AMT gear shifting fault-tolerant control method based on shifting fork displacement correction and storage medium

Abstract

The invention discloses an AMT gear-shifting fault-tolerant control method based on shifting fork displacement correction and a storage medium, and belongs to the technical field of AMT gear-shifting control. The AMT gear-shifting fault-tolerant control method comprises the steps that motor rotor angular displacement collected by an angular displacement sensor is obtained on the basis that shifting fork displacement does not need to be corrected; if the angular displacement of the motor rotor is continuous, acquiring the angular displacement of the gear shifting motor at the current moment acquired by an angular displacement sensor, then calculating the displacement of a shifting fork, and carrying out AMT gear shifting fault-tolerant control according to the displacement of the shifting fork, otherwise, acquiring the gear shifting load force acquired in real time, then calculating the angular displacement of the gear shifting motor at the current moment, and then calculating the displacement of the shifting fork; and AMT gear shifting fault-tolerant control is carried out according to the shifting fork displacement. By comprehensively considering the factor that the angular displacement sensor of the gear shifting executing mechanism breaks down, the error of the position of the shifting fork in the gear shifting process is effectively reduced, and the accuracy and reliability of gear shifting are improved.

Description

Technical Field

[0001] The invention relates to an AMT shift fault-tolerant control method and a storage medium based on shift fork displacement correction, belonging to the technical field of AMT shift control. Background Art

[0002] AMT, the full name of which is Automated Mechanical Transmission, is also known as electronically controlled mechanical automatic transmission in Chinese. At present, the research on the gearbox in AMT mainly focuses on the power source, gear decision and speed synchronization control. The above method effectively shortens the gear shifting time of the vehicle during normal driving, reduces the gear shifting shock and improves the gear shifting quality, but there are relatively few studies on the control of the gear shift actuator. In fact, the performance of the gear shift actuator directly affects the gear shifting quality and the reliability of the gear shifting process. If the angular displacement sensor of the gear shift actuator fails during the driving of the vehicle, it may cause gear shifting failure, thereby shortening the service life of the gearbox. When the sensor has a fork displacement or failure, the control method of the prior art is to stop the vehicle and then drive it in a fixed gear in a fault mode, resulting in low safety and reliability of vehicle driving. Summary of the invention

[0003] The purpose of the present invention is to provide an AMT shift fault-tolerant control method and storage medium based on fork displacement correction to solve the problems of low vehicle driving safety and reliability in the prior art.

[0004] To achieve the above objectives, the present invention is implemented by adopting the following technical solutions:

[0005] In a first aspect, the present invention provides an AMT shift fault-tolerant control method based on shift fork displacement correction, comprising:

[0006] Obtaining the low gear shift fork limit position, the high gear shift fork limit position, the low gear shift fork position optimal value and the high gear shift fork position optimal value;

[0007] If the absolute value of the difference between the low gear fork limit position and the optimal value of the low gear fork position is less than or equal to the preset threshold, and the absolute value of the difference between the high gear fork limit position and the optimal value of the high gear fork position is less than or equal to the preset threshold, then the fork displacement is not corrected, otherwise the fork displacement is corrected;

[0008] Obtaining the motor rotor angular displacement collected by the angular displacement sensor;

[0009] If the motor rotor angular displacement is continuous, the shift motor angular displacement collected by the angular displacement sensor at the current moment is directly obtained, the shift fork displacement is calculated based on the shift motor angular displacement, and the AMT shift fault-tolerant control is performed based on the shift fork displacement. Otherwise, the shift load force collected in real time is obtained, the shift motor angular displacement at the current moment is calculated based on the shift load force, the shift fork displacement is calculated based on the shift motor angular displacement, and the AMT shift fault-tolerant control is performed based on the shift fork displacement.

[0010] Furthermore, the fork displacement is corrected by the following formula:

[0011] ;

[0012] in, is the corrected fork displacement; is the actual displacement of the fork; is the total displacement of the fork, It is the limit position of the low gear shift fork. It is the limit position of the high gear shift fork;

[0013] The shift fork displacement includes a current gear to neutral travel threshold when upshifting, a current gear to neutral travel threshold when downshifting, a neutral speed regulation travel threshold when upshifting, a neutral speed regulation travel threshold when downshifting, a neutral speed regulation to target gear travel threshold when upshifting, and a neutral speed regulation to target gear travel threshold when downshifting.

