Vehicle transmission clearance torque control method, device, equipment and medium

Abstract

The invention discloses a vehicle transmission clearance torque control method and device, equipment and a medium. The method comprises the steps that target curve data with the vibration amplitude exceeding the preset amplitude are screened out from a motor rotating speed curve; determining a dynamic gap curve and a static gap curve corresponding to the target curve data; screening out a target single-point dynamic gap of which the amplitude exceeds the amplitude of a corresponding single-point static gap in the static gap curve from the dynamic gap curve, so as to determine a target rotating speed corresponding to the target single-point dynamic gap in the target curve data; determining a target torque corresponding to the target rotating speed; and the original torque curve is corrected according to the target torque and is used for torque control of the vehicle. The dynamic gap is larger than the static gap so as to identify that the vehicle is in the transmission gap state in the moving process, and the torque change rate corresponding to the transmission gap state is adjusted, so that knocking between the driving gear and the driven gear is reduced, and the running stability and drivability of the vehicle are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle transmission clearance torque control method, device, equipment and medium. Background Art

[0002] The transmission clearance during vehicle driving mainly refers to the gap between the interconnected parts in the vehicle's power transmission system, which has an important impact on the vehicle's driving performance.

[0003] Especially when the torque of the vehicle motor switches from positive to negative or from negative to positive, the driving gear needs to change the direction of movement, and the idle travel caused by the transmission gap will aggravate the gear collision between the driving gear and the driven gear, thereby generating vibration or abnormal noise. Therefore, how to provide a torque control method to reduce gear collision is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application solve the technical problem in the prior art that gear collision is obvious due to transmission gap by providing a vehicle transmission gap torque control method, device, equipment and medium, and achieve the technical effect of reducing gear collision when the vehicle is in transmission gap.

[0005] In a first aspect, the present application provides a vehicle transmission clearance torque control method, comprising: According to a first preset window width, target curve data having a vibration amplitude exceeding a preset amplitude is screened out from the motor speed curve of the vehicle to be calibrated; Determine a dynamic gap curve and a static gap curve corresponding to the target curve data, wherein the single-point rotation speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond to each other; A target single-point dynamic clearance whose amplitude of the single-point dynamic clearance exceeds the amplitude of the corresponding single-point static clearance in the static clearance curve is selected from the dynamic clearance curve to determine a target rotation speed corresponding to the target single-point dynamic clearance in the target curve data; Determine a target torque corresponding to a target speed from a speed torque curve of a motor of the vehicle to be calibrated; determine a to-be-adjusted torque curve containing the target torque and having a second preset window width from an original torque curve of the vehicle to be calibrated, and smooth the to-be-adjusted torque curve to obtain a modified torque curve; The original torque curve is adjusted to a target torque curve including the modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0006] In some embodiments of the present application, based on the above solution, determining the static gap curve corresponding to the target curve data includes: Determine the single-point torque corresponding to each single-point speed in the target curve data based on the speed-torque curve; Determine a first electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from a parking gear to a forward gear, and determine a second electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from a parking gear to a reverse gear; Determine the single-point static clearance corresponding to each single-point torque of the motor according to the difference between the first electrical angle and the second electrical angle corresponding to each single-point torque, and the preset maximum electrical angle and the preset maximum number of pole pairs of the vehicle to be calibrated; According to the single-point static clearances corresponding to the single-point torques, the static clearance curve corresponding to the target curve data is determined.

[0007] In some embodiments of the present application, based on the above scheme, determining the dynamic gap curve corresponding to the target curve data includes: Determine the single-point dynamic gap corresponding to each single-point speed in the target curve data according to the preset zero-crossing time and the correlation between the dynamic gap and the speed; According to the single-point dynamic clearances corresponding to the single-point rotational speeds, the dynamic clearance curve corresponding to the target curve data is determined.

[0008] In some embodiments of the present application, based on the above solution, when it is impossible to screen out a target single-point dynamic gap whose amplitude of the single-point dynamic gap exceeds the amplitude of the corresponding single-point static gap in the static gap curve from the dynamic gap curve, the method includes: Adjust the width and / or position of the first preset window width, and return to execute the step of screening out target curve data with a vibration amplitude exceeding the preset amplitude from the motor speed curve of the vehicle to be calibrated according to the adjusted first preset window width, until a target single-point dynamic gap whose amplitude exceeds the amplitude of the corresponding single-point static gap in the static gap curve is screened out from the dynamic gap curve.

[0009] In some embodiments of the present application, based on the above solution, before the original torque curve is adjusted to a target torque curve including a modified torque curve and the vehicle to be calibrated performs torque control based on the target torque curve, the method further includes: adjusting the original torque curve to the torque curve to be verified including the modified torque curve; Determine the speed curve to be verified corresponding to the torque curve to be verified according to the correlation between the speed and the torque in the speed torque curve; When target curve data with a vibration amplitude exceeding a preset amplitude cannot be screened out from the speed curve to be verified, the original torque curve is adjusted to a target torque curve including a modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0010] In some embodiments of the present application, based on the above solution, when target curve data whose vibration amplitude exceeds a preset amplitude is screened out from the speed curve to be verified, the method further includes: Return to the step of smoothing the torque curve to be adjusted to obtain a modified torque curve, until no target curve data with a vibration amplitude exceeding a preset amplitude can be screened out from the speed curve to be verified.

