Gearbox gear shifting method based on pneumatic switch valve group gear shifting control mechanism, electronic equipment and automobile

Abstract

The invention discloses a gearbox gear shifting method based on a pneumatic switch valve group gear shifting control mechanism, electronic equipment and an automobile, and relates to the technical field of new energy automobiles. Comprising the following steps: dividing a gear entering stage into stages in advance according to a theoretical gear shifting size chain, and calibrating a demarcation point of each stage; a shifting fork displacement value and a shifting fork moving speed are obtained, according to the shifting fork displacement value and the shifting fork moving speed, valve group enabling and duty ratios of all stages are calibrated, and whether the shifting fork shifting force meets an expected threshold value or not is judged; acquiring a target gear and an input shaft rotating speed rate, compensating the torque of the driving motor according to the target gear and the input shaft rotating speed rate, and judging whether rotating speed synchronization meets an expected threshold value or not; and if the shifting fork shifting force and the rotating speed synchronously meet the expected threshold value, the shifting fork of the target gear is controlled to enter the gear. According to the gear shifting method, the shifting fork is within the reasonable synchronous rotating speed threshold value, the gear shifting force is controlled in the displacement approaching trend, and abnormal sounds caused by position overshoot in all gear shifting stages are prevented.

Description

Technical Field

[0001] The present invention relates to the technical field of new energy vehicles, and in particular to a transmission shifting method based on a pneumatic switch valve group shifting operating mechanism, an electronic device and a vehicle. Background Art

[0002] Pure electric heavy trucks have excellent characteristics and their market share is increasing day by day. As the core drive component, the new energy transmission is a strong guarantee for its performance. There are many differences between new energy transmissions and traditional transmissions, and the difference in mechanical structure directly leads to different control strategies. With the increasing application of new energy transmissions, the shifting quality of the transmission has also become a hard indicator for evaluating the performance of the drive system. In addition to basic reliability, the shifting of new energy transmissions also requires smooth shifting and no abnormal noise.

[0003] In the prior art, the gearbox shift is divided into five stages: unloading, disengaging, speed regulation, shifting and torque recovery. However, it has been found in many practices that if the shifting stage is not handled properly, it is easy to cause problems such as shifting setbacks, abnormal noises, gear knocking and even gear shifting failure. When the shifting mechanism is a pneumatic operating mechanism and a switch valve group, the accuracy of shifting force control is affected by gas flow, and gas flow is affected by factors such as pipelines, valve switching frequency, and pressure, and there are certain uncertainties and fluctuations. When the shifting force is too large, the coupling sleeve is easy to collide with the end face of the gear position in the meshing position or after the shifting is completed, resulting in gear knocking (meshing position) and impact noise, and during the interruption of the shifting power, the input speed of the rotating system will decay during the shifting stage due to the friction between the system components, air resistance, resistance of the motor coil, eddy current loss of the iron core, etc. If the decay is too large, the synchronous speed will exceed the expected threshold, resulting in gear knocking during the shifting, or even gear shifting failure. Summary of the invention

[0004] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a transmission shifting method, electronic equipment and automobile based on a pneumatic switch valve group shifting operating mechanism, so as to solve the problems mentioned in the background technology.

[0005] The above object of the present invention is achieved through the following technical solutions:

[0006] A gearbox shifting method based on a pneumatic switch valve group shifting control mechanism comprises the following steps:

[0007] Divide the gear shifting phase into stages according to the gear shifting dimension chain in advance, and calibrate the dividing point of each stage;

[0008] Obtain the fork displacement and fork movement rate, design a two-parameter fork shift force duty cycle control table, and calibrate the valve group enable and duty cycle at each stage;

[0009] Calibrate the highest threshold value to determine whether the current fork movement rate is greater than the maximum threshold value allowed in the current stage. If it is greater than the maximum threshold value, the valve group is closed to enable;

[0010] The speed difference threshold is determined according to the target gear and the output system speed, and it is judged whether the difference between the input system speed and the target speed is within the expected threshold. If it is within the expected threshold, that is, the speed is synchronized, the shift fork of the target gear is controlled to advance.

[0011] In a preferred example, the present invention can be further configured as follows: when the rotational speed of the input system and the target rotational speed are not within the expected threshold, a compensation torque is designed, and parameters include the target gear and the input shaft rotational speed rate. Torque compensation is performed through the target gear and the input shaft rotational speed rate to ensure that the difference between the rotational speed of the input system and the target rotational speed is within the expected threshold, thereby ensuring rotational speed synchronization.

