Optimization method and device for design parameters of electromagnetic differential locking device

Abstract

The invention provides an optimization method and device for design parameters of an electromagnetic differential locking device, and belongs to the field of automobiles, and the method comprises the steps: constructing a mechanical model of the electromagnetic differential locking device, constructing a ground model of the electromagnetic differential locking device, and constructing a control model of the electromagnetic differential locking device; integrating the mechanical model, the ground model and the control model to obtain an electromechanical control coupling simulation model; the electromechanical control coupling simulation model is triggered, and the locking time and the disengaging time of the electromagnetic differential locking device are output; and selecting an optimal design parameter value of the electromagnetic differential locking device according to the locking time and the releasing time. Through the embodiment of the invention, the locomotive matching design development efficiency is improved, the test times and cost are reduced, the technical problem that the efficiency of designing the parameter value of the electromagnetic differential locking device through an empirical value in the related technology is low is solved, the simulation analysis precision is improved, and the design iteration times are reduced.

Description

Technical Field

[0001] The present invention relates to the field of automobiles, and in particular to a method and a device for optimizing design parameters of an electromagnetic differential locking device. Background Art

[0002] In the related technology, the differential, as an important component of the automobile power transmission system, can adjust the speed difference between the left and right drive wheels, so that the left and right drive wheels rotate at different speeds. When the car is turning or driving on uneven roads, the left and right drive wheels can perform pure rolling motion on the ground at different speeds, thereby ensuring the smooth operation of the vehicle, avoiding tire wear and power consumption, and increasing tire life. Due to the "differential but not torque differential" feature of the differential, off-road SUVs, pickup trucks, engineering machinery vehicles, etc. have a low ground adhesion coefficient when driving on bumpy, muddy, slippery, soft and other road sections, and often encounter road slippage, causing one side of the tire to sink into a mud pit or become suspended in the air and unable to escape.

[0003] To solve the above problems, vehicles need to use differential devices with anti-skid functions. Common methods include differential locks and limited slip differentials. The differential lock locks the differential housing and one of the half-shaft gears through a locking component, and fixes the planetary half-shaft gear set and the differential housing as one. In this way, the left and right half-shafts become rigidly connected due to the effectiveness of the differential lock, which can stop the differential action of the differential. Its locking coefficient is equivalent to infinity, which can make the car fully utilize the adhesion of the wheels on both sides to increase the traction to the maximum. The driving force can be transmitted to the tire on the other side that has friction with the ground, so that the vehicle can move forward and get out of trouble. Normally, the differential lock needs to be manually locked in advance when entering a difficult road section, and canceled in time when on a good road section. If it is not canceled in time, an accident may occur due to the lack of differential effect. Therefore, off-road vehicles, pickup trucks, etc. often use limited slip differentials. The principle is to transfer part or all of the torque to the drive wheel that does not slip, so as to use the adhesion of the wheel to generate sufficient traction, and to a certain extent improve the vehicle's passability in a small adhesion coefficient. There are many types of limited slip differentials, and the commonly used ones are torque difference sensing differentials, speed difference sensing differentials, and active control differentials. In recent years, the combination of differential locks and electromagnetic control technology has developed some electromagnetic differential lock devices based on active control. The locking structures are different, including canine teeth, wavy surfaces, guide grooves and other structural forms. Electromagnetic differential locks usually generate magnetic fields by energizing electromagnetic components. The locking components are made of magnetic conductive materials. Under the attraction of the magnetic field, the locking components move to the locking position to lock the differential housing and the half-shaft gears. The electromagnetic components are continuously energized, and the locking components remain in the current position to achieve differential locking. Compared with traditional limited slip differentials, the main features of this electromagnetic differential lock are: first, the locking function can achieve greater driving force transmission, high transmission efficiency, and good reliability; second, the electromagnetic control is precise and the response time is fast. It can reasonably distribute the driving torque to each driving wheel of the car according to the road environment and driving state, and maximize the driving performance, passing performance and safety of the vehicle. For example, an electronic differential lock EDL (Electronic Differential Locker) with a dog tooth locking structure on the market adopts an electromagnetic drive method and uses an electromagnetic coil actuator to drive the locking ring to move. After the dog teeth of the half-shaft gear and the locking ring are meshed, slid, combined, synchronized, and locked, the differential housing and the half-shaft are fixed, that is, the speed synchronization locking state of the left and right half-shafts is achieved. When the vehicle is out of trouble or exceeds a certain wheel speed, the electromagnetic coil actuator stops working, the locking ring returns to its position, and the differential function is restored.

[0004] The development and design of differentials include simulation analysis and experimental testing. Simulation analysis includes static strength of differential shaft, gear lubrication and fatigue, transmission efficiency, etc.; experimental testing includes lubrication, tooth surface contact, durability, torsional fatigue, efficiency, differential ablation, etc. In particular, the dynamic performance indicators of the electromagnetic differential lock device based on active control should also include locking time, disengagement time, holding current, process impact response, etc., and the design of its related locking device parameters is related to the vehicle parameters and usage scenarios, and the development and design are difficult. At present, there is no efficient optimization design method for automobile electromagnetic differential locking devices and control methods for vehicle driving escape. The design parameter values ​​of the differential and its locking device can only be set according to empirical values, which leads to a long development cycle and high difficulty.

[0005] With respect to the above-mentioned problems existing in the related technologies, no efficient and accurate solutions have been found yet. Summary of the invention

[0006] The present invention provides a method and device for optimizing design parameters of an electromagnetic differential locking device, so as to solve technical problems in related technologies.

[0007] According to one embodiment of the present invention, a method for optimizing design parameters of an electromagnetic differential locking device is provided, comprising: constructing a mechanical model of the electromagnetic differential locking device, constructing a ground model of the electromagnetic differential locking device, and constructing a control model of the electromagnetic differential locking device, wherein the control model comprises: a locking process control model, a locking retention control model, and a disengagement process control model; integrating the mechanical model, the ground model, and the control model to obtain an electromechanical control coupling simulation model; using a design parameter set to be optimized to trigger the electromechanical control coupling simulation model, and outputting multiple groups of simulation sample data, wherein each group of simulation sample data comprises a locking time and a disengagement time of the electromagnetic differential locking device; and selecting the optimal design parameter value of the electromagnetic differential locking device according to the locking time and the disengagement time.

[0008] According to another embodiment of the present invention, there is provided an optimization device for design parameters of an electromagnetic differential locking device, comprising: a construction module for constructing a mechanical model of the electromagnetic differential locking device, a ground model of the electromagnetic differential locking device, and a control model of the electromagnetic differential locking device, wherein the control model comprises: a locking process control model, a locking retention control model, and a disengagement process control model; an integration module for integrating the mechanical model, the ground model, and the control model to obtain an electromechanical control coupling simulation model; an output module for triggering the electromechanical control coupling simulation model using a design parameter set to be optimized, and outputting multiple groups of simulation sample data, wherein each group of simulation sample data comprises a locking time and a disengagement time of the electromagnetic differential locking device; and a selection module for selecting the optimal design parameter value of the electromagnetic differential locking device according to the locking time and the disengagement time.