[0011] In some embodiments of the present application, based on the above solution, the torque curve to be adjusted is smoothed to obtain a modified torque curve, including: The torque curve to be adjusted is smoothed by reducing the absolute value of the slope of the torque curve to be adjusted to obtain a corrected torque curve.

[0012] In a second aspect, the present application provides a vehicle transmission clearance torque control device, comprising: A target curve data determination module, configured to select target curve data having a vibration amplitude exceeding a preset amplitude from the motor speed curve of the vehicle to be calibrated according to a first preset window width; A gap curve determination module is used to determine a dynamic gap curve and a static gap curve corresponding to the target curve data, wherein the single-point rotation speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond to each other. A target speed determination module is used to select a target single-point dynamic clearance whose amplitude of the single-point dynamic clearance exceeds the amplitude of the corresponding single-point static clearance in the static clearance curve from the dynamic clearance curve, so as to determine a target speed corresponding to the target single-point dynamic clearance in the target curve data; A correction torque curve determination module is used to determine a target torque corresponding to a target speed from a speed torque curve of a motor of a vehicle to be calibrated; determine a to-be-adjusted torque curve containing the target torque and having a second preset window width from an original torque curve of the vehicle to be calibrated, and smooth the to-be-adjusted torque curve to obtain a correction torque curve; The torque control module is used to adjust the original torque curve to a target torque curve including the modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0013] Furthermore, the device also includes a static gap curve determination module, which is used to: Determine the single-point torque corresponding to each single-point speed in the target curve data based on the speed-torque curve; Determine a first electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from a parking gear to a forward gear, and determine a second electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from a parking gear to a reverse gear; Determine the single-point static clearance corresponding to each single-point torque of the motor according to the difference between the first electrical angle and the second electrical angle corresponding to each single-point torque, and the preset maximum electrical angle and the preset maximum number of pole pairs of the vehicle to be calibrated; According to the single-point static clearances corresponding to the single-point torques, the static clearance curve corresponding to the target curve data is determined.

[0014] Furthermore, the device also includes a dynamic gap curve determination module, which is used to: Determine the single-point dynamic gap corresponding to each single-point speed in the target curve data according to the preset zero-crossing time and the correlation between the dynamic gap and the speed; According to the single-point dynamic clearances corresponding to the single-point rotational speeds, the dynamic clearance curve corresponding to the target curve data is determined.

[0015] Furthermore, the device also includes a first preset window adjustment module, which is used to: When it is impossible to filter out a target single-point dynamic gap whose amplitude exceeds the corresponding single-point static gap amplitude in the static gap curve from the dynamic gap curve, adjust the width and / or position of the first preset window width, and return to the step of filtering out target curve data whose vibration amplitude exceeds the preset amplitude from the motor speed curve of the vehicle to be calibrated according to the first preset window width according to the adjusted first preset window width, until a target single-point dynamic gap whose amplitude exceeds the corresponding single-point static gap amplitude in the static gap curve is filtered out from the dynamic gap curve.

[0016] Furthermore, the device also includes a verification module, which is used to: adjusting the original torque curve to the torque curve to be verified including the modified torque curve; Determine the speed curve to be verified corresponding to the torque curve to be verified according to the correlation between the speed and the torque in the speed torque curve; When target curve data with a vibration amplitude exceeding a preset amplitude cannot be screened out from the speed curve to be verified, the original torque curve is adjusted to a target torque curve including a modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0017] Furthermore, the device also includes an adjustment module, which is used to: When target curve data with a vibration amplitude exceeding the preset amplitude is screened out in the speed curve to be verified, the step of smoothing the torque curve to be adjusted to obtain a corrected torque curve is returned to execute until target curve data with a vibration amplitude exceeding the preset amplitude cannot be screened out in the speed curve to be verified.

[0018] Furthermore, the device also includes a smoothing processing module, which is used to: The torque curve to be adjusted is smoothed by reducing the absolute value of the slope of the torque curve to be adjusted to obtain a corrected torque curve.

[0019] In a third aspect, the present application provides an electronic device, including: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to execute to implement a vehicle transmission clearance torque control method as provided in the first aspect.

[0020] In a fourth aspect, the present application provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to implement a vehicle transmission clearance torque control method as provided in the first aspect.

