A hybrid transmission shift drum position self-checking strategy and electronic equipment, vehicle

Abstract

The present invention relates to the technical field of vehicle hybrid transmission control technology, and more specifically to a multi-speed hybrid transmission shift drum power-on position self-check control strategy, electronic equipment, and vehicle. The present invention proposes a hybrid transmission shift drum position self-check strategy. After the vehicle is powered on, the strategy identifies and determines whether self-checking is permitted. The strategy then rotates the shift drum toward top dead center using a closed-loop position control method, calculates and determines the validity of the stored zero position, and performs power-on shift drum position self-check. This strategy ensures the accuracy of the shift drum zero position at the beginning of each driving cycle. Using this as a benchmark, it effectively avoids shift drum position calculation errors caused by errors in the stored zero position, thereby preventing transmission damage and ensuring driving safety.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle hybrid transmission control, and in particular to a multi-speed hybrid transmission shift drum power-on position self-detection control strategy, electronic equipment, and a vehicle. Background Art

[0002] The shift actuator of a multi-speed hybrid transmission usually adopts a drum-type shift actuator, that is, the HTCU (hybrid transmission control unit) issues a shift command and drives the BLDC (brushless DC) motor to rotate, which is decelerated and torque-increased by the planetary gear mechanism, and then drives the shift drum to rotate. The shift drum has two grooves, and a shift fork is embedded in each groove. The rotational motion of the shift drum is converted into the linear reciprocating motion of the shift fork, driving the synchronizer to complete the shift. Each gear position corresponds to a fixed shift drum angle position. The intermediate transition process between two adjacent gear positions is the synchronizer action. During this period, the shift drum angle is in the non-gear position. Therefore, the accuracy of the shift drum position is very important.

[0003] However, before determining the shift drum angle position, a relative 0° point must be found as the shift drum position zero point. In the prior art, before the transmission assembly product rolls off the production line, a command is sent from the host computer to the HTCU, which first performs a self-learning of the shift drum position, obtains the relative zero point of the shift drum position, and stores it in the HTCU. After the vehicle is powered on, based on this zero point, the HTCU controls the shift drum to move to the initial target gear position, i.e., the initial shift drum position of the entire vehicle. Figure 1 As shown, there is a block in the circumferential position inside the shift drum, with the top dead center and bottom dead center of the shift drum on either side. The top dead center serves as the zero point of the shift drum position, and the HTCU then controls the shift drum to the target gear position based on this point. However, in the prior art, when the stored HTCU position zero point is inconsistent with the actual zero point, it will cause the gear position of the transmission to be disordered, thereby causing damage to the transmission and even posing a driving safety risk. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a hybrid transmission shift drum position self-checking strategy that can ensure the accuracy of the shift drum position zero point at the beginning of each driving cycle. Based on this, it can effectively avoid shift drum position calculation errors caused by errors in the stored position zero point, thereby preventing transmission damage and ensuring driving safety.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] A hybrid transmission shift drum position self-detection strategy includes:

[0007] S1, after the vehicle is powered on, it starts to perform the shift drum position self-check;

[0008] S2, determine whether the zero-point storage of the shift drum position is valid. If it is valid, proceed to step S3. If it is not valid, re-perform position self-learning. After self-learning is completed, control the shift drum to directly return to the target gear position without performing position self-checking.

[0009] S3, determine the self-check permission conditions. If the self-check permission conditions are met, proceed to step S4. If not, the position self-check is not performed in the current driving cycle, and the shift drum returns directly to the target gear position.

[0010] S4: The shift motor drives the shift drum to rotate toward the top dead center through closed-loop control of the target shift drum position.

[0011] S5, when the shift motor and the shift drum are stalled, the control strategy of backing off after stalling is used to determine whether the current stall point is the top dead center. If so, step S6 is continued. If not, the shift drum dead center block is considered damaged and the vehicle is prohibited from starting;

[0012] S6, assigning the actual shift drum position at the time of the current stall as the shift drum position zero point, and determining whether the shift drum position zero point is valid. If valid, the position zero point stored at the last power-off is still used as the position zero point for subsequent shift drum position calculation and control in the current driving cycle, and at the same time controlling the shift drum to return to the current target gear.

