on the first stall detection, the second stall detection and the sticking detection, a stall detection is performed on the hard stop.

[0015] Further, the performing the first stall detection on the rotating motor based on the target rotation angle and the rotation change rate includes:

[0016] Determining whether the rotation angle change rate is lower than a preset angle change rate during the rotation of the rotating motor, and whether the rotating motor rotates to reach the target rotation angle;

[0017] When the rotation angle change rate is lower than the preset angle change rate and the rotating electric machine has not rotated to reach the target rotation angle, it is determined that the motor has a first stall.

[0018] Further, performing a second stall detection on the rotating motor based on the second information and the rotation angle change rate includes:

[0019] Determining a current rotation angle change rate and a current operating current of the rotating motor based on the second information and the rotation angle change rate;

[0020] When the current rotation angle change rate is lower than the preset angle change rate and the current operating current is greater than the preset operating current, it is determined that the rotating motor has a second stall; wherein the preset operating current corresponds to the maximum driving force of the rotating motor.

[0021] Further, the performing a stuck detection on the shift fork based on the difference between the moving position and the hard stop position includes:

[0022] Determine whether the moving position is within a preset range; wherein the preset range is a region that does not include a hard stop position, and within the preset range, the shift fork cannot complete the gear shift;

[0023] When the moving position is within the preset range, determining that the shift fork is stuck;

[0024] When the moving position is not within the preset range, it is determined that the shift fork is not stuck.

[0025] Furthermore, before determining whether to exit the learning of the hard stop position based on the detection result, the method further includes:

[0026] determining whether a sensor of the shift fork is faulty;

[0027] The determining whether to exit the learning of the hard stop position based on the detection result includes:

[0028] In the event of a failure of the sensor, determining whether to exit the learning of the hard stop position based on the results of the first stall detection and the second stall detection;

[0029] In a case where the sensor is not faulty, whether to exit the learning of the hard stop position is determined based on the results of the first and second stall detections and the sticking detection.

[0030] Further, the determining whether to exit the learning of the hard stop position based on the results of the first stall detection and the second stall detection includes:

[0031] When the result of the first stall detection indicates that the rotating electrical machine does not experience a first stall, and / or the result of the second stall detection indicates that the rotating electrical machine does not experience a second stall, continuing the learning and acquiring a learning result;

[0032] When the result of the first stall detection indicates that the rotating electrical machine has a first stall, and the result of the second stall detection indicates that the rotating electrical machine has a second stall, the learning is exited and fault information is generated.

[0033] Further, based on the results of the first stall detection, the second stall detection, and the stuck detection, determining whether to exit the learning of the hard stop position includes:

[0034] When the result of the first stall detection indicates that the rotating motor does not have a first stall, or the result of the second stall detection indicates that the rotating motor does not have a second stall, or the result of the jam detection indicates that the shift fork does not have a jam, continue the learning and obtain a learning result;

[0035] When the result of the first stall detection indicates that the rotating electrical machine has a first stall, the result of the second stall detection indicates that the rotating electrical machine has a second stall, and the result of the sticking detection indicates that the shift fork has stuck, the learning is exited and fault information is generated.

[0036] In a second aspect of an embodiment of the present application, a learning system for a hard stop position of a vehicle disconnect mechanism is provided, wherein the disconnect mechanism comprises a rotating motor, a shift fork and a synchronizer assembly connected in sequence, and the learning system comprises:

[0037] A control module, used for controlling the rotary motor to rotate and drive the shift fork to move toward a hard stop position on the synchronizer assembly;

[0038] An acquisition module, used to acquire first information and second information of the rotating motor during rotation, and a moving position of the shift fork; wherein the first information includes a rotation direction and a rotation angle, and the second information includes a working current;

[0039] a detection module, configured to perform a stall detection on the hard stop point based on the first information, the second information and the moving position;

[0040] A determination module is used to determine whether to exit the learning of the hard stop position based on the detection result.

[0041] Furthermore, the detection module includes:

[0042] a first detection module, configured to determine a target rotation angle and a rotation angle change rate of the rotary motor based on the first information; wherein the target rotation angle is a rotation angle at which the rotary motor drives the shift fork to reach the hard stop position; and the rotation angle change rate is a rotation angle difference between a Hall position of a current cycle of the rotary motor and a Hall position of a previous cycle;

[0043] Based on the target rotation angle and the rotation angle change rate, performing a first stall detection on the rotating electrical machine;

[0044] Based on the second information and the rotation angle change rate, performing a second stall detection on the rotating electrical machine;

[0045] performing a sticking detection on the shift fork based on a difference between the shift position and the hard stop position;

[0046] Based on the first stall detection, the second stall detection and the sticking detection, a stall detection is performed on the hard stop.

[0047] Furthermore, the first detection module includes:

[0048] A first determination module is used to determine whether the rotation angle change rate is lower than a preset angle change rate during the rotation of the rotating motor, and whether the rotating motor rotates to reach the target rotation angle;

[0049] When the rotation angle change rate is lower than the preset angle change rate and the rotating electric machine has not rotated to reach the target rotation angle, it is determined that the motor has a first stall.