[0021] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages: In the embodiment of the present application, according to the first preset window width, target curve data with a vibration amplitude exceeding a preset amplitude are screened out from the motor speed curve of the vehicle to be calibrated; a dynamic gap curve and a static gap curve corresponding to the target curve data are determined, and the single-point speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond to each other one by one; a target single-point dynamic gap whose amplitude exceeds the amplitude of the corresponding single-point static gap in the static gap curve is screened out from the dynamic gap curve to determine the target speed corresponding to the target single-point dynamic gap in the target curve data; a target torque corresponding to the target speed is determined from the speed torque curve of the motor of the vehicle to be calibrated; a torque curve to be adjusted that includes the target torque and has a second preset window width is determined from the original torque curve of the vehicle to be calibrated, and the torque curve to be adjusted is smoothed to obtain a corrected torque curve; the original torque curve is adjusted to a target torque curve that includes the corrected torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve. It can be seen that the embodiment of the present application identifies the state of the vehicle in transmission gap during movement by making the dynamic gap larger than the static gap, and adjusts the torque change rate corresponding to the transmission gap state through the relationship between the speed and the torque, thereby reducing the knocking between the driving gear and the driven gear, reducing the occurrence of vibration, and improving the stability and drivability of the vehicle operation. At the same time, it can provide a reference for transmission gap testing in actual driving conditions, consistency inspection of abnormal impact noise of the whole vehicle, and optimization of abnormal impact noise of the transmission gap of the whole vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 A schematic diagram of the transmission gap provided in an embodiment of the present application; Figure 2 A schematic flow chart of a vehicle transmission clearance torque control method provided in an embodiment of the present application; Figure 3 A schematic diagram of a motor speed curve provided in an embodiment of the present application; Figure 4 A schematic diagram of a motor speed curve and a torque curve provided in an embodiment of the present application; Figure 5 A schematic diagram of a motor torque curve provided in an embodiment of the present application; Figure 6 A schematic structural diagram of a vehicle transmission clearance torque control device provided in an embodiment of the present application; Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The embodiment of the present application solves the technical problem in the prior art that gear collision is obvious due to transmission clearance by providing a vehicle transmission clearance torque control method.

[0025] The technical solution of the embodiment of the present application is to solve the above technical problems, and the overall idea is as follows: In the embodiment of the present application, according to the first preset window width, target curve data with a vibration amplitude exceeding a preset amplitude are screened out from the motor speed curve of the vehicle to be calibrated; a dynamic gap curve and a static gap curve corresponding to the target curve data are determined, and the single-point speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond to each other one by one; a target single-point dynamic gap whose amplitude exceeds the amplitude of the corresponding single-point static gap in the static gap curve is screened out from the dynamic gap curve to determine the target speed corresponding to the target single-point dynamic gap in the target curve data; a target torque corresponding to the target speed is determined from the speed torque curve of the motor of the vehicle to be calibrated; a torque curve to be adjusted that includes the target torque and has a second preset window width is determined from the original torque curve of the vehicle to be calibrated, and the torque curve to be adjusted is smoothed to obtain a corrected torque curve; the original torque curve is adjusted to a target torque curve that includes the corrected torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve. It can be seen that the embodiment of the present application identifies the state of the vehicle in transmission gap during movement by making the dynamic gap larger than the static gap, and adjusts the torque change rate corresponding to the transmission gap state through the relationship between the speed and the torque, thereby reducing the knocking between the driving gear and the driven gear, reducing the occurrence of vibration, and improving the stability and drivability of the vehicle operation. At the same time, it can provide a reference for transmission gap testing in actual driving conditions, consistency inspection of abnormal impact noise of the whole vehicle, and optimization of abnormal impact noise of the transmission gap of the whole vehicle.

[0026] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] First of all, the term "and / or" in this article is only a description of the association relationship of the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0028] like Figure 1As shown in the figure, when the active component switches from rightward movement to leftward movement, due to the existence of the gap, the active component needs to travel a distance of Δ before it can exert force on the driven component again. Δ is called the transmission gap. In the transmission system where the motor of the vehicle is located, the active component is the driving gear controlled by the motor, and the driven component is the driven gear in contact with the driving gear. The transmission gap refers to the relative inter-tooth gap between the driving gear and the driven gear.

[0029] When the driving gear passes through Δ, the motor is almost in an unloaded state and a large amount of kinetic energy is accumulated. Therefore, when the driving gear passes through Δ, it will have an impact when it contacts the driven gear, causing gear knocking. Especially when the active component frequently changes its direction of movement, the load will swing repeatedly at the position of the transmission gap, causing the rotational inertia and the kinetic energy accumulated in the idle travel Δ to be superimposed, further worsening the knocking and vibration between the gears.

[0030] In order to solve the above problems, the present application provides a vehicle transmission clearance torque control method, such as Figure 2 As shown, it includes steps S1 to S5.

[0031] Step S1, selecting target curve data whose vibration amplitude exceeds a preset amplitude from the motor speed curve of the vehicle to be calibrated according to a first preset window width; Step S2, determining a dynamic gap curve and a static gap curve corresponding to the target curve data, wherein the single-point rotation speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond to each other; Step S3, selecting a target single-point dynamic clearance whose amplitude of the single-point dynamic clearance exceeds the amplitude of the corresponding single-point static clearance in the static clearance curve from the dynamic clearance curve, so as to determine a target rotation speed corresponding to the target single-point dynamic clearance in the target curve data; Step S4, determining a target torque corresponding to a target speed from a speed torque curve of a motor of the vehicle to be calibrated; determining a to-be-adjusted torque curve including the target torque and having a second preset window width from an original torque curve of the vehicle to be calibrated, and smoothing the to-be-adjusted torque curve to obtain a modified torque curve; Step S5, adjusting the original torque curve to a target torque curve including the modified torque curve, and performing torque control on the vehicle to be calibrated based on the target torque curve.

[0032] Regarding step S1, according to the first preset window width, target curve data whose vibration amplitude exceeds the preset amplitude is screened out from the motor speed curve of the vehicle to be calibrated.