[0013] Furthermore, the method for determining whether the zero-point storage of the shift drum position is valid includes:

[0014] 1) The hybrid transmission control unit stores the position of the last power-off sleep state while calculating and storing the verification value corresponding to the last stored position based on a preset verification algorithm;

[0015] 2) After the power is turned on and the device is awakened, the previously stored position and check value are read, and based on the currently stored position, a check value corresponding to the currently stored position is calculated using the preset check algorithm and stored;

[0016] 3) Compare the last stored check value with the current stored check value. If the error between the two is less than a preset error threshold, the shift drum position zero point storage is considered valid; otherwise, the shift drum position zero point storage is considered invalid.

[0017] Furthermore, the self-test permission conditions include: first, the vehicle must be kept in P gear and stationary after power is turned on, and at the same time, the speeds of the engine, generator, and drive motor in the hybrid powertrain are all less than the corresponding preset speed thresholds, and the shift motor supply voltage is within a preset range.

[0018] Furthermore, the target shift drum position closed-loop control includes:

[0019] 1) Add the current actual shift drum angle to the self-test shift drum angle preset value (this preset value is a negative value) to obtain the target shift drum angle;

[0020] 2) performing PID control on the shift motor rotation angle based on the target shift drum angle;

[0021] 3) After converting the shift motor rotation angle into a shift drum angle, the current actual shift drum angle is replaced.

[0022] Furthermore, the stall identification method includes: if the shift drum position difference exceeds a preset angle threshold and the shift drum rotation angular velocity is lower than a preset angular velocity threshold, and the duration exceeds a preset time threshold, then it is considered that a stall has occurred.

[0023] Furthermore, the control strategy of falling back and trying again after stalling includes:

[0024] 1) When the shift drum is stalled, it moves back a certain angle in the opposite direction, and after the shift motor driving torque is increased by a preset value, step S4 is executed again to drive the shift drum to rotate toward the top dead center again;

[0025] 2) When it is recognized that the number of stalled rotor reversal attempts exceeds the preset number, the current stalled rotor point is considered to be the top dead center.

[0026] Furthermore, the shift drum position self-learning and the shift drum position self-checking are not triggered at the same time. When the shift drum position self-learning is not completed, the shift drum position self-checking is not allowed to be executed.

[0027] Compared with the prior art, the present invention has the following main advantages:

[0028] The present invention proposes a hybrid transmission shift drum position self-check strategy. After the vehicle is powered on, the strategy identifies and determines whether self-check is allowed. Then, the shift drum is rotated toward the top dead center in a position closed-loop control mode. The validity of the stored position zero point is calculated and determined to achieve power-on shift drum position self-check. This strategy can ensure the accuracy of the shift drum position zero point at the beginning of each driving cycle. Based on this, it can effectively avoid shift drum position calculation errors caused by errors in the stored position zero point, thereby preventing damage to the transmission and ensuring driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic plan view of the stop point and position of the shift drum in the background technology of the present invention;

[0030] Figure 2 This is a flow chart of a power-on position self-check control strategy for a multi-speed hybrid transmission shift drum in a first embodiment of the present invention;

[0031] Figure 3This is a logic block diagram for determining the self-test permission condition in the second embodiment of the present invention;

[0032] Figure 4 This is a logic block diagram of the self-checking and top dead center position control in the second embodiment of the present invention;

[0033] Figure 5 This is a logic block diagram of the stop point judgment and position validity judgment control according to the second embodiment of the present invention. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0035] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, or two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0036] In the present invention, unless otherwise expressly specified or limited, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, for example, two, three, etc., unless otherwise expressly specified or limited.

[0037] Example 1: This embodiment provides a hybrid transmission shift drum position self-check strategy, such as Figure 2 As shown, it mainly includes:

[0038] S1, after the vehicle is powered on, it starts to perform the shift drum position self-check;

[0039] S2, determine whether the zero-point storage of the shift drum position is valid. If it is valid, proceed to step S3. If it is not valid, re-perform position self-learning. After self-learning is completed, control the shift drum to directly return to the target gear position without performing position self-checking.