[0009] According to another aspect of an embodiment of the present application, a storage medium is further provided, which includes a stored program, and the above steps are executed when the program is run.

[0010] According to another aspect of an embodiment of the present application, there is also provided an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; wherein: the memory is used to store computer programs; and the processor is used to execute the steps in the above method by running the program stored in the memory.

[0011] The embodiment of the present application also provides a computer program product including instructions, which, when executed on a computer, enables the computer to execute the steps in the above method.

[0012] Beneficial effects of the present invention:

[0013] 1. The present invention adopts the DOE optimization design method and combines the engineering design experience criteria such as springs and electromagnetic forces to find the optimal design parameters that meet engineering needs, which has great engineering practical value, thereby reducing the prototype test cycle and saving prototype rectification costs;

[0014] 2. The present invention constructs an electromechanical control coupling simulation model, takes into account the road environment and driving conditions, and virtually simulates the vehicle escape process, thereby improving the efficiency of locomotive matching design and development, reducing the number and cost of tests, improving the accuracy of simulation analysis, and reducing the number of design iterations. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0016] Figure 1 is a hardware structure block diagram of a computer according to an embodiment of the present invention;

[0017] Figure 2 is a flow chart of a method for optimizing design parameters of an electromagnetic differential locking device according to an embodiment of the present invention;

[0018] Figure 3 is an overall block diagram of the electromechanical control coupling simulation model of an embodiment of the present invention;

[0019] Figure 4 It is a structural diagram of an electromagnetic differential locking device of a dog-tooth locking structure in an embodiment of the present invention;

[0020] Figure 5 is a schematic diagram of a coil curve in an embodiment of the present invention;

[0021] Figure 6 is a schematic diagram of a simulation model of a locking ring in an embodiment of the present invention;

[0022] Figure 7 A vehicle escape control logic diagram in an embodiment of the present invention;

[0023] Figure 8 is the axial displacement curve of the locking ring during the locking process in the embodiment of the present invention;

[0024] Fig. 9 : is the axial displacement curve of the locking ring disengagement process in the embodiment of the present invention;

[0025] Fig.10 Schematic diagram of design parameters of the locking ring and return spring in an embodiment of the present invention;

[0026] Fig.11 A flowchart of an optimization design method according to an embodiment of the present invention;

[0027] Fig.12 It is a structural block diagram of a device for optimizing design parameters of an electromagnetic differential locking device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0030] Example 1

[0031] The method embodiment provided in the first embodiment of the present application can be executed in a computer, a vehicle or a similar processing device. Taking running on a computer as an example, Figure 1 is a hardware structure block diagram of a computer according to an embodiment of the present invention. Figure 1 As shown, the computer may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the computer may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above-mentioned computer. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0032] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as a computer program corresponding to a method for optimizing the design parameters of an electromagnetic differential locking device in an embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the computer via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0033] The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the computer. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] In this embodiment, a method for optimizing the design parameters of an electromagnetic differential locking device is provided. Figure 2 is a flow chart of a method for optimizing design parameters of an electromagnetic differential locking device according to an embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0035] Step S202, constructing a mechanical model of the electromagnetic differential locking device, constructing a ground model of the electromagnetic differential locking device, and constructing a control model of the electromagnetic differential locking device, wherein the control model includes: a locking process control model, a locking holding control model, and a disengagement process control model;

[0036] The electromagnetic differential locking device (differential lock) of this embodiment may be a dog tooth locking structure or a differential lock of other structures. This embodiment is described by taking a dog tooth locking electromagnetic differential locking device as an example. The electromagnetic differential locking device may be applied to equipment such as vehicles equipped with steering wheels. The vehicle may be a gasoline vehicle, a pure electric vehicle, or a plug-in hybrid, a mild hybrid, an electric hybrid, or other types of vehicles.

[0037] Step S204, integrating the mechanical model, the ground model, and the control model to obtain an electromechanical control coupling simulation model;

[0038] Optionally, the mechanical model includes a vehicle dynamics model, an electric drive transmission dynamics model, a differential and differential lock dynamics model, etc.

[0039] Optionally, use system modeling and simulation software to integrate vehicle dynamics model, electric drive transmission dynamics model, differential and differential lock dynamics model, ground model and control model, establish electromechanical control coupling simulation model, and submit model calculation, Figure 3 It is an overall block diagram of the electromechanical control coupling simulation model of an embodiment of the present invention.

[0040] Step S206, using the design parameter set to be optimized to trigger the electromechanical control coupling simulation model, and outputting multiple groups of simulation sample data, wherein each group of simulation sample data includes a locking time and a disengagement time of the electromagnetic differential locking device;

[0041] Step S208: selecting optimal design parameter values ​​of the electromagnetic differential locking device according to the locking time and the disengaging time.

[0042] By controlling the energy recovery motor based on the motor's recovered torque to brake the vehicle, the battery is driven to charge, and the kinetic energy is converted into electrical energy, thereby achieving energy recovery.

[0043] Through the above steps, a mechanical model of the electromagnetic differential locking device is constructed, a ground model of the electromagnetic differential locking device is constructed, and a control model of the electromagnetic differential locking device is constructed, wherein the control model includes: a locking process control model, a locking holding control model and a disengagement process control model; the mechanical model, the ground model, and the control model are integrated to obtain an electromechanical control coupling simulation model, the electromechanical control coupling simulation model is triggered, the locking time and the disengagement time of the electromagnetic differential locking device are output, and the optimal design parameter value of the electromagnetic differential locking device is selected according to the locking time and the disengagement time, thereby realizing an automatic optimization scheme for the design parameters of the electromagnetic differential locking device, which can find the optimal design parameters that meet the engineering requirements and has great engineering practical value, and an electromechanical control coupling simulation model is established, considering the road environment and the driving state, and virtually simulating the whole vehicle escape process, thereby improving the efficiency of locomotive matching design and development, reducing the number of tests and costs, and solving the technical problem of low efficiency in designing the parameter values ​​of the electromagnetic differential locking device through empirical values ​​in related technologies, improving the simulation analysis accuracy, and reducing the number of design iterations.

