Connector control method and device based on prediction algorithm

Abstract

The embodiment of the present specification provides a connector control method and device based on a prediction algorithm, wherein the connector control method based on the prediction algorithm includes: sending a speed request to the motor, and determining a first synchronizer state based on the speed request; sending a target speed control instruction to the motor based on the synchronizer state, and determining power information based on the target speed control instruction; determining a second synchronizer state based on at least two power information; and controlling the connector based on the second synchronizer state. By sending a speed request to the motor, determining a first synchronizer state based on the speed request; sending a target speed control instruction to the motor based on the synchronizer state, and determining power information based on the target speed control instruction; determining a second synchronizer state based on at least two power information; and controlling the connector based on the second synchronizer state, it is possible to confirm whether the synchronizer is coupled through a prediction algorithm after the sensor is damaged or fails, thereby ensuring that the system can continue to work normally.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of automobile technology, and in particular to a connector control method based on a prediction algorithm. Background Art

[0002] In existing new energy vehicles, power disconnect devices are used in many parts, such as synchronizers of transmissions and power take-offs on new energy commercial vehicles. This device is mainly used to disconnect or transmit power. In state A, the synchronizer in the connector does not connect the gears on the left and right sides, and the power will not be transmitted from the motor on the left to the load on the right; in state B, the synchronizer connects the gears on the left and right sides, and the power is transmitted from the left gear to the synchronizer, and then from the synchronizer to the right gear, thereby achieving the purpose of transmitting power from the motor to the load on the right. The synchronizer is driven by a controller ECU and can move left or right. Generally, in order to confirm that the synchronizer has completed the coupling of the power on the left and right sides, two methods will be adopted: the first is to install a position sensor for measuring the position of the synchronizer on the housing of the connector, and the position signal of the sensor is transmitted to the ECU. The ECU detects the signal value to determine that the synchronizer has reached the position of coupling the gears on both sides of the connector; the second is to install a speed sensor on the rotating shaft on the load side, and the speed signal of the sensor is transmitted to the ECU. After the ECU detects that the speed value of the load shaft is equal to the motor speed, it confirms that the synchronizer has completed the coupling on the left and right sides.

[0003] Most of the existing technologies use one of the above methods, and some solutions will install both the position sensor and the speed sensor. If only one sensor is installed, when the sensor fails, the ECU cannot confirm whether the synchronizer has been coupled to the motor and the load. If two sensors are installed, on the one hand, the cost of the product is high, and on the other hand, if both sensors fail, the ECU still cannot confirm whether the synchronizer has been coupled to the motor and the load.

[0004] Generally speaking, if the ECU cannot confirm whether the connector is working properly, the motor cannot transmit power to the load side to prevent abnormal situations from occurring: for example, the ECU issues a coupling command, but the actual synchronizer position does not reach the set position, resulting in the gears on both sides of the connector not being coupled. After the motor sends power, the motor rotor idles, but there is no power input on the load side. Another situation is that the ECU issues a synchronizer disconnection command, but the synchronizer does not reach the set disconnection position and is still in a coupled state. Then when the motor works again, the load part will have abnormal power input, which will lead to unexpected consequences.

[0005] Therefore, a better solution is urgently needed. Summary of the invention

[0006] In view of this, the embodiments of this specification provide a connector control method based on a prediction algorithm. One or more embodiments of this specification also relate to a connector control device based on a prediction algorithm, a computing device, a computer-readable storage medium, and a computer program to solve the technical defects existing in the prior art.

[0007] According to a first aspect of an embodiment of this specification, a connector control method based on a prediction algorithm is provided, comprising:

[0008] sending a speed request to the motor and determining a first synchronizer state based on the speed request;

[0009] sending a target speed control command to the motor based on the synchronizer state, and determining power information based on the target speed control command;

[0010] determining a second synchronizer state based on at least two power information;

[0011] The connector is controlled based on the second synchronizer state.

