Method, device and equipment for determining and processing stagnation state of gear shifting drum and storage medium

Abstract

The invention discloses a method, device and equipment for determining and processing the stagnation state of a gear shifting drum and a storage medium, relates to the technical field of gear shifting drum stagnation state diagnosis, and discloses the method for determining and processing the stagnation state of the gear shifting drum. The torque of a gear shifting motor and the target angular speed and the actual angular speed of a gear shifting drum are obtained; calculating a stagnation coefficient according to the target angular velocity and the actual angular velocity; the operation state of the gear shifting drum is determined according to the stagnation coefficient; and when the running state is a stagnation state, the state of the vehicle is adjusted according to a preset stagnation processing mechanism. Whether the gear shifting drum stops or not is judged by monitoring the torque of the gear shifting motor and the target angular speed and the actual angular speed of the gear shifting drum in real time and calculating the stop coefficient, and the vehicle state is adjusted by automatically triggering a preset processing mechanism when the stop state is detected, so that the reliability and the responsiveness of a gearbox are improved, and the driving safety of the vehicle is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of shift drum stall state diagnosis, and in particular to a shift drum stall state determination and processing method, device, equipment and storage medium. Background Art

[0002] The shift drum is an important component in the gearbox and multi-speed reducer. Its function is to drive the shift fork to perform the gear shift operation. When the shift motor drives the shift drum to rotate a certain angle, the shift fork will move left and right, thereby driving the meshing of gear sets with different transmission ratios to achieve gear shifting.

[0003] If the shift drum is stuck due to foreign objects or the drive motor fails, it will cause the shift drum to stop unexpectedly and the gear cannot be shifted. In addition, if the transmission mechanism inside the shift drum fails, the torque of the shift motor cannot be transmitted to the shift drum, which may also cause the shift drum to stop. When these failures occur, the shift motor may overheat and burn out due to overcurrent. Therefore, it is very necessary to diagnose the unexpected stop of the shift drum.

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

[0005] The main purpose of the present application is to provide a method, device, equipment and storage medium for determining and processing the stagnation state of a shift drum, aiming to solve the technical problem of being unable to accurately diagnose and process unexpected stagnation of a shift drum.

[0006] To achieve the above objectives, the present application proposes a method for determining and processing a stagnant state of a shift drum, the method comprising:

[0007] When the shift motor meets the stagnation state diagnosis condition, the shift motor torque, the target angular velocity of the shift drum and the actual angular velocity are obtained;

[0008] Calculating a stagnation coefficient according to the target angular velocity and the actual angular velocity;

[0009] determining an operating state of the shift drum according to the stagnation coefficient;

[0010] When the running state is a stagnant state, the vehicle state is adjusted according to a preset stagnation processing mechanism.

[0011] In one embodiment, the step of determining the operating state of the shift drum according to the stagnation coefficient comprises:

[0012] Acquire a first stagnation coefficient threshold, a second stagnation coefficient threshold, and a preset stagnation time threshold, wherein the first stagnation coefficient threshold is greater than the second stagnation coefficient threshold;

[0013] When the stagnation coefficient is greater than the first stagnation coefficient threshold or the stagnation coefficient is less than the second stagnation coefficient threshold, recording the current stagnation time length;

[0014] When the current dead time length is greater than the preset dead time threshold, it is determined that the operating state of the shift drum is a dead state.

[0015] In one embodiment, when the running state is a stagnant state, the step of adjusting the vehicle state according to a preset stagnation processing mechanism includes:

[0016] When the running state is a stagnant state, obtaining the current gear position of the vehicle, the preset torque of the clutch input end of the vehicle, and the current torque of the clutch input end;

[0017] Controlling the vehicle to travel in the current gear and prohibiting the vehicle from switching gears;

[0018] Adjusting the current torque at the clutch input end to the preset torque at the clutch input end, and opening the clutch of the vehicle;

[0019] The vehicle is controlled to restart its power supply, enter a shift drum self-learning strategy, and adjust the vehicle state according to the shift drum self-learning strategy.

[0020] In one embodiment, the step of controlling the vehicle power to restart and entering the shift drum self-learning strategy includes:

[0021] Controlling the vehicle power supply to restart;

[0022] When the power restart is completed, calibrating the position sensor of the shift drum through a shift drum self-learning strategy;

[0023] When the calibration is completed, the control parameters of the shift motor are adjusted.

[0024] In one embodiment, when the shift motor meets the stagnation state diagnosis condition, the step of obtaining the shift motor torque, the target angular velocity and the actual angular velocity of the shift drum comprises:

[0025] When the shift motor meets the stagnation state diagnosis condition, the current of the shift motor, the preset torque constant, the gear ratio of the shift drum, the preset rotational inertia, the rotational resistance of the shift drum, the initial angular velocity of the shift drum, the shift evaluation time and the angular acceleration of the shift motor are obtained;

[0026] Calculating the shift motor torque according to the current and the preset torque constant;

[0027] Calculating an actual angular velocity according to the shift motor angular acceleration and the shift drum transmission speed ratio;

[0028] A target angular velocity is calculated based on the shift motor torque, the shift drum transmission speed ratio, the preset rotational inertia, the initial angular velocity of the shift drum, the rotational resistance of the shift drum, and the shift evaluation time.

