Target position calibration method, device and equipment of lead screw gear shifting executing mechanism and storage medium

Abstract

The invention discloses a target position calibration method, device and equipment of a lead screw gear shifting executing mechanism and a storage medium, and relates to the technical field of vehicle gear shifting, and the method comprises the steps that a self-learning signal is responded, and the target bottom dead center position and the target top dead center position of the gear shifting executing mechanism are obtained; based on the target bottom dead center position and the target top dead center position, all target gear positions of the gear shifting executing mechanism are determined; and calibration is performed based on the target bottom dead center position, the target top dead center position and the target gear position to obtain a target position calibration result, so that the accuracy of gearbox hardware installation can be checked after the gearbox is offline, the qualification rate is improved, and hardware wear is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle shifting, and in particular to a target position calibration method, device, equipment and storage medium of a screw-rod shifting actuator. Background Art

[0002] As the core component of the automobile transmission system, the performance of the gearbox directly affects the driving experience and power performance of the car. Among the gear shift actuators of automatic gearboxes, the screw gear shift mechanism is widely used due to its simple structure, long service life, and high precision. However, with the continuous development of automobile technology, the accuracy and response speed of the gear shift mechanism are increasingly required;

[0003] However, there are certain dimensional tolerances when the gearbox hardware is installed offline. At this time, the corresponding target gear position of different gearboxes after installation is also uncertain. In particular, if there is an operational error, it may even cause a large deviation in the target gear position of the gearbox, thus affecting the offline qualified rate of the product. Therefore, the calibration technology of the screw gear shift mechanism has become particularly important.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a method, device, equipment and storage medium for calibrating the target position of a screw gear shift actuator, aiming to solve the technical problem of low accuracy of the calibration technology of the screw gear shift actuator.

[0006] To achieve the above object, the present invention provides a target position calibration method for a screw-type gear shift actuator, the target position calibration method for a screw-type gear shift actuator comprising the following steps:

[0007] In response to the self-learning signal, a target bottom dead center position and a target top dead center position of the shift actuator are obtained;

[0008] Determining each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position;

[0009] Calibration is performed based on the target bottom dead center position, the target top dead center position, and the target gear position to obtain a target position calibration result.

[0010] In one embodiment, the step of obtaining a target bottom dead center position and a target top dead center position of the shift actuator includes:

[0011] Controlling the motor of the shift actuator to reverse, and when detecting that the first position is hit continuously for a preset number of times, obtaining the first position, and determining the first position as the target bottom dead center position;

[0012] The bottom dead center position is taken as the zero point and the motor of the shift actuator is controlled to rotate forward. When a preset number of consecutive impacts on the second position are detected, the second position is acquired and determined to be the target top dead center position.

[0013] In one embodiment, the step of taking the target bottom dead center position as the zero point and controlling the motor of the shift actuator to rotate forward, acquiring the second position after detecting a preset number of consecutive impacts on the second position, and determining the second position as the target top dead center position further includes:

[0014] The target bottom dead center position is used as the zero point and the motor of the shift actuator is controlled to rotate forward. When a preset number of consecutive impacts on the second position are detected, the second position is obtained, and the current forward rotation distance of the motor is obtained;

[0015] Acquire a preset distance between the bottom dead center position and the second position;

[0016] When the error between the current forward rotation distance and the preset distance is less than the preset error, the second position is determined to be the target top dead center position.

[0017] In one embodiment, the step of determining each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position comprises:

[0018] Obtaining a first preset offset between a bottom dead center position and a gear position, and a second preset offset between a top dead center position and a gear position;

[0019] determining a first gear target position based on the first preset offset and the target bottom dead center position;

[0020] determining a second gear target position based on the second preset offset and the target top dead center position;

[0021] determining a neutral gear target position based on the first gear target position, the second gear target position, and a position weight;

[0022] The target gear positions of the gear shift actuator are obtained through the first gear target position, the second gear target position and the neutral gear target position.

[0023] In one embodiment, the step of performing calibration based on the target bottom dead center position, the target top dead center position and the target gear position to obtain a target position calibration result includes:

[0024] Based on the target bottom dead center position, the target top dead center position, and the first gear target position, the second gear target position, and the neutral gear target position among the target gear positions, a first actual lateral displacement of the shift head between the target bottom dead center position and the target top dead center position and a second actual lateral displacement of the shift head between each target gear position are calculated;

[0025] Calibration is performed based on the first actual lateral displacement and the second actual lateral displacement to obtain a target position calibration result.