[0012] In a possible implementation, sending a speed request to the motor and determining a first synchronizer state based on the speed request includes:

[0013] Sending a speed request to the motor to determine the rotation state of the load-end rotating shaft of the motor;

[0014] A first synchronizer state is determined based on the rotational state.

[0015] In a possible implementation, sending a target speed control instruction to the motor based on the synchronizer state includes:

[0016] When the synchronizer is in the disengaged state, a target speed control command is sent to the motor.

[0017] In a possible implementation, determining the power information based on the target speed control instruction includes:

[0018] Determine a first cycle threshold value and determine an initial cycle number;

[0019] Determine torque information and speed information based on the target speed control command, and increase the initial cycle number by 1;

[0020] Determine the current output power based on the torque information and the speed information;

[0021] Continue to determine the torque information and the speed information based on the target speed control instruction until the initial cycle number is equal to the first cycle threshold, and determine at least two current output powers;

[0022] Power information is determined based on at least two current output powers.

[0023] In a possible implementation, determining the second synchronizer state based on at least two pieces of power information includes:

[0024] Repeating determining the power information based on the target speed control instruction based on the increasing speed and the second cycle threshold value to obtain at least two power information;

[0025] A second synchronizer state is determined based on at least two pieces of power information.

[0026] In a possible implementation, determining the second synchronizer state based on at least two pieces of power information includes:

[0027] Get the current speed and current torque;

[0028] Determine current power information based on current speed and current torque;

[0029] Determine comparison data based on current power information and at least two power information; wherein the comparison data includes average power data and standard deviation power data;

[0030] A second synchronizer state is determined based on the current power information and the comparison data.

[0031] In a possible implementation, determining the second synchronizer state based on the current power information and the comparison data includes:

[0032] Determine target average power data and target standard deviation power data based on the comparison data;

[0033] determining state determination data based on target average power data, standard deviation coefficient, and target standard deviation power data;

[0034] A second synchronizer state is determined based on the current power information and the state determination data.

[0035] According to a second aspect of an embodiment of this specification, there is provided a connector control device based on a prediction algorithm, comprising:

[0036] a first state determination module configured to send a speed request to the motor and determine a first synchronizer state based on the speed request;

[0037] a power information determination module configured to send a target speed control instruction to the motor based on the synchronizer state, and determine power information based on the target speed control instruction;

[0038] A second state determination module, configured to determine a second synchronizer state based on at least two power information;

[0039] The device control module is configured to control the connector based on the second synchronizer state.

[0040] According to a third aspect of an embodiment of this specification, a computing device is provided, including:

[0041] Memory and processor;

[0042] The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the connector control method based on the prediction algorithm are implemented.

[0043] According to a fourth aspect of the embodiments of this specification, a computer-readable storage medium is provided, which stores computer-executable instructions, and when the instructions are executed by a processor, the steps of the connector control method based on the prediction algorithm are implemented.

[0044] According to a fifth aspect of the embodiments of this specification, a computer program is provided, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the above-mentioned connector control method based on the prediction algorithm.

[0045] The embodiment of the present specification provides a connector control method and device based on a prediction algorithm, wherein the connector control method based on the prediction algorithm includes: sending a speed request to the motor, and determining a first synchronizer state based on the speed request; sending a target speed control instruction to the motor based on the synchronizer state, and determining power information based on the target speed control instruction; determining a second synchronizer state based on at least two power information; and controlling the connector based on the second synchronizer state. By sending a speed request to the motor, determining a first synchronizer state based on the speed request; sending a target speed control instruction to the motor based on the synchronizer state, and determining power information based on the target speed control instruction; determining a second synchronizer state based on at least two power information; and controlling the connector based on the second synchronizer state, it is possible to confirm whether the synchronizer is coupled through a prediction algorithm after the sensor is damaged or fails, thereby ensuring that the system can continue to work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a flow chart of a connector control method based on a prediction algorithm provided by an embodiment of this specification;

[0047] Figure 2 It is a scenario diagram of a connector control method based on a prediction algorithm provided by an embodiment of this specification;

[0048] Figure 3 is a schematic diagram of the structure of a connector control device based on a prediction algorithm provided by an embodiment of this specification;

[0049] Figure 4It is a structural block diagram of a computing device provided by an embodiment of this specification. DETAILED DESCRIPTION

[0050] Many specific details are described in the following description to facilitate a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of this specification, so this specification is not limited to the specific implementation disclosed below.

