Self-learning method and device for semi-engagement point position of electronically controlled clutch

Abstract

The embodiment of the present application provides a method and device for self-learning the half-engagement point position of an electronically controlled clutch, which relates to the field of clutch control technology. The method includes: controlling a motor to perform zero-position self-learning and recording a mechanical zero-position position; determining that a vehicle satisfies a first vehicle state condition and performing clutch half-engagement point self-learning; storing the half-engagement point position obtained through self-learning in a memory and recording current odometer data; determining whether the clutch is fully run-in; and correcting the change in the clutch half-engagement point caused by a long-term operation of the clutch and the half-engagement point deviation caused by differences in clutch manufacturing and assembly through self-learning, and preventing a decrease in torque transmission capacity due to rapid changes in the half-engagement point when the clutch is not fully run-in during its initial life cycle, thereby ensuring the accuracy of the clutch torque transmission.

Description

Technical Field

[0001] The present application relates to the technical field of clutch control, and in particular to a method and device for self-learning the position of a semi-engagement point of an electronically controlled clutch. Background Art

[0002] The clutch half-engagement point (KissPoint, KP) self-learning technology is an important part of the automobile power transmission system. It involves the accuracy and consistency of clutch control, which is directly related to the vehicle's handling stability and power. How to avoid the problem of reduced clutch torque transmission capacity due to clutch plate wear and poor control consistency caused by manufacturing and assembly differences is particularly important. At present, the clutch KP point can be self-learned by methods such as torque increment method and speed change method. Previously, most self-learning methods performed a self-learning action at power-on and only performed KP self-learning once per power-on cycle, which solved the problem of clutch wear to a certain extent. However, the clutch self-learning conditions were single and did not take into account the situation where the clutch plate was worn out in a driving cycle before the clutch was fully run-in, resulting in reduced torque transmission. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a method and device for self-learning the half-engagement point position of an electronically controlled clutch, so as to solve the problem that the existing clutch self-learning conditions are single and do not take into account the situation where the clutch plate wears severely within a driving cycle before the clutch is fully run-in, resulting in weakened torque transmission.

[0004] In a first aspect, an embodiment of the present application provides a method for self-learning the position of a semi-engagement point of an electronically controlled clutch, comprising:

[0005] Control the motor to perform zero-position self-learning and record the mechanical zero-position;

[0006] Determining that the vehicle meets a first vehicle state condition, and performing self-learning of a clutch half-engagement point;

[0007] The semi-joint point position obtained by self-learning is stored in the memory, and the current odometer data is recorded;

[0008] Check whether the clutch is fully engaged.

[0009] In the above implementation process, the motor is controlled to perform zero-position self-learning and record the mechanical zero-position position; it is determined that the vehicle meets the first vehicle state condition, and the clutch semi-engagement point self-learning is performed; the semi-engagement point position obtained by self-learning is stored in the memory, and the current odometer data is recorded; it is determined whether the clutch is fully run-in; the change of the clutch semi-engagement point caused by the clutch working for a long time and the semi-engagement point deviation caused by the difference in clutch manufacturing and assembly are corrected through self-learning, and the torque transmission capacity is prevented from decreasing due to the rapid change of the semi-engagement point when the clutch is not fully run-in in the initial life cycle, thereby ensuring the accuracy of the clutch torque transmission.

[0010] Furthermore, the control motor performs zero-position self-learning and records the mechanical zero-position, including:

[0011] When the system is detected to be powered on, the current position of the motor is set as the initial zero position;

[0012] Control the speed of the motor to move towards the mechanical zero position. After reaching the mechanical zero position limit, record the mechanical zero position.

[0013] In the above implementation process, the half-engagement point can be subsequently calculated according to the mechanical zero position, thereby ensuring the accuracy of the half-engagement point position.

[0014] Further, the determining that the vehicle meets the first vehicle state condition and performing clutch half-engagement point self-learning includes:

[0015] When the vehicle meets the first vehicle state condition, the clutch half-engagement point self-learning is performed; wherein the first vehicle state condition includes various dynamic parameters of vehicle operation;

[0016] When the vehicle does not meet the first vehicle state condition, the memory storage value of the last self-learning is used as the semi-engagement point until the first vehicle state condition is met.