[0026] In one embodiment, the step of calculating based on the target bottom dead center position, the target top dead center position, and the first gear target position, the second gear target position, and the neutral gear target position among the target gear positions to obtain a first actual lateral displacement of the shift head between the target bottom dead center position and the target top dead center position and a second actual lateral displacement of the shift head between each target gear position comprises:

[0027] A coordinate system is created based on the center of the position sensor and a neutral target position in the target gear position, and a first swing angle of the screw rod is obtained when the screw rod moves from the target bottom dead center position and the target top dead center position to the neutral target position respectively based on the target bottom dead center position and the target top dead center position;

[0028] Based on the first angle, obtaining a first actual lateral displacement of the shift knob between the target bottom dead center position and the top dead center position;

[0029] Based on a first gear target position and a second gear target position in the target gear position, obtaining a second angle of the screw rod swinging when the screw rod moves from the first gear target position and the second gear target position to the neutral gear target position respectively;

[0030] Based on the second angle, a second actual lateral displacement of the shift knob between the target gear positions is obtained.

[0031] In one embodiment, the step of performing calibration based on the first actual lateral displacement and the second actual lateral displacement to obtain a target position calibration result includes:

[0032] Acquire a first preset shift head lateral displacement between the target bottom dead center position and the target top dead center position and a second preset shift head lateral displacement between the target gear positions;

[0033] Calibrate based on the first preset shift head lateral displacement, the second preset shift head lateral displacement, a first actual lateral displacement of the shift head between the target bottom dead center position and the target top dead center position, and a second actual lateral displacement of the shift head between the target gear positions;

[0034] When the difference between the first preset shift head lateral displacement and the first actual lateral displacement is less than a mechanical error, and the difference between the second preset shift head lateral displacement and the second actual lateral displacement is less than a mechanical error, the target position calibration result is determined to be a successful calibration.

[0035] In addition, to achieve the above-mentioned purpose, the present invention also proposes a target position calibration device for a screw-type gear shift actuator, the device comprising:

[0036] A first position acquisition module, for responding to a self-learning signal and acquiring a target bottom dead center position and a target top dead center position of a shift actuator;

[0037] A second position acquisition module, configured to determine each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position;

[0038] The calibration module is used to perform calibration based on the target bottom dead center position, the target top dead center position and the target gear position to obtain a target position calibration result.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also proposes a target position calibration device for a lead screw shift actuator, the device comprising: a memory, a processor, and a target position calibration program for the lead screw shift actuator stored in the memory and executable on the processor, the target position calibration program for the lead screw shift actuator being configured to implement the steps of the target position calibration method for the lead screw shift actuator as described above.

[0040] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which a target position calibration program of a screw shift actuator is stored. When the target position calibration program of the screw shift actuator is executed by a processor, the steps of the target position calibration method of the screw shift actuator as described above are implemented.

[0041] One or more technical solutions proposed in this application have at least the following technical effects:

[0042] In response to the self-learning signal, the target bottom dead center position and the target top dead center position of the shift actuator are obtained; based on the target bottom dead center position and the target top dead center position, each target gear position of the shift actuator is determined; based on the target bottom dead center position, the target top dead center position and the target gear position, calibration is performed to obtain a target position calibration result, which is beneficial to verifying the accuracy of the gearbox hardware installation after the gearbox is off the production line, improving the pass rate and reducing hardware wear. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0045] Figure 1 A flow chart of a target position calibration method for a screw-type gear shift actuator according to the present application;

[0046] Figure 2 A schematic diagram of the mechanical structure of a screw-type shift actuator provided in Embodiment 1 of the target position calibration method for a screw-type shift actuator of the present application;

[0047] Figure 3 A flow chart of a target position calibration method for a screw-type gear shift actuator according to a second embodiment of the present invention;

[0048] Figure 4 A simplified diagram of the conversion relationship of the shift actuators on both sides of the neutral position provided in the second embodiment of the target position calibration method of the screw-type shift actuator of the present application;

[0049] Figure 5 A simplified diagram of the conversion relationship of the neutral same-side shift actuator provided in Example 2 of the target position calibration method of the screw-type shift actuator of the present application;

[0050] Figure 6 A flow chart of a target position calibration method for a screw-type gear shift actuator according to a third embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of the module structure of a target position calibration device of a screw-type gear shift actuator according to an embodiment of the present application;

[0052] Figure 8 Schematic diagram of the device structure of the hardware operating environment involved in the target position calibration method of the screw gear shift actuator in the embodiment of the present application.