[0014] Furthermore, the criteria for determining whether the motor rotor angular displacement is continuous include:

[0015] If the obtained motor rotor angular displacement has no breakpoints, the motor rotor angular displacement is continuous; otherwise, the motor rotor angular displacement is discontinuous.

[0016] Furthermore, the shift fork displacement is calculated according to the shift motor angular displacement by solving the following formula:

[0017] ;

[0018] Where x is the fork displacement, is the position coordinate of the cam in the i-th segment, i=1,2,3,4,5, R is the cam radius, γ is the groove helix angle, is the transmission ratio of the reduction mechanism, is the shift motor angular displacement, is the cam angle when the cam is in the i-th section.

[0019] Furthermore, the step of calculating the current shift motor angular displacement according to the shift load force includes:

[0020] The angular displacement of the shift motor at the current moment is calculated based on the relationship between the shift load force and the angular displacement of the shift motor established when the shift load force and the angular displacement sensor are working in a fault-free state.

[0021] Furthermore, the relationship between the shift load force and the shift motor angular displacement is:

[0022] ;

[0023] in, is the shift load force, is the electromagnetic torque, is the equivalent moment of inertia, is the equivalent damping coefficient, Equivalent friction torque, is the transmission ratio of the reduction mechanism, is the transmission efficiency of the reduction mechanism, is the effective radius of the shift finger, is the angular displacement of the shift motor, is the angular velocity of the shift motor, is the angular acceleration of the gear shifting motor.

[0024] Furthermore, after directly acquiring the angular displacement of the shift motor at the current moment acquired by the angular displacement sensor, the step of updating the relationship between the shift load force and the angular displacement of the shift motor is also included, including:

[0025] The gear shift load force at the current moment is obtained, and the relationship between the gear shift load force and the gear shift motor angular displacement is updated according to the gear shift load force at the current moment and the gear shift motor angular displacement at the current moment.

[0026] Furthermore, if the shift fork displacement is not corrected, when performing the AMT shift fault tolerance control, the travel of each gear position satisfies the following conditions:

[0027] ;

[0028] ;

[0029] ;

[0030] ;

[0031] ;

[0032] ;

[0033] in, Indicates the travel threshold from the current gear to the neutral gear when upshifting. Indicates the travel threshold from the current gear to the neutral gear when downshifting. Indicates the neutral speed control travel threshold when shifting up. Indicates the neutral speed control travel threshold when downshifting. Indicates the neutral gear speed adjustment to the target gear travel threshold when upshifting. Indicates the travel threshold of neutral gear speed adjustment to the target gear position when downshifting.

[0034] Furthermore, if the shift fork displacement is corrected, when performing the AMT shift fault tolerance control, the travel of each gear position satisfies the following conditions:

[0035] ;

[0036] ;

[0037] ;

[0038] ;

[0039] ;

[0040] ;

[0041] in, It is the low gear shift fork limit position. It is the limit position of the high gear fork.

[0042] In a second aspect, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the AMT shift fault-tolerant control based on fork displacement stroke correction as described in any one of the first aspects are implemented.

[0043] Compared with the prior art, the beneficial effects achieved by the present invention are:

[0044] The present invention provides an AMT gear shift fault-tolerant control method and storage medium based on fork displacement correction, which ensures the stability and reliability of control by first determining whether the fork displacement stroke needs to be corrected before performing gear shift fault-tolerant control, and executing subsequent steps only after ensuring that the fork displacement stroke does not need to be corrected or has been corrected; by comprehensively considering the problems of signal drift and failure of the gear shift actuator sensor, when the angular displacement of the gear shift motor is detected to be discontinuous, the fork displacement is calculated through historical data, thereby ensuring the continuity, safety and reliability of the gear shift process, and effectively improving the system's fault tolerance and user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a flow chart of an AMT shift fault-tolerant control method based on shift fork displacement correction corresponding to Embodiment 1 of the present invention;

[0046] Figure 2 is a flow chart of an AMT shift fault-tolerant control method based on shift fork displacement correction corresponding to Embodiment 2 of the present invention;

[0047] Figure 3 It is a schematic diagram of the cam hub groove structure provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the protection scope of the present invention.