[0017] In the above implementation process, the self-learning of the half-engagement point of the clutch is achieved.

[0018] Furthermore, the self-learning of the clutch semi-engagement point includes:

[0019] Starting the motor speed control, controlling the motor to approach the half-engagement point at a first speed until reaching a first preset position;

[0020] Controlling the motor to run at a second speed and recording motor parameters in real time; wherein the motor parameters include motor position and current;

[0021] Determine whether the current change of the motor exceeds the set current value within the continuous set period;

[0022] If not, continue to control the motor to run at the second speed and record the motor position in real time;

[0023] If yes, then record the current motor position, make a difference between the current motor position and the mechanical zero position, and correct the half-engagement point according to the preset offset to obtain the half-engagement point position relative to the mechanical zero position;

[0024] Control the motor to return to the mechanical zero position and end the self-learning of the half-engagement point of the clutch;

[0025] If the difference between the obtained half-binding point position and the half-binding point position stored in the memory is greater than a set threshold, the half-binding point position is repeatedly acquired to obtain the final half-binding point position.

[0026] Furthermore, the semi-joint point position obtained by self-learning is stored in a memory, and the current odometer data is recorded, including:

[0027] The semi-engagement point position obtained by self-learning is stored in the memory, the current odometer data is recorded to calculate the driving distance, and the sliding friction work is calculated. After each self-learning is completed, the driving distance and sliding friction work are cleared.

[0028] Further, the step of determining whether the clutch is fully run-in includes:

[0029] Determine whether the clutch is fully run-in;

[0030] If the clutch is not fully run-in, the accumulated slip power and driving distance of the current driving cycle are continuously calculated;

[0031] When the friction work accumulated reaches the friction work threshold or the driving distance reaches the driving distance threshold, and it is determined that the vehicle meets the second vehicle state condition, the clutch half-engagement point self-learning is performed again;

[0032] If the clutch is fully engaged, the self-learning process ends.

[0033] In the above implementation process, when the clutch is not fully run-in in its initial life cycle, the clutch half-engagement point changes rapidly, and the clutch wear in a single driving cycle has a greater impact on the four-wheel drive performance. The self-learning request is triggered by calculating the accumulated friction work and mileage of the clutch in a single driving cycle. After the clutch half-engagement point self-learning and the half-engagement point self-learning value are updated, the four-wheel drive performance can be effectively improved. When the clutch is fully run-in, the clutch half-engagement point changes slowly, and the friction work and mileage are no longer judged. Only power-on self-learning is used, which reduces control redundancy.

[0034] In addition, when the accumulated friction work reaches the friction work threshold or the driving distance reaches the driving distance threshold, and it is determined that the vehicle meets the second vehicle state condition, the clutch half-engagement point self-learning is performed again, so that the vehicle does not need to stop. The self-learning of the clutch half-engagement point during driving is highly real-time and can improve the vehicle's driving stability and smoothness.

[0035] Further, determining that the vehicle satisfies the first vehicle state condition includes:

[0036] When the vehicle meets various dynamic parameters of vehicle operation and lasts for a calibration time, it is determined that the vehicle meets the first vehicle state condition;

[0037] The determining that the vehicle satisfies the second vehicle state condition includes:

[0038] When the vehicle meets various dynamic parameters of vehicle operation and continues for a calibrated time, it is determined that the vehicle meets the second vehicle state condition.

[0039] In the above implementation process, the vehicle state adopts hysteresis and anti-shake strategies to prevent the conditions from frequently jumping between satisfaction and dissatisfaction. After all sub-conditions are met, they must continue for a calibrable time to meet the vehicle self-learning conditions, ensuring the stability of the semi-junction self-learning environment, thereby obtaining accurate and reasonable self-learning results.

[0040] In a second aspect, an embodiment of the present application provides a self-learning device for a semi-engagement point position of an electronically controlled clutch, comprising:

[0041] Start the control module to control the motor to perform zero-position self-learning and record the mechanical zero-position;

[0042] A learning module, used for determining that the vehicle meets a first vehicle state condition and performing self-learning of a clutch half-engagement point;

[0043] A storage and recording module is used to store the semi-joint point position obtained by self-learning into a memory and record the current odometer data;

[0044] The running-in determination module is used to determine whether the clutch is completely run-in.

