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

Abstract

The invention discloses a dog clutch control method, device and equipment, a medium and a product, and belongs to the field of vehicle clutches. The method comprises the steps that under the condition that engagement of the dog clutch is started, the engagement state of the dog clutch is monitored; under the condition that the joint state is the top tooth state, the rotating speed of the driven part is obtained; superposing the target waveform on the rotating speed of the driven part to obtain a target rotating speed; and the driving part is controlled to operate according to the target rotating speed, so that the driving part rotates relative to the driven part, and the rotating angle amplitude is larger than the tooth interval angle of the dog tooth clutch. The problem that gear engaging is difficult due to tooth abutting of the dog-tooth clutch can be solved.

Description

Technical Field

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

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

[0003] However, the shape of the engaging teeth of the dog clutch is close to a plane, and when the two planes are engaged during the gear shifting process, it is easy to cause a tooth to hit, which leads to difficulty in shifting. Based on this, how to solve the problem of difficulty in shifting due to the tooth hitting of the dog clutch has become an issue to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a control method, device, equipment, medium and product for a dog clutch, which can solve the problem of difficulty in shifting gears due to the top teeth of the dog clutch.

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

[0006] monitoring the engagement state of the dog clutch when engagement of the dog clutch is initiated;

[0007] When the engagement state is a top tooth state, obtaining the rotation speed of the driven part;

[0008] Superimposing a target waveform on the rotation speed of the driven part to obtain a target rotation speed;

[0009] The active part is controlled to run at a target rotation speed so that the active part rotates relative to the driven part, and the rotation angle amplitude is greater than the tooth spacing angle of the dog clutch.

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

[0011] A monitoring module, for monitoring the engagement state of the dog clutch when the engagement of the dog clutch is initiated;

[0012] An acquisition module, used for acquiring the rotation speed of the driven part when the engagement state is a top tooth state;

[0013] A target running speed determination module, used for superimposing a target waveform on the rotation speed of the driven part to obtain a target running speed;

[0014] The control module is used to control the active part to run at a target rotation speed so that the active part rotates relative to the driven part, and the rotation angle amplitude is greater than the tooth spacing angle of the dog clutch.

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

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

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

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

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

[0020] In the embodiment of the present application, first, when the engagement of the dog-tooth clutch is started, the engagement state of the dog-tooth clutch is monitored, and then when the engagement state is the top tooth state, the rotation speed of the driven part is obtained, and the target waveform is superimposed on the rotation speed of the driven part to obtain the target rotation speed, and finally the active part is controlled to operate at the target rotation speed, so that the active part rotates relative to the driven part, and the rotation angle amplitude is greater than the tooth spacing angle of the dog-tooth clutch. In this way, when the dog-tooth clutch is in the top tooth state, the target rotation speed of the active part is obtained by superimposing the target waveform on the rotation speed of the driven part, and the active part is controlled to operate at the target speed, so that the active part can rotate relative to the driven part with an angle amplitude greater than the tooth spacing angle of the dog-tooth clutch, thereby releasing the top tooth state of the dog-tooth clutch, and then solving the problem of difficulty in shifting gears caused by the top teeth of the dog-tooth clutch. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

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

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

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

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

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

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

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

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

[0031] See also Figure 1 , Figure 1 The schematic diagram of the structure of a dog clutch provided in the embodiment of the present application. The dog clutch is an important component of the shift mechanism, responsible for transmitting power from the engine to the wheels and achieving different speed changes through different gear combinations. Figure 2 As shown, the shape of the engaging teeth of the dog clutch is close to a plane, so that it is easy for the teeth to hit each other during engagement, resulting in difficulty in shifting gears.

[0032] The dog clutch includes an active part and a driven part. The embodiments of the present application do not limit the driving method of the dog clutch. In some embodiments, the active part and the driven part of the dog clutch can be driven by a driving device; in other embodiments, the active part and the driven part of the dog clutch can be driven by different driving devices respectively. Furthermore, the above-mentioned driving device can be an engine or a motor, which can be set according to actual needs, and the embodiments of the present application do not limit this.

