Gear shifting control method and device, equipment and storage medium

Abstract

The invention provides a gear shifting control method, device and equipment and a storage medium, and the method comprises the steps that if a gear shifting instruction is detected, first position information and second position information are obtained in real time; wherein the first position information is the position information of the nut, and the second position information is the position information of the shifting fork; determining an input variable according to the first position information and the second position information; determining a target control alternation algorithm corresponding to the input variable according to a preset control alternation strategy; calculating according to a target control alternating algorithm and the input variable to obtain a corresponding duty ratio value; and duty ratio control is conducted on the gear shifting motor according to the duty ratio value. According to the embodiment of the invention, the impact resistance of the gear shifting mechanism can be improved, the gear shifting mechanism can be effectively prevented from being damaged due to the fact that the nut impacts the shell in the idle stroke stage, and the working reliability of the gear shifting mechanism is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile transmissions, and in particular to a gear shift control method, device, equipment and storage medium. Background Art

[0002] The shift fork is a major component in the gearbox shift mechanism, and its main function is to shift gears. The existing screw-nut type shift mechanism realizes gear shifting by driving the shift fork to move with the nut. In terms of mechanical structure, if the nut and the housing are not in a compressed state, there will be an idle stroke between the nut and the housing. In this case, when there is an idle stroke between the nut and the shift fork, the nut moves without load. Therefore, during the gear shifting process, it is easy for the nut to move too fast and impact the housing, causing damage to the gearbox.

[0003] Therefore, the existing shift mechanism has the problem of large shift impact force during the idle stroke stage. Summary of the invention

[0004] The embodiments of the present invention provide a shift control method, device, equipment and storage medium, aiming to solve the problem of large shift impact force in the idle travel stage of the existing shift mechanism.

[0005] In a first aspect, an embodiment of the present invention provides a shift control method, which is applied to a controller of a shift mechanism, wherein the controller establishes a communication connection with a shift motor in the shift mechanism, and the method includes:

[0006] If a shift command is detected, first position information and second position information are acquired in real time; wherein the first position information is the position information of the nut, and the second position information is the position information of the shift fork;

[0007] determining an input variable according to the first position information and the second position information;

[0008] Determine a target control alternation algorithm corresponding to the input variable according to a preset control alternation strategy;

[0009] Calculate the corresponding duty cycle value according to the target control alternating algorithm and the input variable;

[0010] The duty cycle of the shift motor is controlled according to the duty cycle value.

[0011] In a second aspect, an embodiment of the present invention further provides a shift control device, the device is configured in a controller of a shift mechanism, the controller establishes a communication connection with a shift motor in the shift mechanism, and the device comprises:

[0012] An acquisition unit, for acquiring first position information and second position information in real time if a shift command is detected; wherein the first position information is position information of the nut, and the second position information is position information of the shift fork;

[0013] A first determining unit, configured to determine an input variable according to the first position information and the second position information;

[0014] A second determination unit, configured to determine a target control alternation algorithm corresponding to the input variable according to a preset control alternation strategy;

[0015] A calculation unit, used for calculating a corresponding duty cycle value according to the target control alternating algorithm and the input variable;

[0016] A control unit is used to control the duty cycle of the shift motor according to the duty cycle value.

[0017] In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method described in the first aspect is implemented.

[0018] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program includes program instructions, and wherein the program instructions, when executed by a processor, can implement the method described in the first aspect above.

[0019] The embodiment of the present invention provides a shift control method, device, equipment and storage medium, the method is applied to the controller of the shift mechanism, the controller establishes a communication connection with the shift motor in the shift mechanism, the method includes: if a shift instruction is detected, the first position information and the second position information are obtained in real time; wherein the first position information is the position information of the nut, and the second position information is the position information of the shift fork; the input variable is determined according to the first position information and the second position information; the target control alternation algorithm corresponding to the input variable is determined according to the preset control alternation strategy; the corresponding duty cycle value is calculated according to the target control alternation algorithm and the input variable; the duty cycle of the shift motor is controlled according to the duty cycle value. The embodiment of the present invention can obtain the first position information and the second position information in real time, and control the duty cycle of the shift motor according to the first position information and the second position information, so as to improve the impact resistance of the shift mechanism, effectively avoid the damage of the shift mechanism caused by the nut impacting the housing in the idle stroke stage, and improve the reliability of the shift mechanism when working. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0021] Figure 1 A schematic flow chart of a shift control method provided by an embodiment of the present invention;

[0022] Figure 2 A schematic block diagram of a gear shift control device provided by an embodiment of the present invention;

[0023] Figure 3 A schematic block diagram of an electronic device provided by an embodiment of the present invention;

[0024] Figure 4 It is a structural schematic diagram of the screw-nut type shifting mechanism.