[0053] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0055] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0056] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a target position calibration device of a screw gear shift actuator, etc. The target position calibration device of a screw gear shift actuator is taken as an example to illustrate this embodiment and the following embodiments.

[0057] Based on this, the embodiment of the present application provides a method for calibrating the target position of a screw gear shift actuator, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a target position calibration method for a screw-type gear shift actuator of the present application.

[0058] In this embodiment, the target position calibration method of the screw gear shift actuator includes steps S10 to S30:

[0059] Step S10, in response to the self-learning signal, obtaining a target bottom dead center position and a target top dead center position of the shift actuator;

[0060] It should be noted that the self-learning signal includes the forced loss of the gearbox shift position when the gearbox hardware is first offline, the vehicle fails the power-on self-test, or an electrical fault occurs. At this time, if the vehicle status allows, the self-learning function will be executed.

[0061] It should be understood that through self-learning and calibration, the shift position of the lead screw actuator can be precisely adjusted to ensure accuracy and smoothness of the shift, which helps to improve the driving experience and vehicle performance.

[0062] Secondly, by precisely calibrating the shift positions, wear and failures caused by inaccurate shifting can be reduced, thereby reducing maintenance costs.

[0063] This strategy is aimed at the screw-type shift actuator. When the hardware is offline or there is an electrical failure, according to the structural characteristics of the gearbox, it uses self-learning to determine the target position of each gear and accurately shift gears, and calibrates the installation position of the hardware to reduce hardware wear and is easy to implement.

[0064] The target bottom dead center position and target top dead center position of the shift actuator are key technical parameters in the design of the shift mechanism. They determine the exact position of the shift mechanism during the shifting process. Accurate calculation and simulation are required to ensure that the shift mechanism can reach the predetermined top dead center and bottom dead center positions during the shifting process to ensure the accuracy and smoothness of the shifting.

[0065] Furthermore, the step S10 includes:

[0066] Controlling the motor of the shift actuator to reverse, and when detecting that the first position is continuously hit for a preset number of times, obtaining the first position, and determining the first position as the target bottom dead center position;

[0067] The bottom dead center position is taken as the zero point and the motor of the shift actuator is controlled to rotate forward. When a preset number of consecutive impacts on the second position are detected, the second position is obtained and determined to be the target top dead center position.

[0068] It should be noted that the first position is the limit position touched by the motor during the reversal process. At this time, the motor cannot continue to reverse. The preset number of times can be set. This strategy is temporarily set to three times, which means that the first position at this time is determined to be the target bottom dead point position.

[0069] In the specific implementation, after the shift motor reverses and hits a certain position of the hardware three times normally, it is considered that the bottom dead center position has been found. The bottom dead center position read by the position sensor at this time is used as the relative "zero point" of the shift process to correct the actual position of the shift mechanism.

[0070] After finding the bottom dead center, the shift motor rotates forward and hits a certain position three times normally, and then the position read by the position sensor is corrected to obtain the top dead center position of the shift actuator.

[0071] Furthermore, the step of taking the target bottom dead center position as the zero point and controlling the motor of the shift actuator to rotate forward, acquiring the second position after detecting a preset number of consecutive impacts on the second position, and determining the second position as the target top dead center position includes:

[0072] The target bottom dead center position is taken as the zero point and the motor of the shift actuator is controlled to rotate forward. When a preset number of consecutive impacts on the second position are detected, the second position is obtained, and the current forward rotation distance of the motor is obtained;

[0073] Obtaining a preset distance between the bottom dead center position and the second position;

[0074] When the error between the current forward rotation distance and the preset distance is less than the preset error, the second position is determined as the target top dead center position.

[0075] It should be noted that the second position is the limit position touched by the motor during forward rotation. At this time, the motor cannot continue to rotate forward. The preset number of times can be set. This strategy is temporarily set to three times, which means that the second position is determined to be the target top dead center position at this time.

[0076] It should be understood that the error between the distance from the current forward rotation position to the bottom dead center and the preset distance is first calculated. If the error is less than the preset error threshold, the second position can be determined as the target top dead center position.

[0077] In a specific implementation, if the travel distance of the gear shift actuator at this time is credible, it is considered that the top dead center position has been found.