[0040] S3, determine the self-check permission conditions. If the self-check permission conditions are met, proceed to step S4. If not, the position self-check is not performed in the current driving cycle, and the shift drum returns directly to the target gear position.

[0041] S4: The shift motor drives the shift drum to rotate toward the top dead center through closed-loop control of the target shift drum position.

[0042] S5, when the shift motor and the shift drum are stalled, the control strategy of backing off after stalling is used to determine whether the current stall point is the top dead center. If so, step S6 is continued. If not, the shift drum dead center block is considered damaged and the vehicle is prohibited from starting;

[0043] S6, assigning the actual shift drum position at the time of the current stall as the shift drum position zero point, and determining whether the shift drum position zero point is valid. If valid, the position zero point currently stored when the power is turned off is used as the position zero point in the current driving cycle for subsequent shift drum position calculation and control, while controlling the shift drum to return to the current target gear.

[0044] Furthermore, the method for determining whether the zero-point storage of the shift drum position is valid includes:

[0045] 1) The hybrid transmission control unit stores the position of the last power-off sleep state while calculating and storing the verification value corresponding to the last stored position based on a preset verification algorithm;

[0046] 2) After the power is turned on and the device is awakened, the previously stored position and check value are read, and based on the currently stored position, a check value corresponding to the currently stored position is calculated using the preset check algorithm and stored;

[0047] 3) Compare the last stored check value with the current stored check value. If the error between the two is less than a preset error threshold, the shift drum position zero point storage is considered valid; otherwise, the shift drum position zero point storage is considered invalid.

[0048] Furthermore, the self-test permission conditions include: first, the vehicle must be kept in P gear and stationary after power is turned on, and at the same time, the speeds of the engine, generator, and drive motor in the hybrid powertrain are all less than the corresponding preset speed thresholds, and the shift motor supply voltage is within a preset range.

[0049] Furthermore, the target shift drum position closed-loop control includes:

[0050] 1) Add the current actual shift drum angle to the self-test shift drum angle preset value (this preset value is a negative value) to obtain the target shift drum angle;

[0051] 2) performing PID control on the shift motor rotation angle based on the target shift drum angle;

[0052] 3) After converting the shift motor rotation angle into a shift drum angle, the current actual shift drum angle is replaced.

[0053] Furthermore, the stall identification method includes: if the shift drum position difference exceeds a preset angle threshold and the shift drum rotation angular velocity is lower than a preset angular velocity threshold, and the duration exceeds a preset time threshold, then it is considered that a stall has occurred.

[0054] Furthermore, the control strategy of falling back and trying again after stalling includes:

[0055] 1) When the shift drum is stalled, it moves back a certain angle in the opposite direction, and after the shift motor driving torque is increased by a preset value, step S4 is executed again to drive the shift drum to rotate toward the top dead center again;

[0056] 2) When it is recognized that the number of stalled rotor reversal attempts exceeds the preset number, the current stalled rotor point is considered to be the top dead center.

[0057] Furthermore, the shift drum position self-learning and the shift drum position self-checking are not triggered at the same time. When the shift drum position self-learning is not completed, the shift drum position self-checking is not allowed to be executed.

[0058] Example 2: This embodiment provides a hybrid transmission shift drum position self-detection strategy, and the specific control strategy includes:

[0059] 1) After the HTCU receives the KL15 hardwire wakeup signal, the HTCU bottom-level software responds with a key status signal of On. The application layer identifies the rising edge of the key status from Off to On, triggering a self-test. Simultaneously, the bottom-level software determines whether the shift drum position zero-point storage itself is valid. Upon receiving the valid storage, the application layer proceeds to the next self-test and allows the judgment. If the storage is invalid, the application layer will re-perform position self-learning. After the self-learning is complete, the HTCU controls the shift drum to return directly to the target gear position without performing a position self-test. The bottom-level method for determining the validity of the position zero-point storage is to calculate the corresponding verification value of the stored position based on a predetermined verification algorithm during the last power-down sleep phase of the HTCU. This verification value is then stored. Upon the next power-up, the bottom-level software reads the stored position and verification value, and uses the same verification algorithm to recalculate the corresponding verification value based on the stored position. This recalculated verification value is then compared with the stored verification value. If the two match, the position zero-point storage is considered valid; otherwise, the position is lost.