[0025] Figure numerals: 10, shift mechanism; 11, shift motor; 12, lead screw; 13, housing; 14, nut; 15, shift fork; 16, limit block. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0029] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] See also Figure 4 , Figure 4 Schematic diagram of the structure of the screw-nut type shift mechanism. The method is applied to the controller of the shift mechanism 10, and the controller establishes a communication connection with the shift motor 11 in the shift mechanism 10; specifically, the shift mechanism 10 includes the shift motor 11, the screw 12, the housing 13, the nut 14, the shift fork 15 and the limit block 16; wherein the limit block 16 is used to limit the position movement of the shift fork 15; the nut 14 is arranged in the housing 13, and the shift fork 15 is fixedly arranged on the outer wall of the housing 13; the screw 1 2 can be rotated under the drive of the shift motor 11, the shift motor 11 is connected to the nut 14 through the screw rod 12, and the nut 14 can move along the long axis direction of the screw rod 12 under the drive of the shift motor 11; if the nut 14 and the housing 13 are in a compressed state, the housing 13 can move along the long axis direction of the screw rod 12 under the drive of the nut 14, and when the housing 13 moves, the shift fork 15 moves accordingly to achieve shifting.

[0031] Figure 1 Schematic diagram of the process flow of the shift control method provided by the embodiment of the present invention. Figure 1 As shown, the method includes the following steps S110-S140.

[0032] S110. If a shift command is detected, first position information and second position information are acquired in real time; wherein the first position information is position information of the nut, and the second position information is position information of the shift fork.

[0033] In this embodiment, if a gear shift command is detected, the first position information and the second position information are acquired in real time until the gear shift is completed; wherein, the first position information is the position information of the nut, specifically, the first position information may be the end face position information of the nut; the second position information is the position information of the shift fork, specifically, the second position information may be the end face position information of the shift fork.

[0034] S120. Determine an input variable according to the first position information and the second position information.

[0035] In this embodiment, a first moving speed is calculated based on the first position information; wherein the first moving speed is the moving speed of the nut; a second moving speed is calculated based on the second position information; wherein the second moving speed is the moving speed of the shift fork; it is determined whether the first moving speed is greater than the second moving speed; if the first moving speed is greater than the second moving speed, it means that the nut and the housing are not in a compressed state, and there is an empty stroke between the nut and the housing. At this time, in order to avoid the nut moving too fast to impact the housing and cause damage to the shift mechanism, the difference between the first moving speed and the target speed is calculated. as the input variable; wherein, the target speed is obtained based on the gear shift instruction; if the first moving speed is equal to the second moving speed, it means that the nut and the shell are in a tightening state, and there is no idle stroke between the nut and the shell. At this time, the difference between the second position information and the target position is used as the input variable; wherein, the target position is the position of the limit block; specifically, the target position is the end face position of the limit block; the embodiment of the present invention can determine the input variable according to the first position information and the second position information, realize the coherent switching of dual closed-loop control, and can effectively avoid the gear shift shock caused by the excessive movement speed of the nut in the idle stroke stage.

[0036] In one embodiment, step S120 includes: calculating a first moving speed based on the first position information; calculating a second moving speed based on the second position information; determining whether the first moving speed is greater than the second moving speed to obtain a speed judgment result; if the speed judgment result is yes, using a speed deviation value as the input variable; wherein the speed deviation value is the difference between the first moving speed and the target speed.

[0037] In this embodiment, the nut can be moved along the long axis direction of the screw rod under the drive of the shift motor. At this time, the first moving speed can be calculated according to the first position information; specifically, the first moving speed is calculated according to the change amount of the first position information and the corresponding change time; the second moving speed is calculated according to the second position information (that is, the second moving speed is calculated according to the change amount of the second position information and the corresponding change time); it is determined whether the first moving speed is greater than the second moving speed to obtain a speed judgment result; if the speed judgment result is yes, the speed deviation value is used as the input variable; wherein the speed deviation value is the difference between the first moving speed and the target speed; the target speed is obtained based on the shift instruction.