[0044] In this embodiment, the mechanical model includes a vehicle dynamics model, an electric drive transmission dynamics model, a differential and differential lock dynamics model, etc. An example is given here:

[0045] In an example of this embodiment, the mechanical model includes a vehicle dynamics model, and the vehicle dynamics model includes a vehicle 2D dynamics model, a suspension 2D dynamics model, and a tire 2D dynamics model. Among them, constructing the mechanical model of the electromagnetic differential locking device includes: establishing a vehicle 2D dynamics model, setting the vehicle mass, vehicle inertia, center of mass position, drag coefficient, frontal area and air density of the vehicle 2D dynamics model, wherein the movement direction of the vehicle 2D dynamics model includes: longitudinal, vertical and pitching movement; establishing a suspension 2D dynamics model, setting the unsprung mass, longitudinal suspension stiffness, longitudinal suspension damping, vertical suspension stiffness, and vertical suspension damping of the suspension 2D dynamics model; establishing a tire 2D dynamics model, setting the tire model, tire moment of inertia, and tire free radius of the tire 2D dynamics model; establishing a drive shaft dynamics model, and setting the drive shaft moment of inertia and torsional stiffness of the drive shaft dynamics model.

[0046] In this example, the vehicle body, suspension, tires, and drive shaft are modeled using system modeling and simulation software. A 2D vehicle dynamics model is established, taking into account longitudinal, vertical, and pitching motions, and the input vehicle mass Mcar, vehicle inertia, center of mass position, drag coefficient, frontal area, and air density are set; a 2D suspension dynamics model is established, and the input unsprung mass, longitudinal suspension stiffness, longitudinal suspension damping, vertical suspension stiffness, and vertical suspension damping are set; a 2D tire dynamics model is established, and the input Pacejka tire model, tire moment of inertia, and tire free radius are set; a drive shaft dynamics model is established, and the input drive shaft moment of inertia and torsional stiffness are set.

[0047] In one example of the present embodiment, the mechanical model includes an electric drive transmission dynamics model, and the electric drive transmission dynamics model is composed of a motor model, a battery model, and a reducer dynamics model. Constructing a mechanical model of an electromagnetic differential locking device includes: setting the motor type, cooling method, rated voltage, limit speed, continuous power, continuous torque, and motor rotor inertia, using the motor type, cooling method, rated voltage, limit speed, continuous power, and continuous torque to calculate the speed torque MAP map and the speed efficiency MAP map, and outputting the speed torque MAP map, the speed efficiency MAP map, and the motor rotor inertia as a motor model; setting the battery voltage, battery power, and battery capacity, using the battery voltage, battery power, and battery capacity to calculate the open circuit voltage and internal resistance, and outputting the open circuit voltage and internal resistance as a battery model; establishing a reducer dynamics model, and setting the motor shaft inertia, intermediate shaft rotation inertia, output shaft inertia, and master and slave gear pitch circle values ​​of each gear of the reducer dynamics model.

[0048] In this example, the system modeling and simulation software is used to build models for the motor, battery, and reducer. The motor model is built to set the input motor type, cooling method, rated voltage, speed limit, continuous power, and continuous torque, and the torque MAP diagram, efficiency MAP diagram, and motor rotor inertia are calculated; the battery model is built to set the input battery voltage, battery power, and battery capacity, and the open circuit voltage and internal resistance are calculated; the reducer dynamics model is built to set the input motor shaft inertia, intermediate shaft rotation inertia, output shaft inertia, and master and slave gear pitch circle values ​​for each gear.

[0049] In an example of the present embodiment, the mechanical model includes a differential and a differential lock dynamics model, and constructing a mechanical model of an electromagnetic differential locking device includes: establishing a differential dynamics model, setting the number, mass and moment of inertia of the planetary gears of the differential dynamics model, the mass and moment of inertia of the left half-shaft gear and the right half-shaft gear, and setting the mass and moment of inertia of the differential case; establishing a differential lock dynamics model, setting the mass, moment of inertia and axial motion stroke of the locking ring of the differential lock dynamics model, the mass of the armature, the stiffness and preload of the return spring, the moment of inertia of the electromagnetic coil assembly, and the loading curve and holding curve of the electromagnetic coil.

[0050] Figure 4 The structure diagram of the electromagnetic differential locking device of the dog gear locking structure in the embodiment of the present invention includes a differential housing 1, a reducer output gear 2, a bolt 2-1, a left half shaft gear 3, a planetary gear 4, a planetary gear thrust washer 4-1, a planetary shaft 5, a planetary shaft fixing pin 5-1, a right half shaft gear 6, a locking ring 7, an electromagnetic coil housing 8, an electromagnetic coil 8-1, an armature 8-2, a fixed connection sleeve 8-3, a return spring 9, and a push washer 10. In this example, the differential and the differential lock are modeled using system modeling and simulation software (such as AMESim). A differential dynamics model is established, and the number, mass and moment of inertia of the input planetary gears 4, the mass and moment of inertia of the left half-shaft gear 3 and the right half-shaft gear 6, and the mass and moment of inertia of the differential housing 1 are set; a differential lock dynamics model is established, and the mass, moment of inertia and axial motion stroke Lrspr of the input locking ring 7, the mass of the armature 8-2, the stiffness Krspr and preload F0 of the return spring 9, the moment of inertia of the electromagnetic coil assembly (including the electromagnetic coil housing 8, the electromagnetic coil 8-1, the armature 8-2, and the fixed connecting sleeve 8-3), and the FS curve of the electromagnetic coil 8-1 (including the loading curve Fload and the holding curve Fhold) are set. Figure 5 is a schematic diagram of coil curves in an embodiment of the present invention, illustrating a loading curve Fload and a holding curve Fhold of the electromagnetic coil. Figure 6It is a schematic diagram of the simulation model of the locking ring in the embodiment of the present invention. The canine tooth model is used to establish the translational connection between the locking ring 7 and the right half-shaft gear 6, and the rotational connection between the locking ring 7 and the differential case 1, so as to realize the locking engagement process.

[0051] When constructing the ground model, it includes: using system modeling and simulation software (such as AMESim) to establish the ground model, setting the input tire and ground adhesion coefficient, setting the same value on the left and right sides to simulate a normal road surface, and setting different values ​​to simulate a split road surface.

[0052] In this embodiment, the control model includes a locking process control model, a locking holding control model, and a disengagement process control model, etc., which are described by way of example:

[0053] In an example of this embodiment, constructing a locking process control model of an electromagnetic differential locking device includes: configuring the following control process in the locking process control model of the electromagnetic differential locking device: when the vehicle is started, a locking switch is set on the vehicle, and the locking switch is pressed. When the differential speed of the left and right wheels is within a preset range, the trigger controller energizes the electromagnetic coil to generate a first current, so that the electromagnetic coil generates an electromagnetic force. The electromagnetic armature is acted upon by the electromagnetic force and successively transmits the force to the gasket and the locking ring. After overcoming the preload of the return spring, the locking ring begins to be pushed axially. After the half-shaft gear and the locking ring are locked, the differential housing and the half-shaft are fixed, and the speed synchronization locking state of the left and right half-shafts is achieved. The position sensor feeds back a locking signal and outputs a locking completion signal.