[0050] Furthermore, the first detection module includes:

[0051] A second determination module, configured to determine a current rotation angle change rate and a current operating current of the rotating motor based on the second information and the rotation angle change rate;

[0052] When the current rotation angle change rate is lower than the preset angle change rate and the current operating current is greater than the preset operating current, it is determined that the rotating motor has a second stall; wherein the preset operating current corresponds to the maximum driving force of the rotating motor.

[0053] Furthermore, the first detection module includes:

[0054] A third determination module is used to determine whether the moving position is within a preset range; wherein the preset range is an area range that does not include a hard stop position, and within the preset range, the shift fork cannot complete the gear shift;

[0055] When the moving position is within the preset range, determining that the shift fork is stuck;

[0056] When the moving position is not within the preset range, it is determined that the shift fork is not stuck.

[0057] Furthermore, the first detection module further includes:

[0058] A fourth detection module, used to determine whether a sensor of the shift fork is faulty;

[0059] The determining whether to exit the learning of the hard stop position based on the detection result includes:

[0060] In the event of a failure of the sensor, determining whether to exit the learning of the hard stop position based on the results of the first stall detection and the second stall detection;

[0061] In a case where the sensor is not faulty, whether to exit the learning of the hard stop position is determined based on the results of the first and second stall detections and the sticking detection.

[0062] Furthermore, the fourth determining module includes:

[0063] A first reporting module, configured to continue the learning and obtain a learning result when the result of the first stall detection indicates that the rotating motor does not experience a first stall, and / or the result of the second stall detection indicates that the rotating motor does not experience a second stall;

[0064] When the result of the first stall detection indicates that the rotating electrical machine has a first stall, and the result of the second stall detection indicates that the rotating electrical machine has a second stall, the learning is exited and fault information is generated.

[0065] Furthermore, the fourth determining module includes:

[0066] A second reporting module, configured to continue the learning and obtain a learning result when the result of the first stall detection indicates that the rotating motor does not have a first stall, or the result of the second stall detection indicates that the rotating motor does not have a second stall, or the result of the jam detection indicates that the shift fork does not have a jam;

[0067] When the result of the first stall detection indicates that the rotating electrical machine has a first stall, the result of the second stall detection indicates that the rotating electrical machine has a second stall, and the result of the sticking detection indicates that the shift fork has stuck, the learning is exited and fault information is generated.

[0068] According to a third aspect of an embodiment of the present invention, a vehicle is provided, wherein the vehicle includes the learning system as described in the second aspect of the embodiment.

[0069] A learning method for the hard stop position of a vehicle disconnect mechanism provided by the present embodiment controls the rotating motor to rotate and drive the shift fork to move to the hard stop position on the synchronizer assembly, and obtains the first information and the second information of the rotating motor during the rotation process, as well as the moving position of the shift fork. The working state of the rotating motor can be monitored according to the rotation direction and the rotation angle of the rotating motor, as well as the working current, to determine whether a stall occurs. At the same time, the moving position of the shift fork can also be used to determine whether a stall occurs. Finally, the stall state of the rotating motor and the stall state of the shift fork can be used to more accurately determine whether the self-learning process of the hard stop position is smooth. If not, the learning process of the hard stop position is exited. If it is smooth, the learning process does not exit. At this time, continuing to learn can accurately obtain the learning result of the hard stop position. Through the learning result, it can be known that the shift fork will not get stuck when it moves to the hard stop position, and it can also switch smoothly when switching gears. In the case of exiting, the fault information is uploaded.

[0070] By driving the rotating motor to move the shift fork to the hard stop position of the synchronizer assembly, we can collect real-time information such as the rotating motor's rotation direction, angle, and operating current. At the same time, by monitoring the shift fork's movement position, we can fully monitor the rotating motor's working status and promptly detect whether there is a stall. At the same time, the shift fork's movement is also accurately recorded to determine whether it reaches the hard stop position smoothly, thereby avoiding jamming.

[0071] The learning effect of the hard stop position can be more accurately evaluated by combining the status information of the rotating motor and the shift fork. If the test results show that the motor runs smoothly and the shift fork is not stuck, then during the shift operation, the shift fork can also smoothly complete the gear shift, ensuring the smoothness and reliability of the vehicle shifting. On the contrary, if the rotating motor is detected to be stuck or the shift fork is stuck, the learning of the hard stop position will be exited and the fault information will be quickly reported so that appropriate maintenance or adjustment measures can be taken. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0073] Figure 1 It is a structural schematic diagram of a disconnection mechanism provided by the relevant technology;

[0074] Figure 2 is a flow chart of the steps of a learning method provided by an embodiment of the present application;

[0075] Figure 3 is a flowchart of the steps of a self-learning process of a disconnection mechanism provided in an embodiment of the present application;

[0076] Figure 4 It is a schematic diagram of a learning system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0077] The exemplary embodiments of the present application will be described in more detail below in conjunction with the accompanying drawings in the embodiments of the present application. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to enable the scope of the present application to be fully conveyed to those skilled in the art.

