Disengagement mechanism self-learning method, electronic device, and readable storage medium

Abstract

The application provides a disengagement mechanism self-learning method, electronic equipment and a readable storage medium. The method comprises the following steps: controlling a motor in a disengagement mechanism to move from a power-on position to a first preset gear stop position; after determining that the motor moves to a first preset gear stop self-learning position, calculating a first movement stroke of the motor, the first movement stroke being a distance between the power-on position and the first preset gear stop self-learning position; determining whether a difference between the first movement stroke and a first theoretical stroke is within a first preset error range, the first theoretical stroke being a distance between a theoretical power-off position of the motor and a first preset gear stop theoretical position of the motor; and if yes, determining 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. The application can greatly reduce the self-learning stroke length of the disengagement mechanism, reduce mechanical wear and tear, and effectively improve the driving experience of users.

Description

Technical Field

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

[0002] To address the low efficiency issue of four-wheel drive electric vehicles under low torque conditions, a front-wheel drive disengagement mechanism was developed. This mechanism allows for rapid switching between four-wheel drive and two-wheel drive modes, resolving the conflict between the driver's power requirements and fuel economy needs. Located on the drivetrain, the disengagement mechanism connects or disconnects the front motor from the wheels, directly affecting torque transmission. Therefore, the assessment of the disengagement mechanism's status must meet the high functional safety level (ASIL C).

[0003] Please refer to Figure 1 This is a schematic diagram of the transmission chain topology with a disengagement mechanism (in the diagram, n1 represents the rotational speed of the left shaft of the clutch, n2 represents the rotational 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). Figure 1 As shown, 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 BLDC motor rotates, causing a shift fork to move, which in turn drives a synchronizer to achieve disengagement and locking. A schematic diagram illustrating the relationship between the BLDC motor's rotation angle and the shift fork's position is shown below. Figure 2 As shown.

[0004] To obtain high-precision and high-functional-safety-level position information for the brushless DC motor (BLDC), a three-phase Hall effect sensor is used to collect the BLDC's position status. Each of the three Hall sensors has two states (0 and 1), resulting in six possible combinations. As the BLDC rotates one electrical angle, the three Hall states change sequentially. The motor controller accumulates the number of state changes from the three Hall sensors to obtain the relative displacement distance. Due to abnormal operating conditions (abnormal power failure, displacement of the disengaged mechanism after power-off, after-sales maintenance, etc.), the absolute position of the BLDC upon power-up cannot be directly obtained. Self-learning is required; the real-time absolute position of the BLDC is determined by calculating the distance between the powered-on position and the neutral (N) mechanical stop.

[0005] The commonly used self-learning scheme is as follows: after the motor controller is powered on, it drives the brushless DC motor (BLDC) to rotate to the neutral (N) position, then to the drive (D) position, and then back to the neutral (N) position. This self-learning scheme results in a long stroke and a long learning time (usually 2 seconds) for the BLDC motor, affecting the driver's experience and increasing mechanical wear.

[0006] It should be noted that the information disclosed in the background section of this invention is intended only to enhance the understanding of the general background of this invention, and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0007] The purpose of this invention is to provide a self-learning method for disengagement mechanisms, 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 objectives, the present invention provides a self-learning method for detached mechanisms, comprising:

[0009] The motor in the disengagement mechanism is controlled to move from the energized position toward the first preset stop position;

[0010] After determining that the motor has moved to the first preset gear stop self-learning position, the 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 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 power-down 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 self-learned position of the first preset gear stop point is accurate and that the power-on position is the same as the theoretical power-off position.

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

[0014] Optionally, when the output current of the motor is detected to be a stall current and continues for a preset duration, it is determined that the motor has moved 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, then it is determined that the power-on position of the motor is different from the theoretical power-off position of the motor. The method further includes:

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

[0017] After determining that the motor has moved to the second preset gear stop self-learning position, the second movement stroke of the motor is calculated. The second movement stroke is the distance between the first preset gear stop self-learning position and the second preset gear stop 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 theoretical position of the first preset gear stop point of the motor and the theoretical position of the second preset gear stop point of the motor;

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

[0020] Optionally, during the process of controlling the motor to move from the first preset gear stop self-learning position towards the direction of the second preset gear, when the motor is detected to have moved to the second stall position, it is determined that the motor has moved to the second preset gear stop 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 both the first preset gear stop self-learning position and the second preset gear stop self-learning position are accurate, the method further includes:

[0023] Based on the self-learned position of the second preset gear stop point, the motor is controlled to move to the theoretical power-off position, and the motor is controlled in the current driving cycle phase with the first preset gear stop point position or the second preset gear stop point position as the reference position.

