Transmission gear management method and device under sensor fault condition

Abstract

The invention belongs to the field of comprehensive transmission of tracked vehicles, and provides a gear management method and device for a planetary comprehensive transmission device under a sensor fault condition based on discrete events, and the method comprises the following steps: firstly, generating initial target gear information according to a current gear, a vehicle speed and an accelerator opening degree; the gear enabling management module based on the fault information generates a gear management table in a table look-up mode according to the fault information of different clutches, and identifies whether each gear has a fault factor or not; the gear management enabling table is input into a gear arbitration module, and a final effective target gear is confirmed according to the matching condition of the target gear and the management table; a corresponding fault-tolerant mechanism gear management strategy is formed in combination with the physical structure principle of a transmission system, a target gear decision is corrected in a specific fault mode, and the driving and safety of the vehicle are ensured.

Description

Technical Field

[0001] The present invention belongs to the field of integrated transmission of tracked vehicles, and in particular relates to a gear management method and device for a planetary integrated transmission device under sensor failure conditions based on discrete events. Background Art

[0002] The integrated transmission system combines the characteristics of machinery, electricity and fluid, with complex logical operations, a large number of system state variables and a variety of types, and has the fault characteristics of a large complex system. It is difficult to use a method to fully realize the fault detection, diagnosis and fault tolerance functions of the integrated transmission system during service. During the operation of the integrated transmission system, the fault detection and diagnosis algorithm operation process has time invariance. It is assumed that the electronic control unit of the integrated transmission system is always in a reliable state and will not fail. The state of the integrated transmission system is judged by collecting vehicle status information in real time. If the integrated transmission system is identified to be in a fault state, this should be used as an important condition for triggering fault-tolerant control, and the driver should be reminded in time to prevent more serious physical damage in the fault state, effectively reducing the harm of the fault. The sensor fault in the running state of the integrated transmission system is a discrete event with an extremely short generation time. According to the information such as fault type, hazard, propagation path, level, etc., combined with the physical structure principle of the integrated transmission system, the corresponding fault-tolerant mechanism integrated transmission control strategy is formed, so as to realize the jump control of the system state in a closed loop. Summary of the invention

[0003] In view of this, the present invention provides a method for managing the gear position of a transmission device under a sensor failure condition, comprising the following steps:

[0004] Step 1, determine the sensor failure condition, and further determine the vehicle speed and throttle opening information;

[0005] Step 2, determining the initial target gear information according to the shifting rules of the current gear, vehicle speed and throttle opening;

[0006] Step 3, dynamically generating a gear management table according to the physical structure of the integrated transmission system and the fault status of different clutches, and obtaining the gear enabling status by referring to the gear management enabling table;

[0007] Step 4, inputting the gear management enable table into the gear arbitration module, further determining whether the target gear satisfies the safety constraints of engine speed limit, driving torque demand and transmission speed limit according to the unarbitrated initial target gear prohibition information and the gear management enable table, and finally generating a valid target gear;

[0008] Step 5: Execute a gear shift operation according to the effective target gear position finally generated.

[0009] In particular, in step 1, if the vehicle speed sensor fails, it is further determined whether the vortex speed sensor fails; if the vortex speed sensor does not fail, the vehicle speed is calculated based on the vortex speed sensor information and the transmission ratio; and the throttle opening is obtained through CAN bus data information.

[0010] In particular, if the vehicle speed sensor fails and if the vortex speed sensor also fails, a shift prohibition instruction will be issued.

[0011] In particular, in step 3, the gear management enabling table indicates the corresponding relationship between whether each gear is allowed to be enabled under different clutch failure conditions.

[0012] In particular, in step 4, the gear arbitration module determines and confirms the target gear according to the preset engine speed, driving torque and transmission speed as constraint conditions.

