Control method, device and equipment of dog clutch, medium and product

Abstract

The invention discloses a dog clutch control method, device and equipment, a medium and a product, and belongs to the field of vehicle clutches. The method comprises the steps that under the condition that separation of the dog clutch is started, a first motor is controlled to enter a torque mode, and separation force is applied to a driven part, so that a driving part and the driven part start to be separated; the separation state of the dog clutch is monitored; when the separation state is that separation is not completed, the separation force is kept unchanged, the target torque is superposed on the average torque of the driving part, and the target output torque of the first motor is obtained; and controlling the first motor to move according to the target output torque so as to separate the driving part from the driven part. Under the condition that separation of the dog tooth clutch is not completed, the target torque is applied to the average torque of the driving part, so that a gap can be generated between the driving part and the driven part, separation resistance between the driving part and the driven part is reduced, and separation of the driving part and the driven part of the dog tooth clutch is facilitated.

Description

Technical Field

[0001] The present application belongs to the technical field of vehicle clutches, and in particular, relates to a control method, device, equipment, medium and product of a dog clutch. Background Art

[0002] The dog clutch is a shift lock mechanism in the gearbox, named for its strong bite force. Compared with the traditional helical gear with synchronizer ring, the dog clutch has a higher shift speed and more direct power transmission characteristics. Therefore, more and more vehicles are using dog clutches.

[0003] When the dog clutch is disengaged, if the angular accelerations of the active part and the driven part are not equal, pressure will be generated between the contact surfaces of the active part and the driven part of the dog clutch. Due to the friction coefficient between the contact surfaces, a separation resistance will be generated at this time. If the separation force is less than the separation resistance, the dog clutch will be difficult to separate. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, equipment, medium and product for a dog clutch, which can solve the problem of difficult separation of the dog clutch.

[0005] In a first aspect, an embodiment of the present application provides a control method for a dog clutch, wherein the dog clutch comprises an active part and a driven part; a first motor is connected to the active part for controlling the rotation of the active part; a second motor is connected to the driven part for controlling the rotation of the driven part; the control method comprises:

[0006] In the case of starting the separation of the dog clutch, controlling the first motor to enter the torque mode and applying a separation force to the driven part so that the driving part and the driven part begin to separate;

[0007] Monitor the disengagement status of the dog clutch;

[0008] When the separation state is not completed, the separation force is maintained unchanged, and the target torque is superimposed on the average torque of the active part to obtain the target output torque of the first motor;

[0009] The first electric machine is controlled to move according to the target output torque so as to separate the driving part from the driven part.

[0010] In a second aspect, an embodiment of the present application provides a control device for a dog clutch, wherein the dog clutch comprises an active part and a driven part; a first motor is connected to the active part for controlling the rotation of the active part; a second motor is connected to the driven part for controlling the rotation of the driven part; the control device comprises:

[0011] A first control module is used to control the first motor to enter a torque mode and apply a separation force to the driven part to start separation of the active part and the driven part when the separation of the dog clutch is started;

[0012] A monitoring module, used to monitor the disengagement state of the dog clutch;

[0013] A superposition module, used for maintaining the separation force unchanged when the separation state is not completed, and superimposing the target torque on the average torque of the active part to obtain the target output torque of the first motor;

[0014] The second control module is used for controlling the movement of the first motor according to the target output torque to separate the active part from the driven part.

[0015] In a third aspect, an embodiment of the present application provides a control device for a dog clutch, the device comprising:

[0016] a processor and a memory storing computer program instructions;

[0017] When the processor executes the computer program instructions, the control method of the dog clutch as described in the first aspect is implemented.

[0018] In a fourth aspect, an embodiment of the present application provides a computer storage medium, wherein the computer readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the control method of the dog clutch as described in the first aspect is implemented.

[0019] In a fifth aspect, an embodiment of the present application provides a computer program product. When instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the control method of the dog clutch as described in the first aspect.

