Self-learning method for disengagement mechanism, electronic equipment and readable storage medium

Abstract

The invention provides a disengaging mechanism self-learning method, electronic equipment and a readable storage medium. The method comprises the steps that a motor in a disengaging mechanism is controlled to move from a power-on position to a first preset gear stop point position; after it is judged that the motor moves to the first preset gear stop point self-learning position, the first movement stroke of the motor is calculated, and the first movement stroke is the distance between the power-on position and the first preset gear stop point self-learning position; judging whether a difference value between the first motion stroke and a first theoretical stroke is within a first preset error range or not, wherein the first theoretical stroke is a distance between a theoretical power-off position of the motor and a first preset gear dead point theoretical position of the motor; if yes, it is judged that the self-learning position of the first preset gear dead point is accurate, and the power-on position is the same as the theoretical power-off position. The self-learning stroke length of the disengaging mechanism can be greatly reduced, mechanical abrasion is reduced, and the driving experience of a user is effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a self-learning method for a disengagement mechanism, an electronic device and a readable storage medium. Background Art

[0002] In order to solve the problem of low efficiency of four-wheel drive electric vehicles under low torque conditions, the front-wheel drive disengagement mechanism came into being. Through the front-wheel drive disengagement mechanism, the four-wheel drive and two-wheel drive modes can be switched in a short time to meet the contradiction between the driver's power demand and economic requirements. The disengagement mechanism is located on the transmission chain and can connect or disconnect the connection between the front motor and the wheel, directly affecting the transmission of torque. Therefore, the judgment of the disengagement mechanism status needs to meet the high functional safety level (ASIL C).

[0003] Please refer to Figure 1 , which is a schematic diagram of the topological structure of the transmission chain with a disengagement mechanism (n1 in the figure represents the speed of the left shaft of the clutch, n2 represents the speed of the right shaft of the clutch, i1 represents the speed ratio of the first stage reduction gear, and i2 represents the speed ratio of the second stage reduction gear), as shown Figure 1 As shown in the figure, the disengagement mechanism is driven by a brushless DC motor BLDC, which has a 3-phase Hall sensor to collect high-precision position information. The brushless DC motor BLDC drives the shift fork to move by rotating, and the shift fork drives the synchronizer to achieve disengagement and locking. The relationship between the rotation angle of the brushless DC motor BLDC and the position of the shift fork is shown in the figure. Figure 2 shown.

[0004] In order to obtain high-precision and high-functional safety level brushless DC motor BLDC position information, a three-phase Hall sensor is used to collect the position state of the brushless DC motor BLDC. The three-phase Hall sensor has two states, 0 and 1, respectively, and the three phases are combined into 6 states. When the brushless DC motor BLDC rotates one circle in electrical angle, the three-phase Hall state jumps in sequence. The motor controller obtains the relative displacement distance by accumulating the number of state changes of the three-phase Hall sensor. Due to the existence of abnormal working conditions (abnormal power failure, movement of the disengagement mechanism after power failure, after-sales maintenance, etc.), the absolute position of the brushless DC motor BLDC cannot be directly obtained when power is on. Self-learning is required to determine the real-time absolute position of the brushless DC motor BLDC by calculating the distance between the power-on position and the mechanical stop point of the N gear.

[0005] The commonly used self-learning scheme at present is: after the motor controller is powered on, it drives the brushless DC motor BLDC to rotate to the N gear stop point, then rotates to the D gear stop point, and then returns to the N gear stop point. This self-learning scheme has a long movement stroke of the brushless DC motor BLDC and takes a long time (usually 2s), which affects the driver experience and increases mechanical wear.

[0006] It should be noted that the information disclosed in the background technology section of the invention is only intended to deepen the understanding of the general background technology of the invention, and should not be regarded as an admission or suggestion in any form that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0007] The purpose of the present invention is to provide a disengagement mechanism self-learning method, an electronic device and a readable storage medium, which can greatly reduce the self-learning stroke length of the disengagement mechanism, reduce mechanical wear, and effectively improve the user's driving experience.