[0033] See also Figure 2 , Figure 2 A schematic diagram of the transmission principle of a dog clutch provided in an embodiment of the present application. Figure 2 As shown, the dog tooth clutch consists of two parts: the active part (driving wheel) and the driven part (driven wheel). The driving wheel is equipped with dog teeth, which are also engagement teeth. The teeth of the active part and the driven part of the dog tooth clutch are evenly distributed, and the width of the tooth is slightly smaller than the width of the tooth groove, with a difference of about 5%. There are protruding holes on the driven wheel that correspond to the dog teeth on the driving wheel, and the number of holes is usually consistent with the number of dog teeth. Through axial movement, the dog teeth can be inserted or pulled out of the holes, thereby realizing the connection or separation of the gears. The force between the two gears is transmitted or interrupted by the insertion or removal of the dog teeth. When the teeth of the active part and the driven part match, the clutch engagement is completed. Figure 2 In the embodiment, the active part of the dog clutch is connected to the P1 motor, and the driven part of the dog clutch is connected to the P3 motor. In the specific implementation, the active part is controlled to rotate by the P1 motor, and the driven part is controlled to rotate by the P3 motor.

[0034] See also Figure 3 , Figure 3 FIG. 1 is one of the flow charts of the control method of the dog clutch provided in the embodiment of the present application. Figure 3 As shown, the control method may include the following steps:

[0035] Step 301: When the engagement of the dog clutch is started, monitor the engagement state of the dog clutch.

[0036] The engagement state of the dog clutch is the engagement state of the active part and the driven part of the dog clutch, and the engagement state may include a top tooth state, a normal engagement state and an engagement completion state.

[0037] After the engagement of the dog clutch is started, the active part and the driven part are controlled to rotate respectively, and the driven part of the dog clutch moves to the left to engage the dog clutch. During the engagement of the dog clutch, the engagement state of the dog clutch can be monitored in real time. When the engagement state of the dog clutch is monitored to be a top tooth state, subsequent steps can be performed. In this way, when top tooth occurs, timely processing can be performed to smoothly engage and complete the gear shifting action.

[0038] Step 302: When the engagement state is the top tooth state, obtain the rotation speed of the driven part.

[0039] The driven part is rigidly connected to the wheel, and the rotation speed of the driven part directly determines the rotation speed of the wheel, which in turn affects the vehicle's driving speed and power output. Based on this, in the process of monitoring the engagement state of the dog clutch, when the engagement state is monitored to be a top tooth state, that is, when the dog clutch has a top tooth problem when engaged, the top tooth problem of the dog clutch can be solved by keeping the rotation speed of the driven part unchanged and changing the rotation speed of the active part. In specific implementation, the rotation speed of the driven part can be obtained first, and then the rotation speed of the active part can be adjusted according to the rotation speed of the driven part to solve the top tooth problem.

[0040] Step 303: superimpose the target waveform on the rotation speed of the driven part to obtain the target rotation speed.

[0041] In an embodiment of the present application, after obtaining the rotation speed of the driven part and before adjusting the rotation of the active part, the target waveform is first superimposed on the rotation speed of the driven part, and then the obtained rotation speed is used as the target rotation speed of the active part. The target waveform superimposed on the rotation speed of the driven part is a waveform that changes smoothly and continuously, such as a simple harmonic wave or a triangular wave, etc. Further, the simple harmonic wave can be a sine wave and a cosine wave, etc. In this way, the speed after superimposing the target waveform, that is, the rotation speed of the active part, can be increased or decreased in a gentle trend, thereby avoiding a large impact at the moment of clutch engagement.

[0042] Step 304: Control the active part to run at the target rotation speed, so that the active part rotates relative to the driven part, and the rotation angle amplitude is greater than the tooth spacing angle of the dog clutch.