[0078] Reference Figure 1 , Figure 1 It is a structural diagram of a disconnection mechanism provided by the relevant technology. Figure 1The disconnect mechanism is located on the intermediate shaft of the three-in-one electric axle reduction gearbox. The disconnect mechanism has only N gear and 1 gear. N gear represents the gear position where the intermediate shaft gear of the reduction gearbox is disengaged from the intermediate shaft, that is, Figure 1 The shift fork in the gearbox moves to the hard stop position of the N gear of the synchronizer assembly. The 1st gear represents the hard connection between the intermediate shaft gear of the reduction gearbox and the intermediate shaft through the synchronizer, that is, Figure 1 The shift fork in the synchronizer moves to the hard stop position of the 1st gear of the synchronizer assembly, thereby realizing the power transmission of the control motor.

[0079] Since the disconnect mechanism will be worn during the use of the vehicle, and the entire dimensional chain of the disconnect mechanism is long, it is easy for gear shifting to get stuck. In order to prevent the gear positioning of the disconnect mechanism from being misaligned during the driving of the vehicle, the disconnect mechanism is required to determine the gear position through self-learning every time the vehicle is powered on or awakened from sleep.

[0080] However, in the process of self-learning, the process often gets stuck and the hard stop point is misjudged, resulting in actual failure to learn, leading to gear shift failure.

[0081] In view of this, the present embodiment provides a method for learning the hard stop position of a vehicle disconnect mechanism, which solves the above problem by detecting the hard stop stall by using information such as the moving position of the shift fork and the rotation angle and rotation direction of the rotating motor and the working current of the rotating motor.

[0082] Reference Figure 2 , Figure 2 is a flow chart of the steps of a learning method provided by an embodiment of the present application; Figure 2 The step flow includes a method for learning the hard stop position of a vehicle disconnect mechanism, wherein the disconnect mechanism includes a rotating motor, a shift fork and a synchronizer assembly connected in sequence, and the step flow of the learning method includes:

[0083] Step S201: controlling the rotary motor to rotate and drive the shift fork to move toward the hard stop position on the synchronizer assembly.

[0084] In this embodiment, the disconnection mechanism includes a rotating motor connected in sequence to correspond to Figure 1 The shift motor and shift fork correspond to Figure 1 The shift fork and synchronizer assembly correspond to Figure 1 The synchronizer assembly in the vehicle will automatically start self-learning of the disconnect mechanism when the vehicle's battery is powered on or the vehicle is in a dormant state. The self-learning is to enable the driver to accurately control the shift fork in the disconnect mechanism to move the hard stop position on the synchronizer assembly corresponding to the current vehicle condition according to the needs of the current vehicle condition during the driving process of the vehicle, so as to ensure successful gear shifting.

[0085] There are two hard stop positions on the synchronizer assembly, and the two hard stop positions correspond to different gears, namely N gear and 1 gear. The self-learning process is that the rotating motor drives the shift fork to move from N gear to 1 gear, and from 1 gear to N gear. Through the results of self-learning, the hard stop position of the disconnect mechanism when switching gears can be determined. During the self-learning process, it can also be determined whether the disconnect mechanism will be stuck, resulting in self-learning failure, and self-learning can be stopped to avoid gear shifting failure.

[0086] The output shaft of the rotary motor is connected to the shift fork, and the position of the shift fork can be moved by the rotation of the rotary motor. The forward and reverse rotation of the rotary motor can drive the shift fork to move toward the hard stop position corresponding to different gears. For example: if the rotary motor rotates clockwise, the drive fork moves from N gear to 1 gear, and the rotary motor rotates counterclockwise, and the drive fork moves from 1 gear to N gear. Therefore, in the self-learning of the disconnecting mechanism, it is necessary to control the rotary motor to rotate and drive the shift fork to move to the hard stop position on the synchronizer assembly.

[0087] Step S202: acquiring first information and second information of the rotating motor during rotation, and the moving position of the shift fork; wherein the first information includes the rotation direction and the rotation angle, and the second information includes the operating current.

[0088] In this embodiment, since it is necessary to determine whether the gear shifting will be stuck during the self-learning process of the disconnecting mechanism, it is necessary to monitor the status of the rotating motor and the shift fork in real time. Therefore, during the rotation of the rotating motor, it is necessary to obtain the rotation direction, rotation angle and working current of the rotating motor. The rotation direction and rotation angle of the rotating motor can help determine whether the rotating motor rotates in the expected direction and angle. The abnormal increase of the current can indicate that the motor is overloaded or blocked by the working current of the rotating motor. Since any deviation or stagnation may affect the smoothness of the gear shifting, it is also necessary to monitor whether the moving position of the shift fork can be smoothly moved to the predetermined position to determine.

[0089] Step S203: Based on the first information, the second information and the moving position, performing a stall detection on the hard stop point.

[0090] In this embodiment, the state of the rotating motor and the state of the shift fork during the self-learning process of the disconnect mechanism can be obtained through the first information, the second information and the moving position, and the hard stop point is detected through the state of the rotating motor and the state of the shift fork.

[0091] Specifically, the direction of rotation and the angle of rotation in the first information and the operating current in the second information can be used to determine whether the motor is rotating normally or is stuck. For example, if the current rises abnormally and the angle of rotation does not change accordingly, it may indicate that the motor is stuck. The shift position of the shift fork can be used to detect whether the shift fork can successfully reach the hard stop position. If the shift position is not as expected, it may indicate a jam or synchronization problem.