[0038] Furthermore, a first moving speed is calculated based on a change in a first distance, wherein the first distance is the distance between the nut and the limit block; and a second moving speed is calculated based on a change in a second distance, wherein the second distance is the distance between the shift fork and the limit block.

[0039] In one embodiment, if the speed judgment result is yes, the speed deviation value is used as the input variable; wherein the speed deviation value is the difference between the first moving speed and the target speed, and also includes: obtaining the speed value corresponding to the shift instruction as the target speed according to a preset shift instruction table.

[0040] In this embodiment, different gear shift positions correspond to different speed values. Specifically, the speed value corresponding to the gear shift position can be obtained as the target speed according to a preset gear shift instruction table; wherein the gear shift position is obtained according to the gear shift instruction.

[0041] In one embodiment, after taking the speed deviation value as the input variable, it also includes: taking the first control alternation algorithm in the control alternation strategy as the target control alternation algorithm; and calculating the corresponding duty cycle value according to the target control alternation algorithm and the speed deviation value.

[0042] In this embodiment, the speed deviation value ErrV is the difference between the first moving speed V1 and the target speed V0, that is, ErrV=V0-V1; the first control alternation algorithm Duty(k)=Kp×ErrV(k)+Σ(Ki×ErrV(k))+Kd×(ErrV(k)-ErrV(k-1)) in the control alternation strategy is used as the target control alternation algorithm; the speed deviation value E is calculated according to the target control alternation algorithm and the speed deviation value ErrV. The duty cycle value Duty(k) corresponding to ErrV; wherein, k is the k-th data of the corresponding variable; Duty(k) is the k-th data of the duty cycle value, that is, the current duty cycle value; ErrV(k) is the k-th data of the speed deviation value; ErrV(k-1) is the previous speed deviation value, that is, the k-1-th data of the speed deviation value; Kp is the proportional coefficient of the first control alternating algorithm; Ki is the integral coefficient of the first control alternating algorithm; Kd is the differential coefficient of the first control alternating algorithm, and Σ is the cumulative calculation symbol.

[0043] In one embodiment, the determining whether the first moving speed is greater than the second moving speed, after obtaining the speed determination result, further includes: if the speed determination result is no, determining whether the first moving speed is equal to the second moving speed; if the determination result is equal, using the position deviation value as the input variable; wherein the position deviation value is the difference between the second position information and the target position; the target position is the position of the limit block.

[0044] In this embodiment, if the first moving speed is not greater than the second moving speed, it is determined whether the first moving speed is equal to the second moving speed; if the judgment result is equal, it means that the nut and the shell are in a tightening state, and there is no empty stroke between the nut and the shell. At this time, the position deviation value is used as the input variable; wherein the position deviation value is the difference between the second position information and the target position; the target position is the position of the limit block.

[0045] In one embodiment, after taking the position deviation value as the input variable, it also includes: taking the second control alternation algorithm in the control alternation strategy as the target control alternation algorithm; and calculating the corresponding duty cycle value according to the target control alternation algorithm and the position deviation value.

[0046] In this embodiment, the position deviation value ErrX is the difference between the second position information X2 and the target position X0, that is, ErrX=X0-X2; the second control alternation algorithm Duty(k)=Kp×ErrX(k)+Σ(Ki×ErrX(k))+Kd×(ErrX(k)-ErrX(k-1)) in the control alternation strategy is used as the target control alternation algorithm; the duty cycle value Duty(k) corresponding to the position deviation value ErrX is calculated according to the target control alternation algorithm and the position deviation value ErrX; wherein, k is the kth data of the corresponding variable; Duty(k) is the kth data of the duty cycle value, that is, the current duty cycle value; ErrX(k) is the kth data of the position deviation value; ErrX(k-1) is the previous position deviation value, that is, the k-1th data of the position deviation value; Kp is the proportional coefficient of the second control alternation algorithm; Ki is the integral coefficient of the second control alternation algorithm; Kd is the differential coefficient of the second control alternation algorithm.