[0024] Optionally, after determining that the self-learned position of the first preset gear stop is accurate and that 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 self-learning position to the theoretical power-off position, and the motor is controlled in the current driving cycle phase with the first preset gear stop self-learning position as the reference position.

[0026] To achieve the above objectives, the present invention also 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, it implements the self-learning method for the disengagement mechanism described above.

[0027] To achieve the above objectives, the present invention also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the self-learning method for the disengagement mechanism described above.

[0028] Compared with the prior art, the self-learning method for disengagement mechanisms, electronic devices, and readable storage media provided by the present invention have the following beneficial effects:

[0029] The self-learning method for disengagement mechanisms provided by this invention first controls the motor in the disengagement mechanism to move from the powered-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, the first movement stroke of the motor is calculated; finally, when the difference between the first movement stroke and the first theoretical stroke is within a first preset error range, it is determined that the first preset gear stop self-learning position is accurate and the powered-on position is the same as the theoretical powered-off position. This not only greatly reduces the self-learning stroke length of the disengagement mechanism, reduces mechanical wear, and effectively improves the user's driving experience, but also enables the final disengagement mechanism position signal (engaged, disengaged, intermediate) to achieve the functional safety target of ASIL C (high functional safety level).

[0030] Since the electronic device and readable storage medium provided by this invention belong to the same inventive concept as the self-learning method for disengagement mechanism provided by this invention, the electronic device and readable storage medium provided by this invention have at least all the beneficial effects of the self-learning method for disengagement mechanism provided by this invention. For details, please refer to the relevant description above. Therefore, the beneficial effects of the electronic device and readable storage medium provided by this invention will not be elaborated here. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the transmission chain topology with a disengagement mechanism;

[0032] Figure 2 This is a schematic diagram showing the relationship between the rotation angle of a brushless DC motor (BLDC) and the position of the shift fork.

[0033] Figure 3 A flowchart illustrating a self-learning method for a disengagement mechanism provided in one embodiment of the present invention;

[0034] Figure 4 A schematic diagram of a one-sided 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 comparing the travel distance and duration of the one-sided self-learning scheme provided by the present invention when the power-on position is at the theoretical power-off position with the bilateral self-learning scheme in the prior art;

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

[0037] Figure 7 A schematic diagram comparing the travel and duration of the bilateral self-learning scheme provided by this invention when the power-on position is not at the theoretical power-off position with that of the bilateral self-learning scheme in the prior art;

[0038] Figure 8 This is a block diagram of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0039] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, further illustrates the self-learning method for disengagement mechanisms, the electronic device, and the readable storage medium proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the drawings are in a very simplified form and use non-precise proportions, used only to facilitate and clarify the purpose provided by this invention. Please refer to the drawings to make the objectives, features, and advantages of this invention more apparent and understandable. It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings are only for illustrative purposes to those skilled in the art and are not intended to limit the implementation conditions of this invention. Any modifications to the structure, changes in proportions, or adjustments to the size, provided they produce the same or similar effects and achieve the same objectives as this invention, should still fall within the scope of the technical content disclosed in this invention.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element. The singular forms “a,” “an,” and “the” include plural objects. The term “or” is generally used to mean “and / or,” the term “several” is generally used to mean “at least one,” and the term “at least two” is generally used to mean “two or more.” Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0041] Furthermore, in the description of this specification, the reference to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., means that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions 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 a suitable manner in any one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0042] The core idea of ​​this invention is to provide a self-learning method for disengagement mechanisms, 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 for the disengagement mechanism provided by this invention can be applied to the electronic device provided by this invention, wherein the electronic device can be a hardware device with various operating systems. Furthermore, the electronic device provided by this invention can be applied to a four-wheel drive electric vehicle with a disengagement mechanism, serving as a controller (i.e., a motor controller) for controlling the motor and auxiliary drive motor in the disengagement mechanism. It should also be noted that, as those skilled in the art will understand, the four-wheel drive electric vehicle can be a hybrid vehicle or a pure electric vehicle.