[0045] In a third aspect, an embodiment of the present application provides an electronic device, including:

[0046] A processor, a memory and a bus, wherein the processor is connected to the memory via the bus, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, they are used to implement the self-learning method for the semi-engagement point position of the electronically controlled clutch as described above.

[0047] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a server, implements the self-learning method for the semi-engagement point position of the electronically controlled clutch as described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of a flow chart of a method for self-learning the position of a semi-engagement point of an electronically controlled clutch provided in an embodiment of the present application;

[0050] Figure 2 It is a structural schematic diagram of a self-learning device for the semi-engagement point position of an electric-controlled clutch provided in an embodiment of the present application;

[0051] Figure 3 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0053] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0054] Please see Figure 1 , Figure 1 A schematic diagram of a flow chart of a method for self-learning the position of a semi-engagement point of an electronically controlled clutch provided in an embodiment of the present application. Figure 1 The method for self-learning the position of the semi-engagement point of the electronically controlled clutch comprises:

[0055] 100. Control the motor to perform zero-position self-learning and record the mechanical zero-position.

[0056] Specifically, when the system is powered on, the current position of the motor is set as the initial zero position (which can be regarded as the coordinate origin); the speed of the motor is controlled to move toward the mechanical zero position, and after the movement reaches the mechanical zero position limit, the mechanical zero position is recorded; thus, the semi-engagement point can be subsequently corrected according to the mechanical zero position, thereby ensuring the accuracy of the semi-engagement point position.

[0057] 200. Determine that the vehicle meets a first vehicle state condition, and perform self-learning of the clutch half-engagement point.

[0058] Specifically, when the vehicle meets the first vehicle state condition, the clutch half-engagement point self-learning is performed; wherein, the first vehicle state condition includes various dynamic parameters of the vehicle operation; when the vehicle does not meet the first vehicle state condition, the memory storage value of the last self-learning is used as the half-engagement point until the first vehicle state condition is met; realizing the self-learning of the clutch half-engagement point.

[0059] Optionally, the dynamic parameters of vehicle operation include oil temperature, vehicle speed, torque, wheel speed difference, accelerator pedal opening, accelerator pedal change rate, lateral acceleration, longitudinal acceleration, yaw angular velocity, etc.

[0060] Optionally, during the clutch self-learning process, if there is a clutch request, the self-learning state is exited to respond to the clutch request first. If the response condition is not met or the self-learning process is interrupted, the memory storage value of the last self-learning is used as the semi-engagement point, and self-learning is performed after the current driving cycle meets the above self-learning conditions; wherein, the memory can use NVM (Non-Volatile Memory, a non-volatile memory).

[0061] On the basis of the above embodiment, the method for self-learning the position of the semi-engagement point of the electronically controlled clutch can also be embodied as follows: the self-learning of the semi-engagement point of the clutch includes:

[0062] 210. Start the motor speed control, and control the motor to approach the half-engagement point at a first speed until it reaches a first preset position.

[0063] Specifically, the speed controller sends a control signal to the motor according to the preset first speed parameter, adjusts the current or voltage of the motor, and makes it rotate at a predetermined speed. At the same time, the actual speed and position information of the motor are monitored in real time, and the control signal is continuously adjusted through a closed-loop control algorithm to ensure that the motor can smoothly and accurately approach the semi-engagement point.

[0064] As the motor approaches the semi-engagement point, the actual position of the motor is continuously monitored and compared with the first preset position. When the motor reaches or approaches the first preset position, the controller will adjust the control strategy according to the preset logical judgment (such as reaching the predetermined position within a certain error range), such as reducing the motor speed, switching to the position holding mode, or preparing for the next operation.

[0065] 220. Control the motor to run at a second speed and record motor parameters in real time; wherein the motor parameters include motor position and current.