[0092] Step S204: Based on the detection result, determine whether to exit the learning of the hard stop position.

[0093] In this embodiment, the result of the hard stop point jam detection is obtained by judging the state of the rotating motor and the moving position of the shift fork in step S203. According to the detection result, it is determined whether the rotating motor is jammed and whether the shift fork is stuck when the rotating motor rotates to drive the shift fork to move to the hard stop point position on the synchronizer assembly. This can more accurately determine whether the hard stop point position self-learning process is smooth. If not, the hard stop point position learning process is exited. If successful, the learning process is not exited and learning is continued. The learning result of the hard stop point position can be accurately obtained. Through the learning result, it can be known that the shift fork will not get stuck when it moves to the hard stop point position, and the gear can be switched smoothly. In the case of exiting, fault information is uploaded.

[0094] In the case of detecting and judging to exit the learning of the hard stop point position, if learning continues, the final learning result will be inaccurate and smooth gear switching cannot be guaranteed. In this case, the learning of the hard stop point position will be exited and a fault message will be generated.

[0095] Through the learning method of the hard stop position of the vehicle disconnect mechanism provided in this embodiment, it is possible to combine the status of the rotating motor and the shift fork to more accurately determine whether to exit the learning of the hard stop position. If the test result shows that the rotating motor is not blocked or the shift fork is not stuck, then during the gear shifting process, the shift fork will be able to smoothly switch gears, ensuring the smoothness and reliability of the vehicle's gear shifting process. If the test result shows that the rotating motor is blocked and the shift fork is stuck, the disconnect mechanism will automatically exit the learning process and immediately upload the generated fault information.

[0096] In a specific embodiment, when performing stall detection on the hard stop point based on the first information, the second information and the moving position, the following steps may be included:

[0097] First, based on the first information, the target rotation angle and the rotation angle change rate of the rotating motor are determined; wherein the target rotation angle is the rotation angle of the rotating motor to drive the shift fork to reach the hard stop position; the rotation angle change rate is the rotation angle difference between the Hall position of the current cycle and the Hall position of the previous cycle of the rotating motor; then, based on the target rotation angle and the rotation angle change rate, a first stall detection is performed on the rotating motor; then, based on the second information and the rotation angle change rate, a second stall detection is performed on the rotating motor; and based on the difference between the moving position and the hard stop position, a jam detection is performed on the shift fork; finally, based on the first jam detection, the second jam detection and the jam detection, a jam detection is performed on the hard stop.

[0098] In this embodiment, after the rotation direction of the rotating motor is determined, the target rotation angle of the rotating motor can be known. The target rotation angle is a specific angle that the rotating motor needs to rotate to drive the shift fork to reach the hard stop position. If the rotation angle of the rotating motor cannot reach the target rotation angle, the shift fork may not be driven to reach the hard stop position, resulting in inaccurate stall detection at the hard stop.

[0099] The rotation angle change rate reflects the change of the rotation speed of the rotating motor, which is obtained by comparing the rotation angle difference between the Hall position in the current cycle and the previous cycle. Since in the self-learning process of the disconnecting mechanism, the default is to switch from 1st gear to N gear, and from N gear to 1st gear. This process is a continuous process, so the rotating motor is also in a state of uniform rotation. Therefore, the change of the rotation speed of the rotating motor can be reflected by the rotation angle change rate of the rotating motor. It is obtained by comparing the rotation angle difference between the Hall position in the current cycle and the previous cycle. In the process of obtaining the rotation angle change rate of the rotating motor, since the rotating motor may be blocked at different positions, or the rotating motor may be blocked during the entire rotation process, in order to avoid misjudgment, you can choose to obtain the rotation angle difference between the Hall position in the current cycle and the previous cycle multiple times, and jointly judge the state of the rotating motor during a continuous period of time during the rotation process. If the rotation angle change rate obtained multiple times is lower than the preset rotation angle change rate, it indicates that the rotating motor is blocked.

[0100] Therefore, the first stall detection of the rotating electric machine can be performed through the target rotation angle and the rotation angle change rate.

[0101] The rotating motor is driven to rotate by outputting a working current to the rotating motor. The magnitude of the mechanical force that drives the rotating motor to rotate is related to the magnitude of the working current. Generally, the larger the working current is, the greater the driving force that drives the rotating motor to rotate is. Therefore, during the rotation of the rotating motor, the working current may be too low, resulting in an inability to smoothly drive the rotating motor to rotate. Therefore, when it is determined through the first information that the rotating motor is stalled, in order to increase the accuracy of the judgment, the current working current of the rotating motor can also be obtained, and the magnitude of the driving force that currently drives the rotating motor to rotate is determined through the magnitude of the current working current. If the driving force corresponding to the working current is already greater than the maximum driving force that drives the rotating motor to rotate, it can be determined that the rotating motor is stalled.

[0102] At the same time, based on the difference between the shift fork's moving position and the hard stop position, the shift fork is detected for sticking. When the rotation angle of the rotary motor has reached the target rotation angle, but the shift fork has not moved to the hard stop position, or the difference between the shift fork and the hard stop position is too large, shift failure may also occur.