[0029] In one embodiment, the step of calculating the target angular velocity according to the shift motor torque, the shift drum transmission ratio, the preset rotational inertia, the initial angular velocity of the shift drum, the rotational resistance of the shift drum and the shift evaluation time comprises:

[0030] Calculating the shift drum torque according to the shift motor torque and the shift drum transmission speed ratio;

[0031] calculating a target angular acceleration of the shift drum according to the shift drum torque, the preset rotational inertia and the rotational resistance;

[0032] A target angular velocity is calculated based on the target angular acceleration, the initial angular velocity of the shift drum, and the shift evaluation time.

[0033] In one embodiment, before the step of obtaining the shift motor torque, the target angular velocity and the actual angular velocity of the shift drum when the shift motor meets the stagnant state diagnosis condition, the step further includes:

[0034] Get the driving motor status of the shift motor;

[0035] When the driving motor is in the starting state, obtaining the power supply voltage and the preset voltage threshold of the shift motor;

[0036] When the supply voltage is greater than the preset voltage threshold, obtaining a driving duty cycle of the shift motor and a preset driving duty cycle threshold;

[0037] When the driving duty cycle is greater than the preset driving duty cycle threshold, obtaining a current gear shifting stage;

[0038] When the gear shifting phase is not a synchronous phase, it is determined that the gear shifting motor meets a stagnation state diagnosis condition.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for determining and processing the stagnation state of a shift drum, and the device for determining and processing the stagnation state of a shift drum comprises:

[0040] An acquisition module, used for acquiring the shift motor torque, the target angular velocity of the shift drum and the actual angular velocity when the shift motor meets the stagnation state diagnosis condition;

[0041] A calculation module, used for calculating a stagnation coefficient according to the target angular velocity and the actual angular velocity;

[0042] a determination module, configured to determine the operating state of the shift drum according to the stagnation coefficient;

[0043] The adjustment module is used to adjust the vehicle state according to a preset stagnation processing mechanism when the running state is a stagnation state.

[0044] In addition, to achieve the above-mentioned purpose, the present application also proposes a device for determining and processing the stagnation state of a shift drum, the device comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program being configured to implement the steps of the method for determining and processing the stagnation state of a shift drum as described above.

[0045] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of determining and processing the stagnation state of the shift drum as described above are implemented.

[0046] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the method for determining and processing the stagnation state of the shift drum as described above are implemented.

[0047] One or more technical solutions proposed in this application have at least the following technical effects:

[0048] When the shift motor meets the stagnation state diagnosis condition, the shift motor torque, the target angular velocity of the shift drum and the actual angular velocity are obtained; the stagnation coefficient is calculated according to the target angular velocity and the actual angular velocity; the operating state of the shift drum is determined according to the stagnation coefficient; when the operating state is the stagnation state, the technical means of adjusting the vehicle state according to the preset stagnation processing mechanism can accurately determine whether the shift drum is in a stagnation state. The problem of the difficulty in accurately diagnosing the stagnation state of the shift drum in the prior art is solved, and the preset processing mechanism is adopted in time to adjust the vehicle state when the shift drum is stagnant, thereby avoiding the overheating and damage of the shift motor and potential safety hazards caused by the stagnation of the shift drum, and improving the reliability of the gearbox and the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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.

[0050] 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.

[0051] Figure 1 A flow chart of a method for determining and processing the stagnant state of a shift drum according to an embodiment of the present invention;

[0052] Figure 2 A flow chart of a second embodiment of a method for determining and processing a stagnant state of a shift drum according to the present application;

[0053] Figure 3 A schematic diagram of a simplified flow chart of a method for determining and processing a stagnant state of a shift drum provided in Embodiment 2 of the present application;

[0054] Figure 4 A schematic diagram of the module structure of a device for determining and processing the stagnation state of a shift drum according to an embodiment of the present application;

[0055] Figure 5 Schematic diagram of the device structure of the hardware operating environment involved in the method for determining and processing the stagnation state of the shift drum in the embodiment of the present application.

[0056] 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

[0057] 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.

[0058] 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.

[0059] The main solution of the embodiment of the present application is: when the shift motor meets the stagnation state diagnosis condition, the shift motor torque, the target angular velocity and the actual angular velocity of the shift drum are obtained;

[0060] Calculating a stagnation coefficient according to the target angular velocity and the actual angular velocity;

[0061] determining an operating state of the shift drum according to the stagnation coefficient;

[0062] When the running state is a stagnant state, the vehicle state is adjusted according to a preset stagnation processing mechanism.