[0033] When the driving gear and the driven gear of the vehicle to be calibrated are in contact with each other, the corresponding motor speed curve should be a smooth curve. If there is a fluctuation in the motor speed curve, it means that the driving gear and the driven gear are not completely in contact with each other. It is very likely that the driving gear has changed its direction of motion and is in a state of crossing the transmission gap. Therefore, the embodiment of the present application selects the target curve data whose vibration amplitude exceeds the preset amplitude in the motor speed curve, and determines whether the fluctuation is caused by the gear being in a transmission gap state according to subsequent steps.

[0034] The single-point speed on the motor speed curve of the vehicle to be calibrated is obtained by the corresponding speed of the vehicle to be calibrated, and then all the single-point speeds are connected to determine the motor speed curve. It should be noted that the corresponding speed is the running speed of the vehicle to be calibrated when it is in the test state to simulate the actual running of the vehicle. For example, the speed range simulated by the vehicle to be calibrated can be 0-80km / h.

[0035] For a vehicle speed under a certain test state, the corresponding speed of the motor can be obtained by formula (1).

[0036] Among them, n is the motor speed, v is the vehicle speed under the current test state, R is the tire rolling radius, and i0 is the vehicle's reducer ratio.

[0037] The first preset window width can be understood as a horizontal axis interval of the curve image when the motor speed curve is represented by a corresponding curve image. The horizontal axis interval can be adaptively moved to select curve data of different ranges on the motor speed curve. The curve image can be an image of motor speed and time, or an image of motor speed and vehicle speed, or other corresponding images that can show the change of motor speed.

[0038] For example, Figure 3 As shown in the image of motor speed and time in the embodiment of the present application, the first preset window width is a preset time, that is, the first preset window width is the time length represented by the horizontal axis interval covered by the shaded area in the figure.

[0039] Figure 3 The curve represented by the solid line is the motor speed curve determined by the vehicle speed to be calibrated. It can be seen that the area covered by the shaded area is the fluctuation area on the motor speed curve where the vibration amplitude exceeds the preset amplitude, and the speed data on the motor speed curve that falls within the shaded area is the target curve data after screening.

[0040] Regarding step S2, the dynamic gap curve and the static gap curve corresponding to the target curve data are determined, and the single-point rotation speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond to each other.

[0041] The following describes the process of determining the dynamic gap curve and the static gap curve corresponding to the target curve data in the embodiments of the present application.

[0042] The process of determining the dynamic gap curve corresponding to the target curve data is first introduced, including steps S211 and S212.

[0043] Step S211, determining the single-point dynamic gap corresponding to each single-point speed in the target curve data according to the preset zero-crossing time and the correlation between the dynamic gap and the speed.

[0044] Step S212, determining a dynamic clearance curve corresponding to the target curve data according to the single-point dynamic clearances corresponding to the single-point rotation speeds.

[0045] Regarding step S211, the relationship between the preset zero-crossing time and the dynamic gap and the rotation speed can be expressed by formula (2).

[0046] θ 动 =n×2π×t; (2) Among them, θ 动 is the dynamic gap, n is the rotation speed, and t is the preset zero-crossing time.

[0047] Next, the process of determining the static gap curve corresponding to the target curve data is introduced, including steps S221 to S224.

[0048] Step S221, determining the single-point torque corresponding to each single-point speed in the target curve data based on the speed-torque curve; Step S222, determining the first electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from the parking gear to the forward gear, and determining the second electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from the parking gear to the reverse gear; Step S223, determining the single-point static clearance corresponding to each single-point torque of the motor according to the difference between the first electrical angle and the second electrical angle corresponding to each single-point torque, and the preset maximum electrical angle and the preset maximum pole pair number of the vehicle to be calibrated; Step S224, determining the static clearance curve corresponding to the target curve data according to the single-point static clearances corresponding to each single-point torque.

[0049] Regarding step S221, the single-point torque corresponding to each single-point speed in the target curve data is determined based on the speed-torque curve.

[0050] It is understandable that the speed torque curve of the vehicle to be calibrated can be obtained from the correlation between the speed and the torque. Figure 4 As shown, each single-point speed corresponds to a single-point torque.

[0051] Regarding step S222, determine the first electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from the parking gear to the forward gear state, and determine the second electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from the parking gear to the reverse gear state.

[0052] It should be noted that the first electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from the parking gear to the forward gear is determined. That is, when the vehicle to be calibrated is in the parking gear, each single-point torque is input to the motor in the positive direction, the resolver angle value of the motor is measured, and the resolver angle value of the motor under the positive single-point torque is determined as the first electrical angle.

[0053] Determine the second electrical angle corresponding to each single-point torque when the vehicle to be calibrated is switched from the parking gear to the reverse gear. That is, when the vehicle to be calibrated is in the parking gear, each single-point torque is input to the motor in the negative direction, the resolver angle value of the motor is measured, and the resolver angle value of the motor under the negative single-point torque is determined as the second electrical angle.

[0054] Regarding step S223, the single-point static clearance corresponding to each single-point torque of the motor is determined according to the difference between the first electrical angle and the second electrical angle corresponding to each single-point torque, as well as the preset maximum electrical angle and the preset maximum number of pole pairs of the vehicle to be calibrated. Determine the static clearance θ 静 The process can be expressed by formula (3).