[0051] The terms used in one or more embodiments of this specification are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of this specification. The singular forms of "a" and "the" used in one or more embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items.

[0052] It should be understood that although the terms first, second, etc. may be used to describe various information in one or more embodiments of this specification, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of this specification, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0053] First, the terms involved in one or more embodiments of this specification are explained.

[0054] ECU: Electronic Control Unit.

[0055] In this specification, a connector control method based on a prediction algorithm is provided. This specification also relates to a connector control device based on a prediction algorithm, a computing device, and a computer-readable storage medium, which are described in detail one by one in the following embodiments.

[0056] See also Figure 1 , Figure 1 A flowchart of a connector control method based on a prediction algorithm provided according to an embodiment of the present specification is shown, which specifically includes the following steps.

[0057] Step 101: Send a speed request to the motor, and determine a first synchronizer state based on the speed request.

[0058] The first synchronizer state includes two states: disengaged and not disengaged.

[0059] In a possible implementation, sending a speed request to the motor and determining a first synchronizer state based on the speed request includes: sending a speed request to the motor and determining a rotation state of a rotating shaft at a load end of the motor; and determining the first synchronizer state based on the rotation state.

[0060] In practical applications, Figure 2 The power disconnect device shown is used in many parts, such as the synchronizer of the transmission and the power take-off on new energy commercial vehicles. This device is mainly used to disconnect or transfer power. In state A, the synchronizer in the connector does not connect the gears on the left and right sides, and the power will not be transferred from the motor on the left to the load on the right; in state B, the synchronizer connects the gears on the left and right sides, and the power is transferred from the left gear to the synchronizer, and then from the synchronizer to the right gear, thereby achieving the purpose of transferring power from the motor to the load on the right. Before the first operation of the entire transmission system, in this solution, while ensuring that the synchronizer is disconnected, the ECU sends a reasonable speed request (for example, 1000rpm) to the motor to observe whether the rotating shaft at the load end will rotate, and determine the first synchronizer state according to the rotation of the load shaft.

[0061] Step 102: Send a target speed control command to the motor based on the synchronizer state, and determine power information based on the target speed control command.

[0062] In a possible implementation, sending a target speed control instruction to the motor based on the synchronizer state includes: sending the target speed control instruction to the motor when the synchronizer state is disengaged.

[0063] In actual application, if the load shaft rotates, the ECU repeats the synchronizer disengagement command until the load shaft stops rotating. If the load shaft does not rotate, it means that the synchronizer has been disengaged, and a target speed control command can be sent to the motor.

[0064] In one possible implementation, power information is determined based on a target speed control instruction, including: determining a first cycle threshold and determining an initial cycle number; determining torque information and speed information based on the target speed control instruction, and increasing the initial cycle number by 1; determining a current output power based on the torque information and speed information; continuing to determine the torque information and speed information based on the target speed control instruction until the initial cycle number is equal to the first cycle threshold, and determining at least two current output powers; and determining power information based on at least two current output powers.

[0065] The initial number of cycles can be 0.

[0066] In actual applications, the ECU sends a target speed control command to the motor to keep the motor speed at a stable value. , at this time record the actual torque of the motor , calculate the actual output power of the motor at this time:

[0067]

[0068] Furthermore, repeat the above steps, record the motor speed and torque each time, and calculate the actual output power of the motor, assuming that it is repeated K times (K>2):

[0069] ;

[0070] ...