[0008] To achieve the above object, the present invention provides a disengagement mechanism self-learning method, comprising:

[0009] Controlling the motor in the disengagement mechanism to move from a power-on position toward a first preset gear stop position;

[0010] After it is determined that the motor moves to the first preset gear stop point self-learning position, a first movement stroke of the motor is calculated, wherein the first movement stroke is the distance between the power-on position and the first preset gear stop point self-learning position;

[0011] Determine whether the difference between the first motion stroke and the first theoretical stroke is within a first preset error range, wherein the first theoretical stroke is the distance between the theoretical lower power position of the motor and the theoretical position of the first preset gear stop point of the motor;

[0012] If so, it is determined that the first preset gear stop point self-learning position is accurate and the power-on position is the same as the theoretical power-off position.

[0013] Optionally, in the process of controlling the motor to move from the power-on position toward the first preset gear stop position, when it is detected that the motor moves to the first stall position, it is determined that the motor moves to the first preset gear stop self-learning position.

[0014] Optionally, when it is detected that the output current of the motor is a stall current and lasts for a preset time period, it is determined that the motor moves to the first stall position.

[0015] Optionally, if the difference between the first motion stroke and the first theoretical stroke exceeds a first preset error range, it is determined that the power-on position of the motor is different from the theoretical power-off position of the motor, and the method further includes:

[0016] Controlling the motor to move from the first preset gear stop point self-learning position toward the direction of the second preset gear;

[0017] After it is determined that the motor moves to the second preset gear stop point self-learning position, a second movement stroke of the motor is calculated, where the second movement stroke is the distance between the first preset gear stop point self-learning position and the second preset gear stop point self-learning position;

[0018] Determine whether the difference between the second motion stroke and the second theoretical stroke is within a second preset error range, wherein the second theoretical stroke is the distance between the first preset gear stop point theoretical position of the motor and the second preset gear stop point theoretical position of the motor;

[0019] If so, it is determined that the first preset gear stop point self-learning position and the second preset gear stop point self-learning position are both accurate.

[0020] Optionally, in the process of controlling the motor to move from the first preset gear stop point self-learning position toward the direction of the second preset gear, when it is detected that the motor moves to the second stall position, it is determined that the motor moves to the second preset gear stop point self-learning position.

[0021] Optionally, if the difference between the second motion stroke and the second theoretical stroke exceeds the second preset error range, the auxiliary drive motor is controlled to remain in a safe state.

[0022] Optionally, after determining that the first preset gear stop point self-learning position and the second preset gear stop point self-learning position are both accurate, the method further includes:

[0023] According to the second preset gear stop point self-learning position, the motor is controlled to move to a theoretical lower power position, and the motor is controlled with the first preset gear stop point position or the second preset gear stop point position as a reference position in the current driving cycle stage.

[0024] Optionally, after determining that the first preset gear stop point self-learning position is accurate and the power-on position is the same as the theoretical power-off position, the method further includes:

[0025] The motor is controlled to return from the first preset gear stop point self-learning position to the theoretical lower power position, and the motor is controlled with the first preset gear stop point self-learning position as a reference position in the current driving cycle stage.

[0026] To achieve the above object, the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the self-learning method of the disengagement mechanism described above is implemented.

[0027] In order to achieve the above-mentioned object, the present invention further provides a readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the self-learning method of the disengagement mechanism described above is implemented.

[0028] Compared with the prior art, the disengagement mechanism self-learning method, electronic device and readable storage medium provided by the present invention have the following beneficial effects:

[0029] The self-learning method of the disengaging mechanism provided by the present invention first controls the motor in the disengaging mechanism to move from the power-on position toward the first preset gear stop position; then, after determining that the motor moves to the first preset gear stop self-learning position, calculates the first movement stroke of the motor; finally, when the difference between the first movement stroke and the first theoretical stroke is within a first preset error range, determines that the first preset gear stop self-learning position is accurate and the power-on position is the same as the theoretical power-off position, thereby not only greatly reducing the self-learning stroke length of the disengaging mechanism, reducing mechanical wear, and effectively improving the user's driving experience, but also enabling the final disengaging mechanism position signal (engagement, disengagement, intermediate) to achieve the functional safety goal of ASIL C (high functional safety level).