[0066] When the motor reaches the first preset position, it is controlled to run at the second speed. A speed controller is used to send a control signal to the motor to adjust the current or voltage of the motor so that it runs stably at the preset second speed. The position and current of the motor are recorded in real time.

[0067] 230. Determine whether the current change of the motor exceeds the set current value within the continuous set period.

[0068] 240. If not, continue to control the motor to run at the second speed and record the motor position in real time.

[0069] 250. If yes, then record the current motor position, make a difference between the current motor position and the mechanical zero position, and correct the half-engagement point according to the preset offset to obtain the half-engagement point position relative to the mechanical zero position.

[0070] When the motor shaft current change of the motor exceeds the set current value for N consecutive cycles, the current motor position is recorded, and the motor position is used to make a difference with the mechanical zero position, and the half-engagement point is corrected according to the preset offset. Optionally, the half-engagement point position relative to the mechanical zero position = the motor position recorded to meet the current conditions of N consecutive cycles - mechanical zero position + Offset, where the preset offset is Offset, and the half-engagement point position relative to the mechanical zero position is obtained. After the half-engagement point position is obtained, the motor returns to the mechanical zero position. If the first self-learning and the half-engagement point position stored in the NVM memory are significantly different, repeat this process twice and obtain the half-engagement point position to obtain the final half-engagement point position.

[0071] 260. Control the motor to return to the mechanical zero position and end the self-learning of the half-engagement point of the clutch.

[0072] 270. If the difference between the obtained half-binding point position and the half-binding point position stored in the memory is greater than a set threshold, the half-binding point position is repeatedly acquired to obtain a final half-binding point position.

[0073] 300. The semi-joint point position obtained by self-learning is stored in the memory, and the current odometer data is recorded.

[0074] Specifically, the position of the semi-engagement point obtained by self-learning is stored in a memory, the current odometer data is recorded to calculate the driving distance, and the sliding friction work is calculated. After each self-learning is completed, the driving distance and the sliding friction work are cleared.

[0075] 400. Make sure the clutch is fully run-in.

[0076] Specifically, determine whether the clutch is fully run-in; if the clutch is not fully run-in, continue to calculate the accumulated slip power and driving distance of the current driving cycle; when the accumulated slip power reaches the slip power threshold or the driving distance reaches the driving distance threshold, and it is determined that the vehicle meets the second vehicle state condition, perform clutch semi-engagement point self-learning again; if the clutch is fully run-in, end the self-learning process.

[0077] Therefore, the vehicle can realize self-learning of the clutch half-engagement point during driving without stopping, with strong real-time performance, which can improve the vehicle's driving stability and smoothness.

[0078] Optionally, the second vehicle state condition includes oil temperature, vehicle speed, torque, wheel speed difference, accelerator pedal opening, accelerator pedal change rate, lateral acceleration, longitudinal acceleration, yaw angular velocity and other conditions.

[0079] In the above implementation process, when the clutch is not fully run-in in the initial life cycle, it is learned again to ensure the accuracy of the clutch half-engagement point in the entire driving cycle; when the clutch is fully run-in, the clutch half-engagement point changes slowly at this time, and the sliding friction work and mileage are no longer judged, and only the power-on self-learning is used to reduce the redundancy of control. As mentioned above, the embodiment of the present application controls the motor to perform zero-position self-learning and record the mechanical zero-position; determines that the vehicle meets the first vehicle state condition, and performs clutch half-engagement point self-learning; stores the half-engagement point position obtained by self-learning in the memory, records the current odometer data to calculate the driving distance, and calculates the sliding friction work, and clears the driving distance and sliding friction work after each self-learning is completed; determines whether the clutch is fully run-in; corrects the change of the clutch half-engagement point caused by the clutch after a long period of work through self-learning and the half-engagement point deviation caused by the clutch manufacturing and assembly differences, and prevents the torque transmission capacity from decreasing due to the rapid change of the half-engagement point when the clutch is not fully run-in in the initial life cycle, thereby ensuring the accuracy of the clutch torque transmission.

[0080] On the basis of the above embodiment, the method for self-learning the position of the semi-engagement point of the electronically controlled clutch can also be embodied as follows: the step of determining that the vehicle meets the first vehicle state condition includes:

[0081] When the vehicle meets various dynamic parameters of vehicle operation and lasts for a calibrated time, it is determined that the vehicle meets the first vehicle state condition.