[0055] Exemplarily, when the preset maximum pole pair number of the vehicle to be calibrated is 3 and the preset maximum electrical angle is 65534, the static clearance obtained according to formula (3) is as shown in Table 1.

[0056] Table 1 Correspondence between single point torque and single point static clearance Single point torque / Nm The first electrical angle The second electrical angle Single point static clearance 1.5 24237 11081 24.0872 2 48736 35328 24.55116 3 41498 27286 26.02335 4 28900 13833 27.58892 As can be seen from Table 1, as the single-point torque increases, the corresponding single-point static clearance also increases. Therefore, the static clearance curve determination process provided in the embodiment of the present application can also be used to determine the clearance consistency between different vehicles to be calibrated in the same production batch, including steps S231-232.

[0057] Step S231 , a set of preset torque data is inputted to the motors of the vehicles to be calibrated in the same production batch respectively, so as to obtain the static clearance curves corresponding to the vehicles to be calibrated.

[0058] The process of obtaining the static gap curve corresponding to each vehicle to be calibrated can refer to the relevant description of determining the static gap curve corresponding to the target curve data in steps S221 to S224, and the embodiment of the present application will not be repeated here.

[0059] Step S232: If the static gap curves corresponding to the vehicles to be calibrated do not fluctuate beyond the preset value under the same preset torque, it is determined that the gap consistency between the vehicles to be calibrated in this production batch is good.

[0060] Regarding step S3, a target single-point dynamic clearance whose amplitude exceeds the amplitude of the corresponding single-point static clearance in the static clearance curve is screened out from the dynamic clearance curve to determine a target rotation speed corresponding to the target single-point dynamic clearance in the target curve data.

[0061] In the prior art, it is generally believed that when the vehicle is in motion, when the motor torque is equal to 0, it means that the gear is in the process of transmission gap. However, due to the error between the input torque and the output torque and the gear change process is not an instantaneous process, the motor torque equal to 0 does not represent the actual transmission gap state.

[0062] In the embodiment of the present application, the static clearance represents the change angle of the driving gear when the input torque of the motor changes direction when the vehicle is not in motion. The dynamic clearance represents the change angle of the driving gear within the preset zero-crossing time at the current motor speed when the vehicle is in motion. When the dynamic clearance is greater than the static clearance, it means that under the same input torque, the rotation angle of the driving gear at the current speed exceeds the rotation angle when the driving gear is not in motion, that is, the driving gear is in a state where it has not yet passed through the transmission clearance Δ. Therefore, by screening out the target single-point dynamic clearance whose amplitude of the single-point dynamic clearance exceeds the amplitude of the corresponding single-point static clearance in the static clearance curve from the dynamic clearance curve, it is possible to accurately identify the state of the driving gear in the transmission clearance, and then the torque control process included in the subsequent steps is performed on the vehicle to be calibrated through the corresponding target speed, thereby reducing the collision between the driving gear and the driven gear.

[0063] In the case where a target single-point dynamic gap whose amplitude of the single-point dynamic gap exceeds the amplitude of the corresponding single-point static gap in the static gap curve cannot be screened out from the dynamic gap curve, the method includes: Adjust the width and / or position of the first preset window width, and return to execute the step of screening out target curve data with a vibration amplitude exceeding the preset amplitude from the motor speed curve of the vehicle to be calibrated according to the first preset window width (i.e., step S1) according to the adjusted first preset window width, until a target single-point dynamic gap whose amplitude exceeds the amplitude of the corresponding single-point static gap in the static gap curve is screened out from the dynamic gap curve.

[0064] It can be understood that the width of the first preset window width is adjusted to extend the left and right end points of the first preset window width so that it can cover more motor speed data, that is, to expand the first preset window width to Figure 3 The width of the shaded area shown. Adjusting the position of the first preset window width is to move the first preset window width on the motor speed curve so that it can cover motor speed data of different ranges, that is, Figure 3 The shaded area shown moves to the left or right.

[0065] Regarding step S4, the target torque corresponding to the target speed is determined from the speed-torque curve of the motor of the vehicle to be calibrated; the torque curve to be adjusted that includes the target torque and has a second preset window width is determined from the original torque curve of the vehicle to be calibrated, and the torque curve to be adjusted is smoothed to obtain a corrected torque curve.

[0066] For example, the speed torque curve of the motor of the vehicle to be calibrated is as follows: Figure 4 As shown, the point where the vertical dotted line intersects with the motor speed curve is the target speed, and the point where the vertical dotted line intersects with the original torque curve is the target torque.

[0067] The torque curve to be adjusted is smoothed to obtain a modified torque curve, including step S411.

[0068] Step S411 , the torque curve to be adjusted is smoothed by reducing the absolute value of the slope of the torque curve to be adjusted to obtain a corrected torque curve.

[0069] It can be understood that the slope of the torque curve is the rate of change of the torque. Reducing the absolute value of the slope means that the rate of change of the torque slows down. When the rate of change slows down, the active component can reduce the impact on the driven component when it moves according to the corresponding torque.

[0070] For example, Figure 3 and Figure 5 They are respectively the schematic diagram of the motor speed curve and the schematic diagram of the torque curve corresponding to the vehicle to be calibrated under the same test state. At the same test time, Figure 3 A single point speed corresponds to Figure 5 A single point torque in the.