[0030] Since the electronic device and readable storage medium provided by the present invention and the self-learning method of the disengagement mechanism provided by the present invention belong to the same inventive concept, the electronic device and readable storage medium provided by the present invention at least have all the beneficial effects of the self-learning method of the disengagement mechanism provided by the present invention. For details, please refer to the relevant description above, so the beneficial effects of the electronic device and readable storage medium provided by the present invention will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the topological structure of the transmission chain with a disengagement mechanism;

[0032] Figure 2 It is a schematic diagram of the relationship between the rotation angle of the brushless DC motor BLDC and the position of the shift fork;

[0033] Figure 3 A schematic diagram of a process flow of a disengagement mechanism self-learning method provided in one embodiment of the present invention;

[0034] Figure 4 A schematic diagram of a unilateral self-learning process when the power-on position is at the theoretical power-off position provided by an embodiment of the present invention;

[0035] Figure 5 A schematic diagram showing a comparison of the travel and duration of the unilateral self-learning solution provided by the present invention when the power-on position is at the theoretical power-off position and the bilateral self-learning solution in the prior art;

[0036] Figure 6 A schematic diagram of a bilateral self-learning process when the power-on position is not in the theoretical power-off position provided by an embodiment of the present invention;

[0037] Figure 7 A schematic diagram showing a comparison of the travel and duration of the bilateral self-learning scheme provided by the present invention when the power-on position is not in the theoretical power-off position and the bilateral self-learning scheme in the prior art;

[0038] Figure 8 A schematic diagram of the block structure of an electronic device provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following is a further detailed description of the self-learning method of the disengagement mechanism, the electronic device and the readable storage medium proposed in the present invention in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose provided by the present invention. In order to make the purposes, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Any modification of the structure, change in the proportional relationship or adjustment of the size, when the effect that the present invention can produce and the purpose that can be achieved are the same or similar, should still fall within the scope of the technical content disclosed in the present invention.

[0040] 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. The singular forms "a", "an" and "the" include plural objects, the term "or" is generally used in a sense including "and / or", the term "several" is generally used in a sense including "at least one", and the term "at least two" is generally used in a sense including "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and are not to be understood as indicating or suggesting relative importance or implicitly indicating the number of the indicated technical features.

[0041] In addition, in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0042] The core idea of ​​the present invention is to provide a disengagement mechanism self-learning method, an electronic device and a readable storage medium, which can greatly reduce the self-learning stroke length of the disengagement mechanism, reduce mechanical wear, and effectively improve the user's driving experience.

[0043] It should be noted that the self-learning method of the disengagement mechanism provided by the present invention can be applied to the electronic device provided by the present invention, wherein the electronic device can be a hardware device with various operating systems. Furthermore, the electronic device provided by the present invention can be applied to a four-wheel drive electric vehicle with a disengagement mechanism to serve as a controller for controlling the motor in the disengagement mechanism and the auxiliary drive motor (i.e., as a motor controller). It should also be noted that, as can be understood by those skilled in the art, the four-wheel drive electric vehicle can be a hybrid vehicle or a pure electric vehicle.

[0044] To realize the above idea, the present invention provides a self-learning method for a disengagement mechanism, please refer to Figure 3 , which is a flow chart of a self-learning method for a disengagement mechanism provided by one embodiment of the present invention. Figure 3 As shown, the disengagement mechanism self-learning method provided by the present invention comprises the following steps:

[0045] Step S100: Control the motor in the disengagement mechanism to move from the power-on position toward the first preset gear stop point position.

[0046] Step S200: After it is determined that the motor moves to the first preset gear stop point self-learning position, calculate the first movement stroke of the motor, wherein the first movement stroke is the distance between the power-on position and the first preset gear stop point self-learning position.

[0047] Step S300, determining whether the difference between the first motion stroke and the first theoretical stroke is within a first preset error range, wherein the first theoretical stroke is the distance between the theoretical lower power position of the motor and the theoretical position of the first preset gear stop point of the motor.

[0048] If yes, step S400 is executed to determine whether the first preset gear stop point self-learning position is accurate and the power-on position is the same as the theoretical power-off position.

[0049] Therefore, the self-learning method of the disengagement mechanism provided by the present invention first determines the first preset gear stop position by using a unilateral self-learning method, which can not only greatly reduce the self-learning stroke length of the disengagement mechanism, reduce mechanical wear, and effectively improve the user's driving experience, but also enable the final disengagement mechanism position signal (engaged, disengaged, intermediate) to achieve the functional safety goal of ASIL C (high functional safety level).