[0054] In an example of the present embodiment, constructing a locking and holding control model of an electromagnetic differential locking device includes: configuring the following control process in the locking and holding control model of the electromagnetic differential locking device: when a signal indicating that locking is completed is detected, the return spring is controlled to be compressed, and the spring force is Fk, so that the joint surface between the locking ring and the bevel angle of the right half-shaft gear generates a thrust F1, and the joint surface between the locking ring and the bevel angle of the differential case generates a self-locking force F2, triggering the controller to reduce the coil current from the first current during locking to the second current, and the electromagnetic coil generates an electromagnetic force Fhold, and maintains F2+Fhold>F1+Fk, thereby realizing locking and holding control.

[0055] In an example of this embodiment, building a control model for the disengagement process of an electromagnetic differential lock includes: configuring the following control process in the control model for the disengagement process of the electromagnetic differential lock: when it is detected that the vehicle has escaped from the困境,解除锁止,触发控制器断开电磁线圈电流,并保持F2<F1+Fk,以使锁止环轴向运动恢复到原位置,通过位置传感器信号监控,反馈差速锁断开信息,并将差速锁断开信息显示到仪表盘,差速器恢复差速功能,其中,F2为锁止环与差速壳斜面角的结合面产生自锁力,F1为锁止环与右半轴齿轮斜面角的结合面产生推力,Fk为回位弹簧被压缩的弹簧弹力。

[0056] According to the road surface environment and driving state, use system modeling and simulation software (such as AMESim) to perform manual or automatic differential lock control, and establish accurate control models for the locking process, locking maintenance, and disengagement process. Figure 7 This is the vehicle escape control logic diagram in the embodiment of the present invention, which schematically shows the process from locking - locking maintenance - disengagement.

[0057] The locking process control includes: when the vehicle starts, the whole vehicle sets a locking switch. When the locking switch is pressed and the speed difference between the left and right wheels is 10 rpm - 50 rpm, the PCU or VCU controller makes the electromagnetic coil energized with current I1. The electromagnetic coil generates electromagnetic force Fload. The electromagnet armature is affected by the electromagnetic force and sequentially transmits the acting force to the gasket and the locking ring. After overcoming the pre - pressure F0 of the return spring, it starts to push the locking ring to move axially. After the dog teeth of the half - shaft gear and the locking ring mesh, slide, combine, synchronize, and lock, the differential housing and the half - shaft are fixed, realizing the synchronous locking state of the left and right half - shafts. The position sensor feeds back the locking signal, and the locking is completed.

[0058] The locking maintenance control includes: after the locking is completed, the return spring is compressed by Lrspr, and the spring force is Fk = Krspr × Lrpsr + F0; a thrust F1 is generated at the joint surface of the locking ring and the inclined plane angle Alpha of the right half - shaft gear; a self - locking force F2 is generated at the joint surface of the locking ring and the inclined plane angle Beta of the differential housing; to reduce the power consumption of the electromagnetic coil and extend the service life of the coil, the PCU or VCU controller reduces the coil energizing current to I2. The electromagnetic coil generates electromagnetic force Fhold. When the current I2 is reasonably controlled to ensure F2 + Fhold > F1 + Fk, the locking maintenance control can be achieved. To ensure the situation of non - differential torque transmission that suddenly appears, Fhold can retain a 20% safety margin value.

[0059] It should be noted that there is an unclear part in the Chinese text of where "解除锁止" is not a complete expression. The above translation is based on the existing text as much as possible. You may need to check and correct this part according to the actual situation.The disengagement process control includes: when the vehicle gets out of trouble, manually press the lock release switch to release the lock, or when the vehicle speed is higher than 30 km / h, the instrument panel prompts to release the lock, and when the vehicle speed is higher than 50 km / h, the lock is automatically released. The PCU or VCU controller disconnects the electromagnetic coil current to ensure that F2 < F1 + Fk, so as to realize the axial movement of the locking ring to return to the original position. Through the monitoring of the position sensor signal, the differential lock disconnection information is fed back and displayed on the instrument panel, and the differential function of the differential is restored.

[0060] In an implementation manner of this embodiment, an electromechanical control coupling simulation model is triggered by using a set of design parameters to be optimized, and multiple sets of simulation sample data are output, including: selecting a set of design parameters to be optimized for the electromagnetic differential lock device, where the set of design parameters includes: the bevel angle of the right half axle gear, the bevel angle of the differential case, the stiffness of the return spring, and the pre-pressure of the return spring; performing a design of experiments DOE with the set of design parameters as the control factor to generate a DOE matrix, where the DOE matrix includes M sets of parameter sample data, and M is a positive integer greater than 1; submitting the DOE matrix to the electromechanical control coupling simulation model respectively to obtain M sets of results; extracting the locking time and the disengagement time from the M sets of results respectively to obtain M sets of simulation sample data.

[0061] According to the analysis result of the integrated electromechanical control coupling simulation model, an axial displacement curve of the locking ring is obtained, including the locking, holding, and disengagement processes. In this embodiment, when extracting the locking time and the disengagement time, the smoothness of the locking process is determined according to the axial displacement curve of the locking process, and it is judged whether there is a backlash. If the combination process is smooth, the starting displacement moment of the locking ring and the moment of reaching the maximum axial stroke Lrspr are output, and the difference is calculated to obtain the locking time Tin, see Figure 8 , Figure 8 is the axial displacement curve of the locking ring during the locking process in the embodiment of the present invention; it is determined whether there is a situation where it cannot be disengaged according to the axial displacement curve of the disengagement process. If it is normally disengaged, the starting disengagement moment of the locking ring and the moment of returning to the original position are output, and the difference is calculated to obtain the disengagement time Tout, see Fig. 9 , Fig. 9 is the axial displacement curve of the locking and disengagement process of the locking ring in the embodiment of the present invention; it is determined whether there is a backlash during the holding stage according to the axial displacement curve of the holding stage. If there is a backlash, it means that the safety margin of the electromagnetic coil holding force Fhold is insufficient and needs to be designed to be increased.