[0049] Example 1.

[0050] like Figure 1 As shown, the present invention provides an AMT shift fault-tolerant control method based on shift fork displacement correction, comprising:

[0051] Obtaining the low gear shift fork limit position, the high gear shift fork limit position, the low gear shift fork position optimal value and the high gear shift fork position optimal value;

[0052] If the absolute value of the difference between the low gear fork limit position and the low gear fork position optimal value is less than or equal to the preset threshold, and the absolute value of the difference between the high gear fork limit position and the high gear fork position optimal value is less than or equal to the preset threshold, then the fork displacement stroke is not corrected, otherwise the fork displacement stroke is corrected;

[0053] Obtaining the motor rotor angular displacement collected by the angular displacement sensor;

[0054] If the motor rotor angular displacement is continuous, the shift motor angular displacement collected by the angular displacement sensor at the current moment is directly obtained, the shift fork displacement is calculated based on the shift motor angular displacement, and the AMT shift fault-tolerant control is performed based on the shift fork displacement. Otherwise, the shift load force collected in real time is obtained, the shift motor angular displacement at the current moment is calculated based on the shift load force, the shift fork displacement is calculated based on the shift motor angular displacement, and the AMT shift fault-tolerant control is performed based on the shift fork displacement.

[0055] The present invention ensures the stability and reliability of control by first determining whether the shift fork displacement stroke needs to be corrected before performing the gear shift fault-tolerant control, and executing subsequent steps only after ensuring that the shift fork displacement stroke does not need to be corrected or has been corrected; by comprehensively considering the problems of signal drift and failure of the gear shift actuator sensor, when the angular displacement of the gear shift motor is detected to be discontinuous, the shift fork displacement is calculated through historical data, thereby ensuring the continuity, safety and reliability of the gear shift process, and effectively improving the system's fault tolerance and user experience.

[0056] Example 2.

[0057] like Figure 2As shown, the present invention provides an AMT shift fault-tolerant control method based on shift fork displacement correction, and the specific implementation includes the following steps:

[0058] S1. Record the low gear shift fork limit position , high gear shift fork limit position , Optimal position of low gear fork and the optimal position of the high gear fork .

[0059] like Figure 3 As shown, in this embodiment, It can be 0. You can take 340.

[0060] S2, move the low gear fork to the limit position Optimal position for low gear shift fork By comparison, the high gear fork limit position Optimal position for high gear shift fork For comparison, if the absolute value of the difference between the low gear fork limit position and the optimal value of the low gear fork position is less than or equal to the preset threshold, and the absolute value of the difference between the high gear fork limit position and the optimal value of the high gear fork position is less than or equal to the preset threshold, the fork displacement stroke is not corrected, otherwise the fork displacement stroke is corrected (because the shift motor will be blocked at this time, the motor current will suddenly increase, and the sensor will produce signal drift, so the fork displacement stroke needs to be corrected).

[0061] In this embodiment, the preset threshold value ( Figure 2 c) is 5°. This preset threshold is determined based on the cam hub groove structure of the shift actuator and multiple analyses. It can correctly determine whether the sensor has signal drift while ensuring the accuracy of the shift fork displacement.

[0062] The specific steps for correcting the fork displacement include:

[0063] Based on the proportional relationship between the sensor signal value and the axial movement displacement of the shift fork, it can be determined that the physical position of each shift displacement remains unchanged. Then, according to the ratio of the actual displacement of the shift fork to the total displacement, the threshold value of each gear stroke after the shift fork displacement correction is calculated. The relationship is:

[0064] ;

[0065] in, It is the travel threshold of each gear position after the fork displacement correction; is the actual displacement of the fork; is the total displacement of the fork.

[0066] The threshold values ​​of each gear stroke are shown in Table 1, and the threshold values ​​of each gear stroke after the fork displacement stroke is corrected are shown in Table 2. Indicates the travel threshold from the current gear to the neutral gear when upshifting. Indicates the travel threshold from the current gear to the neutral gear when downshifting. Indicates the neutral speed control travel threshold when shifting up. Indicates the neutral speed control travel threshold when downshifting. Indicates the neutral gear speed adjustment to the target gear travel threshold when upshifting. Indicates the travel threshold of neutral gear speed adjustment to the target gear position when downshifting.