[0050] It should be noted that, as those skilled in the art can understand, the present invention does not limit the specific type of the motor in the disengagement mechanism, and the motor in the disengagement mechanism can be, but is not limited to, a brushless DC motor BLDC. In addition, it should be noted that, as those skilled in the art can understand, the theoretical position of the first preset gear stop point of the motor and the theoretical lower electrical position of the motor can be provided by the manufacturer of the disengagement mechanism. It should also be noted that, as those skilled in the art can understand, the first preset error range can be set according to actual needs, and the present invention does not limit this.

[0051] In some exemplary embodiments, in the process of controlling the motor to move from the power-on position toward the first preset gear stop position, when it is detected that the motor moves to the first stall position, it is determined that the motor moves to the first preset gear stop self-learning position. Since in the process of controlling the motor to move from the power-on position toward the first preset gear stop position, when the motor moves to the first preset gear stop position, the motor will not be able to continue to rotate, that is, the motor should be stalled at the first preset gear stop position, thus, the stall position (that is, the first stall position) reached by the motor in the process of moving from the power-on position toward the first preset gear stop position can be used as the first preset gear stop self-learning position.

[0052] Specifically, it can be determined whether the motor moves to the first locked rotor position according to the locked rotor current, and further, when the output current of the motor is the locked rotor current and lasts for a preset time, it is determined that the motor moves to the first locked rotor position. It should be noted that, as can be understood by those skilled in the art, the locked rotor current corresponding to the motor in the disengagement mechanism is generally provided by the motor manufacturer.

[0053] In some exemplary embodiments, after determining that the first preset gear stop point self-learning position is accurate and the power-on position is the same as the theoretical power-off position, the disengagement mechanism self-learning method further includes:

[0054] The motor is controlled to return from the first preset gear stop self-learning position to the power-on position (i.e., the theoretical power-off position), and the motor is controlled with the first preset gear stop self-learning position as a reference position during the current driving cycle stage.

[0055] Specifically, in the current driving cycle stage, the current absolute position of the motor can be determined based on the relative displacement of the motor relative to its power-on position and the distance between the power-on position and the first preset gear stop self-learning position (that is, the first movement stroke) collected by the three-phase Hall sensor installed on the motor.

[0056] Please continue to refer to Figure 4 , which is a schematic diagram of a unilateral self-learning process when the power-on position is at the theoretical power-off position provided by an embodiment of the present invention. Figure 4 As shown, taking the first preset gear position as N gear as an example, before the disengagement mechanism is powered off, the motor (such as a brushless DC motor BLDC) is first controlled to move to the N gear theoretical position (i.e. Figure 4 The N point position in the figure is used to check the N stop point position when the power is turned on. After the disengagement mechanism is powered on again, the power-on position is at the theoretical N position (that is, the power-on position is at Figure 4 N point position in the N gear), for this scenario, the self-learning process of the disengagement mechanism is a unilateral self-learning process, which specifically includes: step 1, controlling the motor (such as a brushless DC motor BLDC) to move toward the N gear stop point, and judging the N gear stop point position by the stall current. After the motor reaches the N gear stop point position, calculate the distance between the power-on position and the N gear stop point position (that is, calculate the first movement stroke of the motor). If the distance (that is, the first movement stroke) matches the stroke between the N gear theoretical position and the N gear stop point theoretical position (that is, the difference between the first movement stroke and the first theoretical stroke is within the first preset error range), it is considered that the learned N gear stop point position is credible, and execute step 2, control the motor to return to the power-on position (that is, Figure 4 After that, the motor can be controlled by referring to the learned N stop point position in the current driving cycle. It should be noted that, as can be understood by those skilled in the art, Figure 4 The range defined by the N1 point and the N stop point is the range of the N gear. Figure 4 The range defined by points N1 and D1 is the shift range. Figure 4 The range defined by the D1 point and the D stop point is the D range. Figure 4 Point D in the figure is the theoretical position of D gear.