[0062] A P-chart analysis is performed on the matching design parameters of the whole vehicle and the differential locking device to determine the relevant parameters for the optimal design of the differential locking device. Since there are many factors that affect the deviation of the differential locking time and disengagement time, such as: the influence of usage time (locking ring friction and wear), ambient temperature (attenuation of electromagnetic force of electromagnetic coil under high temperature), changes in oil properties (viscosity, density), differential locking system errors (dimensional error, installation position, etc.), etc., this embodiment carries out the optimal design of the differential locking device for the locomotive matching design parameters, and determines the relevant parameters for the optimal design of the differential locking device based on the locomotive matching design principle: the input signals are the vehicle speed and the electromagnetic coil control signal, and the control factors are the right half-shaft gear bevel angle Alpha, the differential case bevel angle Beta, the return spring stiffness Krspr, the return spring preload F0, the motor loading time Tem, the vehicle weight Mcar, the wheel radius Rcar and the electromagnetic force Fhold, where the locking ring and return spring design parameters are shown in Fig.10 , Fig.10 Schematic diagram of design parameters of the locking ring and return spring in an embodiment of the present invention, illustrating the return spring preload stroke X0, the right half-shaft gear bevel angle Alpha, the differential case bevel angle Beta, the return spring stiffness Krspr, F0=X0*Krspr, the noise factors are the fluctuation deviations of 8 control factors, the output states are the locking time Tin and the disengagement time Tout, and since the motor loading time Tem, the vehicle weight Mcar, the wheel radius Rcar and the electromagnetic force Fhold are relatively fixed design quantities when designing the car, this embodiment selects 4 of the control factors, namely the right half-shaft gear bevel angle Alpha, the differential case bevel angle Beta, the return spring stiffness Krspr, and the return spring preload F0.

[0063] Optionally, DOE design is performed with the design parameter set as the control factor, and generating a DOE design matrix includes: configuring the number of levels, configuring the number of factors based on the number of design parameter sets, and using the number of levels and the number of factors to generate N groups of parameter sample data, wherein the number of levels is the same as the number of variables of the parameter value of each design parameter in the design parameter set; eliminating N1 groups of noise data according to the spring design criteria to obtain N-N1 groups of parameter sample data, wherein the spring design criteria include: spring limit coiling, spring rectangular section height h, spring coil number Ns, spring installation space H, maximum compression distance Lmax=Hh×(Ns-1), maximum compression distance Lmax'=(1-margin)Lmax; eliminating N2 groups of noise data according to the electromagnetic force maintenance criterion to generate N-N1-N2 groups of DOE design matrices.

[0064] In an example, the number of factors is 4 (right half-shaft gear bevel angle Alpha, differential case bevel angle Beta, return spring stiffness Krspr, return spring preload F0), and the number of levels is 2. The right half-shaft gear bevel angle Alpha, differential case bevel angle Beta, return spring stiffness Krspr, and return spring preload F0 take two different values ​​respectively, which are combined to obtain 16 sets of parameter sample data.

[0065] DOE design is performed on multiple control factors of differential locking parameter optimization design. The full factorial experimental design method with 4 factors and 2 levels is adopted to generate design parameter sample data (2 to the fourth power), with a total of N=16 groups; according to the spring design criteria, the unreasonable design parameter sample data group N1 is eliminated, leaving the N-N1 group. The specific method is: the spring design cannot have double coils, the spring rectangular section height h, the number of spring coils Ns, the spring installation space H, the maximum compression distance is Lmax=Hh×(Ns-1), and the maximum compression distance Lmax'=0.8Lmax is designed according to the 20% margin; according to the electromagnetic force maintenance criterion (refer to the locking and holding control method of the model), the unreasonable design parameter sample data group N2 is further eliminated, leaving the M=N-N1-N2 group, and the final DOE design matrix is ​​obtained; according to the DOE design matrix, the multi-condition analysis function of the system modeling and simulation software is used to submit multiple groups of models for calculation to obtain multiple groups of results; the locking time and disengagement time results are extracted respectively to obtain M groups of simulation sample data.

[0066] In one implementation of the present embodiment, selecting the optimal design parameter value of the electromagnetic differential locking device according to the locking time and the disengagement time includes: using multiple groups of simulation sample data, performing main effect analysis on the design parameter set for the locking time and the disengagement time, and obtaining the influencing factor ranking and positive and negative correlation constraint information, wherein the influencing factor ranking is used to indicate the influence of each design parameter in the design parameter set on the locking time and the disengagement time, and the positive and negative correlation constraint information is used to indicate whether each design parameter in the design parameter set is positively correlated or negatively correlated with the locking time and the disengagement time; taking the locking time ≤ the first minimum duration and the disengagement time ≤ the second minimum duration as optimization constraints, taking the right half-shaft gear bevel angle as the minimum value and the differential case bevel angle as the maximum value, and selecting the optimal parameter value of each design parameter in the design parameter set.

[0067] According to the simulation sample data, the main effect analysis of the combination time Tin and the disengagement time Tout is carried out, and the influencing factors are ranked and the positive and negative correlations are evaluated; according to the locomotive optimization matching design principle, the vehicle parameters are first determined, and the control value Tem of the motor loading speed is given as the PCU or VCU development input, and finally the differential locking device parameters are optimized, including the right half-shaft gear bevel angle Alpha, the differential case bevel angle Beta, the return spring stiffness Krspr, and the return spring preload F0; based on the locking time ≤ Tin_limit and the disengagement time ≤ Tout_limit design requirements, the optimal parameter values ​​of the differential locking parameters are obtained according to the strategy of making the right half-shaft gear bevel angle Alpha as small as possible (minimum value) and the differential case bevel angle Beta as large as possible (maximum value).

[0068] This embodiment proposes a method for optimizing the design of a differential locking device quickly, efficiently, and reliably for electromagnetic differential locking devices of structures such as dog tooth locking, and provides a control method for vehicle escape, thereby reducing testing and R&D costs, shortening the product development cycle, and supporting the "one-time design correct" of products. In addition to ensuring the reliability design of traditional differentials, the development and design of differential locks also need to comprehensively consider vehicle dynamics parameters, locking device structure, and control methods, and optimize the design of dynamic performance parameters of the differential locking device, including locking time, disengagement time, holding current, process impact response, etc. The structural parameters of different locking device structures are not the same, but the design method should be basically the same. The present invention proposes a method for optimizing the design and control of a locking device for an electromagnetic differential locking device of a dog tooth locking structure.

[0069] Fig.11 Flow chart of the optimization design method in the embodiment of the present invention, the optimization design and control method of the electromagnetic differential locking device of the automobile, the steps are as follows:

[0070] The first step is to establish a vehicle dynamics model;

[0071] The second step is to establish the electric drive transmission dynamics model;

[0072] Step 3: Establish the dynamic model of differential and differential lock;

[0073] Step 4: Establish ground model;

[0074] Step 5: Establish control model;

[0075] Step 6: Integrate each sub-model and submit the model calculation;

[0076] Step 7: Analyze the results, extract the dynamic characteristics, and output the locking time and release time

[0077] Step 8: Perform P-chart analysis to determine the relevant parameters for differential locking parameter optimization design;

[0078] Step 9: Perform DOE design analysis to obtain simulation sample data of design parameters;

[0079] Step 10: Perform optimization analysis to obtain the optimal design parameters of the differential locking parameters.

