Dog clutch control method, device, equipment, medium and product

Abstract

The application discloses a dog-tooth clutch control method, device, equipment, medium and product, and belongs to the field of vehicle clutches. The method comprises the following steps: in the case of starting the separation of the dog-tooth clutch, the first motor is controlled to enter the torque mode, a separation force is applied to the driven part to make the driving part and the driven part start to separate; the separation state of the dog-tooth clutch is monitored; when the separation state is incomplete separation, the separation force is kept unchanged, and a target torque is superimposed on the average torque of the driving part to obtain a target output torque of the first motor; and the first motor is controlled to move according to the target output torque to make the driving part and the driven part separate. In the case that the dog-tooth clutch is in incomplete separation, the target torque is applied to the average torque of the driving part, so that a gap is generated between the driving part and the driven part, the separation resistance between the driving part and the driven part is reduced, and the driving part and the driven part of the dog-tooth separator are separated.

Description

Technical Field

[0001] This application belongs to the field of vehicle clutch technology, and particularly relates to a control method, device, equipment, medium and product for a dog clutch. Background Technology

[0002] A dog clutch is a shift lock-up mechanism within a transmission, named for its strong engagement force. Compared to traditional helical gears with synchronizer ring gears, dog clutches offer faster shifting speeds and more direct power transmission. Therefore, an increasing number of vehicles are now using dog clutches.

[0003] When a dog clutch disengages, if the angular accelerations of the driving and driven parts are not equal, pressure will be generated between the contact surfaces of the driving and driven parts of the dog clutch. Due to the friction coefficient between the contact surfaces, a separation resistance will be generated. If the separation force is less than the separation resistance, the dog clutch will be difficult to disengage. Summary of the Invention

[0004] This application provides a control method, device, equipment, medium, and product for a dog clutch, which can solve the problem of difficult disengagement of a dog clutch.

[0005] In a first aspect, embodiments of this application provide a control method for a dog clutch, the dog clutch including a driving part and a driven part; a first motor connected to the driving part for controlling the rotation of the driving part; a second motor connected to the driven part for controlling the rotation of the driven part; the control method includes:

[0006] When the dog clutch is engaged and disengaged, the first motor is controlled to enter torque mode and a separation force is applied 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 incomplete, the separation force is kept constant, 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 motor is controlled to move according to the target output torque so that the driving part and the driven part are separated.

[0010] Secondly, embodiments of this application provide a control device for a dog clutch, the dog clutch including a driving part and a driven part; a first motor connected to the driving part for controlling the rotation of the driving part; a second motor connected to the driven part for controlling the rotation of the driven part; the control device includes:

[0011] The first control module is used to control the first motor to enter torque mode and apply a separation force to the driven part when the dog clutch is disengaged, so that the driving part and the driven part begin to separate.

[0012] The monitoring module is used to monitor the disengagement status of the dog clutch;

[0013] The superposition module is used to maintain the separation force unchanged when the separation state is incomplete, and to superimpose 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 to control the movement of the first motor according to the target output torque, so as to separate the active part from the driven part.

[0015] Thirdly, embodiments of this application provide a control device for a dog clutch, the device comprising:

[0016] Processor and memory storing computer program instructions;

[0017] When the processor executes the computer program instructions, it implements the control method for the dog clutch as described in the first aspect.

[0018] Fourthly, embodiments of this application provide a computer storage medium storing computer program instructions, which, when executed by a processor, implement the control method for the dog clutch as described in the first aspect.

[0019] Fifthly, embodiments of this application provide a computer program product in which instructions, when executed by a processor of an electronic device, cause the electronic device to perform the control method for the dog clutch as described in the first aspect.