[0057] Please continue to refer to Figure 5 , which is a schematic diagram comparing the travel (which can be represented by the number of Hall sensor state changes) and duration of the unilateral self-learning solution provided by the present invention when the power-on position is at the theoretical power-off position and the bilateral self-learning solution in the prior art. Figure 5 As shown, for normal working conditions, that is, normal power-off, the vehicle is stationary after power-off, and there is no mechanical position movement caused by external factors (maintenance), that is, the power-on position is the same as the theoretical power-off position. The unilateral self-learning solution provided by the present invention (that is, the motor moves from the power-on position to the N gear stop position) can greatly reduce the self-learning time, which can be reduced from 1700ms to 400ms, a reduction of 75%; the self-learning stroke can be reduced from 1300 to 166, a reduction of 87%, thereby effectively reducing mechanical wear.

[0058] In some exemplary embodiments, if the difference between the first motion stroke and the first theoretical stroke exceeds a first preset error range, it is determined that the power-on position of the motor is different from the theoretical power-off position of the motor, and the disengagement mechanism self-learning method further includes:

[0059] Controlling the motor to move from the first preset gear stop point self-learning position toward the direction of the second preset gear stop point self-learning position;

[0060] After it is determined that the motor moves to the second preset gear stop point self-learning position, a second movement stroke of the motor is calculated, where the second movement stroke is the distance between the first preset gear stop point self-learning position and the second preset gear stop point self-learning position;

[0061] Determine whether the difference between the second motion stroke and the second theoretical stroke is within a second preset error range, wherein the second theoretical stroke is the distance between the first preset gear stop point theoretical position of the motor and the second preset gear stop point theoretical position of the motor;

[0062] If so, it is determined that the first preset gear stop point self-learning position and the second preset gear stop point self-learning position are both accurate.

[0063] Therefore, the disengagement mechanism self-learning method provided by the present invention controls the motor to move from the first preset gear stop self-learning position to the direction of the second preset gear stop self-learning position when the difference between the first motion stroke and the first theoretical stroke exceeds the first preset error range; and after determining that the motor moves to the second preset gear stop self-learning position, calculate the second motion stroke of the motor, and finally, when the difference between the second motion stroke and the second theoretical stroke is within the second preset error range, determine that the first preset gear stop self-learning position and the second preset gear stop self-learning position are both accurate, thereby completing the self-learning of the disengagement mechanism when the power-on position is not in the theoretical power-off position, so that the final disengagement mechanism position signal (combined, disengaged, intermediate) can reach the functional safety target of ASIL C (high functional safety level). It should be noted that, as can be understood by those skilled in the art, the second preset error range can be set according to actual needs, and the present invention does not limit this.

[0064] In some exemplary embodiments, during the process of controlling the motor to move from the first preset gear stop point self-learning position toward the direction of the second preset gear stop point self-learning position, when it is detected that the motor moves to the second stall position, it is determined that the motor moves to the second preset gear stop point self-learning position. Since during the process of controlling the motor to move from the first preset gear stop point position toward the direction of the second preset gear stop point self-learning position, when the motor moves to the second preset gear stop point position, the motor will not be able to continue to rotate, that is, the motor should be stalled at the second preset gear stop point position, thus, the stall position (that is, the second stall position) reached during the process of the motor moving from the first preset gear stop point position toward the direction of the second preset gear stop point self-learning position can be used as the second preset gear stop point self-learning position.

[0065] Specifically, it can be determined whether the motor moves to the second stall position based on the stall current. Further, when the output current of the motor is the stall current and lasts for a preset time, it is determined that the motor moves to the second stall position.

[0066] In some exemplary embodiments, after determining that the first preset gear stop point self-learning position and the second preset gear stop point self-learning position are both accurate, the disengagement mechanism self-learning method further includes:

[0067] According to the second preset gear stop point self-learning position, the motor is controlled to move to a theoretical lower power position, and the motor is controlled with the first preset gear stop point position or the second preset gear stop point position as a reference position in the current driving cycle stage.

[0068] Specifically, in the current driving cycle stage, if the first preset gear stop point position is used as the reference position, the current absolute position of the motor can be determined based on the relative displacement of the motor relative to its power-on position (i.e., theoretical power-off position) acquired by the three-phase Hall sensor installed on the motor and the distance between the power-on position (i.e., theoretical power-off position) and the first preset gear stop point self-learning position; if the second preset gear stop point position is used as the reference position, the current absolute position of the motor can be determined based on the relative displacement of the motor relative to its power-on position (i.e., theoretical power-off position) acquired by the three-phase Hall sensor installed on the motor and the distance between the power-on position (i.e., theoretical power-off position) and the second preset gear stop point self-learning position.