[0080] This embodiment adopts the DOE optimization design method, comprehensively considers the vehicle dynamics parameters, the locking device structure, the electromagnetic force and the control method, optimizes the locking time and the disengagement time of the differential lock device, and selects the optimal design parameters of the differential locking parameters according to the return spring design criteria and the electromagnetic force maintenance criteria. The present embodiment has the following advantages: the present embodiment adopts the DOE optimization design method, and combines the engineering design experience criteria such as springs and electromagnetic forces, so as to find the optimal design parameters that meet the engineering requirements, and has great engineering practical value; the present embodiment establishes a mechanical-electrical-control coupling simulation model, takes into account the road environment and driving conditions, and virtually simulates the vehicle escape process, thereby improving the efficiency of vehicle matching design and development, and reducing the number of tests and costs; the control method proposed in the present embodiment is suitable for low-speed escape and high-speed automatic unlocking of vehicles, and can effectively ensure driving passability and safety; the locking device control model given in the present embodiment can integrate system simulation, realize mechanical-electrical-control coupling simulation design, improve simulation analysis accuracy, and reduce the number of design iterations; the present embodiment proposes an optimization design method for an electromagnetic differential locking device with a dog tooth locking structure. Although there are differences in the structural parameters of different locking device structural forms, the design ideas and methods can be extended to other forms of locking devices; the design method proposed in the present embodiment can be optimized and reasonably matched in the early stage of product development, thereby reducing the prototype vehicle test cycle and saving the cost of sample rectification.

[0081] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0082] Example 2

[0083] In this embodiment, a device for optimizing the design parameters of an electromagnetic differential locking device is also provided, and the device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0084] Fig.12 is a structural block diagram of a device for optimizing design parameters of an electromagnetic differential locking device according to an embodiment of the present invention. Fig.12 As shown, the device comprises:

[0085] A construction module 120 is used to construct a mechanical model of the electromagnetic differential locking device, a ground model of the electromagnetic differential locking device, and a control model of the electromagnetic differential locking device, wherein the control model includes: a locking process control model, a locking holding control model, and a disengagement process control model;

[0086] An integration module 122, used to integrate the mechanical model, the ground model, and the control model to obtain an electromechanical control coupling simulation model;

[0087] An output module 124, configured to trigger the electromechanical control coupling simulation model using the design parameter set to be optimized, and output multiple groups of simulation sample data, wherein each group of simulation sample data includes a locking time and a disengagement time of the electromagnetic differential locking device;

[0088] The selection module 126 is configured to select an optimal design parameter value of the electromagnetic differential locking device according to the locking time and the disengagement time.

[0089] Optionally, the mechanical model includes a vehicle dynamics model, and the construction module includes: a first construction unit, used to establish a vehicle 2D dynamics model, and set the vehicle mass, vehicle inertia, center of mass position, drag coefficient, frontal area and air density of the vehicle 2D dynamics model, wherein the movement directions of the vehicle 2D dynamics model include: longitudinal, vertical and pitching motion; a second construction unit, used to establish a suspension 2D dynamics model, and set the unsprung mass, longitudinal suspension stiffness, longitudinal suspension damping, vertical suspension stiffness, and vertical suspension damping of the suspension 2D dynamics model; a third construction unit, used to establish a tire 2D dynamics model, and set the tire model, tire moment of inertia, and tire free radius of the tire 2D dynamics model; a fourth construction unit, used to establish a drive shaft dynamics model, and set the drive shaft moment of inertia and torsional stiffness of the drive shaft dynamics model.

[0090] Optionally, the mechanical model includes an electric drive transmission dynamics model, and the construction module includes: a fifth construction unit, used to set the motor type, cooling method, rated voltage, limit speed, continuous power, continuous torque, and motor rotor inertia, and use the motor type, cooling method, rated voltage, limit speed, continuous power, and continuous torque to calculate a speed-torque MAP diagram and a speed-efficiency MAP diagram, and output the speed-torque MAP diagram, the speed-efficiency MAP diagram, and the motor rotor inertia as a motor model; a sixth construction unit, used to set the battery voltage, battery power, and battery capacity, and use the battery voltage, the battery power, and the battery capacity to calculate the open circuit voltage and internal resistance, and output the open circuit voltage and the internal resistance as a battery model; a seventh construction unit, used to establish a reducer dynamics model, and set the motor shaft inertia, intermediate shaft rotational inertia, output shaft inertia, and master and slave gear pitch circle values ​​of each gear of the reducer dynamics model.

[0091] Optionally, the mechanical model includes a differential and differential lock dynamics model, and the building module includes: an eighth building unit, used to establish a differential dynamics model, set the number, mass and moment of inertia of the planetary gears of the differential dynamics model, the mass and moment of inertia of the left half-shaft gear and the right half-shaft gear, and set the mass and moment of inertia of the differential case; a ninth building unit, used to establish a differential lock dynamics model, set the mass, moment of inertia and axial motion stroke of the locking ring, the mass of the armature, the stiffness and preload of the return spring, the moment of inertia of the electromagnetic coil assembly, and the loading curve and holding curve of the electromagnetic coil.

[0092] Optionally, the construction module includes: a first configuration unit, used to configure the following control process in the locking process control model of the electromagnetic differential locking device: when the vehicle is started, the locking switch is set on the vehicle, and the locking switch is pressed. When the differential speed of the left and right wheels is within a preset range, the trigger controller energizes the electromagnetic coil to generate a first current, so that the electromagnetic coil generates an electromagnetic force. The electromagnetic armature is acted upon by the electromagnetic force and successively transmits the force to the gasket and the locking ring. After overcoming the preload of the return spring, the locking ring begins to push the locking ring to move axially. After the half-shaft gear and the locking ring are locked, the differential housing and the half-shaft are fixed, and the speed synchronization locking state of the left and right half-shafts is achieved. The position sensor feeds back the locking signal and outputs a signal indicating that the locking is completed.

[0093] Optionally, the building block includes: a second configuration unit configured to configure the following control process in the locking maintenance control model of the electromagnetic differential lock: after detecting the signal indicating the completion of locking, control the return spring to be compressed, with a spring force of Fk, so as to generate a thrust F1 on the joint surface between the locking ring and the inclined surface angle of the right half-shaft gear, and generate a self-locking force F2 on the joint surface between the locking ring and the inclined surface angle of the differential case. Trigger the controller to reduce the coil energizing current from the first current at the time of locking to the second current. The electromagnetic coil generates an electromagnetic force Fhold, and maintains F2 + Fhold > F1 + Fk to achieve locking maintenance control.

[0094] Optionally, the building block includes: a third configuration unit configured to configure the following control process in the unlocking process control model of the electromagnetic differential lock: after detecting that the vehicle has got out of trouble, release the lock, trigger the controller to disconnect the electromagnetic coil current, and maintain F2 < F1 + Fk, so that the locking ring axially moves back to its original position. Through the monitoring of the position sensor signal, feedback the differential lock disconnection information, and display the differential lock disconnection information on the dashboard, and the differential resumes its differential function. Wherein, F2 is the self-locking force generated on the joint surface between the locking ring and the inclined surface angle of the differential case, F1 is the thrust generated on the joint surface between the locking ring and the inclined surface angle of the right half-shaft gear, and Fk is the spring force of the compressed return spring.