[0012] In a preferred example, the present invention can be further configured as follows: the gear-in phase is divided into four phases, namely:

[0013] Starting stage: from the lowest point a of the neutral self-locking ball socket to the highest point b of the neutral self-locking ball socket;

[0014] Clearance stage: from the neutral self-locking ball socket point b to the position where the internal teeth of the coupling sleeve and the end face teeth of the gear gear will mesh;

[0015] Meshing stage: from the meshing point between the internal teeth of the coupling sleeve and the end teeth of the gear gear to the highest point c of the gear self-locking ball socket;

[0016] Confirmation stage: from point c of the gear self-locking ball socket to the lowest point d of the gear self-locking ball socket.

[0017] In a preferred example, the present invention can be further configured as follows: according to the mechanical design and the movement characteristics of the shift fork, the duty cycle of each stage is calibrated, and the duty cycle is as follows: the starting stage> the engagement stage> the gap stage> the confirmation stage.

[0018] In a preferred example, the present invention can be further configured as follows: according to the target gear position and the input shaft speed rate, compensating the drive motor torque includes:

[0019] When the shift fork moves in the starting phase and the gap phase, the driving motor torque is compensated.

[0020] In a preferred example, the present invention may be further configured as follows: before the gear shifting phase is pre-divided into stages according to the gear shifting size chain, the gearbox is speed-regulated.

[0021] An electronic device comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of a transmission shifting method based on a pneumatic switch valve group shifting operating mechanism are implemented.

[0022] A car is equipped with electronic equipment.

[0023] In summary, the present invention includes at least one of the following beneficial technical effects:

[0024] 1. The shifting phase stroke is refined, and the duty cycle of the valve group is adjusted through the two parameters of the shift fork displacement and the shift fork moving rate to form a closed-loop control, control the switch and size of the advance amount, and realize the control of the displacement speed and shift force of the entire stroke;

[0025] 2. The present invention designs two-parameter torque compensation, which is better than no torque compensation or single-parameter torque compensation. By analyzing the actual data, the motor speed attenuation can be well controlled, and it can ensure that the radial torque of the sleeve meshing surface is The smaller, according to ( is the friction coefficient), the smaller the moving resistance f of the coupling sleeve is, the more conducive it is to the movement of the fork;

[0026] In summary, through the joint action of the above two measures in the gear shifting stage, the compensation torque can control the synchronous speed, and the two parameters of the shift fork displacement and the moving rate can control the speed and strength of the shift fork displacement. The combination of the two can ensure that the shift fork is within a reasonable synchronous speed threshold and shifts gears with a displacement approaching trend, preventing abnormal noise or even gear knocking due to position overshoot at various stages. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is the gearbox logic control diagram during the shifting phase;

[0028] Figure 2 This is the design drawing of the self-locking ball socket of the gearbox fork shaft;

[0029] Figure 3 This is a schematic diagram of the gear-forward phase. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings.

[0031] like Figure 1-3 As shown, a transmission shifting method based on a pneumatic switch valve group shifting control mechanism disclosed in the technical solution is shown, and the method comprises the following steps:

[0032] The gear shifting stage is divided into stages according to the gear shifting dimension chain in advance, and the dividing point of each stage is calibrated; it should be noted that when dividing the stages, the gearbox needs to be adjusted in advance to ensure that the initial data can be obtained.

[0033] Specifically, the gearbox based on the pneumatic switching valve group shift control mechanism adopts a self-locking ball socket design of the shift fork shaft, and divides the gear shifting stage into stages according to the theoretical shifting size chain and the self-locking ball socket design of the shift fork shaft. The intake volume and direction of each stage are controlled by controlling the switching frequency of the valve group, ultimately ensuring that the gear shifting force and gear shifting direction of each stage are controllable.

[0034] Furthermore, the gear-in phase is divided into four phases, namely:

[0035] Starting stage: from the lowest point a of the neutral self-locking ball socket to the highest point b of the neutral self-locking ball socket;

[0036] Clearance stage: from the neutral self-locking ball socket point b to the position where the internal teeth of the coupling sleeve and the end face teeth of the gear gear will mesh;

[0037] Meshing stage: from the meshing point between the internal teeth of the coupling sleeve and the end teeth of the gear gear to the highest point c of the gear self-locking ball socket;

[0038] Confirmation stage: from point c of the gear self-locking ball socket to the lowest point d of the gear self-locking ball socket.

[0039] The demarcation point of each stage is a window value that can be calibrated to improve the applicability of the program. Since the demarcation point is easy to calibrate, the gear force and gear direction can be accurately controlled, providing a data basis for subsequent parameter compensation, that is, more accurate compensation can be performed through accurate values.

[0040] Obtain the fork displacement and fork movement rate, design a two-parameter fork shift force duty cycle control table, and calibrate the valve group enable and duty cycle at each stage;

[0041] The two parameters are the fork displacement and its displacement change rate. By referring to their values, the valve group enable and duty cycle can be calibrated at the corresponding stage.