[0071]

[0072] According to the above data, the speed can be calculated The average power and standard deviation of the motor output under the condition:

[0073] Average Power for:

[0074]

[0075] The power standard deviation is:

[0076]

[0077] Among them, 9549 is the coefficient between torque and speed, and i is the number of cycles.

[0078] Step 103: Determine a second synchronizer state based on at least two pieces of power information.

[0079] The second synchronizer state includes disconnecting or coupling the load.

[0080] In one possible implementation, determining the second synchronizer state based on at least two power information includes: repeatedly determining the power information based on the target speed control instruction based on the increasing speed and the second cycle threshold to obtain at least two power information; determining the second synchronizer state based on at least two power information.

[0081] In practical applications, the above steps of calculating the average power and the power standard deviation at the same speed are repeated m times, and the control ECU sends different target speed control instructions to the motor. The speed target is accumulated in an incremental manner, as described below:

[0082]

[0083]

[0084] …

[0085]

[0086] At the same time, the working torque of the motor under stable working state is recorded, and the average power and standard deviation of power at different speeds are calculated. Based on the above data, they are organized into Table 1.

[0087] Table 1

[0088]

[0089] For example, in the first time, the motor is given a target speed of 1000 rpm, and this is repeated k=5 times, and the power and average value are calculated;

[0090] The second time, the motor is given a target speed of 2000 rpm, and this is repeated k=5 times, and the power and average value are calculated;

[0091] The third time, the motor is given a target speed of 3000 rpm, and this is repeated k=5 times, and the power and average value are calculated;

[0092] The fourth time, the motor is given a target speed of 1000+m*1000rpm, and this is repeated k=5 times. The power and average value are calculated.

[0093] Finally, a table is formed based on the above four data.

[0094] In one possible implementation, the second synchronizer state is determined based on at least two power information, including: obtaining the current speed and the current torque; determining the current power information based on the current speed and the current torque; determining comparison data based on the current power information and at least two power information; wherein the comparison data includes average power data and standard deviation power data; and determining the second synchronizer state based on the current power information and the comparison data.

[0095] In practical applications, the data obtained in the above steps are stored in the ECU as a conditional parameter for subsequent algorithm judgment. After the synchronizer is coupled to the load, when the motor rotates, the power consumed must be greater than the power of the motor rotating without load at the same speed. According to the average power and power standard deviation of the motor at each speed state in Table 1, it can be combined with the current motor output power to predict whether the synchronizer inside the current connector has been disconnected or coupled to the load according to the instructions of the ECU. The specific steps are as follows.

[0096] In one possible implementation, the second synchronizer state is determined based on current power information and comparison data, including: determining target average power data and target standard deviation power data based on comparison data; determining state judgment data based on target average power data, standard deviation coefficient and target standard deviation power data; determining the second synchronizer state based on current power information and state judgment data.

[0097] In practical applications, two types of judgments may be included, as described in detail below.

[0098] The first one: After the ECU sends the synchronizer disconnect command, it will start again according to the current motor operating speed. and torque , calculate the current power:

[0099]

[0100] according to The relationship between the speed and the target power is confirmed by Table 1. Get the value.

[0101] Specifically, if , then the target power and power standard deviation are set as: , ; At this time, if ; then it is considered that the synchronizer has been disengaged at this time. ; It is considered that the synchronizer may not be disengaged at this time.

[0102] The second method: After the ECU sends a synchronizer coupling instruction, it will be synchronized again according to the current motor operating speed. and torque , calculate the current power:

[0103]

[0104] according to The relationship between the speed and the target power is confirmed by Table 1. .

[0105] if ,but , ;if ; then it is considered that the synchronizer has indeed been coupled and the load has started to work driven by the motor. ; then it is considered that the synchronizer may not be coupled at this time.

[0106] Step 104: Control the connector based on the second synchronizer state.

[0107] In actual applications, when the synchronizer is not disengaged, the ECU must issue a disconnect synchronizer instruction again, and then repeat the first judgment step mentioned above to determine the second synchronizer state again.