[0063] In this embodiment, for the convenience of description, the following description is made by taking the identification and processing device of the stagnation state of the shift drum as the execution subject.

[0064] Since the prior art cannot accurately diagnose and handle unexpected stagnation of the shift drum, the present application provides a solution, by obtaining the shift motor torque, the target angular velocity of the shift drum, and the actual angular velocity when the shift motor meets the stagnation state diagnosis conditions; calculating the stagnation coefficient according to the target angular velocity and the actual angular velocity; determining the operating state of the shift drum according to the stagnation coefficient; when the operating state is a stagnation state, the technical means of adjusting the vehicle state according to the preset stagnation processing mechanism can accurately determine whether the shift drum is in a stagnation state. The problem of the prior art that it is difficult to accurately diagnose the stagnation state of the shift drum is solved, and the preset processing mechanism is adopted in time to adjust the vehicle state when the shift drum is stagnant, thereby avoiding overheating, damage and potential safety hazards of the shift motor caused by the stagnation of the shift drum, and improving the reliability of the gearbox and the safety of the vehicle.

[0065] It should be noted that the execution subject of this embodiment may 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 stagnation state determination and processing device for a shift drum, etc. The following takes the stagnation state determination and processing device for a shift drum as an example to illustrate this embodiment and the following embodiments.

[0066] Based on this, the embodiment of the present application provides a method for determining and processing the stagnant state of a shift drum, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a method for determining and processing a stagnant state of a shift drum according to the present application.

[0067] In this embodiment, the method for determining and processing the stagnant state of the shift drum includes steps S10 to S40:

[0068] Step S10, when the shift motor meets the stagnation state diagnosis condition, obtaining the shift motor torque, the target angular velocity and the actual angular velocity of the shift drum;

[0069] It should be noted that the shift motor torque refers to the rotational torque generated by the shift motor, which is the force output by the motor to drive the shift drum. The target angular velocity refers to the angular velocity that the shift drum should reach under ideal conditions. It represents the expected motion state of the shift drum during the shift operation. The actual angular velocity refers to the current rotational speed of the shift drum measured in real time by the sensor.

[0070] In a feasible implementation, step S10 may include steps S11 to S14:

[0071] Step S11, when the shift motor meets the stagnation state diagnosis condition, obtaining the current of the shift motor, the preset torque constant, the gear ratio of the shift drum, the preset rotational inertia, the rotational resistance of the shift drum, the initial angular velocity of the shift drum, the shift evaluation time and the angular acceleration of the shift motor;

[0072] The shift motor current is the intensity of the current flowing through the shift motor. The torque constant is a proportional coefficient used to convert the motor's current into torque, and the size of the torque constant is determined by the motor's design and characteristics. The shift drum transmission speed ratio is the gear ratio between the shift drum and the shift motor, which represents the speed relationship between the motor shaft and the shift drum shaft. The preset rotational inertia is a physical quantity that describes the degree of resistance of the shift drum to rotational changes. The rotational resistance of the shift drum refers to the friction and other resistances encountered during the rotation of the shift drum. The initial angular velocity of the shift drum is the angular velocity of the shift drum at the beginning of the shift operation. The shift evaluation time is the time interval from the start of the shift operation to the evaluation moment. The shift motor angular acceleration is the rate of change of the shift drum angular velocity over time, which is used to describe how fast the shift drum accelerates or decelerates.

[0073] Step S12, calculating the shift motor torque according to the current and the preset torque constant;

[0074] It can be understood that the calculation formula of the shift motor torque is as follows:

[0075] T motor = k * I motor (Formula 1)

[0076] Where, T motor is the shift motor torque, k is the motor torque constant, I motor is the shift motor current.

[0077] Step S13, calculating the actual angular velocity according to the shift motor angular acceleration and the shift drum transmission speed ratio;

[0078] It can be understood that the actual angular velocity is calculated as follows:

[0079]

[0080] In the formula, ω act is the actual angular velocity of the shift drum, ω motor is the angular velocity of the shift motor, and r is the shift drum transmission ratio.

[0081] Step S14, calculating a target angular velocity according to the shift motor torque, the shift drum transmission ratio, the preset rotational inertia, the initial angular velocity of the shift drum, the rotational resistance of the shift drum and the shift evaluation time.

[0082] It can be understood that by combining the torque, transmission ratio, rotational inertia, initial angular velocity, rotational resistance and shift evaluation time of the shift motor, the target angular velocity of the shift drum is calculated, which provides a theoretical basis for subsequent stagnation state diagnosis.

[0083] In a feasible implementation, step S14 may include steps S141 to S143:

[0084] Step S141, calculating the shift drum torque according to the shift motor torque and the shift drum transmission speed ratio;

[0085] It can be understood that the calculation formula of the shift drum torque is as follows:

[0086] T drum =r*T motor (Formula 3)

[0087] Where, T drum is the shift drum torque, r is the shift drum transmission ratio, T motor is the shift motor torque.