[0069] Please continue to refer to Figure 6 , which is a schematic diagram of a bilateral self-learning process when the power-on position is not in the theoretical power-off position provided by an embodiment of the present invention. Figure 6As shown, taking the second preset gear as D gear as an example, when an abnormal power-off occurs (the motor position has not returned to the theoretical N gear, or the position of the disengagement mechanism moves after power-off), the distance between the power-on position and the N gear stop point will not meet the travel between the theoretical N gear position and the N gear stop point (i.e., the difference between the first movement travel and the first theoretical travel exceeds the first preset error range). For this scenario, after executing step 1, controlling the motor (e.g., brushless DC motor BLDC) to move toward the N gear stop point, and judging the N gear stop point position by the stall current, continue to execute step 2, controlling the motor to move from the N gear stop point position (i.e., the first preset gear stop point self-learning position) toward the D gear direction, and judging the D gear stop point position by the stall current. After the motor reaches the D gear stop point position (i.e., the second preset gear stop point self-learning position), calculate the distance (i.e., the second movement travel) between the N gear stop point position (i.e., the first preset gear stop point self-learning position) and the D gear stop point position (i.e., the second preset gear stop point self-learning position). If the distance (i.e., the second motion stroke) matches the stroke between the theoretical position of the N gear stop point and the theoretical position of the D gear stop point (i.e., the difference between the second motion stroke and the second theoretical stroke is within the second preset error range), it is considered that the learned N gear stop point position and D gear stop point position are credible, and step 3 is executed to control the motor to move to the N gear theoretical position (i.e., Figure 6 Afterwards, the motor can be controlled by referring to the learned N gear stop point position or D gear stop point position in the current driving cycle stage.

[0070] Please continue to refer to Figure 7 , which is a schematic diagram comparing the stroke (which can be represented by the number of Hall sensor state changes) and duration of the bilateral self-learning solution provided by the present invention when the power-on position is not in the theoretical power-off position and the bilateral self-learning solution in the prior art. Figure 7 As shown, for the working condition where the power-on position is not in the theoretical power-off position (theoretical N gear position), bilateral self-learning is performed (the motor first moves from the power-on position to the N gear stop position, and then moves from the N gear stop position to the D gear stop position), and bilateral verification is performed (whether the difference between the first movement stroke and the first theoretical stroke is within the first preset error range, and whether the difference between the second movement stroke and the second theoretical stroke is within the second preset error range). After completing the bilateral verification, the motor is controlled to return to the theoretical N gear position. Figure 7 It can be seen that the total time of the bilateral self-learning solution provided by the present invention is 1700ms, which is close to the total time of the bilateral self-learning solution in the prior art, and the total travel time of the two is also close.

[0071] In some exemplary embodiments, if the difference between the second motion stroke and the second theoretical stroke exceeds the second preset error range, the auxiliary drive motor is controlled to remain in a safe state.

[0072] If the difference between the second motion stroke and the second theoretical stroke exceeds the second preset error range, it indicates that the self-learning has failed. At this time, a self-learning fault will be reported, and the auxiliary drive motor will no longer be allowed to output torque and remain in a safe state, thereby ensuring torque safety.

[0073] It should be noted that, as those skilled in the art can understand, although this article uses the first preset gear as N gear and the second preset gear as D gear as an example for description, as those skilled in the art can understand, this does not constitute a limitation of the present invention. In some other embodiments, the first preset gear can also be set to D gear and the second preset gear can be set to N gear.

[0074] Based on the same inventive concept, the present invention also provides an electronic device, please refer to Figure 8 , which is a schematic diagram of a block structure of an electronic device provided by an embodiment of the present invention. Figure 8 As shown, the electronic device includes a processor 101 and a memory 103, and a computer program is stored in the memory 103. When the computer program is executed by the processor 101, the self-learning method of the disengagement mechanism described above is implemented. Since the electronic device provided by the present invention and the self-learning method of the disengagement mechanism provided by the present invention belong to the same inventive concept, the electronic device provided by the present invention at least has all the beneficial effects of the self-learning method of the disengagement mechanism provided by the present invention. For details, please refer to the relevant descriptions above, so the beneficial effects of the electronic device provided by the present invention will not be repeated here one by one.