[0043] In an embodiment of the present application, after obtaining the target rotational speed of the active part, the active part can be controlled to operate according to the target rotational speed, so that the active part and the driven part of the dog clutch produce relative rotation, and the angle amplitude of the rotation is greater than the spacing angle of adjacent teeth of the dog clutch, thereby releasing the top tooth state of the active part and the driven part, and then solving the problem of the top teeth to continue to shift gears.

[0044] The control method of the dog-tooth clutch of the embodiment of the present application is, first, when the engagement of the dog-tooth clutch is started, the engagement state of the dog-tooth clutch is monitored, and then when the engagement state is the top tooth state, the rotation speed of the driven part is obtained, and the target rotation speed is obtained by superimposing the target waveform on the rotation speed of the driven part, and finally the active part is controlled to operate at the target rotation speed, so that the active part rotates relative to the driven part, and the rotation angle amplitude is greater than the tooth spacing angle of the dog-tooth clutch. In this way, when the dog-tooth clutch is in the top tooth state, the target rotation speed of the active part is obtained by superimposing the target waveform on the rotation speed of the driven part, and the active part is controlled to operate at the target speed, so that the active part can rotate relative to the driven part with an angle amplitude greater than the tooth spacing angle of the dog-tooth clutch, thereby releasing the top tooth state of the dog-tooth clutch, and then solving the problem of difficulty in shifting gears due to the top teeth of the clutch.

[0045] In some embodiments, the active part is in driving connection with the first motor, and the driven part is in driving connection with the second motor;

[0046] Get the rotation speed of the driven part, including:

[0047] Obtaining the rotation speed of the second motor;

[0048] The rotation speed of the driven part is obtained by multiplying the rotation speed of the second motor by the first transmission ratio; wherein the first transmission ratio represents the speed ratio of the transmission mechanism between the driven part and the second motor;

[0049] Control the active part to run at the target rotation speed, including:

[0050] The first rotation speed is obtained by multiplying the target rotation speed by the second transmission ratio, wherein the second transmission ratio represents the speed ratio of the transmission mechanism between the active part and the first motor;

[0051] The first motor is controlled to operate at a first rotational speed so that the active part operates at a target rotational speed.

[0052] In this embodiment, the active part and the driven part of the dog clutch are transmission-connected to different motors. Specifically, the active part can be transmission-connected to the first motor through a transmission mechanism, and the driven part can be transmission-connected to the second motor through a transmission mechanism. Based on this, it can be understood that there is a transmission relationship between the speed of the active part and the speed of the first motor, and there is a transmission relationship between the speed of the driven part and the speed of the second motor.

[0053] Therefore, in this embodiment, the rotation speed of the driven part can be derived based on the rotation speed of the second motor; and the active part can be controlled to operate at the target rotation speed by adjusting the rotation speed of the first motor.

[0054] In a specific implementation, the rotation speed of the driven part can be obtained by multiplying the rotation speed of the second motor by the first transmission ratio, and the first transmission ratio represents the speed ratio of the transmission mechanism between the driven part and the second motor. Similarly, the first rotation speed can be obtained by multiplying the target rotation speed by the second transmission ratio, and then the first motor is controlled to operate at the first rotation speed, so that the active part operates at the target rotation speed, and the second transmission ratio represents the speed ratio of the transmission mechanism between the active part and the first motor.

[0055] In this way, the rotation speed of the driven part can be accurately acquired, and the rotation speed of the active part can be accurately controlled.

[0056] Of course, it is understandable that the embodiments of the present application may also achieve acquisition of the rotational speed of the driven part by other means. In other implementations, the rotational speed of the driven part may also be directly detected.

[0057] In some embodiments, the target waveform is a sine wave with an amplitude satisfying that the rotation angle amplitude is greater than the tooth spacing angle of the dog clutch and a period of 0.5 seconds.

[0058] Specifically, when the dog clutch has a top tooth, if the angle amplitude of the active part relative to the driven part is less than or equal to the tooth spacing angle of the dog clutch, the success rate of releasing the top tooth state is low. Therefore, the amplitude of the superimposed target waveform needs to satisfy: the angle amplitude of the active part after rotating at the target rotation speed is greater than the tooth spacing angle of the dog clutch.

