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

Abstract

The application discloses a dog clutch control method, device, equipment, medium and product, and belongs to the field of vehicle clutches. The method comprises the following steps: monitoring the engagement state of the dog clutch under the condition of starting the engagement of the dog clutch; acquiring the rotating speed of the driven part under the condition that the engagement state is the top tooth state; obtaining a target rotating speed by superimposing a target wave on the rotating speed of the driven part; and controlling the driving part to operate according to the target rotating speed, so that the driving part rotates relative to the driven part, and the angle amplitude of the rotation is greater than the tooth interval angle of the dog clutch. The application can solve the problem of gear engagement difficulty caused by the top tooth of the dog clutch.

Description

Technical Field

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

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

[0003] However, the engagement teeth of a dog clutch are nearly planar in shape. During gear shifting, the two planes engage, which can easily cause tooth knocking, leading to difficulty in shifting. Therefore, how to solve the problem of gear engagement difficulty caused by tooth knocking in a dog clutch has become an urgent issue to be addressed. Summary of the Invention

[0004] This application provides a control method, device, equipment, medium, and product for a dog clutch, which can solve the problem of difficulty in shifting gears caused by the top teeth of the dog clutch.

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

[0006] Monitor the engagement status of the dog clutch when it is engaged.

[0007] When the engagement state is the top tooth state, the rotational speed of the driven part is obtained;

[0008] The target rotational speed is obtained by superimposing the target waveform onto the rotational speed of the driven part.

[0009] 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 rotation angle is greater than the tooth interval angle of the dog clutch.

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

[0011] The monitoring module is used to monitor the engagement status of the dog clutch when the dog clutch is engaged.

[0012] The acquisition module is used to acquire the rotational speed of the driven part when the engagement state is the top tooth state;

[0013] The target running speed determination module is used to superimpose the target waveform onto the rotational speed of the driven part to obtain the target running speed;

[0014] The control module is used to 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 interval angle of the dog clutch.

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

[0016] Processor and memory storing computer program instructions;

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

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

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

[0020] In this embodiment, firstly, when the dog clutch is engaged, the engagement state of the dog clutch is monitored. Then, when the engagement state is the tooth-offset state, the rotational speed of the driven part is acquired. A target waveform is superimposed on the rotational speed of the driven part to obtain the target rotational speed. Finally, the driving part is controlled to run at the target rotational speed, so that the driving part rotates relative to the driven part, and the amplitude of the rotation angle is greater than the tooth spacing angle of the dog clutch. In this way, when the dog clutch is in the tooth-offset state, by superimposing the target waveform on the rotational speed of the driven part to obtain the target rotational speed of the driving part, and controlling the driving part to run at the target speed, the driving part can generate a rotation with an angle amplitude greater than the tooth spacing angle of the dog clutch relative to the driven part, thereby releasing the tooth-offset state of the dog clutch and solving the problem of difficulty in shifting gears caused by the tooth-offset state of the dog clutch. Attached Figure Description

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

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

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

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

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

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

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

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

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

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

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

[0032] A dog clutch includes a driving part and a driven part. The embodiments of this application do not limit the driving method of the dog clutch. In some embodiments, the driving and driven parts of the dog clutch can be driven by a single driving device; in other embodiments, the driving and driven parts of the dog clutch can be driven separately by different driving devices. Further, the aforementioned driving device can be an engine or an electric motor, and the specific choice can be determined according to actual needs; the embodiments of this application do not limit this.

[0033] See Figure 2 , Figure 2 This is a schematic diagram illustrating the transmission principle of a dog-tooth clutch provided in an embodiment of this application. Figure 2 As shown, a dog clutch consists of two parts: a driving part (driving wheel) and a driven part (driven wheel). The driving wheel is equipped with dog teeth, which are the engaging teeth. The teeth in both the driving and driven parts of the dog clutch are evenly distributed, with the tooth width slightly smaller than the tooth groove width, differing by about 5%. The driven wheel has protruding holes corresponding to the dog teeth on the driving wheel, and the number of holes usually matches the number of dog teeth. Axial movement allows the dog teeth to insert into or withdraw from the holes, thereby achieving gear engagement or disengagement. The transmission or interruption of force between the two gears is achieved through the insertion or withdrawal of the dog teeth. When the teeth of the driving and driven parts mesh, the clutch engagement is complete. Figure 2 In this design, the driving 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. Specifically, the P1 motor controls the rotation of the driving part, and the P3 motor controls the rotation of the driven part.