[0078] Step S20, determining each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position;

[0079] It should be noted that if Figure 2 As shown, each target gear position includes a first gear position, a second gear position, and a neutral position.

[0080] In a specific implementation, each target gear position is calculated using the upper and lower dead center positions and the offset or weight relationship between each gear position.

[0081] Step S30, calibrating based on the target bottom dead center position, the target top dead center position and the target gear position to obtain a target position calibration result.

[0082] It should be noted that the target position calibration results include two results: hardware installation verification success and hardware installation verification failure.

[0083] In a specific implementation, the mechanical conversion relationship of the gear shift actuator and other information are used to calculate and calibrate the dead point or the shift head distance between each target gear position.

[0084] The present embodiment provides a target position calibration method for a screw-type gear shift actuator, which responds to a self-learning signal to obtain a target bottom dead center position and a target top dead center position of the gear shift actuator; determines each target gear position of the gear shift actuator based on the target bottom dead center position and the target top dead center position; performs calibration based on the target bottom dead center position, the target top dead center position and the target gear position to obtain a target position calibration result, which is beneficial to verifying the accuracy of the gearbox hardware installation after the gearbox is off the production line, improving the pass rate and reducing hardware wear.

[0085] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 3 , step S30 includes steps S301 to S303:

[0086] Step S301, calculating based on the target bottom dead center position, the target top dead center position, and the first gear target position, the second gear target position, and the neutral gear target position in the target gear position, to obtain a first actual lateral displacement of the shift head between the target bottom dead center position and the target top dead center position, and a second actual lateral displacement of the shift head between each target gear position;

[0087] In the specific implementation, Figure 4 As shown, the position sensor and the lead screw of the shift actuator are fixed, and a reference system is established with the center of the position sensor as the origin, the axial direction of the lead screw as the horizontal axis, and the vertical axis perpendicular to the axial direction of the lead screw as the vertical axis. At this time, point A and point B are located on both sides of the neutral gear, respectively, where point A and point B represent the first gear target position and the second gear target position, respectively. θ1 and θ2 represent the angles that the shift head swings through when the lead screw moves from point A and point B to the neutral gear target position, respectively. d represents the lateral displacement of the shift head when the lead screw moves from point A to point B.

[0088] The positions of the swing angles of the dial head when recording points A and B are φ A With φ B , the swing angle position is the angle position corrected relative to the bottom dead center position. Then:

[0089] θ1=|φ A -φ N |

[0090] θ2=|φ B -φ N |

[0091] In this case, there are:

[0092]

[0093] Where d1 and d2 represent the lateral displacement of the shift head from point A and point B to the neutral target position, respectively, and l is a constant value, which represents the distance between the center of the shift head and the center of the position sensor.

[0094] It should be noted that the first actual lateral displacement, i.e., d, is the lateral displacement of the dial head obtained by substituting the target bottom dead center position and the target top dead center position into point A to point B respectively; the second actual lateral displacement is similarly obtained by substituting the first gear target position and the second gear target position into point A to point B respectively.

[0095] Furthermore, the step S301 includes:

[0096] A coordinate system is created based on the center of the position sensor and the neutral target position in the target gear position, and a first angle of the screw rod swinging from the target bottom dead center position and the target top dead center position to the neutral target position is obtained based on the target bottom dead center position and the target top dead center position;

[0097] Based on the first angle, a first actual lateral displacement of the shift knob between the target bottom dead center position and the top dead center position is obtained;

[0098] Based on the first gear target position and the second gear target position in the target gear position, obtaining a second angle of the screw rod swinging from the first gear target position and the second gear target position to the neutral gear target position respectively;

[0099] Based on the second angle, a second actual lateral displacement of the shift knob between the target gear positions is obtained.

[0100] It should be noted that if Figure 5 As shown in the figure, when point A and point B are on the same side of the neutral position, the lateral displacement of the dial head from point A to point B is:

[0101]

[0102] In the formula, the angle that the screw head swings from point A and point B to the neutral target position is still θ1=|φ A -φ N |、θ2=|φ B -φ N |.

[0103] At this point, it should be noted that the first actual lateral displacement, i.e., d, is the lateral displacement of the dial head obtained by substituting the target bottom dead center position and the target top dead center position into point A to point B respectively; the second actual lateral displacement is similarly obtained by substituting the first gear target position and the second gear target position into point A to point B respectively.