[0059] Different models of dog tooth clutches have different tooth spacing angles, and therefore, the angle amplitudes required to rotate to solve the top tooth problem are also different. The tooth spacing angle of the dog tooth clutch is related to the number of teeth, which is 180° / number of tooth pairs. For example, the tooth spacing angle of the dog tooth clutch with 3 pairs of teeth is 60°, and the angle range required to rotate when top teeth occur is less than -60° or greater than 60°; the tooth spacing angle of the dog tooth clutch with 4 pairs of teeth is 45°, and the angle range required to rotate when top teeth occur is less than -45° or greater than 45°, and so on. Setting the period to 0.5 seconds can further reduce current fluctuations, thereby reducing the heat generated by the motor, reducing the temperature rise of the motor, and improving the smoothness of the motor operation, thereby improving the control accuracy. It should be noted that, under the premise that the target waveform amplitude satisfies the rotation angle amplitude greater than the tooth spacing angle of the dog tooth clutch, the period of the target waveform can be determined according to actual conditions and is not limited to 0.5 seconds.

[0060] In some embodiments, before monitoring the engagement state of the dog clutch, the control method may further include:

[0061] comparing the rotational speed of the driving portion with the rotational speed of the driven portion;

[0062] comparing the angular acceleration of the active part with the angular acceleration of the passive part;

[0063] Engagement of the dog clutch is initiated when the rotational speed of the driving part is equal to the rotational speed of the driven part and the angular acceleration of the driving part is equal to the angular acceleration of the driven part.

[0064] In this embodiment, it can be determined whether the engagement start condition of the dog clutch is met by judging whether the rotation speed and angular acceleration of the active part and the driven part are equal. If the engagement start condition of the dog clutch is met, the dog clutch can be started.

[0065] In specific implementation, the rotation speed of the active part and the rotation speed of the driven part, as well as the angular acceleration of the active part and the angular acceleration of the driven part can be compared in sequence, and then corresponding actions are performed according to the comparison results. When it is determined that the rotation speed of the active part is equal to the rotation speed of the driven part, and the angular acceleration of the active part is also equal to the angular acceleration of the driven part, the engagement of the dog clutch is started. The method for determining the engagement of the dog clutch can be receiving an engagement instruction or other methods, which are not limited here.

[0066] It should be noted that the rotation speeds of the active part and the driven part are respectively related to the operating speeds of the first motor and the second motor. The rotation speed of the corresponding part can be calculated according to the operating speed of the motor, and the angular acceleration can be calculated according to the rotation speed. The speeds of the active part and the driven part are acquired before the engagement of the dog clutch is determined, and the acquisition method can be real-time acquisition or periodic acquisition, or it can be acquired in response to the received start engagement instruction.

[0067] In some embodiments, after comparing the rotational speed of the active part with the rotational speed of the passive part, the method may further include:

[0068] When the rotation speed of the active part is not equal to the rotation speed of the driven part, the active part is controlled to run according to the rotation speed of the driven part so that the rotation speed of the active part is equal to the rotation speed of the driven part;

[0069] calculating the angular acceleration of the driven part according to the running speed of the second motor;

[0070] After comparing the angular acceleration of the active portion with the angular acceleration of the passive portion, the method further includes:

[0071] In the case that the angular acceleration of the active part is not equal to the angular acceleration of the driven part, the active part operates according to the angular acceleration of the driven part so that the angular acceleration of the active part is equal to the angular acceleration of the driven part.

[0072] Specifically, when determining to engage the dog clutch, first compare the rotation speed of the active part with the rotation speed of the driven part. If they are not equal, control the active part to run at the rotation speed of the driven part until the rotation speed of the active part is equal to the rotation speed of the driven part. Then further compare the angular acceleration of the active part with the angular acceleration of the driven part. If they are not equal, control the active part to run at the angular acceleration of the driven part until the angular acceleration of the active part is equal to the angular acceleration of the driven part. In this way, the impact caused by the speed difference can be reduced, making the clutch engagement process smoother.