[0042] First, when the fork movement rate is greater than the maximum threshold allowed in the current stage (which can be calibrated), the valve group is closed. After the rate returns to a reasonable range, the stage is determined based on the actual position of the fork, and then a decision is made whether to open the valve group.

[0043] Second, the duty cycle of each stage is calibrated according to the mechanical design and the motion characteristics of the fork.

[0044] By setting the two parameters of fork displacement and fork moving speed to adjust the enable and size of the duty cycle, a closed-loop control is formed, which can control the advance switch and size, and then control the displacement speed and shift force of the entire stroke. The closed-loop control formed here can allow the operator to make corresponding judgments based on the feedback information after the command is issued, and further operate the feedback message.

[0045] Considering the characteristics of gas flow and the judgment of the fork advance, combined with actual vehicle experiments, the duty cycle should be: starting stage > engagement stage > gap stage > confirmation stage. Here, combined with the actual duty cycle size, we can have a preliminary understanding of the numerical value, which is convenient for subsequent corresponding operations.

[0046] Calibrate the maximum threshold. The maximum threshold here can be set by yourself to determine whether the current fork movement rate is greater than the maximum threshold allowed in the current stage. If it is greater than the maximum threshold, the valve group is closed to enable. The maximum threshold calibrated here can control the current state of the vehicle and pave the way for subsequent steps.

[0047] The speed difference threshold is determined according to the target gear and the output system speed, and it is judged whether the difference between the input system speed and the target speed is within the expected threshold. If it is within the expected threshold, that is, the speed is synchronized, the shift fork of the target gear is controlled to shift in. This is the interval that does not require compensation.

[0048] The input system speed is not within the expected threshold compared to the target speed:

[0049] A compensation torque table is designed, and the parameters include the target gear and the input shaft speed rate. Torque compensation is performed through the target gear and the input shaft speed rate to ensure that the difference between the input system speed and the target speed is within the expected threshold, thereby ensuring speed synchronization.

[0050] According to the target gear and the input shaft speed rate, the drive motor needs to be compensated. The compensation of the drive motor torque includes:

[0051] When the shift fork moves in the starting phase and the clearance phase, the drive motor torque is compensated.

[0052] When the gearbox is matched with different motors, the resistance will be different due to the different resistance of the motor and the internal friction of the coil; or when the same motor is in different gears, the resistance will be different due to the different inertia and friction of the rotation system. That is, the driving force of the whole vehicle should be: F d = F mot +f+ Jβ(F d is the driving force of the vehicle, F mot is the motor torque, f is the transmission system resistance (opposite to the driving direction), J is the current rotational inertia of the rotating system, and β is the angular acceleration of the rotating system).

[0053] Specifically, for the same model, at a certain fixed gear, when the shift fork moves during the gear start and gear gap stages, the coupling sleeve and the end face teeth of the gear gear are in a non-meshing state, and the power of the drive system is interrupted.

[0054] Assuming that the torque of the driving motor is 0 at this time, the input speed of the rotating system will decay. Because according to: (Where: f is the resistance of the transmission system; is the moment of inertia of the current rotating system; . When f is large, If unchanged, becomes larger, and If the direction is opposite to the direction of the rotating system, the system speed decay will intensify. Therefore, when the system speed decays more, the system needs to apply a driving force to neutralize f, even when the driving force F=f, then: , the rotating system should maintain a stable speed. Therefore, in summary, a table of compensation torque F is designed, and torque compensation is performed by looking up two parameters ("target gear" and "input system speed attenuation value") to try to ensure that the difference between the input system speed and the target speed at this stage is within the expected threshold to ensure the speed synchronization state. The two-parameter torque compensation designed here is better than no torque compensation or single-parameter torque compensation. By analyzing actual data, the motor speed attenuation can be well controlled, and it can be guaranteed that during the gear shifting process, the radial torque of the sleeve meshing surface is combined. The smaller, according to ( is the friction coefficient), the smaller the moving resistance f of the coupling sleeve is, the more conducive it is to the movement of the fork.

[0055] The implementation principle of this embodiment is as follows: the gearbox shifting method based on the pneumatic switch valve group shifting control mechanism, after the gearbox speed regulation is completed, divides the shifting stage into four stages according to the theoretical shifting dimension chain, including the starting stage, the gap stage, the meshing stage, and the confirmation stage, and calibrates the dividing point of each stage; obtains the shift fork displacement value and the shift fork movement rate, and calibrates the valve group enable and duty cycle of each stage according to the shift fork displacement and the shift fork movement rate, and judges whether the shift fork shifting force meets the expected threshold; obtains the target gear position and the input shaft speed rate, and compensates the drive motor torque according to the target gear position and the input shaft speed rate when the shift fork moves in the shift starting and shift gap stages, and judges whether the speed synchronization meets the expected threshold; if the shift fork shifting force and the speed synchronization meet the expected threshold, the shift fork of the target gear position is controlled to shift.