[0088] Step S142, calculating a target angular acceleration of the shift drum according to the shift drum torque, the preset rotational inertia and the rotational resistance;

[0089] It can be understood that the target angular acceleration is calculated as follows:

[0090]

[0091] Where ω' is the target angular acceleration of the shift drum, T drum is the shift drum torque, T f is the shift drum rotation resistance, and J is the shift drum system rotation inertia.

[0092] Step S143, calculating a target angular velocity according to the target angular acceleration, the initial angular velocity of the shift drum and the shift evaluation time.

[0093] It can be understood that the target angular velocity is calculated as follows:

[0094] ω t =ω 0 +ω'*t (Equation 5)

[0095] In the formula, ω t is the target angular velocity of the shift drum, ω 0 is the initial angular velocity of the shift drum, ω' is the target angular acceleration of the shift drum, and t is the shift evaluation time.

[0096] Step S20, calculating a stagnation coefficient according to the target angular velocity and the actual angular velocity;

[0097] It should be noted that the stagnation coefficient is a parameter used to quantify the difference between the target angular velocity and the actual angular velocity. It is usually calculated by a specific mathematical formula and is used to evaluate whether the operating status of the shift drum is normal.

[0098] It can be understood that the calculation formula of the stagnation coefficient is as follows:

[0099]

[0100] Where x is the stagnation coefficient, ω t is the shift drum target angular velocity, ω act is the actual angular velocity of the shift drum.

[0101] Step S30, determining the operating state of the shift drum according to the stagnation coefficient;

[0102] It should be noted that the operating state of the shift drum refers to the working condition of the shift drum at a specific moment, which may be normal operation, stagnation, delay, etc. In the embodiment, special attention is paid to the "stagnation state", that is, the shift drum fails to rotate at the expected speed, which may be caused by mechanical failure, excessive external resistance or other reasons.

[0103] In a feasible implementation, step S30 may include steps S31 to S33:

[0104] Step S31, obtaining a first stagnation coefficient threshold, a second stagnation coefficient threshold, and a preset stagnation time threshold, wherein the first stagnation coefficient threshold is greater than the second stagnation coefficient threshold;

[0105] It should be noted that the first stagnation coefficient threshold is a higher threshold used to determine that the shift drum may begin to stagnate, and the second stagnation coefficient threshold is a lower threshold used to determine that the shift drum may begin to show signs of initial stagnation.

[0106] Step S32, when the stagnation coefficient is greater than the first stagnation coefficient threshold or the stagnation coefficient is less than the second stagnation coefficient threshold, recording the current stagnation time length;

[0107] It can be understood that the stagnation coefficient being greater than the first stagnation coefficient threshold value indicates that the target angular velocity far exceeds the actual angular velocity, which means that the shift drum resistance is too high and stagnation occurs.

[0108] In addition, it can be understood that a stagnation coefficient less than the second stagnation coefficient threshold indicates that the theoretical angular velocity is much smaller than the actual angular velocity, indicating that there is a fault in the internal transmission mechanism of the shift drum, the shift motor and the shift drum are loose, the shift motor fails to drive the shift drum to rotate, and the shift drum becomes stagnant.

[0109] It is understandable that if any of the above situations is detected, the current stagnation time length is recorded.

[0110] Step S33: when the current stagnation time length is greater than the preset stagnation time threshold, determining that the operating state of the shift drum is a stagnant state.

[0111] It should be noted that the preset dead time threshold is the maximum time that the shift drum is allowed to run in a dead state.

[0112] It can be understood that when the current dead time length recorded in step S32 exceeds the preset dead time threshold, the operating state of the shift drum is determined to be a dead state.

[0113] Step S40: When the running state is a stagnant state, adjusting the vehicle state according to a preset stagnation processing mechanism.

[0114] It should be noted that this means that in step S30, after comparing the stagnation coefficient with the preset threshold, it is determined that the actual operating state of the shift drum does not meet the normal operating conditions, that is, the speed of the shift drum is much lower than the expected speed, indicating that there is some kind of obstacle or fault that causes the shift drum to fail to operate normally.

[0115] In addition, it should be noted that the preset stall handling mechanism is a set of predefined operating steps or strategies used to adjust the vehicle when the shift drum is detected to ensure safety, reduce damage and maintain basic vehicle operation. The preset stall handling mechanism includes but is not limited to limiting vehicle speed, changing driving mode, adjusting engine output, and enabling alternate transmission paths.

[0116] It is understandable that according to the preset stagnation handling mechanism, the operating parameters of the vehicle will be adjusted to ensure the safe operation of the vehicle.