[0020] In this embodiment, firstly, when the dog clutch is disengaged, the first motor is controlled to enter torque mode, applying a separation force to the driven part to initiate the separation of the driving and driven parts. The disengagement status of the dog clutch is then monitored. If the disengagement is incomplete, the separation force is maintained constant, and the average torque of the driving part is obtained. A 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 driving and driven parts. Thus, even when the dog clutch is not fully disengaged, by applying the target torque to the average torque of the driving part, a gap can be created between the driving and driven parts, reducing the separation resistance between them and facilitating the separation of the driving and driven parts of the dog clutch. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of a dog-tooth clutch provided in an embodiment of this application;

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

[0024] Figure 3 This is a schematic flowchart of the control method for the dog clutch provided in an embodiment of this application;

[0025] Figure 4 This is a schematic flowchart of a control method for a dog clutch provided in a specific embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the control device for the dog clutch provided in the embodiments of this application;

[0027] Figure 6 This is a schematic diagram of the control device for the dog clutch provided in the embodiments of this application. Detailed Implementation

[0028] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0030] The control method of the dog clutch provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0031] The dog clutch includes a driving part and a driven part; a first motor is connected to the driving part and is used to control the rotation of the driving part; a second motor is connected to the driven part and is used to control the rotation of the driven part.

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

[0033] See Figure 2 , Figure 2 This is a schematic diagram illustrating the transmission principle of a dog-tooth clutch, provided as an embodiment of this application. Figure 2 As shown, a dog clutch consists of two parts: a driving part (driving wheel) and a driven part (driven wheel). The driving wheel is equipped with dog teeth, which are the engaging teeth. The teeth in both the driving and driven parts of the dog clutch are evenly distributed, with the width of the teeth slightly smaller than the width of the tooth grooves, differing by about 5%. The driven wheel has protruding holes corresponding to the dog teeth on the driving wheel, and the number of holes usually matches the number of dog teeth. By axial movement, the dog teeth can be inserted into or pulled out of the holes, thereby achieving gear engagement or disengagement.

[0034] See Figure 3 , Figure 3 This is a flowchart of the control method for the dog clutch provided in the embodiments of this application.

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

[0036] Step 301: With the dog clutch disengaged, control the first motor to enter torque mode and apply a separation force to the driven part so that the driving part and the driven part begin to separate.

[0037] In this embodiment, the disengagement of the dog clutch refers to the separation of the driving and driven parts of the dog clutch. During vehicle shifting, stopping, and deceleration, it is necessary to control the disengagement of the dog clutch to transfer power from one gear to another. The control device can initiate the disengagement of the dog clutch based on a disengagement command. In one example, when the vehicle needs to decelerate, the driver presses the brake pedal. After receiving the brake signal, the control device determines the disengagement command based on the brake signal and initiates the disengagement of the dog clutch.

[0038] In this embodiment, when the dog clutch is disengaged, the first motor is controlled to enter torque mode. In torque mode, the control device adjusts the current according to the set torque value, thereby achieving precise torque output.

[0039] In this embodiment, before disengaging the dog clutch, both the first and second motors can be in speed mode or position mode, etc. Speed ​​mode can be understood as controlling the motor movement according to a set speed. Position mode can be understood as controlling the motor movement according to a set position. When disengaging the dog clutch, the second motor remains in the mode it was in before disengaging.

[0040] In this embodiment of the application, when the dog clutch is disengaged, a separation force can be applied to the driven part to initiate the separation of the driving and driven parts. The separation force refers to the force that overcomes friction, adhesion, or any connecting force to separate the driving and driven parts.

[0041] In the embodiments of this application, such as Figure 2 As shown, the first motor is motor P1, connected to the driving part, and used to control the rotation of the driving part; the second motor is motor P3, connected to the driven part, and used to control the rotation of the driven part. During the disengagement of the dog clutch, the second motor controls the driven part to move to the right.

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

[0043] In this embodiment, the disengagement state of the dog clutch includes a completed disengagement state and an incomplete disengagement state. When initiating disengagement of the dog clutch, the disengagement state can be monitored in real time. If the disengagement state is detected as incomplete, subsequent steps can be executed. In this way, incomplete disengagement can be addressed promptly to achieve successful disengagement.