[0020] In an embodiment of the present application, first, when the dog clutch is started to separate, the first motor is controlled to enter a torque mode, and a separation force is applied to the driven part so that the active part and the driven part begin to separate. Then the separation state of the dog clutch is monitored. When the separation state is an incomplete separation, the separation force is maintained unchanged, and the average torque of the active part is obtained. The target torque is superimposed on the average torque to obtain the target output torque of the first motor. Finally, the first motor is controlled to move according to the target output torque to separate the active part from the driven part. In this way, when the dog clutch is not completely separated, by applying the target torque to the average torque of the active part, a gap can be generated between the active part and the driven part, reducing the separation resistance between the active part and the driven part, thereby facilitating the separation of the active part and the driven part of the dog separator. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 It is a structural schematic diagram of a dog clutch provided in an embodiment of the present application;

[0023] Figure 2 It is a schematic diagram of the transmission principle of a dog clutch provided in an embodiment of the present application;

[0024] Figure 3 It is a flow chart of a method for controlling a dog clutch provided in an embodiment of the present application;

[0025] Figure 4 It is a flowchart of a control method of a dog clutch provided in a specific embodiment of the present application;

[0026] Figure 5 is a schematic structural diagram of a control device for a dog clutch provided in an embodiment of the present application;

[0027] Figure 6 It is a structural schematic diagram of the control device of the dog clutch provided in the embodiment of the present application. DETAILED DESCRIPTION

[0028] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0029] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0030] The control method of the dog clutch provided in the embodiment of the present application is described in detail below through some embodiments and their application scenarios in combination with the accompanying drawings.

[0031] The dog clutch comprises an active part and a driven part; a first motor is connected to the active part for controlling the rotation of the active part; and a second motor is connected to the driven part for controlling the rotation of the driven part.

[0032] See also Figure 1 , Figure 1 A schematic diagram of the structure of a dog clutch provided in an embodiment of the present application. The dog clutch is an important component of the shift mechanism, responsible for transmitting power from the engine to the wheels, and achieving different speed changes through different gear combinations.

[0033] See also Figure 2 , Figure 2 A schematic diagram of the transmission principle of a dog clutch provided in an embodiment of the present application. Figure 2 As shown in the figure, the dog clutch consists of two parts: the active part (driving wheel) and the driven part (driven wheel). The driving wheel is equipped with dog teeth, that is, engaging teeth. The teeth of the active part and the driven part of the dog clutch are evenly distributed, and the width of the tooth is slightly smaller than the width of the tooth groove, with a difference of about 5%. There are protruding holes on the driven wheel corresponding to the dog teeth on the driving wheel, and the number of holes is usually the same as the number of dog teeth. Through axial movement, the dog teeth can be inserted or pulled out of the holes, thereby realizing the connection or separation of the gears.

[0034] See also Figure 3 , Figure 3 It is a flow chart of the control method of the dog clutch provided in the embodiment of the present application.

[0035] like Figure 3 As shown, the control method may include the following steps:

[0036] Step 301: When the dog clutch is started to be separated, the first motor is controlled to enter a torque mode, and a separation force is applied to the driven part, so that the active part and the driven part begin to separate.

[0037] In the embodiment of the present application, the separation of the dog clutch is the separation of the active part and the driven part of the dog clutch. In the case of vehicle shifting, parking, and deceleration, it is necessary to control the separation of the dog clutch so as to transfer power from one gear to another. The control device can start the separation of the dog clutch according to the separation instruction. In one example, when the vehicle needs to decelerate, the driver steps on the brake pedal, and after the control device receives the brake signal, it determines the separation instruction according to the brake signal and starts the separation of the dog clutch.

[0038] In the embodiment of the present application, when the dog clutch is started to be disengaged, the first motor is controlled to enter the torque mode. In the torque mode, the control device adjusts the current according to the set torque value, so as to achieve accurate torque output.

[0039] In the embodiment of the present application, before the separation of the dog clutch is started, the first motor and the second motor can be in speed mode or position mode, etc. The speed mode can be understood as controlling the motor movement according to the set speed. The position mode can be understood as controlling the motor movement according to the set position. When the separation of the dog clutch is started, the second motor still maintains the mode before the start.