[0013] In particular, in step 4, the constraints of the engine speed, the driving torque and the transmission speed further include at least one of the following first to seventh constraints:

[0014] The first constraint condition: at the current vehicle speed, if the integrated transmission device is in the non-arbitrated target gear, the engine speed is greater than the minimum stable speed and less than the maximum engine speed;

[0015] The second constraint condition: the value of the unarbitrated target gear remains unchanged for a certain period of time;

[0016] The third constraint condition: there is no fault information for the unarbitrated target gear, that is, the unarbitrated target gear is allowed to work;

[0017] Fourth constraint condition: when the throttle opening is greater than 20%, the vehicle driving torque of the unarbitrated target gear is greater than the current gear at the current vehicle speed;

[0018] Fifth constraint: During braking, gear shifting is prohibited when the vehicle deceleration is greater than a certain threshold;

[0019] The sixth constraint condition: when the ramp resistance torque is greater than the target gear drive reserve torque, upshifting is prohibited; when the ramp is less than -10°, downshifting is prohibited;

[0020] Seventh constraint condition: when the vehicle's running slip rate is greater than 25%, upshifting is prohibited.

[0021] In particular, if the constraint condition is not satisfied, the unarbitrated target gear is considered invalid and the current gear is maintained.

[0022] In particular, the transmission device is a planetary integrated transmission device.

[0023] The present invention also discloses a transmission gear management device under sensor failure conditions, comprising:

[0024] The sensor fault judgment module is used to judge the sensor fault condition and further determine the vehicle speed and throttle opening information;

[0025] An initial target gear information determination module is used to determine the initial target gear information according to the shifting rules of the current gear, vehicle speed and throttle opening;

[0026] A gear enabling status judgment module is used to dynamically generate a gear management table according to the physical structure of the integrated transmission system and the fault status of different clutches, and obtain the gear enabling status by consulting the gear management enabling table;

[0027] A final effective target gear generation module is used to input the gear management enable table into the gear arbitration module, further determine whether the target gear satisfies the safety constraints of engine speed limit, drive torque demand and transmission speed limit according to the unarbitrated initial target gear prohibition information and the gear management enable table, and finally generate a valid target gear;

[0028] The gear shifting operation execution module is used to execute the gear shifting operation according to the effective target gear position finally generated.

[0029] Beneficial effects:

[0030] The technical problem to be solved by the present invention is: when a discrete time sensor of an integrated transmission system fails, how to adopt a gear management strategy to realize an automatic speed change function within a specified time to ensure the driving and safety of the vehicle.

[0031] The technical solution of the present invention realizes the automatic shifting function of the planetary integrated transmission device under the condition of sensor failure. The solution can determine the target gear position within a specified time to ensure the driving and safety of the vehicle.

[0032] The technical solution of the present invention improves the fault tolerance of the integrated transmission system in the case of discrete time sensor failure. The gear management strategy of the solution can be dynamically adjusted according to the failure conditions of different clutches to ensure the jump control of the system state.

[0033] The technical solution of the present invention realizes the gear enabling management based on fault information. The gear enabling management module can generate a gear management table by looking up the table according to the physical structure characteristics, providing a basis for the final gear confirmation.

[0034] The technical solution of the present invention forms a corresponding fault-tolerant gear management strategy, which can correct the target gear decision under a specific fault mode, thereby ensuring safe driving of the vehicle.

[0035] The technical solution of the present invention improves the adaptability and robustness of the integrated transmission system under sensor failure conditions. The solution can effectively deal with various discrete time sensor failures and maintain the normal operation of the vehicle through an adaptive control strategy. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a flow chart of the method for managing the gear position of the transmission device under the condition of sensor failure proposed in the present invention;

[0037] Figure 2 It is a schematic diagram of the management device of the transmission gear position under the sensor failure condition proposed in the present invention. DETAILED DESCRIPTION

[0038] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0039] The present invention provides a gear management method for a planetary integrated transmission device based on a sensor failure, such as Figure 1 As shown, according to the current gear, throttle opening and vehicle speed information, the target gear information is obtained by looking up the table, and the adaptive control method is adopted according to the gear management strategy to ensure the driving and safety of the vehicle. The gear management strategy process is as follows:

[0040] Step S1: determine the sensor failure condition, and further determine the vehicle speed and throttle opening information;

[0041] Furthermore, in step S1, the vehicle speed sensor fault is first determined. If the vehicle speed sensor faults, it can be determined whether the vortex speed sensor is faulty. In the case of a fault, a shift prohibition instruction will be issued. Otherwise, the vehicle speed can be calculated based on the vortex speed and the transmission ratio, and the throttle opening is the CAN bus data information.