[0034] See Figure 3 , Figure 3 This is one of the flowcharts for the control method of the dog clutch provided in the embodiments of this application. For example... Figure 3 As shown, the control method may include the following steps:

[0035] Step 301: With the dog clutch engaged, monitor the engagement status of the dog clutch.

[0036] The engagement state of a dog clutch refers to the engagement state of the driving and driven parts of the dog clutch. The engagement state can include the top tooth state, the normal engagement state, and the engagement completed state.

[0037] After engaging the dog clutch, the driving and driven parts are controlled to rotate separately, while the driven part of the dog clutch moves to the left to engage the dog clutch. During the engagement process, the engagement status of the dog clutch can be monitored in real time. If the dog clutch is detected to be in a tooth-collision state, subsequent steps can be executed. In this way, the tooth-collision can be dealt with in time when it occurs, so as to smoothly engage and complete the gear shifting action.

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

[0039] The driven part is rigidly connected to the wheel, and its rotational speed directly determines the wheel's rotational speed, thus affecting the vehicle's speed and power output. Therefore, when monitoring the engagement state of a dog clutch, if the engagement state is detected as a tooth-jamming state (meaning the dog clutch is experiencing tooth jamming during engagement), this problem can be solved by keeping the driven part's rotational speed constant while changing the driving part's rotational speed. Specifically, the rotational speed of the driven part can be obtained first, and then the rotational speed of the driving part can be adjusted based on this speed to resolve the tooth jamming issue.

[0040] Step 303: Superimpose the target waveform onto the rotational speed of the driven part to obtain the target rotational speed.

[0041] In this embodiment, after obtaining the rotational speed of the driven part and before adjusting the rotation of the driving part, a target waveform is first superimposed on the rotational speed of the driven part, and the resulting rotational speed is then used as the target rotational speed of the driving part. The target waveform superimposed on the rotational speed of the driven part is a smooth and continuously changing waveform, such as a simple harmonic wave or a triangular wave. Further, the simple harmonic wave can be a sine wave or a cosine wave. In this way, the speed after superimposing the target waveform, i.e., the rotational speed of the driving part, can increase or decrease with a smooth 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 interval angle of the dog clutch.

[0043] In this embodiment, after obtaining the target rotation speed of the active part, the active part can be controlled to run at the target rotation speed, thereby causing the active part and the driven part of the dog clutch to rotate relative to each other, and the rotation angle amplitude is greater than the interval angle between adjacent teeth of the dog clutch, thereby releasing the tooth-over-tooth state of the active part and the driven part, and thus solving the tooth-over-tooth problem so as to continue to engage gears.

[0044] The control method for the dog clutch in this application embodiment first monitors the engagement state of the dog clutch when it is engaged. Then, when the engagement state is the "top tooth" state, the rotational speed of the driven part is acquired. A target waveform is superimposed on the rotational speed of the driven part to obtain a target rotational speed. Finally, the driving part is controlled to run at the target rotational speed so that the driving part rotates relative to the driven part, and the amplitude of the rotation angle is greater than the tooth spacing angle of the dog clutch. In this way, when the dog clutch is in the "top tooth" state, by superimposing the target waveform on the rotational speed of the driven part to obtain the target rotational speed of the driving part, and controlling the driving part to run at the target speed, the driving part can generate a rotation with an amplitude greater than the tooth spacing angle of the dog clutch relative to the driven part, thereby releasing the "top tooth" state of the dog clutch and solving the problem of difficulty in shifting gears caused by the clutch being in the "top tooth" state.

[0045] In some implementations, the driving part is drivenly connected to the first motor, and the driven part is drivenly connected to the second motor;

[0046] Obtaining the rotational speed of the driven part includes:

[0047] Obtain the rotational speed of the second motor;

[0048] The rotational speed of the driven part is obtained by multiplying the rotational 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] The active control unit operates according to the target rotation speed, including:

[0050] The first rotational speed is obtained by multiplying the target rotational 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 run at a first rotational speed so that the active part runs at the target rotational speed.

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

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

[0054] In practice, the rotational speed of the driven part can be obtained by multiplying the rotational speed of the second motor by the first transmission ratio. The first transmission ratio represents the speed ratio of the transmission mechanism between the driven part and the second motor. Similarly, the first rotational speed can be obtained by multiplying the target rotational speed by the second transmission ratio. Then, the first motor is controlled to run at the first rotational speed, thereby causing the driving part to run at the target rotational speed. The second transmission ratio represents the speed ratio of the transmission mechanism between the driving part and the first motor.

[0055] In this way, the rotational speed of the driven part can be accurately obtained, and the rotational speed of the driving part can be accurately controlled.