[0044] To achieve the above ideas, this invention provides a self-learning method detached from the mechanism; please refer to [the relevant documentation]. Figure 3 This is a flowchart illustrating a self-learning method for a disengagement mechanism provided in one embodiment of the present invention. Figure 3 As shown, the self-learning method for disengagement mechanisms provided by this invention includes the following steps:

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

[0046] Step S200: After determining that the motor has moved to the first preset gear stop 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 self-learning position.

[0047] Step S300: 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 power-down position of the motor and the theoretical position of the first preset gear stop point of the motor.

[0048] If so, then execute step S400: determine that the self-learned position of the first preset gear stop point is accurate and that the power-on position is the same as the theoretical power-off position.

[0049] Therefore, the self-learning method for disengagement mechanism provided by the present invention first uses a one-sided self-learning method to determine the first preset gear stop position. This not only greatly reduces the self-learning stroke length of the disengagement mechanism, reduces mechanical wear, and effectively improves the user's driving experience, but also enables the final disengagement mechanism position signal (engaged, disengaged, intermediate) to achieve the functional safety target of ASIL C (high functional safety level).

[0050] It should be noted that, as those skilled in the art will understand, the present invention does not limit the specific type of motor in the disengagement mechanism; the motor in the disengagement mechanism can be, but is not limited to, a brushless DC motor (BLDC). Furthermore, it should be noted that, as those skilled in the art will understand, the theoretical position of the first preset stop point of the motor and the theoretical power-off position of the motor can both be provided by the manufacturer of the disengagement mechanism. It should also be noted that, as those skilled in the art will 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, during the process of controlling the motor to move from the powered-on position towards the first preset gear stop position, when the motor is detected to have moved to the first stall position, it is determined that the motor has moved to the first preset gear stop self-learning position. Since the motor will be unable to continue rotating when it reaches the first preset gear stop position during the movement from the powered-on position towards the first preset gear stop position, i.e., the motor should stall at the first preset gear stop position, the stall position reached by the motor during its movement from the powered-on position towards the first preset gear stop position (i.e., the first stall position) can be used as the first preset gear stop self-learning position.

[0052] Specifically, the stall current can be used to determine whether the motor has moved to the first stall position. Further, when the motor's output current is the stall current and remains so for a preset duration, it is determined that the motor has moved to the first stall position. It should be noted that, as those skilled in the art will understand, the stall 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 self-learning position of the first preset stop point is accurate and that 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 the reference position during the current driving cycle.

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

[0056] Please continue to refer to this. Figure 4 This is a schematic diagram of a one-sided self-learning process provided by an embodiment of the present invention when the power-on position is at the theoretical power-off position. For example... Figure 4 As shown, taking the first preset gear as N gear as an example, before the disengagement mechanism is powered off, the motor (e.g., a brushless DC motor, BLDC) is first controlled to move to the theoretical N gear position (i.e., Figure 4 The N-point position is used to verify the N-position stop position during power-on. After the disengagement mechanism is re-powered, the power-on position is at the theoretical N-position (i.e., the power-on position is at...). Figure 4 In this scenario, the self-learning process of the detached mechanism is a one-sided self-learning process, specifically including: Step 1, controlling the motor (e.g., a brushless DC motor, BLDC) to move towards the N-gear stop point, and determining the N-gear stop point position through the stall current. After the motor reaches the N-gear stop point position, calculating the distance between the energized position and the N-gear stop point position (i.e., calculating the first movement stroke of the motor). If this distance (i.e., the first movement stroke) conforms to the distance between the theoretical N-gear position and the theoretical N-gear stop point position (i.e., the difference between the first movement stroke and the first theoretical stroke is within the first preset error range), then the learned N-gear stop point position is considered reliable, and Step 2, controlling the motor to return to the energized position (i.e., ... Figure 4 (The N-point position in the diagram). Afterwards, during the current driving cycle, the learned N-gear stop position can be used as a reference for motor control. It should be noted that, as those skilled in the art will understand, Figure 4 The range defined by points N1 and N (the endpoint) is the range where the N gear is located. Figure 4 The range defined by points N1 and D1 in the diagram is the shift range. Figure 4 The range defined by point D1 and point D in the diagram is the D gear range. Figure 4 Point D in the diagram represents the theoretical position for D gear.