[0103] Therefore, the first and second stall detections of the rotating electrical machine and the sticking detection of the shift fork are performed.

[0104] In a specific embodiment, when performing the first stall detection on the rotating electrical machine based on the target rotation angle and the rotation change rate, the following steps may be included:

[0105] First, determine whether the rotation angle change rate of the rotating motor is lower than the preset angle change rate during rotation, and whether the rotating motor rotates to reach the target rotation angle; then, if the rotation angle change rate is lower than the preset angle change rate and the rotating motor does not rotate to reach the target rotation angle, determine that the motor has a first stall.

[0106] In this embodiment, the first stall detection of the rotating motor needs to determine whether the rotation angle change rate of the rotating motor is lower than the preset angle change rate during the rotation of the rotating motor. If it is lower, it can be determined that the rotation speed of the rotating motor during the rotation is relatively slow. The slow rotation speed may be due to insufficient motor input voltage or current, but it cannot be determined that the rotating motor is stalled. In order to ensure the accuracy of the first stall detection, it is also necessary to determine whether the rotating motor can reach the target rotation angle. If the rotating motor can reach the target rotation angle, it is possible to drive the shift fork to move to the hard stop position. If the rotation angle change rate of the rotating motor is lower than the preset angle change rate, and the rotating motor has not rotated to reach the target rotation angle, it is determined that the rotating motor has the first stall. In this embodiment, the preset angle change rate can be set according to the rotation performance of the rotating motor itself, and this embodiment does not limit it.

[0107] In a specific embodiment, when performing a second stall detection on the rotating electrical machine based on the second information and the rotation angle change rate, the following steps may be included:

[0108] First, based on the second information and the rotation angle change rate, the current rotation angle change rate and the current working current of the rotating motor are determined; then, when the current rotation angle change rate is lower than the preset angle change rate and the current working current is greater than the preset working current, it is determined that the rotating motor has a second stall; wherein the preset working current corresponds to the maximum driving force of the rotating motor.

[0109] In this embodiment, the operating state of the rotating motor can be evaluated by monitoring the angle change rate of the rotating motor. The preset angle change rate is the angle change rate at which the rotating motor is driven to rotate by the driving force. If the current rotation angle change rate of the motor reaches or exceeds the preset angle change rate, it indicates that the rotating motor is operating normally and no stall occurs.

[0110] However, when the current rotation angle change rate is lower than the preset angle change rate, it may be due to motor stalling or insufficient driving force. In order to avoid the problem of the non-rotating motor itself causing the current rotation angle change rate to be lower than the preset angle change rate, it is also necessary to determine the current working current of the rotating motor based on the second information. When the working current of the rotating motor exceeds the preset working current, it can be ruled out that the stall of the rotating motor is not caused by too small working current. Therefore, when the current rotation angle change rate is zero and the current working current is greater than the preset working current, it is determined that the rotating motor has a second stall.

[0111] In a specific embodiment, when the fork is stuck and detected based on the difference between the moving position and the hard stop position, the following steps may be included:

[0112] First, it is determined whether the moving position is within a preset range; wherein the preset range is an area range that does not include the hard stop position, and within the preset range, the shift fork cannot complete the gear switching; then, if the moving position is within the preset range, it is determined that the shift fork is stuck; if the moving position is not within the preset range, it is determined that the shift fork is not stuck.

[0113] In this embodiment, the shift fork needs to move to the corresponding hard stop position to switch between N gear and 1 gear smoothly. N gear and 1 gear have different hard stop positions respectively. If the shift fork cannot move to the hard stop position, it can be determined that the shift fork is stuck. Since N gear and 1 gear each correspond to different hard stop positions, it is assumed that the hard stop position of 1 gear is 55 and the hard stop position of N gear is 80. 55 represents the maximum hard stop position that the shift fork can reach when it moves to 1 gear, and 80 is the minimum hard stop position when the shift fork is switched to N gear. Then 55 to 80 is the preset range. When the moving position of the shift fork is within the preset range, the shift fork cannot be smoothly switched to N gear or 1 gear. If the position of the shift fork falls outside this preset range, that is, less than 55 or greater than 80, it can be determined that the shift fork is not stuck and the gear can be switched normally. If the position of the shift fork is between 55 and 80, that is, within the preset range, it can be determined that the shift fork is stuck. The specific value of the preset range can be adjusted and determined according to the actual structure and performance of the disconnect mechanism.

[0114] In a specific embodiment, before determining whether to exit the learning of the hard stop position based on the detection result, the learning result may be appropriately adjusted according to the working state of the sensor at the fork, specifically including the following steps:

[0115] First, determine whether the sensor of the shift fork is faulty; then, in the event of a fault in the sensor, determine whether to exit the learning of the hard stop position based on the results of the first and second stall detections; and in the event of a fault in the sensor, determine whether to exit the learning of the hard stop position based on the results of the first and second stall detections and the sticking detection.