[0082] The determining that the vehicle satisfies the second vehicle state condition includes:

[0083] When the vehicle meets various dynamic parameters of vehicle operation and continues for a calibrated time, it is determined that the vehicle meets the second vehicle state condition.

[0084] Therefore, the vehicle state adopts hysteresis and anti-shake strategies to prevent the conditions from frequently jumping between satisfaction and dissatisfaction. After all sub-conditions are met, they must last for a calibrable time before the vehicle self-learning conditions can be met, ensuring the stability of the semi-junction self-learning environment, thereby obtaining accurate and reasonable self-learning results.

[0085] It can be understood that the various setting values ​​and thresholds of the present application are set according to specific needs, and the embodiments of the present application do not limit the specific values.

[0086] As described above, the clutch running-in state judgment function of the embodiment of the present application can obtain the clutch running-in state by effectively judging the learned semi-engagement point value, thereby realizing the strategic distinction between the semi-engagement point learning after insufficient running-in and sufficient running-in.

[0087] Among them, when the clutch is not fully run-in in its initial life cycle, the clutch half-engagement point changes rapidly. The clutch wear in a single driving cycle has a greater impact on the four-wheel drive performance. By calculating the accumulated slip power and mileage of the clutch in a single driving cycle to trigger a self-learning request, the four-wheel drive performance can be effectively improved after half-engagement point learning and half-engagement point value update.

[0088] Among them, when the clutch is not fully run-in in its initial life cycle, the semi-engagement point self-learning on power-on and the semi-engagement point that meets the semi-engagement point re-learning judgment conditions are learned again to ensure the accuracy of the clutch semi-engagement point throughout the driving cycle. When the clutch is fully run-in, the clutch semi-engagement point changes slowly, and the sliding friction work and mileage are no longer judged. Only power-on self-learning is used, which reduces the redundancy of control.

[0089] In addition, the embodiment of the present application can achieve self-learning of the clutch half-engagement point during driving without stopping the vehicle, with strong real-time performance, which can improve the vehicle's driving stability and smoothness.

[0090] The vehicle state of the embodiment of the present application adopts a hysteresis and anti-shake strategy to prevent the conditions from frequently jumping between satisfaction and non-satisfaction, and after all sub-conditions are met, a calibratable time must be maintained before the vehicle self-learning conditions can be met, thereby ensuring the stability of the semi-junction self-learning environment, thereby obtaining accurate and reasonable self-learning results.

[0091] The above steps are not to be performed in a strict order as described in the numbers, but should be understood as an overall solution.

[0092] In the second aspect, based on the above embodiments, Figure 2 This is a schematic diagram of the structure of a self-learning device for the semi-engagement point position of an electric-controlled clutch provided in an embodiment of the present application. Figure 2 The electronically controlled clutch semi-engagement point position self-learning device provided in this embodiment specifically includes: a starting control module 201, a learning module 202, a storage and recording module 203 and a running-in determination module 204.

[0093] Among them, the starting control module 201 is used to control the motor to perform zero-position self-learning and record the mechanical zero-position position; the learning module 202 is used to determine whether the vehicle meets the first vehicle state condition and perform clutch semi-engagement point self-learning; the storage recording module 203 is used to store the semi-engagement point position obtained by self-learning into the memory and record the current odometer data; the running-in determination module 204 is used to determine whether the clutch is fully run-in.

[0094] As described above, the embodiment of the present application controls the motor to perform zero-position self-learning and records the mechanical zero-position position; determines that the vehicle meets the first vehicle state condition, and performs clutch half-engagement point self-learning; stores the half-engagement point position obtained by self-learning in a memory, records the current odometer data to calculate the driving distance, and calculates the sliding friction work, and clears the driving distance and the sliding friction work after each self-learning is completed; determines whether the clutch is fully run-in; corrects the change of the clutch half-engagement point caused by the clutch working for a long time and the half-engagement point deviation caused by the difference in clutch manufacturing and assembly through self-learning, and prevents the torque transmission capacity from decreasing due to the rapid change of the half-engagement point when the clutch is not fully run-in in the initial life cycle, thereby ensuring the accuracy of the clutch torque transmission.