[0071] According to steps S1-S3, Figure 3 After determining the target speed in Figure 5 The target torque corresponding to the target speed is determined, and the torque curve to be adjusted (i.e. Figure 5 The solid line part covered by the shaded part in the middle) is smoothed to obtain the modified torque curve (i.e. Figure 5The torque curve is shown as the dashed line in the figure).

[0072] Before the original torque curve is adjusted to a target torque curve including the modified torque curve and the vehicle to be calibrated performs torque control based on the target torque curve, the method further includes steps S421 to S423.

[0073] Step S421, adjusting the original torque curve to a torque curve to be verified including the modified torque curve; Step S422, determining the speed curve to be verified corresponding to the torque curve to be verified according to the correlation between the speed and the torque in the speed torque curve; Step S423, when the target curve data whose vibration amplitude exceeds the preset amplitude cannot be screened out in the speed curve to be verified, the original torque curve is adjusted to a target torque curve including the modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0074] For example, Figure 3 and Figure 5 As shown, the original torque curve is adjusted to a to-be-verified torque curve including a modified torque curve, and a to-be-verified speed curve (i.e. Figure 3 The speed curve shown by the dashed line in the middle), Figure 3 It can be seen from the figure that if the target curve data with a vibration amplitude exceeding the preset amplitude cannot be screened out in the speed curve to be verified, Figure 5 The original torque curve in is adjusted to a target torque curve including a modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0075] It should be noted that both ends of the modified torque curve fall on the original torque curve, that is, the modified torque curve is a correction of a section of the original torque curve, and does not completely deviate from the original torque curve.

[0076] When target curve data having a vibration amplitude exceeding a preset amplitude is screened out from the rotation speed curve to be verified, the method further includes step S431.

[0077] Step S431, returning to the step of smoothing the torque curve to be adjusted to obtain a modified torque curve, until no target curve data with a vibration amplitude exceeding a preset amplitude can be screened out from the speed curve to be verified.

[0078] Regarding step S5, the original torque curve is adjusted to a target torque curve including the modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0079] It can be understood that the target torque curve overlaps with most of the original torque curve, and only the corresponding transmission gap position on the original torque curve is corrected, that is, the torque change rate of the vehicle to be calibrated at the transmission gap position is reduced to reduce the impact of the driving gear on the driven gear and reduce the occurrence of vibration.

[0080] In summary, the embodiment of the present application selects target curve data whose vibration amplitude exceeds the preset amplitude from the motor speed curve of the vehicle to be calibrated according to the first preset window width; determines the dynamic gap curve and the static gap curve corresponding to the target curve data, and the single-point speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond one to one; selects the target single-point dynamic gap whose amplitude exceeds the amplitude of the corresponding single-point static gap in the static gap curve from the dynamic gap curve, so as to determine the target speed corresponding to the target single-point dynamic gap in the target curve data; determines the target torque corresponding to the target speed from the speed torque curve of the motor of the vehicle to be calibrated; determines the torque curve to be adjusted that includes the target torque and has the second preset window width from the original torque curve of the vehicle to be calibrated, and smoothes the torque curve to obtain a corrected torque curve; adjusts the original torque curve to the target torque curve that includes the corrected torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve. It can be seen that the embodiment of the present application identifies the state of the vehicle in transmission gap during movement by making the dynamic gap larger than the static gap, and adjusts the torque change rate corresponding to the transmission gap state through the relationship between the speed and the torque, thereby reducing the knocking between the driving gear and the driven gear, reducing the occurrence of vibration, and improving the stability and drivability of the vehicle operation. At the same time, it can provide a reference for transmission gap testing in actual driving conditions, consistency inspection of abnormal impact noise of the whole vehicle, and optimization of abnormal impact noise of the transmission gap of the whole vehicle.

[0081] Based on the same inventive concept, the present application provides Figure 6 A vehicle transmission clearance torque control device shown includes: The target curve data determination module 61 is used to select target curve data whose vibration amplitude exceeds a preset amplitude from the motor speed curve of the vehicle to be calibrated according to a first preset window width; The clearance curve determination module 62 is used to determine the dynamic clearance curve and the static clearance curve corresponding to the target curve data, and the single-point rotation speed of the target curve data, the single-point dynamic clearance in the dynamic clearance curve and the single-point static clearance in the static clearance curve correspond to each other. A target speed determination module 63 is used to select a target single-point dynamic clearance whose amplitude of the single-point dynamic clearance exceeds the amplitude of the corresponding single-point static clearance in the static clearance curve from the dynamic clearance curve, so as to determine a target speed corresponding to the target single-point dynamic clearance in the target curve data; The modified torque curve determination module 64 is used to determine the target torque corresponding to the target speed from the speed torque curve of the motor of the vehicle to be calibrated; determine the torque curve to be adjusted that contains the target torque and has a second preset window width from the original torque curve of the vehicle to be calibrated, and smooth the torque curve to be adjusted to obtain the modified torque curve; The torque control module 65 is used to adjust the original torque curve to a target torque curve including the modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0082] Furthermore, the device also includes a static gap curve determination module, which is used to: Determine the single-point torque corresponding to each single-point speed in the target curve data based on the speed-torque curve; Determine a first electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from a parking gear to a forward gear, and determine a second electrical angle corresponding to each single-point torque when the vehicle to be calibrated switches from a parking gear to a reverse gear; Determine the single-point static clearance corresponding to each single-point torque of the motor according to the difference between the first electrical angle and the second electrical angle corresponding to each single-point torque, and the preset maximum electrical angle and the preset maximum number of pole pairs of the vehicle to be calibrated; According to the single-point static clearances corresponding to the single-point torques, the static clearance curve corresponding to the target curve data is determined.