[0104] Step S302: Calibrate based on the first actual lateral displacement and the second actual lateral displacement to obtain a target position calibration result.

[0105] In a specific implementation, the first actual lateral displacement and the second actual lateral displacement are compared and calibrated with the theoretical design shift head lateral displacement set when the gearbox hardware leaves the factory, and a calibration result is generated based on the comparison result.

[0106] Furthermore, the step S302 includes:

[0107] Acquire a first preset shift head lateral displacement between a target bottom dead center position and a target top dead center position and a second preset shift head lateral displacement between each target gear position;

[0108] Calibrate based on a first preset shift head lateral displacement, a second preset shift head lateral displacement, a first actual lateral displacement of the shift head between a target bottom dead center position and a target top dead center position, and a second actual lateral displacement of the shift head between each target gear position;

[0109] When the difference between the first preset shift knob lateral displacement and the first actual lateral displacement is smaller than the mechanical error, and the difference between the second preset shift knob lateral displacement and the second actual lateral displacement is smaller than the mechanical error, the target position calibration result is determined to be a successful calibration.

[0110] In the specific implementation, the actual lateral displacement d of the shift head between each gear or between the upper and lower dead points can be calculated by calculating and correcting the target position of the upper and lower dead points and each gear. The theoretical design lateral displacement of the shift head between each gear and the upper and lower dead points when the gearbox hardware leaves the factory is recorded as D, and the mechanical error is recorded as d error .

[0111] When the actual lateral displacement of the dial head satisfies the relationship |Dd|≤d error If the hardware installation verification is successful, it is considered that the hardware installation verification has succeeded. Otherwise, it is considered that the hardware installation verification has failed and the installation engineer needs to reinstall it.

[0112] This embodiment provides a target position calibration method for a screw-type gear shift actuator, which calculates and calibrates the dead point or the shift head distance between target gear positions based on information such as the mechanical conversion relationship of the gear shift actuator, so as to avoid the gearbox losing the shift position and being unable to shift when the gearbox is offline or an electrical failure occurs; it is beneficial to verify the accuracy of the gearbox hardware installation after the gearbox is offline, improve the qualification rate, and reduce hardware wear.

[0113] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 6 , step S20 includes steps S201 to S205:

[0114] Step S201, obtaining a first preset offset between a bottom dead center position and a gear position, and a second preset offset between a top dead center position and a gear position;

[0115] It should be noted that since the offsets between the first gear target position, the second gear target position and the upper and lower dead center positions are fixed, after obtaining the upper and lower dead center positions of the shift actuator, the target positions of the first and second gears are calculated respectively using the offsets between them and the target gear positions.

[0116] In the specific implementation, φ Offset1 Represents the offset of the bottom dead center position (zero point) compared to the first gear target position, φ Offset2 Represents the corrected top dead center position φ Upper The offset from the second gear target position.

[0117] Step S202, determining a first gear target position based on a first preset offset and a target bottom dead center position;

[0118] In the specific implementation, φ I =φ Offset1 ,φ I Represents a target position.

[0119] Step S203, determining the second gear target position based on the second preset offset and the target top dead center position;

[0120] In the specific implementation, φ II =φ Upper -φ Offset2 ,φ II Represents the second gear target position.

[0121] Step S204, determining the neutral gear target position based on the first gear target position, the second gear target position and the position weight;

[0122] In a specific implementation, the position weights of the first-gear and second-gear hardware installations are used to calculate the target position of the neutral gear.

[0123] φ N =ω*φ I +(1-ω)φ II

[0124] In the above formula, φ N It represents the target position of neutral gear, and ω represents the position weight of first gear, which is determined by the hardware installation position. The farther from the center position, the smaller the weight, and vice versa.

[0125] It should be noted that the specific form of the weight depends on the design requirements and the actual hardware layout.

[0126] Step S205, obtaining each target gear position of the shift actuator through the first gear target position, the second gear target position and the neutral gear target position.

[0127] It should be noted that the first gear target position, the second gear target position and the neutral gear target position are the target gear positions of the shift actuator required by this scheme. If the gear is enhanced, the corresponding target gear position can be obtained by following the above steps in the same way.