[0116] In this embodiment, before determining whether to exit the learning of the hard stop position based on the detection results, it is also necessary to determine whether the sensor of the shift fork is faulty. If the sensor of the shift fork is faulty, the moving position of the shift fork will be inaccurately identified, or the moving position of the shift fork cannot be identified. Therefore, in the case of a faulty sensor of the shift fork, only the results of the first stall detection and the second stall detection can be relied on to analyze the rotation state and working current of the rotating motor to perform a stall detection on the hard stop position to determine the information of the hard stop position. If the sensor of the shift fork is not faulty, in addition to using the results of the first stall detection and the second stall detection, the jam detection result of the shift fork is also included. In order to comprehensively consider the rotation state of the rotating motor, the working current and the moving state of the shift fork to determine the accurate information of the hard stop position.

[0117] In a specific embodiment, when determining whether to exit the learning of the hard stop position based on the results of the first stall detection and the second stall detection, the following steps may be included:

[0118] First, when the result of the first jam detection indicates that the rotating motor has not experienced the first jam, and / or the result of the second jam detection indicates that the rotating motor has not experienced the second jam, continue the learning and obtain the learning result; then, when the result of the first jam detection indicates that the rotating motor has experienced the first jam, and the result of the second jam detection indicates that the rotating motor has experienced the second jam, exit the learning and generate fault information.

[0119] In this embodiment, if the result of the first jam detection indicates that the rotating motor is not jammed, or the result of the second jam detection indicates that the rotating motor is not jammed, it can be determined that the rotating motor is not jammed, and it is determined that the vehicle can switch gears smoothly, then learning continues to obtain the learning result of the hard stop position.

[0120] When the result of the first stall detection indicates that the rotating electrical machine is stalled, and the result of the second stall detection indicates that the rotating electrical machine is stalled, fault information is generated and the learning of the hard stop position is exited.

[0121] In a specific embodiment, when determining whether to exit the learning of the hard stop position based on the results of the first stall detection, the second stall detection, and the stuck detection, the following steps may be included:

[0122] First, when the result of the first jam detection indicates that the rotating motor has not experienced the first jam, or the result of the second jam detection indicates that the rotating motor has not experienced the second jam, or the result of the sticking detection indicates that the shift fork has not been stuck, continue the learning and obtain the learning result; then, when the result of the first jam detection indicates that the rotating motor has experienced the first jam, the result of the second jam detection indicates that the rotating motor has experienced the second jam, and the result of the sticking detection indicates that the shift fork has been stuck, exit the learning and generate fault information.

[0123] In this embodiment, when the result of the first stall detection indicates that the rotating motor is not stalled, or the result of the second stall detection indicates that the rotating motor is stalled, or the result of the jam detection indicates that the shift fork is not jammed, the learning is continued and the learning result is obtained. When the result of the first stall detection indicates that the rotating motor is stalled, the result of the second stall detection indicates that the rotating motor is stalled, and the result of the jam detection indicates that the shift fork is jammed, a fault message is generated and the learning of the hard stop position is exited.

[0124] For example, the following will refer to Figure 3 The self-learning process of the disconnection mechanism provided in this embodiment is described in detail:

[0125] Figure 3 is a flowchart of the steps of a self-learning process of a disconnection mechanism provided in an embodiment of the present application,

[0126] Step S301: disconnect mechanism self-learning. When the vehicle is powered on, the rotary motor is started to rotate and drive the shift fork to move to the hard stop position on the synchronizer assembly, and the disconnect mechanism gear position is self-learned. During the learning process, the rotation direction, rotation angle, working current of the rotary motor and the moving position of the shift fork are obtained in real time.

[0127] Step S302: After obtaining the rotation direction, rotation angle, working current and shift position of the rotating motor, the following conditions are determined:

[0128] First, determine whether the rotation angle change rate of the rotating motor is lower than the preset angle change rate. Specifically, it can be measured five times. If the position of the rotating motor no longer changes or the rotation speed is too slow, it can be determined that the rotating motor is in a blocked or stuck state.

[0129] Second, determine whether the rotation angle of the rotating motor is inconsistent with the target rotation. If not, the rotating motor cannot rotate and the driving fork reaches the hard stop position, and it can also be determined that the rotating motor is in a blocked or stuck state.

[0130] Third, determine whether the current working current of the rotating motor is greater than the preset working current. During the rotation of the rotating motor, the current of the rotating motor will gradually increase to the current threshold. If it is greater than, the current driving force of the rotating motor has exceeded the maximum value, and the rotating motor is determined to be in a stalled or stuck state.

[0131] Fourth, determine whether the shift fork movement position is within the preset range. Generally, the hard stop position corresponding to N gear is 55, and the hard stop position corresponding to 1 gear is 80. If the movement position is within the range of 55-80, it means that the shift fork may not be able to reach the hard stop position, and the gear switching cannot be achieved. Therefore, when it exceeds the range, it can be determined that the shift fork is stuck during the self-learning process of the disconnect mechanism.

[0132] Therefore, if all the above conditions are met, then jump to step S303. If one of the conditions is not met, the self-learning of the disconnection mechanism can still be performed, and jump to step S304.

[0133] Step S303: Exit the disconnect mechanism self-learning and generate fault information. Since the rotating motor and the shift fork in the disconnect mechanism are faulty, the gear position of the disconnect mechanism self-learning is inaccurate. At this time, the disconnect mechanism self-learning will be exited and the fault information will be reported so that the driver can know the current status of the vehicle's disconnect mechanism in time.