[0057] Please continue to refer to this. Figure 5 This is a schematic diagram comparing the travel (characterized by the number of Hall sensor state changes) and duration of the one-sided self-learning scheme provided by this invention when the power-on position is at the theoretical power-off position, and the two-sided self-learning scheme in the prior art. (See diagram for reference.) Figure 5 As shown, under normal operating conditions, i.e., 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. By adopting the one-sided self-learning scheme provided by this invention (i.e., the motor moves from the power-on position to the N gear stop position), the self-learning time can be greatly reduced. The self-learning time 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 travel distance and the first theoretical travel distance 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. The disengagement mechanism self-learning method further includes:

[0059] Control 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 determining that the motor has moved to the second preset gear stop self-learning position, the second movement stroke of the motor is calculated. The second movement stroke is the distance between the first preset gear stop self-learning position and the second preset gear stop 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 theoretical position of the first preset gear stop point of the motor and the theoretical position of the second preset gear stop point of the motor;

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

[0063] Therefore, the self-learning method for disengagement mechanism provided by this invention controls the motor to move from the first preset stop point self-learning position towards the second preset stop point self-learning position when the difference between the first motion stroke and the first theoretical stroke exceeds the first preset error range. After determining that the motor has moved to the second preset stop point self-learning position, the second motion stroke of the motor is calculated. Finally, when the difference between the second motion stroke and the second theoretical stroke is within the second preset error range, both the first preset stop point self-learning position and the second preset stop point self-learning position are determined to be accurate. This allows for the self-learning of the disengagement mechanism when the energized position is not the theoretical energized position, ensuring that the final disengagement mechanism position signal (engaged, disengaged, intermediate) meets the functional safety target of ASIL C (High Functional Safety Level). It should be noted that, as those skilled in the art will understand, the second preset error range can be set according to actual needs, and this invention does not limit this setting.

[0064] In some exemplary embodiments, during the process of controlling the motor to move from the first preset gear stop self-learning position towards the second preset gear stop self-learning position, when the motor is detected to have reached the second stall position, it is determined that the motor has reached the second preset gear stop self-learning position. Since the motor will be unable to continue rotating when it reaches the second preset gear stop position during the process of controlling the motor to move from the first preset gear stop position towards the second preset gear stop self-learning position, i.e., the motor should stall at the second preset gear stop position, the stall position reached by the motor during its movement from the first preset gear stop position towards the second preset gear stop self-learning position (i.e., the second stall position) can be used as the second preset gear stop self-learning position.

[0065] Specifically, the motor can be determined to have moved to the second stall position based on the stall current. Furthermore, when the output current of the motor is the stall current and continues for a preset duration, it is determined that the motor has moved to the second stall position.

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

[0067] Based on the self-learned position of the second preset gear stop point, the motor is controlled to move to the theoretical power-off position, and the motor is controlled in the current driving cycle phase with the first preset gear stop point position or the second preset gear stop point position as the reference position.

[0068] Specifically, during the current driving cycle, if the first preset gear stop position is used as a 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., the theoretical power-off position) collected by the three-phase Hall sensor installed on the motor, and the distance between the power-on position (i.e., the theoretical power-off position) and the first preset gear stop self-learning position. If the second preset gear stop position is used as a 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., the theoretical power-off position) collected by the three-phase Hall sensor installed on the motor, and the distance between the power-on position (i.e., the theoretical power-off position) and the second preset gear stop self-learning position.