[0042] Step S2: Determine the initial target gear information according to the shifting rules of the current gear, vehicle speed and throttle opening; further, in step S2, a dual-parameter shifting rule of vehicle speed and throttle opening is adopted, that is, the initial target gear information is generated according to the current gear, vehicle speed and throttle opening.

[0043] Step S3: According to the physical structure of the integrated transmission system and the fault status of different clutches, a gear management table is dynamically generated, as shown in Table 1 in the following table, and the gear enabling status is obtained by referring to the gear management enable table; further, in the step S3, the gear enabling management module based on the fault information generates the gear management enable table by looking up the table according to the physical structure characteristics of the integrated transmission system itself and the fault information of different clutches, that is, whether different gears have fault factors.

[0044] Step S4: Input the gear management enable table into the gear arbitration module, and further determine whether the target gear meets the constraints of engine speed, driving torque and transmission speed limit based on the unarbitrated initial target gear information and the gear management enable table, so as to generate a final valid target gear.

[0045] Furthermore, in step S4, the gear management enable table is input into the gear arbitration module for the final gear confirmation work. The gear arbitration module is used to comprehensively judge the validity of the target gear according to the unarbitrated initial target gear calculated by the dual-parameter shifting law and the gear management enable table. When the target gear satisfies the following conditions at the same time, the unarbitrated initial target gear is considered to be valid, otherwise the unarbitrated initial target gear is considered to be invalid and the current gear is maintained:

[0046] Condition 1: At the current vehicle speed, if the integrated transmission device is in the non-arbitrated target gear, the engine speed is greater than the minimum stable speed and less than the maximum engine speed;

[0047] Condition 2: The unarbitrated target gear position remains unchanged for a certain period of time (e.g. 500ms);

[0048] Condition 3: There is no fault information for the unarbitrated target gear, that is, the unarbitrated target gear is allowed to work;

[0049] Condition 4: When the throttle opening is greater than 20%, the vehicle driving torque of the unarbitrated target gear is greater than the current gear at the current vehicle speed;

[0050] Condition 5: During braking, gear shifting is prohibited when the vehicle deceleration is greater than a certain threshold;

[0051] Condition 6: When the ramp resistance torque is greater than the target gear drive reserve torque, upshifting is prohibited; when the ramp is less than -10°, downshifting is prohibited;

[0052] Condition 7: When the vehicle slip rate is greater than 25%, upshifting is prohibited;

[0053] The target gear is finally confirmed through gear arbitration, forming a gear management strategy for the planetary integrated transmission under sensor failure conditions.

[0054] Table 1 Gear Management Enable Table

[0055]

[0056]

[0057] Step 5: Execute a gear shift operation according to the target gear position finally generated.

[0058] In summary, the present invention is a decision-making fault-tolerant mechanism control strategy, which is a target gear decision correction mechanism under a specific fault mode. The closed loop realizes the jump control of the system state to ensure the driving and safety of the vehicle.

[0059] The present invention also discloses a gear management device for a planetary integrated transmission device based on a sensor failure, such as Figure 2 As shown, according to the current gear, throttle opening and vehicle speed information, the target gear information is obtained by looking up the table, and the adaptive control method is adopted according to the gear management strategy to ensure the driving and safety of the vehicle. The gear management strategy process is as follows:

[0060] The sensor fault judgment module is used to judge the sensor fault condition and further determine the vehicle speed and throttle opening information;

[0061] Furthermore, in the sensor fault judgment module, the vehicle speed sensor fault is first judged. If the vehicle speed sensor faults, it can be judged whether the vortex speed sensor is faulty. In the case of fault, a gear shift prohibition instruction will be issued. Otherwise, the vehicle speed can be calculated according to the vortex speed and transmission ratio, and the throttle opening is the CAN bus data information.