[0060] 2) After determining that the location storage is valid, perform self-check permission condition judgment: Figure 3As shown, after power is applied, the vehicle must be in P gear and stationary. Theoretically, the speeds of all power sources in the hybrid powertrain (engine, generator, and drive motor) should all be stationary. However, in practice, the software sets these speeds below a certain threshold. This is primarily to prevent the shift drum from rotating between the current gear position and top dead center during the self-test, which in turn causes the shift fork and synchronizer to move slightly, potentially causing the power source to briefly rotate. Strictly setting the power source speed condition to zero may result in the self-test being disallowed. Once the power source conditions are met, the shift motor's supply voltage must be within the normal range (9-16V) to ensure proper operation of the shift drum. Furthermore, shift drum position self-learning and self-testing should not be triggered simultaneously. The self-testing presupposes that position self-learning is complete or not in progress. If the self-test conditions are not met, the self-test will not be executed for the current drive cycle, and the driver will return directly to the target gear.

[0061] 3) After allowing self-test, HTCU controls the shift motor to drive the shift drum to rotate towards the top dead center, such as Figure 4 As shown, the control method is closed-loop control of the target shift drum position. The corresponding target shift drum angle is the current shift drum angle plus the self-test shift drum angle preset value (such as -5°). This preset value must be a negative value, so that the shift drum will rotate toward the top dead center at a certain angular velocity.

[0062] 4) According to the above control method, when the shift drum rotates to the top dead center, the HTCU will still output the duty cycle to drive the shift motor. At this time, the shift motor and the shift drum will be locked. The HTCU regards the shift drum position corresponding to this lock as the shift drum position zero. In addition, to ensure that the shift drum has truly reached the top dead center and not mechanically stuck and locked before the top dead center, the software will not mistakenly identify this locked position as the top dead center. Figure 5 As shown, a post-stall retraction and retry strategy is designed for the shift drum position rotation control. Specifically, when stalled, the shift drum retracts a certain angle in the opposite direction and then continues to move toward top dead center using the control formula described in step 3). Simultaneously, on subsequent attempts, the shift drum position control output increases by a certain factor (e.g., 1.5), which in turn increases the shift motor drive torque by a certain factor. Ultimately, when stalled retraction and retry attempts are detected exceeding two times, the current stall point is considered top dead center. The method for identifying a stall is as follows: if the shift drum position difference exceeds 2° and the shift drum rotational angular velocity is less than 10° / s, and after a 250ms wait, a stall is considered. This is based on the principle that the shift motor output duty cycle will continuously increase due to position PID control, while the shift drum is virtually motionless, indicating a stall. If top dead center is never found, it is likely that the shift drum stop block is damaged, indicating hardware damage to the hybrid transmission, which will prevent the vehicle from starting.

[0063] 5) After finding the top dead center, the actual shift drum position at the time of the current stall is assigned as the shift drum position zero point. If this zero point is basically consistent with the position zero point stored before the last power-off, the stored shift drum position zero point is considered valid. In actual software, mechanical and control errors are taken into account, and the validity of the position zero point is judged by the absolute value of the difference between the two, such as the difference is less than 0.5°.

[0064] 6) After determining the position is valid, the software will use the zero point stored during the last power-off as the zero point for subsequent shift drum position calculations and control for the current drive cycle, while simultaneously controlling the shift drum to the current target gear. This completes the power-on shift drum position self-check.

[0065] Embodiment 3: Based on the same inventive concept, this embodiment also provides a vehicle electronic device, including a memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the above-mentioned multi-speed hybrid transmission shift drum power-on position self-detection control strategy is implemented.

[0066] Embodiment 4: Based on the same inventive concept, this embodiment further provides a hybrid vehicle, which is provided with the vehicle electronic device as described above.

[0067] Furthermore, all parts of this application that are not described in detail are the same as the existing technology or are implemented using the existing technology.