[0040] In the embodiment of the present application, when the dog clutch is started to separate, a separation force can be applied to the driven part to start the separation of the active part and the driven part. The separation force refers to a force that overcomes friction, adhesion or any connection force to separate the active part and the driven part.

[0041] In the embodiments of the present application, Figure 2 As shown, the first motor is a P1 motor connected to the active part for controlling the active part to rotate; the second motor is a P3 motor connected to the driven part for controlling the driven part to rotate. During the process of starting the dog clutch to separate, the second motor is controlled to control the driven part to move to the right.

[0042] Step 302: Monitor the disengagement state of the dog clutch.

[0043] In the embodiment of the present application, the separation state of the dog clutch includes a completed separation state and an incomplete separation state. When the separation of the dog clutch is started, the separation state of the dog clutch can be monitored in real time. When the separation state of the dog clutch is monitored to be an incomplete separation state, subsequent steps can be performed, so that the incomplete separation can be processed in time to achieve smooth separation.

[0044] Step 303: When the separation state is incomplete separation, the separation force is maintained unchanged, and the target torque is superimposed on the average torque of the active part to obtain the target output torque of the first motor.

[0045] In the embodiment of the present application, when the dog clutch is in the uncompleted state of separation, the average torque of the active part needs to be obtained. The average torque of the active part can be understood as the average torque transmitted to the drive system when the dog clutch is separated.

[0046] In the embodiment of the present application, according to the rotational form of Newton's second law, the linear relationship between torque, moment of inertia and angular acceleration can be determined. The angular acceleration of the driven part and the moment of inertia of the active part can be first obtained. Then, the product of the angular acceleration of the driven part and the moment of inertia of the active part is determined as the average torque of the active part.

[0047] In the embodiment of the present application, the average torque of the active part can also be detected by a corresponding detection device.

[0048] In the embodiment of the present application, after obtaining the average torque of the active part, the target torque is first superimposed on the average torque of the active part, and then the obtained torque is used as the target output torque of the first motor. The target torque superimposed on the average torque of the active part can be a torque with a smooth and continuously changing waveform such as a sine torque and a cosine torque.

[0049] In an embodiment of the present application, the target torque applied to the average torque of the active part can be a sinusoidal torque. Sinusoidal torque can be understood as the torque generated by sinusoidal wave drive in an AC motor. Since the sinusoidal torque itself is periodic, this means that the applied torque fluctuates between positive and negative. At the moment when the torque is zero or close to zero, a gap may appear between the active part and the driven part to facilitate separation. In one example, the target torque can be a sinusoidal torque with an amplitude of 2Nm and a period of 0.3 seconds.

[0050] In the embodiment of the present application, the target torque can also be a cosine torque and a triangular wave, etc. When the target torque is applied to the average torque of the active part, the inertia difference between the active part and the driven part will cause a dynamic response delay. When the target torque is applied, the active part needs a certain time to reach the desired torque output, during which the driven part may not respond accordingly, forming a short gap to facilitate separation.

[0051] Step 304: Control the first motor to move according to the target output torque to separate the active part from the driven part.

[0052] In an embodiment of the present application, after obtaining the target output torque of the first motor, the first motor is controlled to operate according to the target output torque. On the one hand, due to inertial reaction, the inertia difference between the active part and the driven part will cause a dynamic response delay. When the target torque is applied, the active part takes a certain amount of time to achieve the desired torque output, during which the driven part may not have responded accordingly, resulting in a short gap. On the other hand, since the applied target torque itself is periodic, this means that the applied torque fluctuates between positive and negative. At the moment when the torque is zero or close to zero, a gap may appear between the active part and the driven part. During the movement, a gap is generated between the active part and the driven part, which facilitates the separation of the active part and the driven part of the dog tooth separator.