[0056] Of course, it is understood that the rotational speed of the driven part can also be obtained in other ways in the embodiments of this application. In some other embodiments, the rotational speed of the driven part can also be directly detected.

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

[0058] Specifically, when a dog clutch experiences tooth knocking, if the amplitude of the rotation angle of the driving 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 tooth knocking state is low. Therefore, the amplitude of the superimposed target waveform needs to satisfy the following: the amplitude of the rotation angle of the driving part after reaching the target rotation speed is greater than the tooth spacing angle of the dog clutch.

[0059] Different models of dog clutches have different tooth spacing angles, and consequently, the required rotation angle amplitude to resolve tooth collision issues also varies. The tooth spacing angle of a dog clutch is related to the number of teeth, at 180° / tooth pair. For example, a 3-tooth dog clutch has a tooth spacing angle of 60°, so the required rotation angle range for tooth collision is less than -60° or greater than 60°; a 4-tooth dog clutch has a tooth spacing angle of 45°, so the required rotation angle range for tooth collision 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 motor heat generation, lowering motor temperature rise, improving motor running stability, and thus improving control accuracy. It should be noted that, provided the target waveform amplitude satisfies the requirement that the rotation angle amplitude is greater than the dog clutch's tooth spacing angle, the target waveform period can be determined based on actual conditions and is not limited to 0.5 seconds.

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

[0061] The rotational speed of the active part is compared with the rotational speed of the driven part;

[0062] The angular acceleration of the active component is compared with the angular acceleration of the driven component;

[0063] 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, the dog clutch is engaged.

[0064] In this embodiment, the engagement and activation conditions of the dog clutch can be determined by judging whether the rotational speeds and angular accelerations of the driving and driven parts are equal. If the engagement and activation conditions of the dog clutch are met, the dog clutch can be engaged.

[0065] In practice, the rotational speed of the driving part and the rotational speed of the driven part, as well as the angular acceleration of the driving part and the angular acceleration of the driven part, can be compared sequentially, and then the corresponding action can be executed based on the comparison results. When it is determined that the rotational speeds of the driving and driven parts are equal, and the angular accelerations of the driving and driven parts are also equal, the dog clutch is engaged. The method for determining the dog clutch engagement can be receiving an engagement command or other means, and is not limited here.

[0066] It should be noted that the rotational speeds of the driving and driven parts are related to the operating speeds of the first and second motors, respectively. The rotational speed of the corresponding part can be calculated from the motor's operating speed, and the angular acceleration can be calculated from the rotational speed. The speeds of the driving and driven parts are acquired before the engagement of the dog clutch is determined. This acquisition can be done in real-time, periodically, or in response to a received engagement command.

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

[0068] When the rotational speed of the active part is not equal to the rotational speed of the driven part, the active part is controlled to run at the rotational speed of the driven part so that the rotational speed of the active part is equal to the rotational speed of the driven part.

[0069] Calculate the angular acceleration of the driven part based on the operating speed of the second motor;

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

[0071] When 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 that of the driven part.

[0072] Specifically, when the dog-tooth clutch is engaged, the rotational speeds of the driving and driven parts are first compared. If they are not equal, the driving part is controlled to run at the speed of the driven part until they are equal. Then, the angular accelerations of the driving and driven parts are further compared. If they are not equal, the driving part is controlled to run at the angular acceleration of the driven part until they are equal. This reduces the impact caused by speed differences, resulting in a smoother clutch engagement process.

[0073] In the aforementioned implementation where the active part is connected to the first motor and the driven part is connected to the second motor, the active part can be made to run at the same speed as the driven part by controlling the rotation speed of the first motor, and the active part can be made to run at the same angular acceleration as the driven part by controlling the angular acceleration of the first motor.

[0074] In practice, the rotational speed of the driven part can be obtained first. Furthermore, the rotational speed of the driven part can be obtained from the rotational speed of the second motor. Then, the rotational speed of the driven part is multiplied by the second transmission ratio to obtain the second speed. Then, the first motor is controlled to run at the second rotational speed. In this way, the driving part can run at the rotational speed of the driven part.

[0075] The angular acceleration of the driven part can be obtained first. Furthermore, 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. Then, the first motor is controlled to run according to the target angular acceleration. In this way, the driving part can run according to the angular acceleration of the driven part.

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

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

[0078] The engagement speed of the dog clutch is determined based on the read position signal;

[0079] The difference between the position indicated by the latest read position signal and the preset target position is compared with a preset position threshold value;

[0080] If the difference is greater than the preset position threshold, the newly determined engagement speed is compared with the preset speed threshold.