[0068] In summary:

[0069] The present invention proposes a hybrid transmission shift drum position self-check strategy. After the vehicle is powered on, the strategy identifies and determines whether self-check is allowed. Then, the shift drum is rotated toward the top dead center in a position closed-loop control mode. The validity of the stored position zero point is calculated and determined to achieve power-on shift drum position self-check. This strategy can ensure the accuracy of the shift drum position zero point at the beginning of each driving cycle. Based on this, it can effectively avoid shift drum position calculation errors caused by errors in the stored position zero point, thereby preventing damage to the transmission and ensuring driving safety.

[0070] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0071] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0072] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0073] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0074] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A hybrid transmission shift drum position self-check strategy, characterized in that: include: After the vehicle is powered on, it starts to perform the shift drum position self-check and determines whether the shift drum position zero point storage is valid; If the shift drum position zero point storage is valid and the self-test permission conditions are met, the shift motor drives the shift drum to rotate toward the top dead center through the target shift drum position closed-loop control; When the shift motor and shift drum are stuck, the control strategy of backing off after the stall and then trying again is used to determine whether the current stall point is the top dead center; If the current stall point is the top dead center, the actual shift drum position at the time of the current stall is assigned as the shift drum position zero point, and it is again determined whether the current shift drum position zero point is valid; If the current shift drum position zero point is valid, the current shift drum position zero point is used as the position zero point for the current driving cycle for subsequent shift drum position calculation and control, and the shift drum is controlled to return to the current target gear position. The method for determining whether the shift drum position zero point storage is valid includes: The hybrid transmission control unit stores the position when it was last powered off and in sleep mode. At the same time, it calculates and stores the verification value corresponding to the last stored position based on a preset verification algorithm; After the power is turned on and the device is awakened, the previously stored position and check value are read, and based on the currently stored position, a check value corresponding to the currently stored position is calculated using the preset check algorithm and stored; Compare the last stored check value with the current stored check value. If the error between the two is less than the preset error threshold, the shift drum position zero point storage is considered valid; otherwise, the shift drum position zero point storage is considered invalid.

2. A hybrid transmission shift drum position self-checking strategy according to claim 1, characterized in that: The self-test permission conditions include: First, after the vehicle is powered on, it must be kept in P gear and stationary. At the same time, the speed of the engine, generator, and drive motor in the hybrid powertrain are all less than the corresponding preset speed threshold, and the shift motor supply voltage is within the preset range.

3. The hybrid transmission shift drum position self-checking strategy according to claim 1, characterized in that: The target shift drum position closed-loop control includes: Add the current actual shift drum angle to the preset value of the self-test shift drum angle to obtain the target shift drum angle; performing PID control on the rotation angle of the shift motor based on the target shift drum angle; After the shift motor rotation angle is converted into a shift drum angle, the current actual shift drum angle is replaced.

4. A hybrid transmission shift drum position self-checking strategy according to claim 1, characterized in that: The stall identification method includes: if the shift drum position difference exceeds a preset angle threshold and the shift drum rotation angular velocity is lower than a preset angular velocity threshold, and the duration exceeds a preset time threshold, then it is considered that a stall occurs.

5. A hybrid transmission shift drum position self-checking strategy according to claim 1, characterized in that: The control strategy of falling back and trying again after stalling includes: When the gear shift drum is stalled, it moves back a certain angle in the opposite direction, and after the shift motor driving torque is increased by a preset value, the shift drum is driven to rotate toward the top dead center again; When it is recognized that the number of stalled rotor back-off attempts exceeds the preset number, the current stalled rotor point is considered to be the top dead center.

6. A hybrid transmission shift drum position self-checking strategy according to claim 1, characterized in that: If the current stall point is determined not to be the top dead center, it is considered that the shift drum stop block is damaged and the vehicle is prohibited from starting.

7. A vehicle electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the hybrid transmission shift drum position self-detection strategy according to any one of claims 1 to 6 is implemented.

8. A non-transitory readable storage medium having a program stored thereon, characterized in that: When the program is executed by the vehicle electronic device, the hybrid transmission shift drum position self-detection strategy according to any one of claims 1 to 6 is implemented.

9. A hybrid vehicle, characterized in that: The vehicle electronic device comprising the vehicle electronic device according to claim 7.

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