[0095] Optionally, the output module includes: a selection unit for selecting a set of design parameters to be optimized for the electromagnetic differential lock, where the set of design parameters includes: the inclined surface angle of the right half-shaft gear, the inclined surface angle of the differential case, the stiffness of the return spring, and the pre-pressure of the return spring; a generation unit for performing a design of experiments DOE with the set of design parameters as control factors to generate a DOE matrix, where the DOE matrix includes M sets of parameter sample data, and M is a positive integer greater than 1; a submission unit for submitting the DOE matrix to the electromechanical control coupling simulation model respectively to obtain M sets of results; an extraction unit for respectively extracting the locking time and the unlocking time from the M sets of results to obtain M sets of simulation sample data.

[0096] Optionally, the generation unit includes: a generation subunit, used to configure the number of levels, configure the number of factors based on the number of design parameter sets, and use the number of levels and the number of factors to generate N groups of parameter sample data, wherein the number of levels is the same as the number of variables of the parameter value of each design parameter in the design parameter set; a first elimination subunit, used to eliminate N1 groups of noise data according to spring design criteria to obtain N-N1 groups of parameter sample data, wherein the spring design criteria include: spring limit coil, spring rectangular section height h, spring coil number Ns, spring installation space H, maximum compression distance Lmax = Hh × (Ns-1), maximum compression distance Lmax' = (1-margin) Lmax; a second elimination subunit, used to eliminate N2 groups of noise data according to the electromagnetic force maintenance criterion to generate N-N1-N2 groups of DOE design matrices.

[0097] Optionally, the selection model includes: an analysis subunit, used to use the multiple groups of simulation sample data to perform main effect analysis on the design parameter set for locking time and disengagement time, and obtain influencing factor ranking and positive and negative correlation constraint information, wherein the influencing factor ranking is used to indicate the influence of each design parameter in the design parameter set on the locking time and disengagement time, and the positive and negative correlation constraint information is used to indicate whether each design parameter in the design parameter set is positively correlated or negatively correlated with the locking time and the disengagement time; a selection subunit, used to select the optimal parameter value of each design parameter in the design parameter set with locking time ≤ first minimum duration and disengagement time ≤ second minimum duration as optimization constraints, and with the right half shaft gear bevel angle as the minimum value and the differential case bevel angle as the maximum value.

[0098] It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0099] Example 3

[0100] An embodiment of the present invention further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0101] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0102] S1, constructing a mechanical model of an electromagnetic differential locking device, constructing a ground model of the electromagnetic differential locking device, and constructing a control model of the electromagnetic differential locking device, wherein the control model includes: a locking process control model, a locking holding control model, and a disengagement process control model;

[0103] S2, integrating the mechanical model, the ground model, and the control model to obtain an electromechanical control coupling simulation model;

[0104] S3, triggering the electromechanical control coupling simulation model using the design parameter set to be optimized, and outputting multiple groups of simulation sample data, wherein each group of simulation sample data includes the locking time and the disengagement time of the electromagnetic differential locking device;

[0105] S4, selecting an optimal design parameter value of the electromagnetic differential locking device according to the locking time and the disengagement time.

[0106] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0107] An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

[0108] Optionally, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0109] Optionally, in this embodiment, the processor may be configured to perform the following steps through a computer program:

[0110] S1, constructing a mechanical model of an electromagnetic differential locking device, constructing a ground model of the electromagnetic differential locking device, and constructing a control model of the electromagnetic differential locking device, wherein the control model includes: a locking process control model, a locking holding control model, and a disengagement process control model;

[0111] S2, integrating the mechanical model, the ground model, and the control model to obtain an electromechanical control coupling simulation model;

[0112] S3, triggering the electromechanical control coupling simulation model using the design parameter set to be optimized, and outputting multiple groups of simulation sample data, wherein each group of simulation sample data includes the locking time and the disengagement time of the electromagnetic differential locking device;

[0113] S4, selecting an optimal design parameter value of the electromagnetic differential locking device according to the locking time and the disengagement time.

[0114] Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation modes, and this embodiment will not be described in detail here.

[0115] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0116] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0117] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. 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. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0118] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0119] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0120] 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 computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, 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 to enable a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0121] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A method for optimizing design parameters of an electromagnetic differential locking device, characterized in that: include: Constructing a mechanical model of an electromagnetic differential locking device, constructing a ground model of the electromagnetic differential locking device, and constructing a control model of the electromagnetic differential locking device, wherein the control model includes: a locking process control model, a locking holding control model, and a disengagement process control model; Integrating the mechanical model, the ground model, and the control model to obtain an electromechanical control coupling simulation model; The electromechanical control coupling simulation model is triggered by using the design parameter set to be optimized, and multiple groups of simulation sample data are output, wherein each group of simulation sample data includes the locking time and the disengagement time of the electromagnetic differential locking device; An optimal design parameter value of the electromagnetic differential locking device is selected according to the locking time and the disengagement time.

2. The method according to claim 1, characterized in that The mechanical model includes a vehicle dynamics model, and constructing the mechanical model of the electromagnetic differential locking device includes: Establishing a 2D dynamic model of the vehicle, setting the vehicle mass, vehicle inertia, center of mass position, drag coefficient, frontal area and air density of the 2D dynamic model of the vehicle, wherein the movement directions of the 2D dynamic model of the vehicle include: longitudinal, vertical and pitching movement; Establishing a suspension 2D dynamic model, and setting the unsprung mass, longitudinal suspension stiffness, longitudinal suspension damping, vertical suspension stiffness, and vertical suspension damping of the suspension 2D dynamic model; Establishing a tire 2D dynamic model, and setting a tire model, a tire moment of inertia, and a tire free radius of the tire 2D dynamic model; A drive shaft dynamics model is established, and the drive shaft rotational inertia and torsional stiffness of the drive shaft dynamics model are set.

3. The method according to claim 1, characterized in that The mechanical model includes an electric drive transmission dynamics model, and constructing a mechanical model of an electromagnetic differential locking device includes: Setting a motor type, a cooling method, a rated voltage, a limit speed, a continuous power, a continuous torque, and a motor rotor inertia, using the motor type, the cooling method, the rated voltage, the limit speed, the continuous power, and the continuous torque to calculate a speed torque MAP diagram and a speed efficiency MAP diagram, and outputting the speed torque MAP diagram, the speed efficiency MAP diagram, and the motor rotor inertia as a motor model; Setting a battery voltage, a battery power, and a battery capacity, using the battery voltage, the battery power, and the battery capacity to calculate an open circuit voltage and an internal resistance, and outputting the open circuit voltage and the internal resistance as a battery model; A reducer dynamics model is established, and the motor shaft inertia, intermediate shaft rotation inertia, output shaft inertia, and master and slave gear pitch circle values ​​of the reducer dynamics model are set.