[0134] Step S304: Continue learning and obtain learning results. Without exiting the hard stop position learning, continue learning and obtain the hard stop position learning results. Through the learning results, it can be known that the shift fork will not get stuck when it moves to the hard stop position, and the gear can be switched smoothly when switching.

[0135] This embodiment provides a learning system for the hard stop position of a vehicle disconnect mechanism, wherein the disconnect mechanism includes a rotating motor, a shift fork and a synchronizer assembly connected in sequence, referring to Figure 4 , Figure 4 is a schematic diagram of a learning system provided in an embodiment of the present application, Figure 3 The learning system includes: a control module 401, an acquisition module 402, a detection module 403 and a determination module 404. The functions configured in each module are:

[0136] A control module 401, used for controlling the rotary motor to rotate and drive the shift fork to move to the hard stop position on the synchronizer assembly;

[0137] An acquisition module 402 is used to acquire first information and second information of the rotating motor during rotation, and a moving position of the shift fork; wherein the first information includes a rotation direction and a rotation angle, and the second information includes a working current;

[0138] A detection module 403, configured to perform a stall detection on the hard stop point based on the first information, the second information and the moving position;

[0139] The determination module 404 is configured to determine whether to exit the learning of the hard stop position based on the detection result.

[0140] In this embodiment, the detection module 403 includes:

[0141] A first detection module is used to determine a target rotation angle and a rotation angle change rate of the rotating motor based on the first information; wherein the target rotation angle is the rotation angle at which the rotating motor rotates to drive the shift fork to reach the hard stop position; the rotation angle change rate is the rotation angle difference between the Hall position of the current cycle and the Hall position of the previous cycle of the rotating motor; based on the target rotation angle and the rotation angle change rate, a first stall detection is performed on the rotating motor; based on the second information and the rotation angle change rate, a second stall detection is performed on the rotating motor; based on the difference between the moving position and the hard stop position, a stuck detection is performed on the shift fork; based on the first stall detection, the second stall detection and the stuck detection, a stall detection is performed on the hard stop.

[0142] In this embodiment, the first detection module includes:

[0143] The first determination module is used to determine whether the rotation angle change rate of the rotating motor is lower than the preset angle change rate during rotation, and whether the rotating motor rotates to reach the target rotation angle; when the rotation angle change rate is lower than the preset angle change rate and the rotating motor does not rotate to reach the target rotation angle, it is determined that the motor has a first stall.

[0144] In this embodiment, the first detection module includes:

[0145] The second determination module is used to determine the current rotation angle change rate and the current working current of the rotating motor based on the second information and the rotation angle change rate; when the current rotation angle change rate is lower than the preset angle change rate and the current working current is greater than the preset working current, it is determined that the rotating motor has a second stall; wherein the preset working current corresponds to the maximum driving force of the rotating motor.

[0146] In this embodiment, the first detection module includes:

[0147] A third determination module is configured to determine whether the moving position is within a preset range; wherein the preset range is an area range excluding a hard stop position, within which the shift fork cannot complete the gear shift; if the moving position is within the preset range, it is determined that the shift fork is stuck; if the moving position is not within the preset range, it is determined that the shift fork is not stuck.

[0148] In this embodiment, the first detection module further includes:

[0149] a fourth detection module, for determining whether the sensor of the shift fork is faulty; and determining whether to exit the learning of the hard stop position based on the detection result, comprising: in the case of a fault of the sensor, determining whether to exit the learning of the hard stop position based on the results of the first jam detection and the second jam detection; and in the case of no fault of the sensor, determining whether to exit the learning of the hard stop position based on the results of the first jam detection and the second jam detection and the sticking detection.

[0150] In this embodiment, the fourth determining module includes:

[0151] The first reporting module is used to continue the learning and obtain the learning result when the result of the first jam detection indicates that the rotating motor has not experienced the first jam, and / or the result of the second jam detection indicates that the rotating motor has not experienced the second jam; and to exit the learning and generate fault information when the result of the first jam detection indicates that the rotating motor has experienced the first jam and the result of the second jam detection indicates that the rotating motor has experienced the second jam.

[0152] Furthermore, the fourth determining module includes:

[0153] A second reporting module is used to continue the learning and obtain the learning result when the result of the first jam detection indicates that the rotating motor has not experienced the first jam, or the result of the second jam detection indicates that the rotating motor has not experienced the second jam, or the result of the sticking detection indicates that the shift fork has not been stuck; and to exit the learning and generate fault information when the result of the first jam detection indicates that the rotating motor has experienced the first jam, the result of the second jam detection indicates that the rotating motor has experienced the second jam, and the result of the sticking detection indicates that the shift fork has been stuck.

[0154] This embodiment also provides a vehicle, which includes the learning system described in this embodiment.

[0155] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0156] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods and devices according to the embodiments of 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 the 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 terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal 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.

[0157] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including 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.

[0158] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0159] 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 embodiments of the present invention.