[0108] Furthermore, the synchronizer may not be coupled, and the ECU must issue an instruction to couple the synchronizer again, and then repeat the second determination step to determine the second synchronizer state again.

[0109] In summary, for the gear-engaging mechanism in the gearbox of a new energy vehicle, or the power take-off mechanism on a new energy vehicle, if a position sensor or a speed sensor is installed, the ECU can confirm whether the synchronizer is coupled through the above prediction algorithm after the sensor is damaged or fails, thereby ensuring that the system can continue to work normally. In the case where no sensor is installed, the ECU can confirm whether the synchronizer is coupled through the prediction algorithm, ensuring that the system can work normally without installing the sensor.

[0110] The embodiment of the present specification provides a connector control method and device based on a prediction algorithm, wherein the connector control method based on the prediction algorithm includes: sending a speed request to the motor, and determining a first synchronizer state based on the speed request; sending a target speed control instruction to the motor based on the synchronizer state, and determining power information based on the target speed control instruction; determining a second synchronizer state based on at least two power information; and controlling the connector based on the second synchronizer state. By sending a speed request to the motor, determining a first synchronizer state based on the speed request; sending a target speed control instruction to the motor based on the synchronizer state, and determining power information based on the target speed control instruction; determining a second synchronizer state based on at least two power information; and controlling the connector based on the second synchronizer state, it is possible to confirm whether the synchronizer is coupled through a prediction algorithm after the sensor is damaged or fails, thereby ensuring that the system can continue to work normally.

[0111] Corresponding to the above method embodiment, this specification also provides a connector control device embodiment based on a prediction algorithm, Figure 3 FIG. 1 shows a schematic diagram of a connector control device based on a prediction algorithm provided by an embodiment of the present specification. Figure 3 As shown, the device comprises:

[0112] A first state determination module 301 is configured to send a speed request to the motor and determine a first synchronizer state based on the speed request;

[0113] The power information determination module 302 is configured to send a target speed control instruction to the motor based on the synchronizer state, and determine the power information based on the target speed control instruction;

[0114] A second state determination module 303, configured to determine a second synchronizer state based on at least two pieces of power information;

[0115] The device control module 304 is configured to control the connector based on the second synchronizer state.

[0116] In a possible implementation, sending a speed request to the motor and determining a first synchronizer state based on the speed request includes:

[0117] Sending a speed request to the motor to determine the rotation state of the load-end rotating shaft of the motor;

[0118] A first synchronizer state is determined based on the rotational state.

[0119] In a possible implementation, sending a target speed control instruction to the motor based on the synchronizer state includes:

[0120] When the synchronizer is in the disengaged state, a target speed control command is sent to the motor.

[0121] In a possible implementation, determining the power information based on the target speed control instruction includes:

[0122] Determine a first cycle threshold value and determine an initial cycle number;

[0123] Determine torque information and speed information based on the target speed control command, and increase the initial cycle number by 1;

[0124] Determine the current output power based on the torque information and the speed information;

[0125] Continue to determine the torque information and the speed information based on the target speed control instruction until the initial cycle number is equal to the first cycle threshold, and determine at least two current output powers;

[0126] Power information is determined based on at least two current output powers.

[0127] In a possible implementation, determining the second synchronizer state based on at least two pieces of power information includes:

[0128] Repeating determining the power information based on the target speed control instruction based on the increasing speed and the second cycle threshold value to obtain at least two power information;

[0129] A second synchronizer state is determined based on at least two pieces of power information.

[0130] In a possible implementation, determining the second synchronizer state based on at least two pieces of power information includes:

[0131] Get the current speed and current torque;

[0132] Determine current power information based on current speed and current torque;

[0133] Determine comparison data based on current power information and at least two power information; wherein the comparison data includes average power data and standard deviation power data;

[0134] A second synchronizer state is determined based on the current power information and the comparison data.