[0117] In a feasible implementation, step S40 may include steps S41 to S44:

[0118] Step S41, when the running state is a stagnant state, obtaining the current gear position of the vehicle, the preset torque of the clutch input end of the vehicle, and the current torque of the clutch input end;

[0119] It should be noted that the current gear of the vehicle refers to the gear ratio gear that the vehicle is currently in. In an automatic transmission, this is usually determined by the transmission control unit (TCU) based on the position of the shift lever or internal sensors. The preset torque of the vehicle's clutch input is the torque value that the clutch input should transmit under ideal working conditions. This preset value is usually set based on engine performance and transmission design parameters. The current torque at the clutch input is the torque actually transmitted by the clutch input measured in real time by the sensor. This value reflects the actual working state of the clutch.

[0120] Step S42, controlling the vehicle to travel in the current gear and prohibiting the vehicle from switching gears;

[0121] It can be understood that controlling the vehicle to travel in the current gear and prohibiting the vehicle from shifting gears means disabling all gears and neutral gear except the current gear.

[0122] Step S43, adjusting the current torque of the clutch input end to the preset torque of the clutch input end, and opening the clutch of the vehicle;

[0123] It can be understood that adjusting the current torque at the clutch input end to the preset torque at the clutch input end and opening the clutch of the vehicle means limiting the torque at the clutch input end to the preset torque at the clutch input end to avoid clutch overspeed.

[0124] Step S44, controlling the power of the vehicle to restart, and entering the shift drum self-learning strategy, and adjusting the vehicle state according to the shift drum self-learning strategy.

[0125] It should be noted that the shift drum self-learning strategy is an algorithm that automatically adjusts and optimizes system performance. It adjusts control parameters based on actual vehicle operation data. The shift drum self-learning strategy may adjust shift timing, torque output, shift speed, etc. to improve the performance and response of the shift drum.

[0126] It can be understood that controlling the power of the vehicle to restart and entering the shift drum self-learning strategy, adjusting the vehicle state according to the shift drum self-learning strategy means that the gearbox controller is powered off and on again, triggering the shift drum self-learning.

[0127] In a feasible implementation, step S44 may include steps S441 to S443:

[0128] Step S441, controlling the vehicle power supply to restart;

[0129] Step S442, when the power restart is completed, calibrating the position sensor of the shift drum through the shift drum self-learning strategy;

[0130] Step S443, when the calibration is completed, adjusting the control parameters of the shift motor.

[0131] It is understood that steps S441 to S443 are the self-learning strategy for the shift drum to adjust the vehicle state, which means restarting the transmission control unit to clear the fault code and reset the system state. After the restart is completed, the system calibrates the position sensor of the shift drum through the self-learning strategy to ensure that the sensor reading is accurate. According to the sensor calibration results, the control parameters of the shift motor are adjusted, such as increasing the torque output of the motor, to improve the shift performance.

[0132] Through steps S441 to S443, faults or errors that may affect the shifting performance can be eliminated, the accuracy of the shift drum position sensor can be ensured, the precision of the shifting operation can be improved, the control parameters of the shifting motor can be optimized, and the efficiency and responsiveness of the shifting can be improved.

[0133] This embodiment solves the technical problem of accurate diagnosis and response to the stagnation state of the shift drum in the traditional shift system by real-time monitoring of the current, torque constant, transmission ratio, rotational inertia, rotational resistance, initial angular velocity, shift evaluation time and angular acceleration of the shift motor, and combines the technical means of preset thresholds and self-learning strategies, thereby achieving the beneficial effects of improving shifting efficiency, reducing mechanical failures, optimizing driving experience, and ensuring vehicle driving safety.

[0134] 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 2 Before step S10, the method for determining and processing the stagnant state of the shift drum further includes steps S01 to S05:

[0135] Step S01, obtaining the driving motor state of the shift motor;

[0136] It can be understood that the purpose of acquiring the driving motor state of the shift motor is to determine whether the shift motor has been started and is ready to perform a shift operation.

[0137] Step S02, when the driving motor is in the starting state, obtaining the power supply voltage and the preset voltage threshold of the shift motor;

[0138] It should be noted that the power supply voltage of the shift motor refers to the voltage of the electric energy supplied to the shift motor, usually in volts (V). The preset voltage threshold is a voltage value set by the system to determine whether the motor receives enough voltage to work properly. This threshold is usually set according to the specifications and performance requirements of the motor.

[0139] It will be appreciated that once it is confirmed that the motor has started, the voltage currently supplied to the motor will be measured.

[0140] Step S03, when the supply voltage is greater than the preset voltage threshold, obtaining the driving duty cycle of the shift motor and the preset driving duty cycle threshold;

[0141] It should be noted that the drive duty cycle refers to the ratio of the time that the signal is in an active state (such as power-on) to the total time within a certain period of time. In motor control, the drive duty cycle is usually used to adjust the speed and torque of the motor. The duty cycle is expressed as a percentage. A duty cycle of 100% means that the motor continuously receives power, while 0% means that the motor does not receive power.