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

[0045] In this embodiment, when the dog clutch is in an incompletely disengaged state, it is also necessary to obtain the average torque of the active component. The average torque of the active component can be understood as the average torque transmitted to the drive system when the dog clutch is disengaged.

[0046] In this embodiment, based on the rotational form of Newton's second law, the linear relationship between torque, moment of inertia, and angular acceleration can be determined. First, the angular acceleration of the driven part and the moment of inertia of the driving part can be obtained. Then, the product of the angular acceleration of the driven part and the moment of inertia of the driving part is determined as the average torque of the driving part.

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

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

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

[0050] In this embodiment, the target torque can also be a cosine torque or a triangular wave, etc. By applying the target torque to the average torque of the active part, the inertial difference between the active and driven parts will cause a dynamic response delay. When the target torque is applied, the active part needs a certain amount of time to reach the desired torque output. During this period, the driven part may not have responded accordingly, forming a brief gap that facilitates separation.

[0051] Step 304: Control the movement of the first motor according to the target output torque so that the active part and the driven part are separated.

[0052] In this embodiment, 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 response, the inertial difference between the active and driven parts leads to a dynamic response delay. When the target torque is applied, the active part needs a certain amount of time to reach the desired torque output, during which time the driven part may not have responded accordingly, forming a brief gap. On the other hand, since the applied target torque itself is periodic, this means that the applied torque fluctuates between positive and negative values. At the moment when the torque is zero or close to zero, a gap may appear between the active and driven parts. During the movement, the gap between the active and driven parts facilitates the separation of the active and driven parts of the dog-tooth separator.

[0053] The control method for the dog clutch in this embodiment firstly involves controlling a first motor to enter torque mode when the dog clutch is initiating disengagement, applying a separation force to the driven part to initiate the separation of the driving and driven parts. The disengagement state of the dog clutch is then monitored. If the disengagement is incomplete, the separation force is maintained constant, and the average torque of the driving part is obtained. A target torque is then added to 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 driving and driven parts. In this way, even when the dog clutch is not fully disengaged, applying the target torque to the average torque of the driving part creates a gap between the driving and driven parts, reducing the separation resistance and facilitating the separation of the driving and driven parts of the dog clutch.

[0054] In some implementations, the control method further includes, before superimposing the target torque onto the average torque of the active component:

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

[0056] The average torque of the driving part is determined by multiplying the angular acceleration of the driven part by the rotational inertia of the driving part.

[0057] Specifically, before adding the target torque to the average torque of the active component, it is necessary to first obtain the average torque of the active component. The average torque of the active component can be understood as the average torque transmitted to the drive system when the dog clutch disengages.

[0058] In this embodiment, the angular acceleration of the driven part and the moment of inertia of the driving part can be obtained first. The average torque of the driving part is then determined by multiplying the angular acceleration of the driven part and the moment of inertia of the driving part. In one example, the angular acceleration of the driven part can be determined by obtaining the ratio of the change in the operating speed of the second motor within a preset time interval to the preset time interval. The moment of inertia of the driving part can be calculated based on the mass and radius of the dog clutch.

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

[0060] In this embodiment, by determining the average torque of the active part based on the angular acceleration of the driven part and the moment of inertia of the active part, the accuracy of torque determination can be improved, thereby improving the accuracy of control of the dog-tooth separator.

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

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

[0063] Determine the disengagement speed of the dog clutch based on the read position signal;

[0064] The difference between the position indicated by the latest read position signal and the preset target position is compared with a preset position threshold value;

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

[0066] If the newly determined separation speed is less than the speed threshold, the separation status is determined to be incomplete.

[0067] Specifically, such as Figure 2 As shown, the driven part of the dog clutch is equipped with a position sensor to detect the position of the driven part during the disengagement process of the dog clutch. The detection frequency can be set according to actual conditions. When the dog clutch disengages, the driven part moves axially to the right. By reading multiple position signals from the position sensor within any cycle, the disengagement speed of the dog clutch can be calculated.