[0069] Please continue to refer to this. Figure 6 This is a schematic diagram of a bilateral self-learning process provided by an embodiment of the present invention when the power-on position is not in the theoretical power-off position. Figure 6As shown, taking the second preset gear as D gear as an example, when an abnormal power-down occurs (the motor position does not return to the theoretical N gear, or the disengagement mechanism moves after power-down), the distance between the power-on position and the N gear stop point will not conform to the theoretical travel distance between the N gear position and the N gear stop point (i.e., the difference between the first travel distance and the first theoretical travel distance exceeds the first preset error range). In this scenario, after executing step 1, controlling the motor (e.g., a brushless DC motor BLDC) to move towards the N gear stop point, and determining the N gear stop point position through the stall current, step 2 continues: controlling the motor to move from the N gear stop point position (i.e., the first preset gear stop point self-learning position) towards the D gear direction, and determining the D gear stop point position through the stall current. After the motor reaches the D gear stop point position (i.e., the second preset gear stop point self-learning position), the distance 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) is calculated (i.e., the second travel distance). If the distance (i.e., the second motion stroke) matches the travel distance between the theoretical N-gear stop position and the theoretical D-gear stop position (i.e., the difference between the second motion stroke and the second theoretical stroke is within the second preset error range), then the learned N-gear stop position and D-gear stop position are considered reliable, and step 3 is executed to control the motor to move to the theoretical N-gear position (i.e., Figure 6 (The N-point position in the diagram). After that, during the current driving cycle, the learned N-gear stop position or D-gear stop position can be used to control the motor.

[0070] Please continue to refer to this. Figure 7 This is a schematic diagram comparing the travel (characterized by the number of Hall sensor state changes) and duration of the bilateral self-learning scheme provided by this invention when the power-on position is not at the theoretical power-off position, with that of the bilateral self-learning scheme in the prior art. (See attached diagram.) Figure 7 As shown, for operating conditions where the power-on position is not in the theoretical power-off position (theoretical N-gear position), a two-sided self-learning process is performed (the motor first moves from the power-on position to the N-gear stop position, and then from the N-gear stop position to the D-gear stop position), and a two-sided verification is performed (whether the difference between the first motion stroke and the first theoretical stroke is within the first preset error range, and whether the difference between the second motion stroke and the second theoretical stroke is within the second preset error range). After completing the two-sided 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 scheme provided by the present invention is 1700ms, which is close to the total time of the bilateral self-learning scheme in the prior art, and the total travel distance of the two is also close.

[0071] In some exemplary embodiments, if the difference between the second travel distance and the second theoretical travel distance 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 will remain in a safe state, thereby ensuring torque safety.

[0073] It should be noted that, as those skilled in the art will understand, although this article uses the first preset gear as N gear and the second preset gear as D gear as an example for illustration, 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 to N gear.

[0074] Based on the same inventive concept, the present invention also provides an electronic device, please refer to... Figure 8 This is a block diagram of an electronic device provided in one embodiment of the present invention. Figure 8 As shown, the electronic device includes a processor 101 and a memory 103. The memory 103 stores a computer program. When the computer program is executed by the processor 101, it implements the self-learning method for disengagement mechanisms described above. Since the electronic device provided by this invention and the self-learning method for disengagement mechanisms provided by this invention belong to the same inventive concept, the electronic device provided by this invention has at least all the beneficial effects of the self-learning method for disengagement mechanisms provided by this invention. For details, please refer to the relevant descriptions above. Therefore, the beneficial effects of the electronic device provided by this invention will not be elaborated here.

[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 communicate with each other through the communication bus 104. The communication bus 104 includes, but is not limited to, a CAN bus. For ease of illustration, only one thick line is used to represent it in the figure, but this 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, 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, not shown in the figure) into a closed-loop system, enabling each electronic device to communicate and transmit data in multiple working states (parking state, charging state, starting state, running state, vehicle forward and reverse state, regenerative braking state, mechanical braking state, general fault state, major fault state), thereby realizing the vehicle control function.

[0076] The processor 101 referred to in this invention can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 101 is the control center of the electronic device, connecting various parts of the electronic device through various interfaces and lines.

[0077] The memory 103 can be used to store the computer program. The processor 101 implements various functions of the electronic device by running or executing the computer program stored in the memory 103 and calling 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), dual data rate synchronous random access memory (DDRSDRAM), enhanced synchronous random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), memory bus direct random access memory (RDRAM), direct memory bus dynamic random access memory (DRDRAM), and memory bus dynamic random access memory (RDRAM), etc.

[0078] This invention also provides a readable storage medium storing a computer program, which, when executed by a processor, can implement the self-learning method for disengagement mechanisms described above. Since the readable storage medium provided by this invention and the self-learning method for disengagement mechanisms provided by this invention belong to the same inventive concept, the readable storage medium provided by this invention possesses at least all the beneficial effects of the self-learning method for disengagement mechanisms provided by this invention. For details, please refer to the relevant descriptions above; therefore, the beneficial effects of the readable storage medium provided by this invention will not be elaborated upon here.