[0135] In a possible implementation, determining the second synchronizer state based on the current power information and the comparison data includes:

[0136] Determine target average power data and target standard deviation power data based on the comparison data;

[0137] determining state determination data based on target average power data, standard deviation coefficient, and target standard deviation power data;

[0138] A second synchronizer state is determined based on the current power information and the state determination data.

[0139] The embodiment of the present specification provides a connector control method and device based on a prediction algorithm, wherein the connector control device based on the prediction algorithm includes: sending a speed request to the motor, and determining a first synchronizer state based on the speed request; sending a target speed control instruction to the motor based on the synchronizer state, and determining power information based on the target speed control instruction; determining a second synchronizer state based on at least two power information; and controlling the connector based on the second synchronizer state. By sending a speed request to the motor, determining a first synchronizer state based on the speed request; sending a target speed control instruction to the motor based on the synchronizer state, and determining power information based on the target speed control instruction; determining a second synchronizer state based on at least two power information; and controlling the connector based on the second synchronizer state, it is possible to confirm whether the synchronizer is coupled through a prediction algorithm after the sensor is damaged or fails, thereby ensuring that the system can continue to work normally.

[0140] The above is a schematic scheme of a connector control device based on a prediction algorithm of this embodiment. It should be noted that the technical scheme of the connector control device based on the prediction algorithm and the technical scheme of the connector control method based on the prediction algorithm belong to the same concept, and the details of the technical scheme of the connector control device based on the prediction algorithm that are not described in detail can be found in the description of the technical scheme of the connector control method based on the prediction algorithm.

[0141] Figure 4The block diagram of a computing device 400 according to one embodiment of the present specification is shown. The components of the computing device 400 include but are not limited to a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and the database 450 is used to store data.

[0142] The computing device 400 also includes an access device 440 that enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include a public switched telephone network (PSTN), a local area network (LAN), a wide area network (WAN), a personal area network (PAN), or a combination of communication networks such as the Internet. The access device 440 may include one or more of any type of network interface (e.g., a network interface card (NIC)) that is wired or wireless, such as an IEEE 802.11 wireless local area network (WLAN) wireless interface, a world-wide interoperability for microwave access (Wi-MAX) interface, an Ethernet interface, a universal serial bus (USB) interface, a cellular network interface, a Bluetooth interface, and a near field communication (NFC).

[0143] In one embodiment of the present specification, the above components of the computing device 400 and Figure 4 Other components not shown in the figure may also be connected to each other, for example, via a bus. It should be understood that Figure 4 The computing device structure block diagram shown is only for the purpose of illustration, and is not intended to limit the scope of this specification. Those skilled in the art can add or replace other components as needed.

[0144] The computing device 400 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., a tablet computer, a personal digital assistant, a laptop computer, a notebook computer, a netbook, etc.), a mobile phone (e.g., a smart phone), a wearable computing device (e.g., a smart watch, smart glasses, etc.), or other types of mobile devices, or a stationary computing device such as a desktop computer or a personal computer (PC). The computing device 400 may also be a mobile or stationary server.

[0145] The processor 420 is used to execute the following computer executable instructions, which, when executed by the processor, implement the steps of the connector control method based on the prediction algorithm. The above is a schematic scheme of a computing device of this embodiment. It should be noted that the technical scheme of the computing device and the technical scheme of the connector control method based on the prediction algorithm belong to the same concept. The details of the technical scheme of the computing device that are not described in detail can be found in the description of the technical scheme of the connector control method based on the prediction algorithm.

[0146] An embodiment of the present specification further provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the connector control method based on the prediction algorithm.

[0147] The above is a schematic scheme of a computer-readable storage medium of this embodiment. It should be noted that the technical scheme of the storage medium and the technical scheme of the connector control method based on the prediction algorithm described above belong to the same concept, and the details not described in detail in the technical scheme of the storage medium can be found in the description of the technical scheme of the connector control method based on the prediction algorithm described above.

[0148] An embodiment of the present specification further provides a computer program, wherein when the computer program is executed in a computer, the computer is caused to execute the steps of the connector control method based on the prediction algorithm.