[0068] In practical implementation, the current position of the driven part is first determined based on the latest read position signal, which is the last read position signal. 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 a preset position threshold. If the difference is less than the preset position threshold, the latest determined separation speed is further compared with a preset speed threshold.

[0069] In this embodiment, the speed threshold can be understood as a preset threshold for the separation speed, which can be set according to actual conditions. If the newly determined separation speed is less than the speed threshold, it indicates that the separation force is less than the separation resistance, and the dog clutch can be determined to be in a state of incomplete separation. Thus, by comprehensively judging whether the dog clutch has completed separation during the separation process based on the position signal and the separation speed, the accuracy is higher, and misjudgments are avoided.

[0070] In some implementations, after comparing the difference between the latest read position signal and a preset target position with a preset position threshold, the control method further includes:

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

[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 means that the dog clutch has completed disengagement. At this time, the disengagement state of the dog clutch is the completed disengagement state.

[0073] In this embodiment, determining whether separation is complete by judging the relationship between the difference and the position threshold in real time can improve the accuracy of controlling the disengagement of the dog clutch.

[0074] In some implementations, after comparing the difference between the latest read position signal and a preset target position with a preset position threshold, the control method further includes:

[0075] If the newly determined separation speed is greater than or equal to the speed threshold, the separation force is kept constant.

[0076] In this embodiment, the speed threshold can be understood as a preset threshold for the separation speed, which can be set according to actual conditions. If the newly determined separation speed is less than the speed threshold, the separation state of the dog clutch is determined to be incomplete. In the case of incomplete separation, the separation force is maintained unchanged, that is, the separation force continues to be applied to the dog clutch to control its separation. Thus, by comprehensively judging whether the dog clutch has completed separation during the separation process based on the position signal and the separation speed, the accuracy is higher, and misjudgment is avoided.

[0077] It should be noted that the various optional implementation methods described in the embodiments of this application can be combined with each other or implemented individually without conflict, and the embodiments of this application do not limit this.

[0078] For ease of understanding, a specific embodiment will be used as an example:

[0079] See Figure 4 , Figure 4 This is a flowchart illustrating a control method for a dog clutch according to a specific embodiment of this application. The control method for 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 a signal to disengage the dog clutch has been received. If yes, proceed to S3; otherwise, end the control.

[0082] S3: Begin disengaging the dog clutch;

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

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

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

[0086] S7: Keep the force disengaging the clutch constant;

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

[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 motor P1 = average torque of the active part + sinusoidal torque, where the amplitude of the sinusoidal torque is 2Nm and the period is 0.3 seconds;

[0090] S11: The clutch has disengaged.

[0091] In this specific embodiment, the specific implementation can be found in the foregoing description, and will not be repeated here.

[0092] Based on the control method for the dog clutch provided in the above embodiments, this application also provides specific implementation methods for the control device of the dog clutch. Please refer to the following embodiments.

[0093] See Figure 5 The control device for the dog clutch provided in this application embodiment may include:

[0094] The first control module 510 is used to control the first motor to enter torque mode and apply a separation force to the driven part when the dog clutch is disengaged, so that the driving part and the driven part begin to separate.

[0095] Monitoring module 520 is used to monitor the disengagement status of the dog clutch;

[0096] The superposition module 530 is used to maintain the separation force unchanged when the separation state is incomplete, 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, so as to separate the active part from the driven part.

[0098] The control device for the dog clutch provided in this application embodiment 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 the control device for the dog clutch provided in an embodiment of this application is shown.

[0100] The control device for 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), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0102] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

[0103] Memory may include read-only memory (ROM), random access memory (RAM), disk storage media devices, optical storage media devices, flash memory devices, and electrical, optical, or other physical / tangible memory storage devices. Therefore, typically, memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) 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 this disclosure.