[0073] For the aforementioned implementation in which the active part is transmission-connected to the first motor and the driven part is transmission-connected to the second motor, the active part can be operated at the rotation speed of the driven part by controlling the rotation speed of the first motor, and the active part can be operated at the angular acceleration of the driven part by controlling the angular acceleration of the first motor.

[0074] In a specific implementation, the rotation speed of the driven part can be obtained first. Further, the rotation speed of the driven part can be obtained through the rotation speed of the second motor. Then, the second speed is obtained by multiplying the rotation speed of the driven part by the second transmission ratio. Then, the first motor is controlled to run at the second rotation speed. In this way, the active part can run at the rotation speed of the driven part.

[0075] The angular acceleration of the driven part can be obtained first, and further, the angular acceleration of the driven part can be obtained through the angular acceleration of the second motor; then, the target angular acceleration is obtained by multiplying the angular acceleration of the driven part by the second transmission ratio, and then the first motor is controlled to operate according to the target angular acceleration, so that the active part can operate according to the angular acceleration of the driven part.

[0076] In some embodiments, monitoring the engagement state of the dog clutch may include:

[0077] Read the position signal of the driven part;

[0078] Determine the engagement speed of the dog clutch according to the read position signal;

[0079] Compare the difference between the position indicated by the most recently read position signal and the preset target position with the preset position threshold value;

[0080] When the difference is greater than a preset position threshold, comparing the newly determined engagement speed with a preset speed threshold;

[0081] When the most recently determined engagement speed is less than the speed threshold value, the engagement state of the dog clutch is determined to be the top tooth state.

[0082] In the embodiments of the present application, Figure 2 As shown, the driven part of the dog clutch is provided with a position sensor for detecting the position of the driven part during the engagement process of the dog clutch, and the detection frequency can be set according to the actual situation. When the dog clutch is engaged, the driven part moves axially to the left, and the engagement speed of the dog clutch can be calculated by reading multiple position signals of the position sensor in any cycle.

[0083] In specific implementation, the current position of the driven part is first determined according to the most recently read position signal, which is the last read position signal, and each position signal indicates a corresponding position, that is, the current position. Then, the difference between the current position and the preset target position is compared with the preset position threshold value. When the difference is greater than the preset position threshold value, the most recently determined engagement speed is further compared with the preset speed threshold value.

[0084] The speed threshold value is a preset threshold value of the engagement speed and can be set according to actual conditions. When the latest determined engagement speed is less than the speed threshold value, the engagement state of the dog clutch is determined to be a top-tooth state. In this way, the dog clutch can be judged whether top-tooth occurs during the engagement process based on the position signal and the engagement speed, which is more accurate and avoids the occurrence of misjudgment.

[0085] In some embodiments, after comparing the difference between the most recently read position signal and the preset target position with the preset position threshold, the control method may further include:

[0086] When the difference is less than or equal to the position threshold value, the engagement state is determined to be the dog clutch engagement completion state.

[0087] Specifically, the preset position threshold value is the threshold value of the difference between the target position and the actual position of the driven part. When the difference between the target position and the actual position of the driven part of the dog clutch is less than the error threshold, that is, when the difference is not greater than the preset position threshold value, it indicates that the dog clutch is engaged. At this time, the engagement state of the dog clutch is the engagement completion state.

[0088] It should be noted that the various optional implementation modes introduced in the embodiments of the present application can be implemented in combination with each other or separately if they do not conflict with each other, and the embodiments of the present application are not limited to this.