[0160] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0161] The above is a detailed introduction to the learning method, system and vehicle for the hard stop point position of the vehicle disconnect mechanism provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for learning the hard stop position of a vehicle disconnect mechanism, characterized in that: The disconnect mechanism includes a rotating motor, a shift fork and a synchronizer assembly connected in sequence, and the learning method includes: Controlling the rotary motor to rotate and drive the shift fork to move toward the hard stop position on the synchronizer assembly; Acquire first information and second information of the rotating motor during rotation, and the moving position of the shift fork; wherein the first information includes the rotation direction and the rotation angle, and the second information includes the working current; Based on the first information, the second information and the movement position, performing a stall detection on the hard stop; Based on the detection result, it is determined whether to exit the learning of the hard stop position.

2. The learning method according to claim 1, characterized in that: The performing stall detection on the hard stop point based on the first information, the second information and the moving position includes: Based on the first information, determine the target rotation angle and rotation angle change rate of the rotary motor; wherein the target rotation angle is the rotation angle at which the rotary motor drives the shift fork to reach the hard stop position; and the rotation angle change rate is the rotation angle difference between the Hall position of the rotary motor in the current cycle and the Hall position of the previous cycle; Based on the target rotation angle and the rotation angle change rate, performing a first stall detection on the rotating electrical machine; Based on the second information and the rotation angle change rate, performing a second stall detection on the rotating electrical machine; performing a sticking detection on the shift fork based on a difference between the shift position and the hard stop position; Based on the first stall detection, the second stall detection and the sticking detection, a stall detection is performed on the hard stop.

3. The learning method according to claim 2, characterized in that: The performing the first stall detection on the rotating motor based on the target rotation angle and the rotation change rate includes: Determining whether the rotation angle change rate is lower than a preset angle change rate during the rotation of the rotating motor, and whether the rotating motor rotates to reach the target rotation angle; When the rotation angle change rate is lower than the preset angle change rate and the rotating electric machine has not rotated to reach the target rotation angle, it is determined that the motor has a first stall.

4. The learning method according to claim 2, characterized in that: The performing a second stall detection on the rotating electrical machine based on the second information and the rotation angle change rate includes: Determining a current rotation angle change rate and a current operating current of the rotating motor based on the second information and the rotation angle change rate; When the current rotation angle change rate is lower than the preset angle change rate and the current operating current is greater than the preset operating current, it is determined that the rotating motor has a second stall; wherein the preset operating current corresponds to the maximum driving force of the rotating motor.

5. The learning method according to claim 2, characterized in that: The step of detecting the fork from being stuck based on the difference between the moving position and the hard stop position comprises: Determine whether the moving position is within a preset range; wherein the preset range is a region that does not include a hard stop position, and within the preset range, the shift fork cannot complete the gear shift; When the moving position is within the preset range, determining that the shift fork is stuck; When the moving position is not within the preset range, it is determined that the shift fork is not stuck.

6. The learning method according to claim 2, characterized in that: Before determining whether to exit the learning of the hard stop position based on the detection result, the method further includes: determining whether a sensor of the shift fork is faulty; The determining whether to exit the learning of the hard stop position based on the detection result includes: In the event of a failure of the sensor, determining whether to exit the learning of the hard stop position based on the results of the first stall detection and the second stall detection; In a case where the sensor is not faulty, whether to exit the learning of the hard stop position is determined based on the results of the first and second stall detections and the sticking detection.

7. The learning method according to claim 6, characterized in that: The determining whether to exit the learning of the hard stop position based on the results of the first stall detection and the second stall detection includes: When the result of the first stall detection indicates that the rotating electrical machine does not experience a first stall, and / or the result of the second stall detection indicates that the rotating electrical machine does not experience a second stall, continuing the learning and acquiring a learning result; When the result of the first stall detection indicates that the rotating electrical machine has a first stall, and the result of the second stall detection indicates that the rotating electrical machine has a second stall, the learning is exited and fault information is generated.

8. The learning method according to claim 6, characterized in that: Determining whether to exit the learning of the hard stop position based on the results of the first stall detection, the second stall detection, and the stuck detection includes: When the result of the first stall detection indicates that the rotating motor does not have a first stall, or the result of the second stall detection indicates that the rotating motor does not have a second stall, or the result of the jam detection indicates that the shift fork does not have a jam, continue the learning and obtain a learning result; When the result of the first stall detection indicates that the rotating electrical machine has a first stall, the result of the second stall detection indicates that the rotating electrical machine has a second stall, and the result of the sticking detection indicates that the shift fork has stuck, the learning is exited and fault information is generated.

9. A learning system for the hard stop position of a vehicle disconnect mechanism, characterized in that: The disconnect mechanism includes a rotating motor, a shift fork and a synchronizer assembly connected in sequence, and the learning system includes: A control module, used for controlling the rotary motor to rotate and drive the shift fork to move toward a hard stop position on the synchronizer assembly; An acquisition module, used to acquire first information and second information of the rotating motor during rotation, and a moving position of the shift fork; wherein the first information includes a rotation direction and a rotation angle, and the second information includes a working current; a detection module, configured to perform a stall detection on the hard stop point based on the first information, the second information and the moving position; A determination module is used to determine whether to exit the learning of the hard stop position based on the detection result.

10. A vehicle, characterized in that: The vehicle comprises the learning system of claim 9.

Images