[0128] The present embodiment provides a target position calibration method for a screw-type gear shift actuator, which obtains a first preset offset between a bottom dead center position and a gear position, and a second preset offset between a top dead center position and a gear position, determines a first gear target position based on the first preset offset and a target bottom dead center position, determines a second gear target position based on the second preset offset and a target top dead center position, determines a neutral gear target position based on the first gear target position, the second gear target position, and a position weight, obtains each target gear position of the gear shift actuator through the first gear target position, the second gear target position, and the neutral gear target position, and accurately calculates each target gear position according to an offset or weight relationship between the top and bottom dead center positions and each gear position.

[0129] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the target position calibration method of the screw shift actuator of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0130] This application also provides a target position calibration device for a screw-type gear shift actuator, please refer to Figure 7 , the target position calibration device of the screw gear shift actuator comprises:

[0131] A first position acquisition module 10 is used to respond to the self-learning signal and acquire the target bottom dead center position and the target top dead center position of the shift actuator;

[0132] A second position acquisition module 20, for determining each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position;

[0133] The calibration module 30 is used to perform calibration based on a target bottom dead center position, a target top dead center position and a target gear position to obtain a target position calibration result.

[0134] The target position calibration device of the screw gear shift actuator provided by the present application adopts the target position calibration method of the screw gear shift actuator in the above embodiment, which can solve the technical problem of low accuracy of the calibration technology of the screw gear shift mechanism. Compared with the prior art, the beneficial effects of the target position calibration device of the screw gear shift actuator provided by the present application are the same as the beneficial effects of the target position calibration method of the screw gear shift actuator provided by the above embodiment, and other technical features of the target position calibration device of the screw gear shift actuator are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0135] In one embodiment, the first position acquisition module 10 is further used to control the motor of the shift actuator to reverse, and when it is detected that the first position is hit continuously for a preset number of times, the first position is acquired and the first position is determined to be the target bottom dead center position;

[0136] The bottom dead center position is taken as the zero point and the motor of the shift actuator is controlled to rotate forward. When a preset number of consecutive impacts on the second position are detected, the second position is obtained and determined to be the target top dead center position.

[0137] In one embodiment, the first position acquisition module 10 is further used to control the motor of the shift actuator to rotate forward with the target bottom dead center position as the zero point, and when a preset number of consecutive impacts on the second position are detected, the second position is acquired, and the current forward rotation distance of the motor is acquired;

[0138] Obtaining a preset distance between the bottom dead center position and the second position;

[0139] When the error between the current forward rotation distance and the preset distance is less than the preset error, the second position is determined as the target top dead center position.

[0140] In one embodiment, the second position acquisition module 20 is further used to acquire a first preset offset between the bottom dead center position and the gear position, and a second preset offset between the top dead center position and the gear position;

[0141] determining a first gear target position based on a first preset offset and a target bottom dead center position;

[0142] determining a second gear target position based on a second preset offset and a target top dead center position;

[0143] Determine the neutral target position based on the first-gear target position, the second-gear target position and the position weight;

[0144] The target gear positions of the gear shift actuator are obtained through the first gear target position, the second gear target position and the neutral gear target position.

[0145] In one embodiment, the calibration module 30 is further used to calculate based on the target bottom dead center position, the target top dead center position, and the first gear target position, the second gear target position, and the neutral gear target position in the target gear position to obtain a first actual lateral displacement of the shift head between the target bottom dead center position and the target top dead center position, and a second actual lateral displacement of the shift head between each target gear position;

[0146] Calibration is performed based on the first actual lateral displacement and the second actual lateral displacement to obtain a target position calibration result.

[0147] In one embodiment, the calibration module 30 is further used to create a coordinate system based on the center of the position sensor and the neutral target position in the target gear position, and to obtain a first angle of the screw rod swinging from the target bottom dead center position and the target top dead center position to the neutral target position respectively based on the target bottom dead center position and the target top dead center position;

[0148] Based on the first angle, a first actual lateral displacement of the shift knob between the target bottom dead center position and the top dead center position is obtained;

[0149] Based on the first gear target position and the second gear target position in the target gear position, obtaining a second angle of the screw rod swinging from the first gear target position and the second gear target position to the neutral gear target position respectively;

[0150] Based on the second angle, a second actual lateral displacement of the shift knob between the target gear positions is obtained.