[0095] The electronically controlled clutch semi-engagement point position self-learning device provided in the embodiment of the present application can be used to execute the electronically controlled clutch semi-engagement point position self-learning method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0096] In a third aspect, an embodiment of the present application further provides an electronic device that can integrate the electronically controlled clutch half-engagement point position self-learning device provided in an embodiment of the present application. Figure 3 Schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Figure 3 The electronic device includes: an input device 73, an output device 74, a memory 72 and one or more processors 71; the memory 72 is used to store one or more programs; when the one or more programs are executed by the one or more processors 41, the one or more processors 71 implement the self-learning method of the semi-engagement point position of the electric-controlled clutch provided in the above embodiment. The input device 73, the output device 74, the memory 72 and the processor 71 can be connected by a bus or other means. Figure 3 The example of connecting through bus is taken in the following.

[0097] The processor 71 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory 72, that is, realizes the above-mentioned self-learning method of the semi-engagement point position of the electronically controlled clutch.

[0098] The electronic device provided above can be used to execute the self-learning method for the half-engagement point position of the electronically controlled clutch provided in the above embodiment, and has corresponding functions and beneficial effects.

[0099] In a fourth aspect, an embodiment of the present application also provides a computer-readable storage medium, which includes a stored computer program; wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the self-learning method for the half-engagement point position of the electronically controlled clutch as described above, and can achieve the same beneficial effects.

[0100] Of course, the storage medium containing computer executable instructions provided in an embodiment of the present application, whose computer executable instructions are not limited to the self-learning method for the half-engagement point position of the electronically controlled clutch as described above, can also execute related operations in the self-learning method for the half-engagement point position of the electronically controlled clutch provided in any embodiment of the present application.

[0101] In a fifth aspect, the embodiments of the present application also provide a computer program product, and the methods described in the various embodiments of the present application can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the processes or functions described in the various embodiments of the present application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, a core network device, an OAM (Open Application Model) or other programmable device.

[0102] The computer program or instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instructions may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it may also be an optical medium, such as a digital video disk; it may also be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0103] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes 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 box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0104] In addition, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0105] If the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for an electronic device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program codes.

[0106] The above description is only an embodiment of the present application and is not intended to limit the scope of protection of the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0107] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the 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.

[0108] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A method for self-learning the position of a semi-engagement point of an electronically controlled clutch, characterized in that: include: Control the motor to perform zero-position self-learning and record the mechanical zero-position; Determining that the vehicle meets a first vehicle state condition, and performing self-learning of a clutch half-engagement point; The semi-joint point position obtained by self-learning is stored in the memory, and the current odometer data is recorded; Make sure the clutch is fully engaged; Wherein, the self-learning of the clutch half-engagement point includes: Starting the motor speed control, controlling the motor to approach the half-engagement point at a first speed until reaching a first preset position; Controlling the motor to run at a second speed and recording motor parameters in real time; wherein the motor parameters include motor position and current; Determine whether the current change of the motor exceeds the set current value within the continuous set period; If not, continue to control the motor to run at the second speed and record the motor position in real time; If yes, then record the current motor position, make a difference between the current motor position and the mechanical zero position, and correct the half-engagement point according to the preset offset to obtain the half-engagement point position relative to the mechanical zero position; Control the motor to return to the mechanical zero position and end the self-learning of the half-engagement point of the clutch; If the difference between the obtained half-binding point position and the half-binding point position stored in the memory is greater than a set threshold, the half-binding point position is repeatedly acquired to obtain the final half-binding point position; During the clutch self-learning process, if there is a clutch request, the self-learning state will be exited to give priority to responding to the clutch request; If the response condition is not met or the self-learning process is interrupted, the memory storage value of the last self-learning is used as the semi-binding point, and self-learning is performed after the current driving cycle meets the self-learning condition.