[0081] If the newly determined engagement speed is less than the speed threshold, the engagement state of the dog clutch is determined to be the top tooth state.

[0082] In the embodiments of this application, such as Figure 2 As shown, the driven part of the dog clutch is equipped with a position sensor to detect the position of the driven part during the engagement of the dog clutch. 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. By reading multiple position signals from the position sensor within any cycle, the engagement speed of the dog clutch can be calculated.

[0083] In practical implementation, the current position of the driven part is first determined based on the latest read position signal, which is the last read position signal. Each position signal indicates a corresponding position, that is, the current position. Then, the difference between the current position and the preset target position is compared with a preset position threshold. If the difference is greater than the preset position threshold, the latest determined engagement speed is further compared with a preset speed threshold.

[0084] This speed threshold is a preset threshold for the engagement speed and can be set according to actual conditions. If the newly determined engagement speed is less than the speed threshold, the engagement state of the dog clutch is determined to be the tooth-colliding state. In this way, judging whether the dog clutch has tooth-colliding during engagement based on both the position signal and the engagement speed is more accurate and avoids misjudgment.

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

[0086] If the difference is less than or equal to the position threshold, 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 means that the dog clutch is engaged. At this time, the engagement state of the dog clutch is the engagement completed state.

[0088] It should be noted that the various optional implementation methods described in the embodiments of this application can be combined with each other or implemented individually without conflict, and the embodiments of this application do not limit this.

[0089] For ease of understanding, a specific embodiment will be used as an example:

[0090] See Figure 4 , Figure 4 This is a flowchart illustrating a control method for a dog clutch according to a specific embodiment of this application. The control method for a dog clutch may include the following steps:

[0091] S1: Read the speed of the PI motor and P3 motor, as well as the position signal of the driven part of the dog-tooth clutch;

[0092] S2: Determine whether to engage the dog clutch. If yes, proceed to S3; otherwise, end control.

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

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

[0095] S5: By controlling the speed of motor P1, the acceleration of the active part of the dog clutch is made equal to that of the driven part;

[0096] S6: Determine if the speed of the active part is equal to that of the driven part. If yes, proceed to S7; otherwise, return to S5.

[0097] S7: By controlling the angular acceleration of motor P1, the angular acceleration of the active part of the dog clutch is made equal to that of the passive part;

[0098] S8: Determine whether the angular acceleration of the active part is equal to the angular acceleration of the driven part. If yes, proceed to S9; otherwise, return to S5.

[0099] S9: Begin engaging the dog clutch;

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

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

[0102] S12: It has been determined that a tooth tip has occurred;

[0103] S13: Maintain the clutch engagement force unchanged;

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

[0105] S15: Confirm clutch engagement complete.

[0106] In this specific embodiment, the superimposed target waveform has a period of 0.5 seconds and an amplitude that satisfies the requirement that the angular amplitude of the clutch active part is greater than the sine wave of the interval angle between two teeth. For specific implementation, please refer to the foregoing description, which will not be repeated here.

[0107] Based on the control method for the dog clutch provided in the above embodiments, this application also provides specific implementation methods for the control device of the dog clutch. Please refer to the following embodiments.

[0108] See Figure 5 The control device for the dog clutch provided in this application embodiment may include:

[0109] The monitoring module 510 is used to monitor the engagement status of the dog clutch when the dog clutch is engaged.

[0110] The acquisition module 520 is used to acquire the rotational speed of the driven part when the engagement state is the top tooth state;

[0111] The target operating speed determination module 530 is used to superimpose the target waveform onto the rotation speed of the driven part to obtain the target rotation speed;

[0112] The control module 540 is used to 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 interval angle of the dog clutch.

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

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

[0115] The control device for 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), an application-specific integrated circuit (ASIC), or one or more integrated circuits that can be configured to implement the embodiments of this application.

[0117] Memory 602 may include mass storage for data or instructions. For example, and not limitingly, memory 602 may include a hard disk drive (HDD), floppy disk drive, flash memory, optical disk, magneto-optical disk, magnetic tape, or Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, memory 602 is non-volatile solid-state memory.

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

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

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

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

[0122] Bus 610 includes hardware, software, or both, that couples components of the control device for the dog clutch together. For example, and not limitingly, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an Infinite Bandwidth Interconnect, a Low Pin Count (LPC) bus, a memory bus, a Microchannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or combinations of two or more of these. Where appropriate, bus 610 may include one or more buses. Although specific buses are described and illustrated in embodiments of this application, any suitable bus or interconnect is contemplated herein.