[0083] Furthermore, the device also includes a dynamic gap curve determination module, which is used to: Determine the single-point dynamic gap corresponding to each single-point speed in the target curve data according to the preset zero-crossing time and the correlation between the dynamic gap and the speed; According to the single-point dynamic clearances corresponding to the single-point rotational speeds, the dynamic clearance curve corresponding to the target curve data is determined.

[0084] Furthermore, the device also includes a first preset window adjustment module, which is used to: When it is impossible to filter out a target single-point dynamic gap whose amplitude exceeds the corresponding single-point static gap amplitude in the static gap curve from the dynamic gap curve, adjust the width and / or position of the first preset window width, and return to the step of filtering out target curve data whose vibration amplitude exceeds the preset amplitude from the motor speed curve of the vehicle to be calibrated according to the first preset window width according to the adjusted first preset window width, until a target single-point dynamic gap whose amplitude exceeds the corresponding single-point static gap amplitude in the static gap curve is filtered out from the dynamic gap curve.

[0085] Furthermore, the device also includes a verification module, which is used to: adjusting the original torque curve to the torque curve to be verified including the modified torque curve; Determine the speed curve to be verified corresponding to the torque curve to be verified according to the correlation between the speed and the torque in the speed torque curve; When target curve data with a vibration amplitude exceeding a preset amplitude cannot be screened out from the speed curve to be verified, the original torque curve is adjusted to a target torque curve including a modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

[0086] Furthermore, the device also includes an adjustment module, which is used to: When target curve data with a vibration amplitude exceeding the preset amplitude is screened out in the speed curve to be verified, the step of smoothing the torque curve to be adjusted to obtain a corrected torque curve is returned to execute until target curve data with a vibration amplitude exceeding the preset amplitude cannot be screened out in the speed curve to be verified.

[0087] Furthermore, the device also includes a smoothing processing module, which is used to: The torque curve to be adjusted is smoothed by reducing the absolute value of the slope of the torque curve to be adjusted to obtain a corrected torque curve.

[0088] In summary, the embodiment of the present application selects target curve data whose vibration amplitude exceeds the preset amplitude from the motor speed curve of the vehicle to be calibrated according to the first preset window width; determines the dynamic gap curve and the static gap curve corresponding to the target curve data, and the single-point speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond one to one; selects the target single-point dynamic gap whose amplitude exceeds the amplitude of the corresponding single-point static gap in the static gap curve from the dynamic gap curve, so as to determine the target speed corresponding to the target single-point dynamic gap in the target curve data; determines the target torque corresponding to the target speed from the speed torque curve of the motor of the vehicle to be calibrated; determines the torque curve to be adjusted that includes the target torque and has the second preset window width from the original torque curve of the vehicle to be calibrated, and smoothes the torque curve to obtain a corrected torque curve; adjusts the original torque curve to the target torque curve that includes the corrected torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve. It can be seen that the embodiment of the present application identifies the state of the vehicle in transmission gap during movement by making the dynamic gap larger than the static gap, and adjusts the torque change rate corresponding to the transmission gap state through the relationship between the speed and the torque, thereby reducing the knocking between the driving gear and the driven gear, reducing the occurrence of vibration, and improving the stability and drivability of the vehicle operation. At the same time, it can provide a reference for transmission gap testing in actual driving conditions, consistency inspection of abnormal impact noise of the whole vehicle, and optimization of abnormal impact noise of the transmission gap of the whole vehicle.

[0089] Based on the same inventive concept, the present application provides Figure 7 An electronic device as shown includes: Processor 71; a memory 72 for storing instructions executable by the processor 71; The processor 71 is configured to execute to implement a vehicle transmission clearance torque control method as provided above.

[0090] Based on the same inventive concept, the present application provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor 71 of the electronic device, the electronic device can execute a vehicle transmission clearance torque control method as provided above.

[0091] Since the electronic device introduced in this embodiment is an electronic device used to implement the information processing method in the embodiment of the present application, based on the information processing method introduced in the embodiment of the present application, a person skilled in the art can understand the specific implementation of the electronic device of the present embodiment and its various variations, so how the electronic device implements the method in the embodiment of the present application is not described in detail here. As long as a person skilled in the art implements the electronic device used by the information processing method in the embodiment of the present application, it belongs to the scope of protection of this application.