[0067] Table 1- Table of travel thresholds for each gear

[0068]

[0069] Table 2- Table of travel thresholds for each gear after the fork displacement is corrected

[0070]

[0071] S3. Record the motor rotor angular displacement.

[0072] S4. Determine whether the motor rotor angular displacement is continuous. If there is no breakpoint in the motor rotor angular displacement, it is determined to be continuous, and the angular displacement sensor signal is continued to be used. The shift load force and the shift motor angular displacement when the sensor is working normally are recorded, and a relationship between the shift load force and the shift motor angular displacement is established and updated. If there is a breakpoint in the motor rotor angular displacement, it is determined to be discontinuous and the angular displacement sensor is faulty. The shift motor angular displacement is calculated using the relationship between the shift load force and the shift motor angular displacement when the sensor is working normally, and the shift fork displacement is calculated based on the shift motor angular displacement to continue controlling the shift process.

[0073] The relationship between the shift load force and the shift motor angular displacement is:

[0074] ;

[0075] in, is the shift load force, is the electromagnetic torque, is the equivalent moment of inertia, is the equivalent damping coefficient, Equivalent friction torque, is the transmission ratio of the reduction mechanism, is the transmission efficiency of the reduction mechanism, is the effective radius of the shift finger, is the angular displacement of the shift motor, is the angular velocity of the shift motor, is the angular acceleration of the gear shifting motor.

[0076] The parameter equations of the shift motor angular displacement and the shift fork displacement can be expressed as:

[0077] ;

[0078] Where x is the fork displacement, is the position coordinate of the cam in the i-th segment, i=1,2,3,4,5, R is the cam radius, γ is the groove helix angle, is the transmission ratio of the reduction mechanism, is the shift motor angular displacement, is the cam angle when the cam is in the i-th section, and the values ​​of θ1, θ2, θ3, θ4 and θ5 are as follows: Figure 3 shown.

[0079] Example 3.

[0080] The present invention provides a computer-readable storage medium having a computer program / instruction stored thereon, characterized in that when the computer program / instruction is executed by a processor, the steps of AMT shift fault-tolerant control based on fork displacement correction provided in Example 1 are implemented:

[0081] Obtaining the low gear shift fork limit position, the high gear shift fork limit position, the low gear shift fork position optimal value and the high gear shift fork position optimal value;

[0082] If the absolute value of the difference between the low gear fork limit position and the low gear fork position optimal value is less than or equal to the preset threshold, and the absolute value of the difference between the high gear fork limit position and the high gear fork position optimal value is less than or equal to the preset threshold, then the fork displacement stroke is not corrected, otherwise the fork displacement stroke is corrected;

[0083] Obtaining the motor rotor angular displacement collected by the angular displacement sensor;

[0084] If the motor rotor angular displacement is continuous, the shift motor angular displacement collected by the angular displacement sensor at the current moment is directly obtained, the shift fork displacement is calculated based on the shift motor angular displacement, and the AMT shift fault-tolerant control is performed based on the shift fork displacement. Otherwise, the shift load force collected in real time is obtained, the shift motor angular displacement at the current moment is calculated based on the shift load force, the shift fork displacement is calculated based on the shift motor angular displacement, and the AMT shift fault-tolerant control is performed based on the shift fork displacement.

[0085] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0086] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0089] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A fault-tolerant control method for AMT shifting based on fork displacement correction, characterized in that: include: Obtaining the low gear shift fork limit position, the high gear shift fork limit position, the low gear shift fork position optimal value and the high gear shift fork position optimal value; If the absolute value of the difference between the low gear fork limit position and the optimal value of the low gear fork position is less than or equal to the preset threshold, and the absolute value of the difference between the high gear fork limit position and the optimal value of the high gear fork position is less than or equal to the preset threshold, then the fork displacement is not corrected, otherwise the fork displacement is corrected; Obtaining the motor rotor angular displacement collected by the angular displacement sensor; If the motor rotor angular displacement is continuous, the shift motor angular displacement collected by the angular displacement sensor at the current moment is directly obtained, the shift fork displacement is calculated based on the shift motor angular displacement, and the AMT shift fault-tolerant control is performed based on the shift fork displacement. Otherwise, the shift load force collected in real time is obtained, the shift motor angular displacement at the current moment is calculated based on the shift load force, the shift fork displacement is calculated based on the shift motor angular displacement, and the AMT shift fault-tolerant control is performed based on the shift fork displacement.