[0142] In addition, it should be noted that the preset driving duty cycle threshold is a set duty cycle value to ensure that the motor receives sufficient driving signals to perform operations. If the actual duty cycle is lower than this threshold, the motor may not be able to generate enough torque to complete the gear shift.

[0143] It is understandable that, when it is confirmed that the power supply voltage is sufficient, the driving duty cycle of the shift motor is obtained for further judgment.

[0144] Step S04, when the driving duty cycle is greater than the preset driving duty cycle threshold, obtaining the current gear shifting stage;

[0145] It should be noted that the gear shift phase refers to a specific step or period in the gear shift process in an automatic transmission. The gear shift process usually includes multiple phases, such as pre-synchronization, synchronization, post-synchronization, etc. The current gear shift phase is the current gear shift phase.

[0146] It is understandable that after confirming that the driving duty cycle meets the requirements, the current shifting stage will be obtained for further judgment.

[0147] Step S05, when the gear shifting stage is not a synchronous stage, determining whether the gear shifting motor meets a stagnant state diagnosis condition.

[0148] It is understandable that when the shifting stage is not a synchronous stage, the power supply voltage, drive duty cycle, shifting motor state and other parameters obtained in the previous steps are combined with the current shifting stage to determine whether the diagnostic conditions of the stagnation state are met.

[0149] This embodiment solves the technical problem of accurately diagnosing whether the shift motor is in a stagnant state during the asynchronous shift phase by continuously monitoring and evaluating the shift motor's driving state, power supply voltage, driving duty cycle, and current shift phase, thereby achieving the beneficial effects of identifying potential shift faults in advance, optimizing shift performance, reducing mechanical wear, and improving transmission reliability. Through this enhanced diagnostic process, the working condition of the shift motor can be judged more accurately, and corresponding treatment measures can be taken in a timely manner, thereby ensuring the safety of vehicle driving and the smoothness of driving.

[0150] For example, in order to help understand the implementation process of the method for determining and processing the stagnant state of the shift drum obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 3 , Figure 3 A brief flow chart of a method for determining and processing a stagnant state of a shift drum is provided, specifically:

[0151] First, the diagnostic entry conditions are judged, then the theoretical speed and actual speed of the shift drum are calculated, and then it is judged whether the shift drum is unexpectedly stagnant. Finally, if unexpected stagnation is detected, the downgrade process is entered.

[0152] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the method for determining and processing the stagnant state of the shift drum of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0153] The present application also provides a device for determining and processing the stagnation state of a shift drum, please refer to Figure 4 , the stagnation state determination and processing device of the shift drum comprises:

[0154] An acquisition module 10 is used to acquire the shift motor torque, the target angular velocity and the actual angular velocity of the shift drum when the shift motor meets the stagnation state diagnosis condition;

[0155] A calculation module 20, configured to calculate a stagnation coefficient according to the target angular velocity and the actual angular velocity;

[0156] A determination module 30, configured to determine the operating state of the shift drum according to the stagnation coefficient;

[0157] The adjustment module 40 is used to adjust the vehicle state according to a preset stagnation processing mechanism when the running state is a stagnation state.

[0158] The device for determining and processing the stagnation state of the shift drum provided in the present application adopts the method for determining and processing the stagnation state of the shift drum in the above-mentioned embodiment, which can solve the technical problem that the unexpected stagnation of the shift drum cannot be accurately diagnosed and processed. Compared with the prior art, the beneficial effects of the device for determining and processing the stagnation state of the shift drum provided in the present application are the same as the beneficial effects of the method for determining and processing the stagnation state of the shift drum provided in the above-mentioned embodiment, and other technical features in the device for determining and processing the stagnation state of the shift drum are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0159] In one embodiment, the determination module 30 is further used to obtain a first stagnation coefficient threshold, a second stagnation coefficient threshold and a preset stagnation time threshold, wherein the first stagnation coefficient threshold is greater than the second stagnation coefficient threshold; when the stagnation coefficient is greater than the first stagnation coefficient threshold or the stagnation coefficient is less than the second stagnation coefficient threshold, the current stagnation time length is recorded; when the current stagnation time length is greater than the preset stagnation time threshold, it is determined that the operating state of the shift drum is a stagnant state.

[0160] In one embodiment, the adjustment module 40 is also used to obtain the current gear of the vehicle, the preset torque of the clutch input end of the vehicle, and the current torque of the clutch input end when the operating state is a stagnant state; control the vehicle to travel in the current gear and prohibit the vehicle from switching gears; adjust the current torque of the clutch input end to the preset torque of the clutch input end and open the clutch of the vehicle; control the power of the vehicle to restart, and enter the shift drum self-learning strategy, and adjust the vehicle state according to the shift drum self-learning strategy.

[0161] In one embodiment, the adjustment module 40 is also used to control the vehicle power restart; when the power restart is completed, calibrate the shift drum position sensor through the shift drum self-learning strategy; when the calibration is completed, adjust the control parameters of the shift motor.