[0092] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0093] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0094] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0095] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0096] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0097] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vehicle transmission clearance torque control method, characterized in that: include: According to a first preset window width, target curve data having a vibration amplitude exceeding a preset amplitude is screened out from the motor speed curve of the vehicle to be calibrated; Determine a dynamic gap curve and a static gap curve corresponding to the target curve data, wherein the single-point rotational speed of the target curve data, the single-point dynamic gap in the dynamic gap curve, and the single-point static gap in the static gap curve correspond one to one; select a target single-point dynamic gap whose amplitude of the single-point dynamic gap exceeds the amplitude of the corresponding single-point static gap in the static gap curve from the dynamic gap curve, so as to determine a target rotational speed corresponding to the target single-point dynamic gap in the target curve data; Determining a target torque corresponding to the target speed from a speed torque curve of the motor of the vehicle to be calibrated; determining a to-be-adjusted torque curve including the target torque and having a second preset window width from an original torque curve of the vehicle to be calibrated, and smoothing the to-be-adjusted torque curve to obtain a modified torque curve; The original torque curve is adjusted to a target torque curve including the modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

2. The vehicle transmission clearance torque control method according to claim 1, characterized in that: Determining a static gap curve corresponding to the target curve data includes: Determine the single-point torque corresponding to each single-point speed in the target curve data based on the speed-torque curve; Determine a first electrical angle corresponding to each single-point torque when the vehicle to be calibrated is switched from the parking gear to the forward gear, and determine a second electrical angle corresponding to each single-point torque when the vehicle to be calibrated is switched from the parking gear to the reverse gear; determine a single-point static clearance corresponding to each single-point torque of the motor according to a difference between the first electrical angle and the second electrical angle corresponding to each single-point torque, and a preset maximum electrical angle and a preset maximum number of pole pairs of the vehicle to be calibrated; The static clearance curve corresponding to the target curve data is determined according to the single-point static clearances corresponding to the single-point torques.

3. The vehicle transmission clearance torque control method according to claim 1, characterized in that: Determining a dynamic gap curve corresponding to the target curve data includes: Determine the single-point dynamic gap corresponding to each single-point speed in the target curve data according to the preset zero-crossing time and the correlation between the dynamic gap and the speed; The dynamic clearance curve corresponding to the target curve data is determined according to the single-point dynamic clearances corresponding to the single-point rotational speeds.

4. The vehicle transmission clearance torque control method according to claim 1, characterized in that: In the case where a target single-point dynamic gap whose amplitude of the single-point dynamic gap exceeds the amplitude of the corresponding single-point static gap in the static gap curve cannot be screened out from the dynamic gap curve, the method includes: Adjust the width and / or position of the first preset window width, and return to execute the step of filtering out target curve data with a vibration amplitude exceeding a preset amplitude from the motor speed curve of the vehicle to be calibrated according to the first preset window width after the adjustment, until a target single-point dynamic gap whose amplitude exceeds the amplitude of the corresponding single-point static gap in the static gap curve is filtered out from the dynamic gap curve.

5. The vehicle transmission clearance torque control method according to claim 1, characterized in that: Before adjusting the original torque curve to a target torque curve including the modified torque curve and performing torque control on the vehicle to be calibrated based on the target torque curve, the method further includes: adjusting the original torque curve to a torque curve to be verified that includes the modified torque curve; Determining a speed curve to be verified corresponding to the torque curve to be verified according to the torque curve to be verified and the correlation between the speed and the torque in the speed torque curve; When the target curve data whose vibration amplitude exceeds the preset amplitude cannot be screened out from the speed curve to be verified, the original torque curve is adjusted to a target torque curve including the modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

6. The vehicle transmission clearance torque control method according to claim 5, characterized in that: In the case where the target curve data having a vibration amplitude exceeding the preset amplitude is screened out from the rotation speed curve to be verified, the method further includes: Return to the step of smoothing the torque curve to be adjusted to obtain a modified torque curve, until the target curve data having a vibration amplitude exceeding the preset amplitude cannot be screened out from the speed curve to be verified.

7. The vehicle transmission clearance torque control method according to claim 1, characterized in that: The step of smoothing the torque curve to be adjusted to obtain a corrected torque curve includes: The torque curve to be adjusted is smoothed by reducing the absolute value of the slope of the torque curve to be adjusted to obtain the corrected torque curve.

8. A vehicle transmission clearance torque control device, characterized in that: include: a target curve data determination module, configured to select target curve data having a vibration amplitude exceeding a preset amplitude from the motor speed curve of the vehicle to be calibrated according to a first preset window width; A gap curve determination module, used to determine a dynamic gap curve and a static gap curve corresponding to the target curve data, wherein a single-point rotation speed of the target curve data, a single-point dynamic gap in the dynamic gap curve, and a single-point static gap in the static gap curve correspond to each other in a one-to-one manner; a target speed determination module, configured to select a target single-point dynamic clearance whose amplitude of the single-point dynamic clearance exceeds the amplitude of the corresponding single-point static clearance in the static clearance curve from the dynamic clearance curve, so as to determine a target speed corresponding to the target single-point dynamic clearance in the target curve data; a modified torque curve determination module, configured to determine a target torque corresponding to the target speed from a speed torque curve of the motor of the vehicle to be calibrated; determine a torque curve to be adjusted that includes the target torque and has a second preset window width from an original torque curve of the vehicle to be calibrated, and perform smoothing on the torque curve to be adjusted to obtain a modified torque curve; The torque control module is used to adjust the original torque curve to a target torque curve including the modified torque curve, and the vehicle to be calibrated performs torque control based on the target torque curve.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute to implement a vehicle transmission clearance torque control method as described in any one of claims 1 to 7.

10. A non-transitory computer-readable storage medium, when the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to implement a vehicle transmission clearance torque control method as described in any one of claims 1 to 7.

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