[0089] For ease of understanding, a specific embodiment is used as an example for illustration:

[0090] See also Figure 4 , Figure 4 A schematic flow chart of a method for controlling a dog clutch provided in a specific embodiment of the present application. The method for controlling the dog clutch may include the following steps:

[0091] S1: read the speed of PI motor, P3 motor, and the position signal of the driven part of the dog clutch;

[0092] S2: Determine whether the dog clutch is engaged, if yes, enter S3, if no, end the control;

[0093] S3: Calculate the angular acceleration of the driven part of the dog clutch based on the P3 motor speed;

[0094] S4: Calculating the engagement speed of the clutch based on the position signal of the dog clutch;

[0095] S5: Control the speed of the P1 motor to make the acceleration of the active part of the dog clutch equal to the acceleration of the driven part;

[0096] S6: Determine whether the speed of the active part is equal to that of the driven part. If so, proceed to S7; if not, return to S5;

[0097] S7: Controlling the angular acceleration of the P1 motor makes the angular acceleration of the active part of the dog clutch equal to that of the slave part;

[0098] S8: Determine whether the angular acceleration of the active part is equal to the angular acceleration of the driven part. If so, proceed to S9; if not, return to S5;

[0099] S9: start engaging the dog clutch;

[0100] S10: Determine whether the target position minus the position of the driven part of the dog clutch is greater than the position threshold. If so, proceed to S11; if not, proceed to S15;

[0101] S11: Determine whether the clutch engagement speed is less than the speed threshold. If so, proceed to S12; if not, return to S9;

[0102] S12: Determine that top tooth occurs;

[0103] S13: Keep the clutch relay unchanged;

[0104] S14: Add a sine wave to the speed target of the P1 motor. The amplitude of the speed sine wave satisfies that the angle amplitude of the active part of the clutch is greater than the interval angle between two teeth, and the period is 0.5 seconds.

[0105] S15: Determine that the clutch engagement is complete.

[0106] In this specific embodiment, the superimposed target waveform is a sine wave with a period of 0.5 seconds and an amplitude that satisfies that the angle amplitude of the active part of the clutch is greater than the interval angle between two teeth. The specific implementation can be found in the above description and will not be repeated here.

[0107] Based on the control method of the dog clutch provided in the above embodiment, the present application also provides a specific implementation of the control device of the dog clutch. Please refer to the following embodiment.

[0108] See also Figure 5 The control device of the dog clutch provided in the embodiment of the present application may include:

[0109] A monitoring module 510, for monitoring the engagement state of the dog clutch when the engagement of the dog clutch is initiated;

[0110] An acquisition module 520, for acquiring a rotation speed of the driven part when the engagement state is a top tooth state;

[0111] A target running speed determination module 530 is used to superimpose a target waveform on the rotation speed of the driven part to obtain a target rotation speed;

[0112] The control module 540 is used to control the active part to run at a target rotation speed so that the active part rotates relative to the driven part, and the rotation angle amplitude is greater than the tooth spacing angle of the dog clutch.

[0113] The control device of the dog clutch provided in the embodiment of the present application can achieve Figure 1 The various processes implemented by the control device of the dog clutch in the method embodiment will not be described again here to avoid repetition.

[0114] Figure 6 A schematic diagram of the hardware structure of a dog clutch control device provided in an embodiment of the present application is shown.

[0115] The control device of the dog clutch may include a processor 601 and a memory 602 storing computer program instructions.

[0116] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0117] The memory 602 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 602 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 602 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 602 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 602 is a non-volatile solid-state memory.

[0118] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Therefore, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to one aspect of the present disclosure.

[0119] The processor 601 reads and executes the computer program instructions stored in the memory 602 to implement any one of the dog clutch control methods in the above embodiments.

[0120] In one example, the control device of the dog clutch may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0121] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0122] Bus 610 includes hardware, software or both, coupling the components of the control device of the dog clutch to each other. For example and not limitation, the bus may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industrial standard architecture (EISA) bus, a front-end bus (FSB), a hypertransport (HT) interconnect, an industrial standard architecture (ISA) bus, an infinite bandwidth interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. Where appropriate, bus 610 may include one or more buses. Although the present application embodiment describes and illustrates a specific bus, the present application considers any suitable bus or interconnect.