2. The AMT shift fault-tolerant control method based on fork displacement correction according to claim 1, characterized in that: The fork displacement is corrected by the following formula: ； in, is the corrected fork displacement; is the actual displacement of the fork; is the total displacement of the fork, It is the limit position of the low gear shift fork. It is the limit position of the high gear shift fork; The shift fork displacement includes a current gear to neutral travel threshold when upshifting, a current gear to neutral travel threshold when downshifting, a neutral speed regulation travel threshold when upshifting, a neutral speed regulation travel threshold when downshifting, a neutral speed regulation to target gear travel threshold when upshifting, and a neutral speed regulation to target gear travel threshold when downshifting.

3. The AMT shift fault-tolerant control method based on shift fork displacement correction according to claim 1, characterized in that: The criteria for determining whether the motor rotor angular displacement is continuous include: If the obtained motor rotor angular displacement has no breakpoints, the motor rotor angular displacement is continuous; otherwise, the motor rotor angular displacement is discontinuous.

4. The AMT shift fault-tolerant control method based on fork displacement correction according to claim 1, characterized in that: The shift fork displacement is calculated according to the shift motor angular displacement by solving the following formula: ； Where x is the fork displacement, is the position coordinate of the cam in the i-th segment, i=1,2,3,4,5, R is the cam radius, γ is the groove helix angle, is the transmission ratio of the reduction mechanism, is the shift motor angular displacement, is the cam angle when the cam is in the i-th section.

5. The AMT shift fault-tolerant control method based on shift fork displacement correction according to claim 1, characterized in that: The step of calculating the current shift motor angular displacement according to the shift load force includes: The angular displacement of the shift motor at the current moment is calculated based on the relationship between the shift load force and the angular displacement of the shift motor established when the shift load force and the angular displacement sensor are working in a fault-free state.

6. The AMT shift fault-tolerant control method based on fork displacement correction according to claim 5, characterized in that: The relationship between the shift load force and the shift motor angular displacement is: ； in, is the shift load force, is the electromagnetic torque, is the equivalent moment of inertia, is the equivalent damping coefficient, Equivalent friction torque, is the transmission ratio of the reduction mechanism, is the transmission efficiency of the reduction mechanism, is the effective radius of the shift finger, is the angular displacement of the shift motor, is the angular velocity of the shift motor, is the angular acceleration of the gear shifting motor.

7. The AMT shift fault-tolerant control method based on shift fork displacement correction according to claim 5, characterized in that: After directly acquiring the angular displacement of the shift motor at the current moment acquired by the angular displacement sensor, the method further includes updating the relationship between the shift load force and the angular displacement of the shift motor, including: The gear shift load force at the current moment is obtained, and the relationship between the gear shift load force and the gear shift motor angular displacement is updated according to the gear shift load force at the current moment and the gear shift motor angular displacement at the current moment.

8. The AMT shift fault-tolerant control method based on shift fork displacement correction according to claim 1, characterized in that: If the shift fork displacement is not corrected, when performing the AMT shift fault tolerance control, the travel of each gear position meets the following conditions: ； ； ； ； ； ； in, Indicates the travel threshold from the current gear to the neutral gear when upshifting. Indicates the travel threshold from the current gear to the neutral gear when downshifting. Indicates the neutral speed control travel threshold when shifting up. Indicates the neutral speed control travel threshold when downshifting. Indicates the neutral gear speed adjustment to the target gear travel threshold when upshifting. Indicates the travel threshold of neutral gear speed adjustment to the target gear position when downshifting.

9. The AMT shift fault-tolerant control method based on fork displacement correction according to claim 8, characterized in that: If the shift fork displacement is corrected, when performing the AMT shift fault tolerance control, the travel of each gear position satisfies the following conditions: ； ； ； ； ； ； in, It is the low gear shift fork limit position. It is the limit position of the high gear fork.

10. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of AMT shift fault-tolerant control based on fork displacement correction as described in any one of claims 1 to 9 are implemented.

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