[0047] In one embodiment, after determining whether the first moving speed is equal to the second moving speed, the method further includes: if the determination result is that they are not equal, exiting the control process.

[0048] In this embodiment, if the judgment result is not equal, it means that the gear shifting operation has been completed. At this time, the nut does not move, and the housing can move forward under the action of inertia, so the first moving speed is less than the second moving speed; when the shift fork follows the housing to move along the long axis direction of the screw rod, the limit block limits the position movement of the shift fork; if the gear shifting operation is completed, the control process is exited.

[0049] S130. Determine a target control alternation algorithm corresponding to the input variable according to a preset control alternation strategy.

[0050] In this embodiment, the control alternation strategy includes a first control alternation algorithm and a second control alternation algorithm; if the input variable is a speed deviation value, the first control alternation algorithm in the control alternation strategy is used as the target control alternation algorithm; if the input variable is a position deviation value, the second control alternation algorithm in the control alternation strategy is used as the target control alternation algorithm.

[0051] S140. Calculate a corresponding duty cycle value according to the target control alternating algorithm and the input variable.

[0052] In this embodiment, a first moving speed is calculated based on the first position information; wherein the first moving speed is the moving speed of the nut; a second moving speed is calculated based on the second position information; wherein the second moving speed is the moving speed of the shift fork; it is determined whether the first moving speed is greater than the second moving speed; if the first moving speed is greater than the second moving speed, it means that the nut and the housing are not in a compressed state, and there is an empty stroke between the nut and the housing. At this time, in order to avoid the nut moving too fast and impacting the housing, causing damage to the shift mechanism, the difference between the first moving speed and the target speed is used as the input variable of the first control alternation algorithm; if the input variable is a speed deviation value, the duty cycle value corresponding to the speed deviation value is calculated according to the first control alternation algorithm in the control alternation strategy; wherein the target speed is obtained based on the shift instruction, and the speed deviation The difference is the difference between the first moving speed and the target speed; if the first moving speed is not greater than the second moving speed, it is determined whether the first moving speed is equal to the second moving speed; if the first moving speed is equal to the second moving speed, it means that the nut and the housing are in a compressed state, and there is no idle stroke between the nut and the housing. At this time, the difference between the second position information and the target position is used as the input variable of the second control alternation algorithm; if the input variable is a position deviation value, the duty cycle value corresponding to the position deviation value is calculated according to the second control alternation algorithm in the control alternation strategy; wherein the position deviation value is the difference between the second position information and the target position; the target position is the position of the limit block; if the first moving speed is not equal to the second moving speed (that is, the first moving speed is less than the second moving speed), it means that the gear shift operation has been completed. If the gear shift operation is completed, the control process is exited. The embodiment of the present invention can determine the input variable according to the first position information and the second position information to realize the coherent switching of the dual closed-loop control, which can effectively avoid the gear shift shock caused by the excessive movement speed of the nut in the idle stroke stage.

[0053] S150. Controlling the duty cycle of the shift motor according to the duty cycle value.

[0054] In this embodiment, the duty cycle of the shift motor is controlled according to the duty cycle value to achieve continuous switching of dual closed-loop control and avoid shift shock caused by excessive movement of the nut during the idle stroke stage.

[0055] To sum up, the embodiments of the present invention can obtain the first position information and the second position information in real time, and control the duty cycle of the shift motor according to the first position information and the second position information, thereby improving the impact resistance of the shift mechanism, and can effectively avoid damage to the shift mechanism caused by the nut impacting the housing during the idle stroke stage, thereby improving the reliability of the shift mechanism during operation.

[0056] Figure 2 Schematic block diagram of a shift control device provided by an embodiment of the present invention. Figure 2 As shown, corresponding to the above shift control method, the present invention further provides a shift control device, which is configured in a controller of a shift mechanism, and the controller establishes a communication connection with a shift motor in the shift mechanism.