[0075] like Figure 8 As shown, the electronic device also includes a communication interface 102 and a communication bus 104, wherein the processor 101, the communication interface 102, and the memory 103 complete mutual communication through the communication bus 104. The communication bus 104 includes but is not limited to a CAN bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface 102 is used for communication between the above-mentioned electronic device (such as a motor controller) and other electronic devices (such as a vehicle controller, etc., not shown in the figure). The communication bus 104 connects the above-mentioned electronic device (such as a motor controller) and other electronic devices (such as a vehicle controller, etc., not shown in the figure) and other dispersed nodes into a closed-loop system, so that each electronic device can perform multiple working states (parking state, charging state, starting state, running state, vehicle forward and backward state, feedback braking state, mechanical braking state, general fault state, major fault state) communication and data transmission, thereby realizing the control function of the vehicle.

[0076] The processor 101 referred to in the present invention may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 101 is the control center of the electronic device, and various interfaces and lines are used to connect various parts of the entire electronic device.

[0077] The memory 103 can be used to store the computer program, and the processor 101 implements various functions of the electronic device by running or executing the computer program stored in the memory 103 and calling the data stored in the memory 103. The memory 103 may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable memory (PROM), electrically programmable memory (EPROM), electrically erasable programmable memory (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, random access memory is available in a variety of forms, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous random access memory (SDRAM), double data rate synchronous random access memory (DDRSDRAM), enhanced synchronous random access memory (ESDRAM), synchronous link (Synchlink) dynamic random access memory (SLDRAM), memory bus (Rambus) direct random access memory (RDRAM), direct memory bus dynamic random access memory (DRDRAM), and memory bus dynamic random access memory (RDRAM), etc.

[0078] The present invention also provides a readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the above-mentioned self-learning method of the disengagement mechanism can be implemented. Since the readable storage medium provided by the present invention and the self-learning method of the disengagement mechanism provided by the present invention belong to the same inventive concept, the readable storage medium provided by the present invention at least has all the beneficial effects of the self-learning method of the disengagement mechanism provided by the present invention, and the specifics can be referred to the relevant descriptions above, so the beneficial effects of the readable storage medium provided by the present invention will not be described one by one here.

[0079] The readable storage medium provided by the present invention can adopt any combination of one or more computer-readable media. The readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared or semiconductor, or any combination of the above. More specific examples (non-exhaustive enumeration) of computer-readable storage media include: an electrical connection with one or more wires, a portable computer hard 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 article, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, a device or a device or used in combination with it.

[0080] Further, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, wherein a computer-readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0081] In summary, compared with the prior art, the disengagement mechanism self-learning method, electronic device and readable storage medium provided by the present invention have the following beneficial effects:

[0082] The present invention first controls the motor in the disengagement mechanism to move from the power-on position toward the first preset gear stop position; then, after determining that the motor has moved to the first preset gear stop self-learning position, calculates the first movement stroke of the motor; finally, when the difference between the first movement stroke and the first theoretical stroke is within a first preset error range, determines that the first preset gear stop self-learning position is accurate and the power-on position is the same as the theoretical power-off position, thereby greatly reducing the self-learning stroke length of the disengagement mechanism, reducing mechanical wear, and effectively improving the user's driving experience. Furthermore, the present invention controls the motor to move from the first preset gear stop point self-learning position toward the direction of the second preset gear when the difference between the first movement stroke and the first theoretical stroke exceeds the first preset error range; and after determining that the motor moves to the second preset gear stop point self-learning position, calculates the second movement stroke of the motor, and finally, when the difference between the second movement stroke and the second theoretical stroke is within the second preset error range, determines that the first preset gear stop point self-learning position and the second preset gear stop point self-learning position are both accurate, thereby completing the self-learning of the disengagement mechanism when the power-on position is not in the theoretical power-off position, so that the final disengagement mechanism position signal (engaged, disengaged, intermediate) can achieve the functional safety goal of ASIL C (high functional safety level).