[0151] In one embodiment, the calibration module 30 is further used to obtain a first preset shift head lateral displacement between a target bottom dead center position and a target top dead center position and a second preset shift head lateral displacement between each target gear position;

[0152] Calibrate based on a first preset shift head lateral displacement, a second preset shift head lateral displacement, a first actual lateral displacement of the shift head between a target bottom dead center position and a target top dead center position, and a second actual lateral displacement of the shift head between each target gear position;

[0153] When the difference between the first preset shift knob lateral displacement and the first actual lateral displacement is smaller than the mechanical error, and the difference between the second preset shift knob lateral displacement and the second actual lateral displacement is smaller than the mechanical error, the target position calibration result is determined to be a successful calibration.

[0154] The present application provides a target position calibration device for a screw gear shift actuator, the target position calibration device for a screw gear shift actuator comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the target position calibration method for the screw gear shift actuator in the above-mentioned embodiment one.

[0155] Reference below Figure 8 , which shows a schematic diagram of the structure of a target position calibration device for a screw-type gear shift actuator suitable for implementing the embodiment of the present application. The target position calibration device for a screw-type gear shift actuator in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 8The target position calibration device of the screw-type gear shift actuator shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0156] like Figure 8 As shown, the target position calibration device of the screw gear shift actuator may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the target position calibration device of the screw gear shift actuator are also stored. The processing device 1001, the ROM 1002 and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the target position calibration device of the screw shift actuator to communicate wirelessly or wired with other devices to exchange data. Although the target position calibration device of the screw shift actuator with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0157] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0158] The target position calibration device of the screw gear shift actuator provided by the present application adopts the target position calibration method of the screw gear shift actuator in the above embodiment, which can solve the technical problem of low accuracy of the calibration technology of the screw gear shift mechanism. Compared with the prior art, the beneficial effects of the target position calibration device of the screw gear shift actuator provided by the present application are the same as the beneficial effects of the target position calibration method of the screw gear shift actuator provided by the above embodiment, and the other technical features of the target position calibration device of the screw gear shift actuator are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0159] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0160] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0161] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the target position calibration method of the screw gear shift actuator in the above-mentioned embodiment.

[0162] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0163] The computer-readable storage medium may be included in the target position calibration device of the lead screw gear shift actuator; or may exist independently without being assembled into the target position calibration device of the lead screw gear shift actuator.

[0164] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the target position calibration device of the lead screw shift actuator, the target position calibration device of the lead screw shift actuator: responds to the self-learning signal to obtain the target bottom dead center position and the target top dead center position of the shift actuator; determines each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position; calibrates based on the target bottom dead center position, the target top dead center position and the target gear position to obtain the target position calibration result.

[0165] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0166] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0167] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0168] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the target position calibration method of the above-mentioned screw gear shift actuator, and can solve the technical problem of low accuracy of the calibration technology of the screw gear shift mechanism. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the target position calibration method of the screw gear shift actuator provided by the above-mentioned embodiment, and will not be repeated here.

[0169] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the target position calibration method of the screw gear shift actuator as described above.

[0170] The computer program product provided by the present application can solve the technical problem of low accuracy of the calibration technology of the screw gear shift mechanism. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the target position calibration method of the screw gear shift actuator provided by the above embodiment, which will not be repeated here.

[0171] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for calibrating the target position of a screw-type gear shift actuator. It is characterized in that The target position calibration method of the screw gear shift actuator comprises: In response to the self-learning signal, a target bottom dead center position and a target top dead center position of the shift actuator are obtained; Determining each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position; Calibration is performed based on the target bottom dead center position, the target top dead center position, and the target gear position to obtain a target position calibration result.

2. The target position calibration method of the screw gear shift actuator according to claim 1, It is characterized in that The step of obtaining a target bottom dead center position and a target top dead center position of the shift actuator comprises: Controlling the motor of the shift actuator to reverse, and when detecting that the first position is hit continuously for a preset number of times, obtaining the first position, and determining the first position as the target bottom dead center position; The bottom dead center position is taken as the zero point and the motor of the shift actuator is controlled to rotate forward. When a preset number of consecutive impacts on the second position are detected, the second position is acquired and determined to be the target top dead center position.

3. The target position calibration method of the screw gear shift actuator according to claim 2, It is characterized in that The step of taking the target bottom dead center position as the zero point and controlling the motor of the shift actuator to rotate forward, acquiring the second position after detecting a preset number of consecutive hits to the second position, and determining the second position as the target top dead center position also includes: The target bottom dead center position is used as the zero point and the motor of the shift actuator is controlled to rotate forward. When a preset number of consecutive impacts on the second position are detected, the second position is obtained, and the current forward rotation distance of the motor is obtained; Acquire a preset distance between the bottom dead center position and the second position; When the error between the current forward rotation distance and the preset distance is less than the preset error, the second position is determined to be the target top dead center position.