[0056] Based on the transmission shifting method described in the above scheme, the present technical scheme also provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the above transmission shifting method are implemented to achieve the effect of controlling the displacement speed and shifting force of the entire stroke.

[0057] Based on the automobile described in the above solution, the present technical solution also provides an automobile, which includes the above electronic device for executing the steps of implementing the above transmission shifting method, which will not be described in detail here.

[0058] The present invention refines the shifting stage stroke, and adjusts the duty cycle of the valve group and the size through the two parameters of the shift fork displacement and the shift fork moving speed, so as to form a closed-loop control, control the advance switch and the size, and realize the control of the displacement speed and the shifting force of the entire stroke; torque compensation is performed by looking up the two parameters of the target gear position and the input shaft speed rate. Compared with torque compensation without torque compensation or torque compensation with a single parameter, the motor speed attenuation can be well controlled by analyzing the actual data, so that in the process of shifting, the radial torque F of the sleeve meshing surface is combined with the torque compensation of the gear. r The smaller it is, according to f=μ*F r (μ is the friction coefficient). The smaller the moving resistance f of the coupling sleeve is, the more conducive it is to the movement of the shift fork. The speed and strength of the shift fork displacement are controlled by the two parameters of the shift fork displacement and the shift fork moving rate. The synchronous speed is controlled by the compensation torque. The two are combined and work together in the shifting stage to ensure that the shift fork is within a reasonable synchronous speed threshold and shifts with a displacement approaching trend, preventing abnormal noise and tooth knocking due to position overshoot at each stage.

[0059] The embodiments of this specific implementation method are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A gearbox shifting method based on a pneumatic switch valve group shifting control mechanism, characterized in that: The steps include: Divide the gear shifting phase into stages according to the gear shifting dimension chain in advance, and calibrate the dividing point of each stage; Obtain the fork displacement and fork movement rate, design a two-parameter fork shift force duty cycle control table, and calibrate the valve group enable and duty cycle at each stage; Calibrate the highest threshold value to determine whether the current fork movement rate is greater than the maximum threshold value allowed in the current stage. If it is greater than the maximum threshold value, the valve group is closed to enable; The speed difference threshold is determined according to the target gear and the output system speed, and it is judged whether the difference between the input system speed and the target speed is within the expected threshold. If it is within the expected threshold, that is, the speed is synchronized, the shift fork of the target gear is controlled to advance.

2. A gearbox shifting method based on a pneumatic switch valve group shifting mechanism according to claim 1, characterized in that: The rotational speed of the input system and the target rotational speed are not within the expected threshold, and a compensation torque is designed. The parameters include the target gear and the input shaft rotational speed rate. Torque compensation is performed through the target gear and the input shaft rotational speed rate to ensure that the difference between the rotational speed of the input system and the target rotational speed is within the expected threshold, thereby ensuring rotational speed synchronization.

3. A gearbox shifting method based on a pneumatic switch valve group shifting mechanism according to claim 2, characterized in that: The gear-in phase is divided into four stages: Starting stage: from the lowest point a of the neutral self-locking ball socket to the highest point b of the neutral self-locking ball socket; Clearance stage: from the neutral self-locking ball socket point b to the position where the internal teeth of the coupling sleeve and the end face teeth of the gear gear will mesh; Meshing stage: from the meshing point between the internal teeth of the coupling sleeve and the end teeth of the gear gear to the highest point c of the gear self-locking ball socket; Confirmation stage: from point c of the gear self-locking ball socket to the lowest point d of the gear self-locking ball socket.

4. A gearbox shifting method based on a pneumatic switch valve group shifting mechanism according to claim 3, characterized in that: The duty cycle of each stage is calibrated according to the mechanical design and the movement characteristics of the shift fork, and the duty cycle is as follows: the starting stage> the meshing stage> the gap stage> the confirmation stage.

5. A gearbox shifting method based on a pneumatic switch valve group shifting mechanism according to claim 4, characterized in that: According to the target gear position and the input shaft speed rate, compensating the drive motor torque includes: When the shift fork moves in the starting phase and the gap phase, the driving motor torque is compensated.

6. A gearbox shifting method based on a pneumatic switch valve group shifting mechanism according to claim 5, characterized in that: Before the advance gear shifting phase is divided into stages according to the gear shifting size chain, the gearbox is speed regulated.

7. An electronic device comprising a memory and a processor, characterized in that: The memory stores a computer program, and when the computer program is executed by the processor, the steps of the transmission shifting method based on the pneumatic switch valve group shifting control mechanism as claimed in any one of claims 1 to 6 are implemented.

8. A car, characterized in that: The electronic device is provided with the electronic device according to claim 7.

Images