2. The method for self-learning the position of the semi-engagement point of the electronically controlled clutch according to claim 1, characterized in that: The control motor performs zero position self-learning and records the mechanical zero position, including: When the system is detected to be powered on, the current position of the motor is set as the initial zero position; Control the speed of the motor to move towards the mechanical zero position. After reaching the mechanical zero position limit, record the mechanical zero position.

3. The method for self-learning the position of the semi-engagement point of the electronically controlled clutch according to claim 1, characterized in that: The determining that the vehicle meets the first vehicle state condition and performing clutch half-engagement point self-learning includes: When the vehicle meets the first vehicle state condition, the clutch half-engagement point self-learning is performed; wherein the first vehicle state condition includes various dynamic parameters of vehicle operation; When the vehicle does not meet the first vehicle state condition, the memory storage value of the last self-learning is used as the semi-engagement point until the first vehicle state condition is met.

4. The method for self-learning the position of the semi-engagement point of the electronically controlled clutch according to claim 1, characterized in that: The method of storing the semi-joint point position obtained by self-learning in a memory and recording the current odometer data includes: The semi-engagement point position obtained by self-learning is stored in the memory, the current odometer data is recorded to calculate the driving distance, and the sliding friction work is calculated. After each self-learning is completed, the driving distance and sliding friction work are cleared.

5. The method for self-learning the position of the semi-engagement point of the electronically controlled clutch according to claim 1, characterized in that: Determining whether the clutch is fully run-in includes: Determine whether the clutch is fully run-in; If the clutch is not fully run-in, the accumulated slip power and driving distance of the current driving cycle are continuously calculated; When the friction work accumulated reaches the friction work threshold or the driving distance reaches the driving distance threshold, and it is determined that the vehicle meets the second vehicle state condition, the clutch half-engagement point self-learning is performed again; If the clutch is fully engaged, the self-learning process ends.

6. The method for self-learning the position of the semi-engagement point of the electronically controlled clutch according to claim 5, characterized in that: The determining that the vehicle satisfies a first vehicle state condition includes: When the vehicle meets various dynamic parameters of vehicle operation and lasts for a calibration time, it is determined that the vehicle meets the first vehicle state condition; The determining that the vehicle satisfies the second vehicle state condition includes: When the vehicle meets various dynamic parameters of vehicle operation and continues for a calibrated time, it is determined that the vehicle meets the second vehicle state condition.

7. An electronically controlled clutch semi-engagement point position self-learning device, characterized in that: include: Start the control module to control the motor to perform zero-position self-learning and record the mechanical zero-position; A learning module, used for determining that the vehicle meets a first vehicle state condition and performing self-learning of a clutch half-engagement point; A storage and recording module is used to store the semi-joint point position obtained by self-learning into a memory and record the current odometer data; A running-in determination module, used to determine whether the clutch is fully run-in; Wherein, the self-learning of the clutch half-engagement point includes: Starting the motor speed control, controlling the motor to approach the half-engagement point at a first speed until reaching a first preset position; Controlling the motor to run at a second speed and recording motor parameters in real time; wherein the motor parameters include motor position and current; Determine whether the current change of the motor exceeds the set current value within the continuous set period; If not, continue to control the motor to run at the second speed and record the motor position in real time; If yes, then record the current motor position, make a difference between the current motor position and the mechanical zero position, and correct the half-engagement point according to the preset offset to obtain the half-engagement point position relative to the mechanical zero position; Control the motor to return to the mechanical zero position and end the self-learning of the half-engagement point of the clutch; If the difference between the obtained half-binding point position and the half-binding point position stored in the memory is greater than a set threshold, the half-binding point position is repeatedly acquired to obtain the final half-binding point position; During the clutch self-learning process, if there is a clutch request, the self-learning state will be exited to give priority to responding to the clutch request; If the response condition is not met or the self-learning process is interrupted, the memory storage value of the last self-learning is used as the semi-binding point, and self-learning is performed after the current driving cycle meets the self-learning condition.

8. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the processor is connected to the memory via the bus, and the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, they are used to implement the self-learning method for the half-engagement point position of the electronically controlled clutch as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a server, implements the self-learning method for the semi-engagement point position of the electronically controlled clutch as described in any one of claims 1-6.

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