[0162] In one embodiment, the acquisition module 10 is further used to acquire the current, preset torque constant, shift drum transmission speed ratio, preset rotational inertia, rotational resistance of the shift drum, initial angular velocity of the shift drum, shift evaluation time and angular acceleration of the shift motor when the shift motor meets the stagnation state diagnosis condition; calculate the shift motor torque according to the current and the preset torque constant; calculate the actual angular velocity according to the shift motor angular acceleration and the shift drum transmission speed ratio; calculate the target angular velocity according to the shift motor torque, the shift drum transmission speed ratio, the preset rotational inertia, the initial angular velocity of the shift drum, the rotational resistance of the shift drum and the shift evaluation time.

[0163] In one embodiment, the acquisition module 10 is further used to calculate the shift drum torque based on the shift motor torque and the shift drum transmission speed ratio; calculate the target angular acceleration of the shift drum based on the shift drum torque, the preset rotational inertia and the rotational resistance; calculate the target angular velocity based on the target angular acceleration, the initial angular velocity of the shift drum and the shift evaluation time.

[0164] In one embodiment, the acquisition module 10 is also used to acquire the driving motor state of the shift motor; when the driving motor state is a starting state, the power supply voltage and a preset voltage threshold of the shift motor are acquired; when the power supply voltage is greater than the preset voltage threshold, the driving duty cycle and a preset driving duty cycle threshold of the shift motor are acquired; when the driving duty cycle is greater than the preset driving duty cycle threshold, the current shifting stage is acquired; when the shifting stage is not a synchronous stage, it is determined that the shifting motor meets the stagnant state diagnostic condition.

[0165] The present application provides a device for determining and processing the stagnation state of a shift drum, and the device for determining and processing the stagnation state of a shift drum includes: 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 method for determining and processing the stagnation state of the shift drum in the above-mentioned embodiment one.

[0166] Reference below Figure 5 , which shows a schematic diagram of the structure of a device for determining and processing the stagnant state of a shift drum suitable for implementing the embodiment of the present application. The device for determining and processing the stagnant state of a shift drum in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, notebook 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 5 The stagnant state determination and processing device of the shift drum shown is only an example and should not bring any limitation to the function and scope of use of the embodiment of the present application.

[0167] like Figure 5As shown, the gear shift drum stagnation state determination and processing device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. Various programs and data required for the gear shift drum stagnation state determination and processing device operation are also stored in the RAM 1004. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 may allow the gear shift drum stagnation state determination and processing device to communicate wirelessly or wired with other devices to exchange data. Although the gear shift drum stagnation state determination and processing device having 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.

[0168] 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.

[0169] The device for determining and processing the stagnation state of the shift drum provided in the present application adopts the method for determining and processing the stagnation state of the shift drum in the above-mentioned embodiment, which can solve the technical problem of being unable to accurately diagnose and process the unexpected stagnation of the shift drum. Compared with the prior art, the beneficial effects of the device for determining and processing the stagnation state of the shift drum provided in the present application are the same as the beneficial effects of the method for determining and processing the stagnation state of the shift drum provided in the above-mentioned embodiment, and other technical features in the device for determining and processing the stagnation state of the shift drum are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0170] 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.

[0171] 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.

[0172] 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 method for determining and processing the stagnant state of a shift drum in the above-mentioned embodiment.

[0173] 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.

[0174] The computer-readable storage medium may be included in the device for determining and processing the stagnation state of the shift drum; or may exist independently without being assembled into the device for determining and processing the stagnation state of the shift drum.

[0175] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the stagnation state determination and processing device of the shift drum, the stagnation state determination and processing device of the shift drum: when the shift motor meets the stagnation state diagnosis condition, obtain the shift motor torque, the target angular velocity and the actual angular velocity of the shift drum;

[0176] Calculating a stagnation coefficient according to the target angular velocity and the actual angular velocity;

[0177] determining an operating state of the shift drum according to the stagnation coefficient;

[0178] When the running state is a stagnant state, the vehicle state is adjusted according to the preset stagnation processing mechanism

[0179] 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).

[0180] 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.

[0181] 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.

[0182] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for determining and processing the stagnant state of the shift drum, and can solve the technical problem of being unable to accurately diagnose and process the unexpected stagnation of the shift drum. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the method for determining and processing the stagnant state of the shift drum provided in the above-mentioned embodiment, and will not be elaborated here.

[0183] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the above-mentioned method for determining and processing the stagnation state of a shift drum.

[0184] The computer program product provided by the present application can solve the technical problem of being unable to accurately diagnose and process the unexpected stagnation of the shift drum. 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 method for determining and processing the stagnation state of the shift drum provided by the above embodiment, and will not be elaborated here.