[0057] Specifically, see Figure 2 , the shift control device 700 comprises:

[0058] The acquisition unit 701 is used to acquire the first position information and the second position information in real time if a shift command is detected; wherein the first position information is the position information of the nut, and the second position information is the position information of the shift fork;

[0059] A first determining unit 702, configured to determine an input variable according to the first position information and the second position information;

[0060] A second determining unit 703 is used to determine a target control alternation algorithm corresponding to the input variable according to a preset control alternation strategy;

[0061] A calculation unit 704, configured to calculate a corresponding duty cycle value according to the target control alternating algorithm and the input variable;

[0062] The control unit 705 is used to control the duty cycle of the shift motor according to the duty cycle value.

[0063] In some embodiments, when the first determining unit 702 performs the step of determining the input variable according to the first position information and the second position information, it is specifically used to:

[0064] A first moving speed is calculated based on the first position information; a second moving speed is calculated based on the second position information; whether the first moving speed is greater than the second moving speed is determined to obtain a speed determination result; if the speed determination result is yes, a speed deviation value is used as the input variable; wherein the speed deviation value is the difference between the first moving speed and the target speed.

[0065] In some embodiments, before executing the step of taking the speed deviation value as the input variable if the speed judgment result is yes, wherein the speed deviation value is the difference between the first moving speed and the target speed, the first determining unit 702 is further used to:

[0066] A speed value corresponding to the shift instruction is obtained according to a preset shift instruction table as the target speed.

[0067] In some embodiments, after executing the step of using the speed deviation value as the input variable, the first determining unit 702 is further configured to:

[0068] The first control alternation algorithm in the control alternation strategy is used as the target control alternation algorithm; and a corresponding duty cycle value is calculated according to the target control alternation algorithm and the speed deviation value.

[0069] In some embodiments, after executing the step of determining whether the first moving speed is greater than the second moving speed and obtaining a speed determination result, the first determining unit 702 is further configured to:

[0070] If the speed judgment result is no, determine whether the first moving speed is equal to the second moving speed; if the judgment result is equal, use the position deviation value as the input variable; wherein the position deviation value is the difference between the second position information and the target position; the target position is the position of the limit block.

[0071] In some embodiments, after executing the step of using the position deviation value as the input variable, the first determining unit 702 is further configured to:

[0072] The second control alternation algorithm in the control alternation strategy is used as the target control alternation algorithm; and a corresponding duty cycle value is calculated according to the target control alternation algorithm and the position deviation value.

[0073] In some embodiments, after executing the step of determining whether the first moving speed is equal to the second moving speed, the first determining unit 702 is further configured to:

[0074] If the judgment result is unequal, the control flow is exited.

[0075] It should be noted that those skilled in the art can clearly understand that the specific implementation process of the above-mentioned shift control device and each unit can refer to the corresponding description in the aforementioned method embodiment, and for the convenience and brevity of description, it will not be repeated here.

[0076] The above-mentioned shift control device can be implemented in the form of a computer program. The computer program can be implemented in the form of a computer program. Figure 3The electronic device shown is running.

[0077] See also Figure 3 , Figure 3 This is a schematic block diagram of an electronic device provided by an embodiment of the present invention. The electronic device 800 is a controller configured in a shift mechanism for information processing, and the controller establishes a communication connection with a shift motor in the shift mechanism.

[0078] See also Figure 3 The electronic device 800 includes a processor 802 , a memory and a network interface 805 connected via a system bus 801 , wherein the memory may include a non-volatile storage medium 803 and an internal memory 804 .

[0079] The non-volatile storage medium 803 can store an operating system 8031 ​​and a computer program 8032. The computer program 8032 includes program instructions, and when the program instructions are executed, the processor 802 can execute a shift control method.

[0080] The processor 802 is used to provide computing and control capabilities to support the operation of the entire electronic device 800 .

[0081] The internal memory 804 provides an environment for the operation of the computer program 8032 in the non-volatile storage medium 803. When the computer program 8032 is executed by the processor 802, the processor 802 can execute a shift control method.

[0082] The network interface 805 is used to communicate with other devices over the network. Figure 3 The structure shown in the figure is merely a block diagram of a partial structure related to the solution of the present invention, and does not constitute a limitation on the electronic device 800 to which the solution of the present invention is applied. The specific electronic device 800 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0083] The processor 802 is used to run the computer program 8032 stored in the memory to implement the following steps:

[0084] If a shift command is detected, the first position information and the second position information are acquired in real time; wherein the first position information is the position information of the nut, and the second position information is the position information of the shift fork; the input variable is determined according to the first position information and the second position information; the target control alternation algorithm corresponding to the input variable is determined according to a preset control alternation strategy; the corresponding duty cycle value is calculated according to the target control alternation algorithm and the input variable; and the shift motor is duty cycle controlled according to the duty cycle value.