4. The method according to claim 1, characterized in that The mechanical model includes a differential and a differential lock dynamics model, and constructing a mechanical model of an electromagnetic differential locking device includes: Establishing a differential dynamics model, setting the number, mass and moment of inertia of the planetary gears of the differential dynamics model, the mass and moment of inertia of the left half-shaft gear and the right half-shaft gear, and setting the mass and moment of inertia of the differential case; A differential lock dynamic model is established, and the mass, moment of inertia, and axial movement stroke of the locking ring of the differential lock dynamic model, the mass of the armature, the stiffness and pre-pressure of the return spring, the moment of inertia of the electromagnetic coil assembly, the loading curve and the holding curve of the electromagnetic coil are set.

5. The method according to claim 1, characterized in that Constructing a locking process control model for an electromagnetic differential lock device includes: Configuring the following control process in the locking process control model of the electromagnetic differential lock device: When the vehicle starts, a locking switch is set for the whole vehicle. When the locking switch is pressed and the differential between the left and right wheels is within a preset range, the controller is triggered to energize the electromagnetic coil to generate a first current, so that the electromagnetic coil generates an electromagnetic force. The electromagnetic armature is affected by the electromagnetic force and sequentially transmits the acting force to the gasket and the locking ring. After overcoming the pre-pressure of the return spring, the locking ring starts to move axially. After the half-shaft gear is locked with the locking ring, the differential housing and the half-shaft are fixed, and the speed synchronization locking state of the left and right half-shafts is achieved. The position sensor feeds back the locking signal and outputs a signal indicating that the locking is completed.

6. The method according to claim 1, characterized in that Constructing a locking holding control model for an electromagnetic differential lock device includes: Configuring the following control process in the locking holding control model of the electromagnetic differential lock device: When the signal indicating that the locking is completed is detected, the return spring is controlled to be compressed, and the spring force is Fk, so that a thrust F1 is generated on the joint surface of the locking ring and the inclined plane angle of the right half-shaft gear, and a self-locking force F2 is generated on the joint surface of the locking ring and the inclined plane angle of the differential housing. The controller is triggered to reduce the coil energizing current from the first current at the time of locking to the second current. The electromagnetic coil generates an electromagnetic force Fhold, and it is ensured that F2 + Fhold > F1 + Fk to achieve the locking holding control.

7. The method according to claim 1, characterized in that Constructing a disengaging process control model for an electromagnetic differential lock device includes: Configuring the following control process in the disengaging process control model of the electromagnetic differential lock device: When it is detected that the vehicle has got out of trouble, the locking is released. The controller is triggered to disconnect the current of the electromagnetic coil and ensure that F2 < F1 + Fk, so that the locking ring axially moves back to its original position. Through the monitoring of the position sensor signal, the information that the differential lock is disengaged is fed back, and the information that the differential lock is disengaged is displayed on the instrument panel. The differential resumes its differential function, where F2 is the self-locking force generated on the joint surface of the locking ring and the inclined plane angle of the differential housing, F1 is the thrust generated on the joint surface of the locking ring and the inclined plane angle of the right half-shaft gear, and Fk is the spring force of the compressed return spring.

8. The method according to claim 1, characterized in that Triggering the electromechanical control coupling simulation model with the design parameter set to be optimized, and outputting multiple sets of simulation sample data, including: Selecting the design parameter set to be optimized for the electromagnetic differential lock device, where the design parameter set includes: the inclined plane angle of the right half-shaft gear, the inclined plane angle of the differential housing, the stiffness of the return spring, and the pre-pressure of the return spring; Performing a design of experiments DOE with the design parameter set as the control factor to generate a DOE matrix, where the DOE matrix includes M sets of parameter sample data, and M is a positive integer greater than 1; Submitting the DOE matrix to the electromechanical control coupling simulation model respectively to obtain M sets of results; Extracting the locking time and the disengaging time from the M sets of results respectively to obtain M sets of simulation sample data.

9. The method according to claim 8, characterized in that The DOE design is performed with the design parameter set as the control factor, and the DOE design matrix is ​​generated including: Configure the number of levels, configure the number of factors based on the number of the design parameter sets, and generate N groups of parameter sample data using the number of levels and the number of factors, wherein the number of levels is the same as the number of variables of the parameter value of each design parameter in the design parameter set; According to the spring design criteria, the N1 group of noise data is eliminated to obtain the N-N1 group of parameter sample data, wherein the spring design criteria include: spring limit coil, spring rectangular section height h, spring coil number Ns, spring installation space H, maximum compression distance Lmax = Hh × (Ns-1), maximum compression distance Lmax' = (1-margin) Lmax; According to the electromagnetic force maintenance criterion, the N2 group of noise data is eliminated and the N-N1-N2 group of DOE design matrix is ​​generated.

10. The method according to claim 1, characterized in that Selecting the optimal design parameter value of the electromagnetic differential locking device according to the locking time and the disengagement time includes: Using the multiple groups of simulation sample data, the main effect analysis of the design parameter set is performed on the locking time and the disengaging time to obtain the influencing factor ranking and the positive and negative correlation constraint information, wherein the influencing factor ranking is used to indicate the influence of each design parameter in the design parameter set on the locking time and the disengaging time, and the positive and negative correlation constraint information is used to indicate whether each design parameter in the design parameter set is positively correlated or negatively correlated with the locking time and the disengaging time; With the locking time ≤ the first minimum duration and the disengagement time ≤ the second minimum duration as optimization constraints, the right half-shaft gear bevel angle as the minimum value and the differential case bevel angle as the maximum value, the optimal parameter value of each design parameter in the design parameter set is selected.

11. An optimization device for design parameters of an electromagnetic differential locking device, characterized in that: include: A construction module is used to construct a mechanical model of an electromagnetic differential locking device, a ground model of the electromagnetic differential locking device, and a control model of the electromagnetic differential locking device, wherein the control model includes: a locking process control model, a locking holding control model, and a disengagement process control model; An integration module, used for integrating the mechanical model, the ground model, and the control model to obtain an electromechanical control coupling simulation model; an output module, configured to trigger the electromechanical control coupling simulation model by using a design parameter set to be optimized, and output multiple groups of simulation sample data, wherein each group of simulation sample data includes a locking time and a disengagement time of the electromagnetic differential locking device; A selection module is used to select an optimal design parameter value of the electromagnetic differential locking device according to the locking time and the disengagement time.

12. A storage medium, characterized in that: The storage medium stores a computer program, wherein the computer program is configured to execute the method according to any one of claims 1 to 10 when executed.

13. An electronic device comprising a memory and a processor, characterized in that: A computer program is stored in the memory, and the processor is configured to run the computer program to perform the method according to any one of claims 1 to 10.

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