[0053] The control method of the dog clutch of the embodiment of the present application is, first, when the separation of the dog clutch is started, the first motor is controlled to enter the torque mode, and a separation force is applied to the driven part so that the active part and the driven part begin to separate. Then the separation state of the dog clutch is monitored. When the separation state is an incomplete separation, the separation force is maintained unchanged, and the average torque of the active part is obtained. The target torque is superimposed on the average torque to obtain the target output torque of the first motor. Finally, the first motor is controlled to move according to the target output torque to separate the active part from the driven part. In this way, when the dog clutch is not completely separated, by applying the target torque to the average torque of the active part, a gap can be generated between the active part and the driven part, reducing the separation resistance between the active part and the driven part, thereby facilitating the separation of the active part and the driven part of the dog separator.

[0054] In some embodiments, before superimposing the target torque on the average torque of the active part, the control method further comprises:

[0055] Obtain the angular acceleration of the driven part;

[0056] The product of the angular acceleration of the driven part and the moment of inertia of the active part is determined as the average torque of the active part.

[0057] Specifically, before superimposing the target torque on the average torque of the active part, the average torque of the active part needs to be obtained first. The average torque of the active part can be understood as the average torque transmitted to the drive system when the dog clutch is disengaged.

[0058] In an embodiment of the present application, the angular acceleration of the driven part and the moment of inertia of the active part can be first obtained. Then, the product of the angular acceleration of the driven part and the moment of inertia of the active part is determined as the average torque of the active part. In one example, the angular acceleration of the driven part can be determined by obtaining the ratio of the change in the running speed of the second motor within a preset time interval to the preset time interval. The moment of inertia of the active part can be calculated based on the mass and radius of the dog clutch.

[0059] In the embodiment of the present application, the average torque of the active part can also be detected by a corresponding detection device.

[0060] In this embodiment, by determining the average torque of the active part according to the angular acceleration of the driven part and the rotational inertia of the active part, the accuracy of torque determination can be improved, thereby improving the accuracy of controlling the dog teeth separator.

[0061] In some embodiments, monitoring the disengagement state of the dog clutch includes:

[0062] Read the position signal of the driven part;

[0063] Determine the separation speed of the dog clutch according to the read position signal;

[0064] Compare the difference between the position indicated by the most recently read position signal and the preset target position with the preset position threshold value;

[0065] When the difference is less than the preset position threshold, the newly determined separation speed is compared with the preset speed threshold;

[0066] In the case where the most recently determined separation speed is less than the speed threshold value, the separation state is determined to be incomplete separation.

[0067] Specifically, Figure 2 As shown, the driven part of the dog clutch is provided with a position sensor for detecting the position of the driven part during the separation process of the dog clutch, and the detection frequency can be set according to the actual situation. When the dog clutch is separated, the driven part moves axially to the right, and the separation speed of the dog clutch can be calculated by reading multiple position signals of the position sensor in any period.

[0068] In the specific implementation, the current position of the driven part is first determined according to the latest position signal read, and the latest position signal read is the last position signal read, and each position signal indicates a corresponding position, that is, the current position. Then, the difference between the current position and the preset target position is compared with the preset position threshold value. When the difference is less than the preset position threshold value, the latest determined separation speed is further compared with the preset speed threshold value.

[0069] In the embodiment of the present application, the speed threshold value can be understood as a preset threshold value of the separation speed, which can be set according to the actual situation. When the latest determined separation speed is less than the speed threshold value, it means that the separation force is less than the separation resistance, and the separation state of the dog clutch can be determined as incomplete separation. In this way, the dog clutch can be judged whether it has completed separation during the separation process based on the position signal and the separation speed, which is more accurate and avoids the occurrence of misjudgment.

[0070] In some embodiments, after comparing the difference between the most recently read position signal and the preset target position with the preset position threshold value, the control method further includes:

[0071] When the difference is greater than or equal to the position threshold, the separation state is determined as separation completion.