[0085] In some embodiments, when the processor 802 implements the step of determining the input variable according to the first position information and the second position information, the processor 802 specifically implements the following steps:

[0086] A first moving speed is calculated based on the first position information; a second moving speed is calculated based on the second position information; whether the first moving speed is greater than the second moving speed is determined to obtain a speed determination result; if the speed determination result is yes, a speed deviation value is used as the input variable; wherein the speed deviation value is the difference between the first moving speed and the target speed.

[0087] In some embodiments, before the processor 802 implements the step of using the speed deviation value as the input variable if the speed judgment result is yes, wherein the speed deviation value is the difference between the first moving speed and the target speed, it further implements the following steps:

[0088] A speed value corresponding to the shift instruction is obtained according to a preset shift instruction table as the target speed.

[0089] In some embodiments, after implementing the step of using the speed deviation value as the input variable, the processor 802 further implements the following steps:

[0090] The first control alternation algorithm in the control alternation strategy is used as the target control alternation algorithm; and a corresponding duty cycle value is calculated according to the target control alternation algorithm and the speed deviation value.

[0091] In some embodiments, after implementing the step of determining whether the first moving speed is greater than the second moving speed and obtaining a speed determination result, the processor 802 further implements the following steps:

[0092] If the speed judgment result is no, determine whether the first moving speed is equal to the second moving speed; if the judgment result is equal, use the position deviation value as the input variable; wherein the position deviation value is the difference between the second position information and the target position; the target position is the position of the limit block.

[0093] In some embodiments, after implementing the step of using the position deviation value as the input variable, the processor 802 further implements the following steps:

[0094] The second control alternation algorithm in the control alternation strategy is used as the target control alternation algorithm; and a corresponding duty cycle value is calculated according to the target control alternation algorithm and the position deviation value.

[0095] In some embodiments, after implementing the step of determining whether the first moving speed is equal to the second moving speed, the processor 802 further implements the following steps:

[0096] If the judgment result is unequal, the control flow is exited.

[0097] It should be understood that in the embodiment of the present invention, the processor 802 may be a central processing unit (CPU), and the processor 802 may also be 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. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0098] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above embodiment can be completed by instructing the relevant hardware through a computer program. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiment of the above method.

[0099] Therefore, the present invention also provides a storage medium. The storage medium may be a computer-readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. When the program instructions are executed by a processor, the processor executes the following steps:

[0100] If a shift command is detected, the first position information and the second position information are acquired in real time; wherein the first position information is the position information of the nut, and the second position information is the position information of the shift fork; the input variable is determined according to the first position information and the second position information; the target control alternation algorithm corresponding to the input variable is determined according to a preset control alternation strategy; the corresponding duty cycle value is calculated according to the target control alternation algorithm and the input variable; and the shift motor is duty cycle controlled according to the duty cycle value.

[0101] In one embodiment, when the processor executes the program instructions to implement the step of determining the input variable according to the first position information and the second position information, the processor specifically implements the following steps:

[0102] A first moving speed is calculated based on the first position information; a second moving speed is calculated based on the second position information; whether the first moving speed is greater than the second moving speed is determined to obtain a speed determination result; if the speed determination result is yes, a speed deviation value is used as the input variable; wherein the speed deviation value is the difference between the first moving speed and the target speed.

[0103] In one embodiment, before the processor executes the program instructions to implement the step of using the speed deviation value as the input variable if the speed judgment result is yes, wherein the speed deviation value is the difference between the first moving speed and the target speed, the processor further implements the following steps:

[0104] A speed value corresponding to the shift instruction is obtained according to a preset shift instruction table as the target speed.

[0105] In one embodiment, after executing the program instructions to implement the step of using the speed deviation value as the input variable, the processor further implements the following steps:

[0106] The first control alternation algorithm in the control alternation strategy is used as the target control alternation algorithm; and a corresponding duty cycle value is calculated according to the target control alternation algorithm and the speed deviation value.