[0185] 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 determining and processing a stagnant state of a shift drum, characterized in that: The method comprises: When the shift motor meets the stagnation state diagnosis condition, the shift motor torque, the target angular velocity of the shift drum and the actual angular velocity are obtained; Calculating a stagnation coefficient according to the target angular velocity and the actual angular velocity; determining an operating state of the shift drum according to the stagnation coefficient; When the running state is a stagnant state, the vehicle state is adjusted according to a preset stagnation processing mechanism.

2. The method according to claim 1, characterized in that The step of determining the operating state of the shift drum according to the stagnation coefficient comprises: Acquire a first stagnation coefficient threshold, a second stagnation coefficient threshold, and a preset stagnation time threshold, wherein the first stagnation coefficient threshold is greater than the second stagnation coefficient threshold; When the stagnation coefficient is greater than the first stagnation coefficient threshold or the stagnation coefficient is less than the second stagnation coefficient threshold, recording the current stagnation time length; When the current dead time length is greater than the preset dead time threshold, it is determined that the operating state of the shift drum is a dead state.

3. The method according to claim 1, characterized in that When the running state is a stagnant state, the step of adjusting the vehicle state according to a preset stagnation processing mechanism includes: When the running state is a stagnant state, obtaining the current gear position of the vehicle, the preset torque of the clutch input end of the vehicle, and the current torque of the clutch input end; Controlling the vehicle to travel in the current gear and prohibiting the vehicle from switching gears; Adjusting the current torque at the clutch input end to the preset torque at the clutch input end, and opening the clutch of the vehicle; The vehicle is controlled to restart its power supply, enter a shift drum self-learning strategy, and adjust the vehicle state according to the shift drum self-learning strategy.

4. The method according to claim 3, characterized in that The step of controlling the vehicle power supply to restart and entering the shift drum self-learning strategy includes: Controlling the vehicle power supply to restart; When the power restart is completed, calibrating the position sensor of the shift drum through a shift drum self-learning strategy; When the calibration is completed, the control parameters of the shift motor are adjusted.

5. The method according to claim 1, characterized in that When the shift motor meets the stagnation state diagnosis condition, the step of obtaining the shift motor torque, the target angular velocity and the actual angular velocity of the shift drum comprises: When the shift motor meets the stagnation state diagnosis condition, the current of the shift motor, the preset torque constant, the gear ratio of the shift drum, the preset rotational inertia, the rotational resistance of the shift drum, the initial angular velocity of the shift drum, the shift evaluation time and the angular acceleration of the shift motor are obtained; Calculating the shift motor torque according to the current and the preset torque constant; Calculating an actual angular velocity according to the shift motor angular acceleration and the shift drum transmission speed ratio; A target angular velocity is calculated based on the shift motor torque, the shift drum transmission speed ratio, the preset rotational inertia, the initial angular velocity of the shift drum, the rotational resistance of the shift drum, and the shift evaluation time.

6. The method according to claim 5, characterized in that The step of calculating the target angular velocity according to the shift motor torque, the shift drum transmission speed ratio, the preset rotational inertia, the initial angular velocity of the shift drum, the rotational resistance of the shift drum and the shift evaluation time comprises: Calculating the shift drum torque according to the shift motor torque and the shift drum transmission speed ratio; calculating a target angular acceleration of the shift drum according to the shift drum torque, the preset rotational inertia and the rotational resistance; A target angular velocity is calculated based on the target angular acceleration, the initial angular velocity of the shift drum, and the shift evaluation time.

7. The method according to claim 1, characterized in that Before the step of obtaining the shift motor torque, the target angular velocity and the actual angular velocity of the shift drum when the shift motor meets the stagnation state diagnosis condition, the method further includes: Get the driving motor status of the shift motor; When the driving motor is in a startup state, obtaining a power supply voltage and a preset voltage threshold of the shift motor; When the supply voltage is greater than the preset voltage threshold, obtaining a driving duty cycle of the shift motor and a preset driving duty cycle threshold; When the driving duty cycle is greater than the preset driving duty cycle threshold, obtaining a current gear shifting stage; When the gear shifting phase is not a synchronous phase, it is determined that the gear shifting motor meets a stagnation state diagnosis condition.

8. A device for determining and processing the stagnation state of a shift drum, characterized in that: The device comprises: An acquisition module, used for acquiring the shift motor torque, the target angular velocity of the shift drum and the actual angular velocity when the shift motor meets the stagnation state diagnosis condition; A calculation module, used for calculating a stagnation coefficient according to the target angular velocity and the actual angular velocity; a determination module, configured to determine the operating state of the shift drum according to the stagnation coefficient; The adjustment module is used to adjust the vehicle state according to a preset stagnation processing mechanism when the running state is a stagnation state.

9. A device for determining and processing the stagnation state of a shift drum, characterized in that: The device comprises: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the method for determining and processing the stagnation state of the shift drum according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the method for determining and processing the stagnation state of the shift drum according to any one of claims 1 to 7 are implemented.

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