[0072] Specifically, the preset position threshold value is the threshold value of the difference between the target position and the actual position of the driven part. When the difference between the target position and the actual position of the driven part of the dog clutch is greater than the error threshold, that is, when the difference is greater than the preset position threshold value, it indicates that the dog clutch has completed separation. At this time, the separation state of the dog clutch is the completed separation state.

[0073] In this embodiment, by determining in real time whether the separation is completed based on the magnitude relationship between the difference value and the position threshold, the accuracy of the control over the separation of the dog clutch can be improved.

[0074] In some embodiments, after comparing the difference between the most recently read position signal and the preset target position with the preset position threshold value, the control method further includes:

[0075] When the most recently determined separation speed is greater than or equal to the speed threshold value, the separation force is maintained unchanged.

[0076] In the embodiment of the present application, the speed threshold value can be understood as a preset threshold value of the separation speed, which can be set according to the actual situation. When the latest determined separation speed is less than the speed threshold value, the separation state of the dog clutch is determined to be incomplete separation. When the separation is not completed, the separation force is maintained unchanged, that is, the separation force continues to be applied to the dog separator to control the separation of the dog separator. In this way, the dog clutch is judged whether the separation is completed during the separation process based on the position signal and the separation speed, which is more accurate and avoids the occurrence of misjudgment.

[0077] It should be noted that the various optional implementation modes introduced in the embodiments of the present application can be implemented in combination with each other or separately if they do not conflict with each other, and the embodiments of the present application are not limited to this.

[0078] For ease of understanding, a specific embodiment is used as an example for illustration:

[0079] See also Figure 4 , Figure 4 A schematic flow chart of a method for controlling a dog clutch provided in a specific embodiment of the present application. The method for controlling the dog clutch may include the following steps:

[0080] S1: read the speed of P3 motor and the position signal of the driven part of the dog clutch;

[0081] S2: Determine whether the dog clutch separation signal is received, if so, enter S3, if not, end the control;

[0082] S3: start to disengage the dog clutch;

[0083] S4: Determine whether the position signal of the target position minus the position signal of the driven part of the dog clutch is less than the position threshold. If so, proceed to S5; if not, proceed to S11;

[0084] S5: Determine whether the clutch separation speed is less than the speed threshold. If so, proceed to S6; if not, return to S3;

[0085] S6: The separation force is less than the separation resistance;

[0086] S7: Keep the clutch separation force unchanged;

[0087] S8: Calculate the angular acceleration of the driven part of the dog clutch based on the P3 speed;

[0088] S9: Calculate the average torque of the active part = angular acceleration of the driven part * moment of inertia of the active part;

[0089] S10: Calculate the output torque of the P1 motor = the average torque of the active part + the sinusoidal torque, where the amplitude of the sinusoidal torque is 2 Nm and the period is 0.3 seconds;

[0090] S11: The clutch is disengaged.

[0091] In this specific embodiment, the specific implementation can refer to the above description and will not be repeated here.

[0092] Based on the control method of the dog clutch provided in the above embodiment, the present application also provides a specific implementation of the control device of the dog clutch. Please refer to the following embodiment.

[0093] See also Figure 5 The control device of the dog clutch provided in the embodiment of the present application may include:

[0094] A first control module 510 is used to control the first motor to enter a torque mode and apply a separation force to the driven part to start separation of the active part and the driven part when the separation of the dog clutch is started;

[0095] A monitoring module 520, for monitoring the disengagement state of the dog clutch;

[0096] A superposition module 530 is used to maintain the separation force unchanged when the separation state is not completed, and to superimpose the target torque on the average torque of the active part to obtain the target output torque of the first motor;

[0097] The second control module 540 is used to control the movement of the first motor according to the target output torque to separate the active part from the driven part.

[0098] The control device of the dog clutch provided in the embodiment of the present application can achieve Figure 1 The various processes implemented by the control device of the dog clutch in the method embodiment will not be described again here to avoid repetition.

[0099] Figure 6 A schematic diagram of the hardware structure of a dog clutch control device provided in an embodiment of the present application is shown.