[0149] The above is a schematic scheme of a computer program of this embodiment. It should be noted that the technical scheme of the computer program and the technical scheme of the connector control method based on the prediction algorithm are of the same concept, and the details not described in detail in the technical scheme of the computer program can be found in the description of the technical scheme of the connector control method based on the prediction algorithm.

[0150] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0151] The computer instructions include computer program codes, which may be in source code form, object code form, executable files or some intermediate forms, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0152] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the embodiments of this specification are not limited by the order of the actions described, because according to the embodiments of this specification, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of this specification.

[0153] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0154] The preferred embodiments of this specification disclosed above are only used to help explain this specification. The optional embodiments do not describe all the details in detail, nor do they limit the invention to only the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of the embodiments of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the embodiments of this specification, so that technicians in the relevant technical field can well understand and use this specification. This specification is only limited by the claims and their full scope and equivalents.

Claims

1. A connector control method based on a prediction algorithm, characterized in that: include: sending a speed request to the motor and determining a first synchronizer state based on the speed request; sending a target speed control command to the motor based on the first synchronizer state, and determining power information based on the target speed control command; determining a second synchronizer state based on at least two of the power information; controlling the connector based on the second synchronizer state; The sending of a speed request to the motor and determining a first synchronizer state based on the speed request includes: When the synchronizer is disconnected, a speed request is sent to the motor to determine the rotation state of the load-end rotating shaft of the motor; A first synchronizer state is determined based on the rotational state.

2. The method according to claim 1, characterized in that The sending a target speed control instruction to the motor based on the first synchronizer state includes: When the first synchronizer is in the disengaged state, a target speed control instruction is sent to the motor.

3. The method according to claim 1, characterized in that The determining of power information based on the target speed control instruction includes: Determine a first cycle threshold value and determine an initial cycle number; Determine torque information and speed information based on the target speed control command, and increase the initial cycle number by 1; determining a current output power based on the torque information and the speed information; Continue to determine the torque information and the speed information based on the target speed control instruction until the initial cycle number is equal to the first cycle threshold, and determine at least two current output powers; Power information is determined based on the at least two current output powers.

4. The method according to claim 3, characterized in that The determining the second synchronizer state based on at least two of the power information comprises: Repeating the step of determining the power information based on the target speed control instruction based on the increasing speed and the second cycle threshold to obtain at least two pieces of the power information; A second synchronizer state is determined based on the at least two pieces of power information.

5. The method according to claim 1, characterized in that The determining the second synchronizer state based on the at least two pieces of power information comprises: Get the current speed and current torque; determining current power information based on the current speed and the current torque; Determine comparison data based on the current power information and the at least two power information; wherein the comparison data includes average power data and standard deviation power data; A second synchronizer state is determined based on the current power information and the comparison data.

6. The method according to claim 5, characterized in that The determining the second synchronizer state based on the current power information and the comparison data includes: Determine target average power data and target standard deviation power data based on the comparison data; Determine state determination data based on the target average power data, the standard deviation coefficient and the target standard deviation power data; A second synchronizer state is determined based on the current power information and the state determination data.

7. A connector control device based on a prediction algorithm, used to implement the steps of the connector control method based on a prediction algorithm according to any one of claims 1 to 6, characterized in that: include: a first state determination module configured to send a speed request to the motor and determine a first synchronizer state based on the speed request; a power information determination module configured to send a target speed control instruction to the motor based on the synchronizer state, and determine power information based on the target speed control instruction; A second state determination module, configured to determine a second synchronizer state based on at least two of the power information; The device control module is configured to control the connector based on the second synchronizer state.

8. A computing device, characterized in that include: Memory and processor; The memory is used to store computer executable instructions, and the processor is used to execute the computer executable instructions. When the computer executable instructions are executed by the processor, the steps of the connector control method based on the prediction algorithm described in any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the steps of the connector control method based on the prediction algorithm as described in any one of claims 1 to 6.

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