[0062] The initial target gear information determination module is used to determine the initial target gear information according to the shifting rules of the current gear, vehicle speed and throttle opening; further, the initial target gear information determination module adopts a dual-parameter shifting rule, that is, the initial target gear information is generated according to the current gear, vehicle speed and throttle opening.

[0063] The gear enabling condition judgment module is used to dynamically generate a gear management table according to the physical structure of the integrated transmission system and the fault status of different clutches, as shown in Table 2 in the following table, and obtain the gear enabling condition by referring to the gear management enabling table; further, in the gear enabling condition judgment module, the gear enabling management module based on the fault information generates the gear management enabling table by looking up the table according to the physical structure characteristics of the integrated transmission system itself and the fault information of different clutches, that is, whether different gears have fault factors.

[0064] The final effective target gear generation module is used to input the gear management enable table into the gear arbitration module, and further determine whether the target gear meets the constraints of engine speed, driving torque and transmission speed based on the unarbitrated initial target gear information and the gear management enable table, so as to generate the final effective target gear.

[0065] Furthermore, in the final effective target gear generation module, the gear management enable table is input into the gear arbitration module for the final gear confirmation work. The gear arbitration module is used to comprehensively judge the validity of the target gear according to the unarbitrated initial target gear calculated by the dual-parameter shifting law and the gear management enable table. When the target gear satisfies the following conditions at the same time, the unarbitrated initial target gear is considered to be valid, otherwise the unarbitrated initial target gear is considered invalid and the current gear is maintained:

[0066] Condition 1: At the current vehicle speed, if the integrated transmission device is in the non-arbitrated target gear, the engine speed is greater than the minimum stable speed and less than the maximum engine speed;

[0067] Condition 2: The unarbitrated target gear position remains unchanged for a certain period of time (e.g. 500ms);

[0068] Condition 3: There is no fault information for the unarbitrated target gear, that is, the unarbitrated target gear is allowed to work;

[0069] Condition 4: When the throttle opening is greater than 20%, the vehicle driving torque of the unarbitrated target gear is greater than the current gear at the current vehicle speed;

[0070] Condition 5: During braking, gear shifting is prohibited when the vehicle deceleration is greater than a certain threshold;

[0071] Condition 6: When the ramp resistance torque is greater than the target gear drive reserve torque, upshifting is prohibited; when the ramp is less than -10°, downshifting is prohibited;

[0072] Condition 7: When the vehicle slip rate is greater than 25%, upshifting is prohibited;

[0073] The target gear is finally confirmed through gear arbitration, forming a gear management strategy for the planetary integrated transmission under sensor failure conditions.

[0074] Table 2 Gear Management Enable Table

[0075]

[0076]

[0077]

[0078] The gear shifting operation execution module executes the gear shifting operation according to the target gear position finally confirmed.

[0079] In summary, the present invention is a decision-making fault-tolerant mechanism control strategy, which is a target gear decision correction mechanism under a specific fault mode. The closed loop realizes the jump control of the system state to ensure the driving and safety of the vehicle.

[0080] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0081] It is obvious to those skilled in the art that the embodiments of the present invention are not limited to the details of the above exemplary embodiments, and that the embodiments of the present invention can be implemented in other specific forms without departing from the spirit or basic features of the embodiments of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the embodiments of the present invention is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the embodiments of the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units, modules or devices stated in the system, device or terminal claims can also be implemented by the same unit, module or device through software or hardware. The words first, second, etc. are used to indicate names, and do not indicate any particular order.