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

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

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

[0107] Bus 610 includes hardware, software, or both, that couples components of the control device for the dog clutch together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry 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 Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0108] Furthermore, in conjunction with the control method of the dog clutch in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the dog clutch control methods in the above embodiments.

[0109] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0110] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on 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, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0111] It should also be noted that the exemplary embodiments mentioned in this application describe methods or systems based on a series of steps or apparatus. 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 embodiments, or in a different order, or several steps can be performed simultaneously.

[0112] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. 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 is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0113] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A control method for a dog-tooth clutch, characterized in that, The dog clutch includes a driving part and a driven part; a first motor is connected to the driving part and is used to control the rotation of the driving part; The second motor is connected to the driven part and is used to control the rotation of the driven part; The control method includes: When the dog clutch is disengaged, the first motor is controlled to enter torque mode and a separation force is applied to the driven part so that the driving part and the driven part begin to separate. Monitor the disengagement state of the dog clutch; When the separation state is incomplete, the separation force is kept constant, and the target torque is superimposed on the average torque of the active part to obtain the target output torque of the first motor; The first motor is controlled to move according to the target output torque, so that the driving part and the driven part are separated. The monitoring of the disengagement state of the dog clutch includes: Read the position signal of the driven part; Based on the read position signal, determine the disengagement speed of the dog clutch; The difference between the position indicated by the latest read position signal and the preset target position is compared with a preset position threshold value; If the difference is less than a preset position threshold, the newly determined separation speed is compared with a preset speed threshold. If the newly determined separation speed is less than the speed threshold, the separation state is determined to be incomplete.

2. The control method according to claim 1, characterized in that, Before adding the target torque to the average torque of the active component, the control method further includes: Obtain the angular acceleration of the driven part; The average torque of the active part is determined by multiplying the angular acceleration of the driven part by the moment of inertia of the active part.

3. The control method according to claim 1, characterized in that, After comparing the difference between the latest read position signal and the preset target position with a preset position threshold, the control method further includes: If the difference is greater than or equal to the position threshold, the separation state is determined to be a complete separation.

4. The control method according to claim 1, characterized in that, After comparing the difference between the latest read position signal and the preset target position with a preset position threshold, the control method further includes: If the newly determined separation speed is greater than or equal to the speed threshold, the separation force is kept constant.

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

6. A control device for a dog-tooth clutch, characterized in that, The dog clutch includes a driving part and a driven part; a first motor is connected to the driving part and is used to control the rotation of the driving part; The second motor is connected to the driven part and is used to control the rotation of the driven part; The control device includes: The first control module is used to control the first motor to enter torque mode and apply a separation force to the driven part when the dog clutch is disengaged, so that the driving part and the driven part begin to separate. A monitoring module is used to monitor the disengagement state of the dog clutch; The superposition module is used to maintain the separation force unchanged when the separation state is incomplete, and to superimpose the target torque on the average torque of the active part to obtain the target output torque of the first motor; The second control module is used to control the movement of the first motor according to the target output torque, so as to separate the active part from the driven part; The monitoring of the disengagement state of the dog clutch includes: Read the position signal of the driven part; Based on the read position signal, determine the disengagement speed of the dog clutch; The difference between the position indicated by the latest read position signal and the preset target position is compared with a preset position threshold value; If the difference is less than a preset position threshold, the newly determined separation speed is compared with a preset speed threshold. If the newly determined separation speed is less than the speed threshold, the separation state is determined to be incomplete.

7. A control device for a dog-tooth clutch, characterized in that, The device includes: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, it implements the control method of the dog clutch as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the control method for the dog clutch as described in any one of claims 1-5.

9. A computer program product, characterized in that, When the instructions in the computer program product are executed by the processor of the electronic device, the electronic device causes the electronic device to perform the control method of the dog clutch as described in any one of claims 1-5.

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