[0107] In one embodiment, after the processor executes the program instructions to determine whether the first moving speed is greater than the second moving speed and obtains a speed determination result, the processor further implements the following steps:

[0108] If the speed judgment result is no, determine whether the first moving speed is equal to the second moving speed; if the judgment result is equal, use the position deviation value as the input variable; wherein the position deviation value is the difference between the second position information and the target position; the target position is the position of the limit block.

[0109] In one embodiment, after executing the program instructions to implement the step of using the position deviation value as the input variable, the processor further implements the following steps:

[0110] The second control alternation algorithm in the control alternation strategy is used as the target control alternation algorithm; and a corresponding duty cycle value is calculated according to the target control alternation algorithm and the position deviation value.

[0111] In one embodiment, after executing the program instructions to implement the step of determining whether the first moving speed is equal to the second moving speed, the processor further implements the following steps:

[0112] If the judgment result is unequal, the control flow is exited.

[0113] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0114] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0115] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0116] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0117] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for an electronic device to perform all or part of the steps of the method described in each embodiment of the present invention.

[0118] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or substitutions within the technical scope disclosed by the present invention, and these modifications or substitutions should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A gear shift control method, characterized in that: The method is applied to a controller of a shift mechanism, the controller establishes a communication connection with a shift motor in the shift mechanism, and the method comprises: If a shift command is detected, first position information and second position information are acquired in real time; wherein the first position information is position information of the nut, and the second position information is position information of the shift fork; determining an input variable according to the first position information and the second position information; Determine a target control alternation algorithm corresponding to the input variable according to a preset control alternation strategy; Calculate the corresponding duty cycle value according to the target control alternating algorithm and the input variable; The duty cycle of the shift motor is controlled according to the duty cycle value.

2. The shift control method according to claim 1, characterized in that: The determining of the input variable according to the first position information and the second position information includes: Calculate a first moving speed according to the first position information; Calculate a second moving speed according to the second position information; Determine whether the first moving speed is greater than the second moving speed, and obtain a speed determination result; If the speed judgment result is yes, the speed deviation value is used as the input variable; wherein the speed deviation value is the difference between the first moving speed and the target speed.

3. The shift control method according to claim 2, characterized in that: If the speed judgment result is yes, the speed deviation value is used as the input variable; wherein the speed deviation value is the difference between the first moving speed and the target speed, and further includes: A speed value corresponding to the shift instruction is obtained according to a preset shift instruction table as the target speed.

4. The shift control method according to claim 2, characterized in that: After taking the speed deviation value as the input variable, the method further includes: Using the first control alternation algorithm in the control alternation strategy as the target control alternation algorithm; The corresponding duty cycle value is calculated according to the target control alternating algorithm and the speed deviation value.

5. The shift control method according to claim 2, characterized in that: The determining whether the first moving speed is greater than the second moving speed, after obtaining the speed determination result, further includes: If the speed determination result is no, determining whether the first moving speed is equal to the second moving speed; If the judgment result is equal, the position deviation value is used as the input variable; wherein the position deviation value is the difference between the second position information and the target position; and the target position is the position of the limit block.

6. The shift control method according to claim 5, characterized in that: After taking the position deviation value as the input variable, the method further includes: Using the second control alternation algorithm in the control alternation strategy as the target control alternation algorithm; The corresponding duty cycle value is calculated according to the target control alternating algorithm and the position deviation value.

7. The shift control method according to claim 5, characterized in that: After determining whether the first moving speed is equal to the second moving speed, the method further includes: If the judgment result is unequal, the control flow is exited.

8. A gear shift control device, characterized in that: The device is configured in a controller of a shift mechanism, the controller establishes a communication connection with a shift motor in the shift mechanism, and the device includes: an acquisition unit, for acquiring first position information and second position information in real time if a shift command is detected; wherein the first position information is position information of the nut, and the second position information is position information of the shift fork; A first determining unit, configured to determine an input variable according to the first position information and the second position information; A second determination unit, configured to determine a target control alternation algorithm corresponding to the input variable according to a preset control alternation strategy; A calculation unit, used for calculating a corresponding duty cycle value according to the target control alternating algorithm and the input variable; A control unit is used to control the duty cycle of the shift motor according to the duty cycle value.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the shift control method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the shift control method according to any one of claims 1 to 7.

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