4. The target position calibration method of the screw gear shift actuator according to claim 1, It is characterized in that The step of determining each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position comprises: Obtaining a first preset offset between a bottom dead center position and a gear position, and a second preset offset between a top dead center position and a gear position; determining a first gear target position based on the first preset offset and the target bottom dead center position; determining a second gear target position based on the second preset offset and the target top dead center position; determining a neutral gear target position based on the first gear target position, the second gear target position, and a position weight; The target gear positions of the gear shift actuator are obtained through the first gear target position, the second gear target position and the neutral gear target position.

5. The target position calibration method of the screw gear shift actuator according to claim 1, It is characterized in that The step of performing calibration based on the target bottom dead center position, the target top dead center position and the target gear position to obtain a target position calibration result comprises: Based on the target bottom dead center position, the target top dead center position, and the first gear target position, the second gear target position, and the neutral gear target position among the target gear positions, a first actual lateral displacement of the shift head between the target bottom dead center position and the target top dead center position and a second actual lateral displacement of the shift head between each target gear position are calculated; Calibration is performed based on the first actual lateral displacement and the second actual lateral displacement to obtain a target position calibration result.

6. The target position calibration method of the screw gear shift actuator according to claim 5, It is characterized in that The step of calculating based on the target bottom dead center position, the target top dead center position, and the first gear target position, the second gear target position, and the neutral gear target position among the target gear positions to obtain a first actual lateral displacement of the shift head between the target bottom dead center position and the target top dead center position, and a second actual lateral displacement of the shift head between each target gear position comprises: A coordinate system is created based on the center of the position sensor and a neutral target position in the target gear position, and a first swing angle of the screw rod is obtained when the screw rod moves from the target bottom dead center position and the target top dead center position to the neutral target position respectively based on the target bottom dead center position and the target top dead center position; Based on the first angle, obtaining a first actual lateral displacement of the shift knob between the target bottom dead center position and the top dead center position; Based on a first gear target position and a second gear target position in the target gear position, obtaining a second angle of the screw rod swinging when the screw rod moves from the first gear target position and the second gear target position to the neutral gear target position respectively; Based on the second angle, a second actual lateral displacement of the shift knob between the target gear positions is obtained.

7. The target position calibration method of the screw gear shift actuator according to claim 5, It is characterized in that The step of performing calibration based on the first actual lateral displacement and the second actual lateral displacement to obtain a target position calibration result comprises: Acquire a first preset shift head lateral displacement between the target bottom dead center position and the target top dead center position and a second preset shift head lateral displacement between the target gear positions; Calibrate based on the first preset shift head lateral displacement, the second preset shift head lateral displacement, a first actual lateral displacement of the shift head between the target bottom dead center position and the target top dead center position, and a second actual lateral displacement of the shift head between the target gear positions; When the difference between the first preset shift head lateral displacement and the first actual lateral displacement is less than a mechanical error, and the difference between the second preset shift head lateral displacement and the second actual lateral displacement is less than a mechanical error, the target position calibration result is determined to be a successful calibration.

8. A target position calibration device for a screw-type gear shift actuator, It is characterized in that The device comprises: A first position acquisition module, for responding to a self-learning signal and acquiring a target bottom dead center position and a target top dead center position of a shift actuator; A second position acquisition module, configured to determine each target gear position of the shift actuator based on the target bottom dead center position and the target top dead center position; The calibration module is used to perform calibration based on the target bottom dead center position, the target top dead center position and the target gear position to obtain a target position calibration result.

9. A target position calibration device for a screw-type gear shift actuator, It is characterized in that The device includes: a memory, a processor, and a target position calibration program for a lead screw shift actuator stored in the memory and executable on the processor, wherein the target position calibration program for the lead screw shift actuator is configured to implement the steps of a target position calibration method for a lead screw shift actuator as described in any one of claims 1 to 7.

10. A storage medium, It is characterized in that The storage medium stores a target position calibration program for a lead screw gear shift actuator, and when the target position calibration program for a lead screw gear shift actuator is executed by a processor, the steps of the target position calibration method for a lead screw gear shift actuator as described in any one of claims 1 to 7 are implemented.

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