[0082] Finally, it should be noted that the above implementation modes are only used to illustrate the technical solutions of the embodiments of the present invention and are not intended to limit them. Although the embodiments of the present invention have been described in detail with reference to the above preferred implementation modes, those skilled in the art should understand that the technical solutions of the embodiments of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gear management method for a transmission device under sensor failure conditions, characterized in that: The following steps are involved: Step 1, determine the sensor failure condition, and further determine the vehicle speed and throttle opening information; Step 2, determining the initial target gear information according to the shifting rules of the current gear, vehicle speed and throttle opening; Step 3, dynamically generating a gear management table according to the physical structure of the integrated transmission system and the fault status of different clutches, and obtaining the gear enabling status by referring to the gear management enabling table; Step 4, inputting the gear management enable table into the gear arbitration module, further determining whether the target gear satisfies the safety constraints of engine speed limit, driving torque demand and transmission speed limit according to the unarbitrated initial target gear prohibition information and the gear management enable table, and finally generating a valid target gear; Step 5: Execute a gear shifting operation according to the effective target gear position finally generated.

2. The gear management method of a transmission device under sensor failure conditions according to claim 1, characterized in that: In step 1, if the vehicle speed sensor fails, it is further determined whether the vortex speed sensor fails. If the vortex speed sensor does not fail, the vehicle speed is calculated based on the vortex speed sensor information and the transmission ratio; and the throttle opening is obtained through CAN bus data information.

3. The gear management method of a transmission device under sensor failure conditions according to claim 2, characterized in that: If the vehicle speed sensor fails and if the vortex speed sensor also fails, a shift prohibition command will be issued.

4. The gear management method of a transmission device under sensor failure conditions according to claim 3, characterized in that: In step 3, the gear management enabling table indicates the corresponding relationship between whether each gear is allowed to be enabled under different clutch failure conditions.

5. The gear management method of a transmission device under sensor failure conditions according to claim 4, characterized in that: In step 4, the gear arbitration module determines and confirms the target gear according to the preset engine speed, driving torque and transmission speed limit as constraint conditions.

6. The gear management method of a transmission device under sensor failure conditions according to claim 5, characterized in that: In step 4, the constraints of the engine speed, driving torque and transmission speed limit further include at least one of the following first to seventh constraints: The first constraint condition: at the current vehicle speed, if the integrated transmission device is in the non-arbitrated target gear, the engine speed is greater than the minimum stable speed and less than the maximum engine speed; The second constraint condition: the value of the unarbitrated target gear remains unchanged for a certain period of time; The third constraint condition: there is no fault information for the unarbitrated target gear, that is, the unarbitrated target gear is allowed to work; Fourth constraint condition: when the throttle opening is greater than 20%, the vehicle driving torque of the unarbitrated target gear is greater than the current gear at the current vehicle speed; Fifth constraint: During braking, gear shifting is prohibited when the vehicle deceleration is greater than a certain threshold; The sixth constraint condition: when the ramp resistance torque is greater than the target gear drive reserve torque, upshifting is prohibited; when the ramp is less than -10°, downshifting is prohibited; Seventh constraint condition: when the vehicle's running slip rate is greater than 25%, upshifting is prohibited.

7. The gear management method of a transmission device under sensor failure conditions according to claim 6, characterized in that: If the constraint condition is not met, the unarbitrated target gear is considered invalid and the current gear is maintained.

8. The gear management method of a transmission device under sensor failure conditions according to claim 7, characterized in that: The transmission device is a planetary integrated transmission device.

9. A gear management device for a transmission device under sensor failure conditions, characterized in that: include: The sensor fault judgment module is used to judge the sensor fault condition and further determine the vehicle speed and throttle opening information; An initial target gear information determination module is used to determine the initial target gear information according to the shifting rules of the current gear, vehicle speed and throttle opening; A gear enabling status judgment module is used to dynamically generate a gear management table according to the physical structure of the integrated transmission system and the fault status of different clutches, and obtain the gear enabling status by consulting the gear management enabling table; A final effective target gear generation module is used to input the gear management enable table into the gear arbitration module, further determine whether the target gear satisfies the safety constraints of engine speed limit, drive torque demand and transmission speed limit according to the unarbitrated initial target gear prohibition information and the gear management enable table, and finally generate a valid target gear; The gear shifting operation execution module is used to execute the gear shifting operation according to the effective target gear position finally generated.

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