[0083] It should be noted that the computer program code for performing the operation of the present invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages-such as Java, Smalltalk, C++, and also conventional procedural programming languages-such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent 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 can 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 can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0084] It should be noted that the devices and methods disclosed in the embodiments of this article can also be implemented in other ways. The device implementation described above is only 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 this article. In this regard, each box in the flowchart or block diagram can represent a part of a module, program or code, and the module, program segment or part of the code contains one or more executable instructions for implementing the specified logical function, and the module, program segment or part of the 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 by a dedicated hardware-based system for performing a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this document may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0085] It should also be noted that the above description is only a description of the preferred embodiment of the present invention, and is not any limitation on the scope of the present invention. Any changes and modifications made by a person skilled in the art in the field of the present invention based on the above disclosure are within the scope of protection of the present invention. Obviously, a person skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A self-learning method for a disengagement mechanism, characterized in that: include: Controlling the motor in the disengagement mechanism to move from a power-on position toward a first preset gear stop position; After it is determined that the motor moves to the first preset gear stop point self-learning position, a first movement stroke of the motor is calculated, wherein the first movement stroke is the distance between the power-on position and the first preset gear stop point self-learning position; Determine whether the difference between the first motion stroke and the first theoretical stroke is within a first preset error range, wherein the first theoretical stroke is the distance between the theoretical lower power position of the motor and the theoretical position of the first preset gear stop point of the motor; If so, it is determined that the first preset gear stop point self-learning position is accurate and the power-on position is the same as the theoretical power-off position.

2. The self-learning method of the disengagement mechanism according to claim 1, characterized in that: In the process of controlling the motor to move from the power-on position toward the first preset gear stop position, when it is detected that the motor moves to the first stall position, it is determined that the motor moves to the first preset gear stop self-learning position.

3. The self-learning method of the disengagement mechanism according to claim 2, characterized in that: When it is detected that the output current of the motor is a stall current and lasts for a preset time period, it is determined that the motor moves to the first stall position.

4. The self-learning method of the disengagement mechanism according to claim 1, characterized in that: If the difference between the first motion stroke and the first theoretical stroke exceeds a first preset error range, it is determined that the power-on position of the motor is different from the theoretical power-off position of the motor, and the method further includes: Controlling the motor to move from the first preset gear stop point self-learning position toward the direction of the second preset gear; After it is determined that the motor moves to the second preset gear stop point self-learning position, a second movement stroke of the motor is calculated, where the second movement stroke is the distance between the first preset gear stop point self-learning position and the second preset gear stop point self-learning position; Determine whether the difference between the second motion stroke and the second theoretical stroke is within a second preset error range, wherein the second theoretical stroke is the distance between the first preset gear stop point theoretical position of the motor and the second preset gear stop point theoretical position of the motor; If so, it is determined that the first preset gear stop point self-learning position and the second preset gear stop point self-learning position are both accurate.

5. The self-learning method of the disengagement mechanism according to claim 4, characterized in that: In the process of controlling the motor to move from the first preset gear stop point self-learning position toward the direction of the second preset gear, when it is detected that the motor moves to the second stall position, it is determined that the motor moves to the second preset gear stop point self-learning position.

6. The self-learning method of the disengagement mechanism according to claim 4, characterized in that: If the difference between the second motion stroke and the second theoretical stroke exceeds the second preset error range, the auxiliary drive motor is controlled to remain in a safe state.

7. The disengagement mechanism self-learning method according to claim 4, characterized in that: After determining that the first preset gear stop point self-learning position and the second preset gear stop point self-learning position are both accurate, the method further includes: According to the second preset gear stop point self-learning position, the motor is controlled to move to a theoretical lower power position, and the motor is controlled with the first preset gear stop point position or the second preset gear stop point position as a reference position in the current driving cycle stage.

8. The disengagement mechanism self-learning method according to claim 1, characterized in that: After determining that the first preset gear stop point self-learning position is accurate and the power-on position is the same as the theoretical power-off position, the method further includes: The motor is controlled to return from the first preset gear stop point self-learning position to the theoretical lower power position, and the motor is controlled with the first preset gear stop point self-learning position as a reference position in the current driving cycle stage.

9. An electronic device, characterized in that: It comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the self-learning method of the disengagement mechanism described in any one of claims 1 to 8 is implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the disengagement mechanism self-learning method according to any one of claims 1 to 8 is implemented.

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