[0079] The readable storage medium provided by this invention can be 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. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatuses, or devices, or any combination thereof. More specific examples (not exhaustive) of computer-readable storage media include: electrical connections having one or more wires, portable computer hard disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this document, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, apparatus, or device.

[0080] Furthermore, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transfer a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wireline, optical fiber, RF, etc., or any suitable combination thereof.

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

[0082] This invention first controls the motor in the disengagement mechanism to move from the powered-on position toward the first preset gear stop position; then, after determining that the motor has moved to the self-learning position of the first preset gear stop, it 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, it is determined that the self-learning position of the first preset gear stop is accurate and that the powered-on position is the same as the theoretical powered-off position. This can greatly reduce the self-learning stroke length of the disengagement mechanism, reduce mechanical wear, and effectively improve the user's driving experience. Furthermore, the present invention controls the motor to move from the first preset gear stop self-learning position toward the direction of the second preset gear 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 has moved to the second preset gear stop self-learning position, calculates 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, determines that both the first preset gear stop self-learning position and the second preset gear stop self-learning position are accurate. This allows 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 target of ASIL C (high functional safety level).

[0083] It should be noted that computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0084] It should be noted that the apparatus and methods disclosed in the embodiments herein can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments herein. In this regard, each block in a flowchart or block diagram may represent a module, program, or part of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system to perform the specified function or action, or can be implemented using a combination of dedicated hardware and computer instructions. In addition, the functional modules in the various embodiments of this article can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0085] It should also be noted that the above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure are within the protection scope of the present invention. Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the present invention and its equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A mechanism-independent self-learning method, characterized in that, include: The motor in the disengagement mechanism is controlled to move from the energized position toward the first preset stop position; After determining that the motor has moved to the first preset gear stop self-learning position, the 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 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 power-down position of the motor and the theoretical position of the first preset gear stop point of the motor; If so, then it is determined that the self-learned position of the first preset gear stop point is accurate and the power-on position is the same as the theoretical power-off position; If not, then determine that the motor's energized position is different from the motor's theoretical de-energized position, and perform the following steps: Control the motor to move from the first preset gear stop point, the self-learned position, toward the direction of the second preset gear; After determining that the motor has moved to the second preset gear stop self-learning position, the second movement stroke of the motor is calculated. The second movement stroke is the distance between the first preset gear stop self-learning position and the second preset gear stop 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 theoretical position of the first preset gear stop point of the motor and the theoretical position of the second preset gear stop point of the motor; If so, then it is determined that both the first preset gear stop self-learning position and the second preset gear stop self-learning position are accurate; During 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 has moved to the first stall position, it is determined that the motor has moved to the first preset gear stop self-learning position. In this case, when it is detected that the output current of the motor is the stall current and continues for a preset duration, it is determined that the motor has moved to the first stall position. During the process of controlling the motor to move from the first preset gear stop self-learning position to the direction of the second preset gear, when the motor is detected to have moved to the second stall position, it is determined that the motor has moved to the second preset gear stop self-learning position. Specifically, when the output current of the motor is the stall current and lasts for a preset duration, it is determined that the motor has moved to the second stall position.

2. The self-learning method for the disengagement mechanism according to claim 1, 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.

3. The self-learning method for the disengagement mechanism according to claim 1, characterized in that, After determining that both the first preset gear stop self-learning position and the second preset gear stop self-learning position are accurate, the method further includes: Based on the self-learned position of the second preset gear stop point, the motor is controlled to move to the theoretical power-off position, and the motor is controlled in the current driving cycle phase with the first preset gear stop point position or the second preset gear stop point position as the reference position.

4. The self-learning method for the disengagement mechanism according to claim 1, characterized in that, After determining that the self-learned position of the first preset gear stop point is accurate and that 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 self-learning position to the theoretical power-off position, and the motor is controlled in the current driving cycle phase with the first preset gear stop self-learning position as the reference position.

5. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the self-learning method for the disengagement mechanism as described in any one of claims 1 to 4.

6. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, implements the self-learning method for the disengagement mechanism as described in any one of claims 1 to 4.

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