[0100] The control device of the dog clutch may include a processor 601 and a memory 602 storing computer program instructions.

[0101] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0102] The memory 602 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 602 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 602 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 602 is a non-volatile solid-state memory.

[0103] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present disclosure.

[0104] The processor 601 reads and executes the computer program instructions stored in the memory 602 to implement any one of the dog clutch control methods in the above embodiments.

[0105] In one example, the control device of the dog clutch may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0106] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0107] Bus 610 includes hardware, software or both, coupling the components of the control device of the dog clutch to each other. For example and not limitation, the bus may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industrial standard architecture (EISA) bus, a front-end bus (FSB), a hypertransport (HT) interconnect, an industrial standard architecture (ISA) bus, an infinite bandwidth interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. Where appropriate, bus 610 may include one or more buses. Although the present application embodiment describes and illustrates a specific bus, the present application considers any suitable bus or interconnect.

[0108] In addition, in combination with the control method of the dog clutch in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the control methods of the dog clutch in the above embodiment is implemented.

[0109] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0110] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0111] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0112] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0113] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for controlling a dog clutch, characterized in that: The dog clutch comprises an active part and a driven part; a first motor is connected to the active part for controlling the rotation of the active part; A second motor is connected to the driven part and is used to control the rotation of the driven part; The control method comprises: When the dog clutch is started to be separated, the first motor is controlled to enter a torque mode and a separation force is applied to the driven part so that the active part and the driven part begin to separate; monitoring the disengagement state of the dog clutch; When the separation state is incomplete separation, the separation force is maintained unchanged, and a target torque is superimposed on the average torque of the active part to obtain a target output torque of the first motor; The first motor is controlled to move according to the target output torque so as to separate the driving part from the driven part.

2. The control method according to claim 1, characterized in that: Before superimposing the target torque on the average torque of the active part, the control method further includes: acquiring the angular acceleration of the driven part; The product of the angular acceleration of the driven part and the moment of inertia of the active part is determined as the average torque of the active part.

3. The control method according to claim 1, characterized in that: The monitoring of the disengagement state of the dog clutch comprises: reading a position signal of the driven part; Determining the disengagement speed of the dog clutch according to the read position signal; Compare the difference between the position indicated by the position signal read most recently and the preset target position with the preset position threshold value; When the difference is less than a preset position threshold, comparing the latest determined separation speed with a preset speed threshold; When the most recently determined separation speed is less than the speed threshold value, the separation state is determined to be incomplete separation.

4. The control method according to claim 3, characterized in that: After comparing the difference between the most recently read position signal and the preset target position with the preset position threshold value, the control method further includes: When the difference is greater than or equal to the position threshold, the separation state is determined as separation completion.

5. The control method according to claim 3, characterized in that: After comparing the difference between the most recently read position signal and the preset target position with the preset position threshold value, the control method further includes: When the most recently determined separation speed is greater than or equal to the speed threshold, the separation force is maintained unchanged.

6. The control method according to claim 1, characterized in that: The target torque is a sinusoidal torque.

7. A control device for a dog clutch, characterized in that: The dog clutch comprises an active part and a driven part; a first motor is connected to the active part for controlling the rotation of the active part; A second motor is connected to the driven part and is used to control the rotation of the driven part; The control device comprises: A first control module, configured to control the first motor to enter a torque mode and apply a separation force to the driven part to start separation of the active part and the driven part when the separation of the dog clutch is started; A monitoring module, used for monitoring the disengagement state of the dog clutch; a superposition module, configured to maintain the separation force unchanged when the separation state is incomplete separation, and to superimpose a target torque on an average torque of the active part to obtain a target output torque of the first motor; The second control module is used for controlling the movement of the first motor according to the target output torque to separate the active part from the driven part.

8. A dog clutch control device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the control method of the dog clutch as described in any one of claims 1-6 is implemented.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the control method of the dog clutch according to any one of claims 1 to 6 is implemented.

10. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the control method of the dog clutch as described in any one of claims 1 to 6.

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