[0123] Furthermore, in conjunction with the control method of the dog clutch in the above embodiments, this application embodiment can provide a computer storage medium for implementation. The computer storage medium stores computer program instructions; when these computer program instructions are executed by a processor, they implement any of the dog clutch control methods in the above embodiments.

[0124] It should be clarified that this application is not limited to the specific configurations and processes described above and shown in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of this application is not limited to the specific steps described and shown. Those skilled in the art can make various changes, modifications, and additions, or change the order of steps, after understanding the spirit of this application.

[0125] The functional blocks shown in the above-described structural diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

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

[0127] The aspects of this disclosure have been described above with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that each block in the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that these instructions, executable via the processor of the computer or other programmable data processing apparatus, enable the implementation of the functions / actions specified in one or more blocks of the flowchart illustrations and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It is also understood that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by special-purpose hardware performing the specified functions or actions, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0128] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A control method for a dog-tooth clutch, characterized in that, The dog clutch includes a driving part and a driven part; the control method includes: When the dog clutch is engaged, monitor the engagement status of the dog clutch; When the engagement state is the top tooth state, the rotational speed of the driven part is obtained; The target rotational speed is obtained by superimposing the target waveform onto the rotational speed of the driven part; 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 amplitude of the rotation angle is greater than the tooth spacing angle of the dog clutch; the amplitude of the target waveform satisfies the condition that the angle amplitude is greater than the tooth spacing angle. The monitoring of the engagement state of the dog clutch includes: reading the position signal of the driven part; determining the engagement speed of the dog clutch based on the read position signal; comparing the difference between the position indicated by the latest read position signal and a preset target position with a preset position threshold; if the difference is greater than the preset position threshold, comparing the latest determined engagement speed with a preset speed threshold, and if the latest determined engagement speed is less than the speed threshold, determining the engagement state of the dog clutch as the top tooth state; and if the difference is less than or equal to the position threshold, determining the engagement state as the engagement completion state.

2. The control method according to claim 1, characterized in that, The active part is connected to the first motor via a drive, and the driven part is connected to the second motor via a drive. The step of obtaining the rotational speed of the driven part includes: Obtain the rotational speed of the second motor; The rotational speed of the driven part is obtained by multiplying the rotational 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 control of the active component to operate at the target rotation speed includes: Multiplying the target rotational speed by the second transmission ratio yields the first rotational speed; wherein the second transmission ratio characterizes the speed ratio of the transmission mechanism between the active part and the first motor; The first motor is controlled to run at the first rotational speed so that the active part runs at the target rotational speed.

3. The control method according to claim 1, characterized in that, The target waveform is a sine wave with a period of 0.5 seconds.

4. The control method according to claim 2, characterized in that, Before monitoring the engagement state of the dog clutch, the control method further includes: The rotational speed of the active part is compared with the rotational speed of the driven part; The angular acceleration of the active part is compared with the angular acceleration of the driven part; 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, the dog clutch is engaged.

5. The control method according to claim 4, characterized in that, After comparing the rotational speed of the active part with the rotational speed of the driven part, the method further includes: When the rotational speed of the active part is not equal to the rotational speed of the driven part, the active part is controlled to run at the rotational speed of the driven part so that the rotational speed of the active part is equal to the rotational speed of the driven part. The angular acceleration of the driven part is calculated based on the operating speed of the second motor; After comparing the angular acceleration of the active part with the angular acceleration of the driven part, the method further includes: When 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. A control device for a dog-tooth clutch, characterized in that, The dog-tooth clutch includes a driving part and a driven part; the control device includes: A monitoring module is used to monitor the engagement status of the dog clutch when the dog clutch is engaged. The acquisition module is used to acquire the rotational speed of the driven part when the engagement state is the top tooth state; The target operating speed determination module is used to superimpose a target waveform onto the rotational speed of the driven part to obtain the target rotational speed; The control module is used to 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 interval angle of the dog clutch; the amplitude of the target waveform satisfies that the angle amplitude is greater than the tooth interval angle. The monitoring module is specifically configured to: read the position signal of the driven part; determine the engagement speed of the dog clutch based on the read position signal; compare the difference between the position indicated by the latest read position signal and the preset target position with a preset position threshold; if the difference is greater than the preset position threshold, compare the latest determined engagement speed with a preset speed threshold, and if the latest determined engagement speed is less than the speed threshold, determine the engagement state of the dog clutch as the top tooth state; if the difference is less than or equal to the position threshold, determine the engagement state as the engagement completion state.

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

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

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

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