[0123] In addition, in combination with the control method of the dog clutch in the above embodiment, the embodiment of the present application can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the control methods of the dog clutch in the above embodiment is implemented.

[0124] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0125] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0126] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0127] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0128] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for controlling a dog clutch, characterized in that: The dog clutch comprises an active part and a driven part; the control method comprises: monitoring the engagement state of the dog clutch while initiating engagement of the dog clutch; When the engagement state is a top tooth state, obtaining a rotation speed of the driven part; superimposing a target waveform on the rotation speed of the driven part to obtain a target rotation speed; The active part is controlled to run at the target rotation speed so that the active part rotates relative to the driven part, and the angle amplitude of the rotation is greater than the tooth spacing angle of the dog clutch.

2. The control method according to claim 1, characterized in that: The active part is transmission-connected to the first motor, and the driven part is transmission-connected to the second motor; The obtaining of the rotation speed of the driven part comprises: Acquiring the rotation speed of the second motor; The rotation speed of the driven part is obtained by multiplying the rotation speed of the second motor by the first transmission ratio; wherein the first transmission ratio represents the speed ratio of the transmission mechanism between the driven part and the second motor; The controlling the active part to operate according to the target rotation speed comprises: The target rotation speed is multiplied by a second transmission ratio to obtain a first rotation speed; wherein the second transmission ratio represents a speed ratio of a transmission mechanism between the active part and the first motor; The first motor is controlled to operate at the first rotation speed so that the active part operates at the target rotation speed.

3. The control method according to claim 1, characterized in that: The target waveform is a sine wave with an amplitude satisfying that the angle amplitude is greater than the tooth spacing angle and a period of 0.5 seconds.

4. The control method according to claim 1, characterized in that: Before monitoring the engagement state of the dog clutch, the control method further includes: comparing the rotational speed of the active portion with the rotational speed of the driven portion; comparing the angular acceleration of the active portion with the angular acceleration of the passive portion; Engagement of the dog clutch is initiated when the rotational speed of the active part is equal to the rotational speed of the driven part and the angular acceleration of the active part is equal to the angular acceleration of the driven part.

5. The control method according to claim 3, characterized in that: After comparing the rotation speed of the active part with the rotation speed of the passive part, the method further comprises: When the rotation speed of the active part is not equal to the rotation speed of the driven part, controlling the active part to run according to the rotation speed of the driven part so that the rotation speed of the active part is equal to the rotation speed of the driven part; calculating the angular acceleration of the driven part according to the running speed of the second motor; After comparing the angular acceleration of the active part with the angular acceleration of the passive part, the method further comprises: In the case that the angular acceleration of the active part is not equal to the angular acceleration of the driven part, the active part operates according to the angular acceleration of the driven part so that the angular acceleration of the active part is equal to the angular acceleration of the driven part.

6. The control method according to claim 1, characterized in that: The monitoring of the engagement state of the dog clutch comprises: reading a position signal of the driven part; determining an engagement speed of the dog clutch according to the read position signal; Compare the difference between the position indicated by the position signal read most recently and the preset target position with the preset position threshold value; When the difference is greater than a preset position threshold value, comparing the latest determined engagement speed with a preset speed threshold value, and when the latest determined engagement speed is less than the speed threshold value, determining the engagement state of the dog clutch as the top tooth state; When the difference is less than or equal to the position threshold value, the engagement state is determined as an engagement completion state.

7. A control device for a dog clutch, characterized in that: The dog clutch comprises an active part and a driven part; the control device comprises: A monitoring module, for monitoring the engagement state of the dog clutch when the engagement of the dog clutch is initiated; an acquisition module, used for acquiring the rotation speed of the driven part when the engagement state is a top tooth state; a target running speed determination module, used for superimposing a target waveform on the rotation speed of the driven part to obtain a target rotation speed; The control module is used to control the active part to run according to the target rotation speed, so that the active part rotates relative to the driven part, and the angle amplitude of the rotation is greater than the tooth spacing angle of the dog clutch.

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

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

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

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