Low-temperature gear engaging control method, device and equipment for electric drive system and medium

Abstract

The invention discloses an electric drive system low-temperature gear engaging control method, device and equipment and a medium. The method comprises the following steps: in a low-temperature state, identifying different power driving states of the electric driving system; outputting different motor request rotating speeds according to different power driving states; in the gear engaging synchronous control period, the motor is controlled to enter a motor rotating speed control mode based on the motor request rotating speed till the motor rotating speed control mode is controlled to exit according to the real-time shifting fork position and the target shifting fork position; and controlling the motor to enter a motor zero-torque control mode. According to the scheme, gear engaging control under the low-temperature condition is optimized, and the problem that the gear engaging success rate of the motor is low under the low-temperature condition is solved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of motor technology, and in particular to a method, device, equipment and medium for controlling low-temperature gear shifting in an electric drive system. Background Art

[0002] With the development of society, pure electric vehicles and hybrid vehicles driven by motors are gradually being widely used. In the field of commercial vehicles, the electric drive system is basically a multi-speed gearbox solution configured with a motor to meet the power requirements of commercial vehicles for high torque starting.

[0003] Generally, the gears on the input shaft of the multi-speed gearbox in the electric drive system are directly connected to the gears on the intermediate shaft. When the input shaft rotates, it will drive the intermediate shaft to rotate together. The gears on the intermediate shaft are closely meshed with the gears on the output shaft. When the shift fork moves, the coupling sleeve connected to the shift fork moves left and right to mesh with the corresponding gear on the intermediate shaft. Once the meshing is successful (i.e. the gear is engaged), the output shaft will rotate synchronously with the input shaft. Before the coupling sleeve connected to the shift fork meshes with the corresponding gear, the gear speed will drop rapidly due to the large resistance of the gear on the intermediate shaft at low temperatures, so the speed difference between the gear on the intermediate shaft and the coupling sleeve will be large, so the success rate of a single gear engagement will be reduced, affecting the normal drive of the electric drive system. Summary of the invention

[0004] The present invention provides a low-temperature gear shifting control method, device, equipment and medium for an electric drive system, which optimizes the gear shifting control under low-temperature conditions and avoids the problem of low success rate of motor gear shifting under low-temperature conditions.

[0005] To achieve the above objectives, in a first aspect, an embodiment of the present invention provides a low-temperature gear shift control method for an electric drive system, the method comprising:

[0006] Under low temperature conditions, identify different power drive states of the electric drive system;

[0007] Outputting different motor request speeds according to different power driving states;

[0008] During the gear-engaging synchronous control period, the motor is controlled to enter a motor speed control mode based on the motor request speed until the motor speed control mode is exited based on the real-time shift fork position and the target shift fork position;

[0009] Control the motor to enter the motor zero torque control mode.

[0010] Optionally, identify different power drive states of the electric drive system, including:

[0011] Different power drive states are identified according to the real-time torque of the electric drive system, the acceleration of the motor output shaft speed and the braking state; wherein the different power drive states include: an acceleration drive state, a cruise stability state and a deceleration braking state.

[0012] Optionally, different power drive states are identified based on the real-time torque of the electric drive system, the acceleration of the motor output shaft speed, and the braking state, including:

[0013] When the real-time torque of the electric drive system is greater than the preset torque threshold, and the motor output shaft speed acceleration is greater than the first preset threshold, and the braking state is no braking, the power drive state is identified as the acceleration drive state;

[0014] When the real-time torque of the electric drive system is within the preset torque range, and the motor output shaft speed acceleration is less than the first preset threshold and greater than the second preset threshold, and the braking state is no braking, the power drive state is identified as a cruise stable state;

[0015] When the acceleration of the motor output shaft speed is less than a preset threshold and the braking state is braking, the power drive state is identified as a deceleration drive state.

[0016] Optionally, outputting different motor request speeds according to different power drive states includes:

[0017] When the power drive state is the acceleration drive state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the first motor request speed is determined according to the motor synchronous speed and the first speed compensation; wherein the first speed compensation is determined by the motor output shaft speed acceleration and the current gear position information;

[0018] When the power drive state is a deceleration drive state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the second motor requested speed is determined according to the motor synchronous speed and the second speed compensation; wherein the second speed compensation is determined by the motor output shaft speed deceleration and the current gear information.

[0019] When the power drive state is a cruise stable state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the requested speed of the third motor is determined according to the synchronous speed of the motor and the third speed compensation; wherein the third speed compensation is the reduced speed in the low-temperature motor zero torque control mode.

[0020] Optionally, the method further includes: performing compensatory control on the zero torque control mode of the motor according to different power driving states.

[0021] Optionally, the motor zero torque control mode is compensated and controlled according to different power driving states, including:

[0022] When the power driving state is an acceleration driving state, outputting a periodic positive torque request signal;

[0023] When the power driving state is a deceleration driving state, a periodic negative torque request signal is output.

[0024] When the power driving state is a cruise stable state, the zero torque request signal is kept output.

[0025] Optionally, the magnitude of the positive torque in the periodic positive torque request signal is determined by the motor output shaft speed acceleration and the current gear information; the magnitude of the negative torque in the periodic negative torque request signal is determined by the motor output shaft speed and the current gear information.

[0026] In a second aspect, an embodiment of the present invention further provides a low-temperature gear shift control device for an electric drive system, the device comprising:

[0027] An identification module, used to identify different power drive states of the electric drive system under low temperature conditions;

[0028] A speed request module, used for outputting different motor request speeds according to different power driving states;

[0029] A speed control mode entry module, used for controlling the motor to enter a motor speed control mode based on the motor request speed during the gear-engaging synchronous control period until the motor speed control mode is exited based on the real-time shift fork position and the target shift fork position;

[0030] The zero torque control mode entry module is used to control the motor to enter the motor zero torque control mode.

[0031] In a third aspect, an embodiment of the present invention further provides an electronic device, the electronic device comprising:

[0032] at least one processor; and

[0033] a memory communicatively connected to the at least one processor; wherein,

[0034] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the low-temperature gear shift control method of an electric drive system described in the first aspect.

[0035] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the low-temperature gear shift control method of an electric drive system described in the first aspect when executed.

[0036] The embodiment of the present invention identifies different power drive states of the electric drive system under low temperature conditions; outputs different motor request speeds according to the different power drive states; during the gear engagement synchronous control period, controls the motor to enter a motor speed control mode based on the motor request speed, until the motor speed control mode is exited according to the real-time shift fork position and the target shift fork position; after the motor speed control mode is exited, controls the motor to enter a motor zero torque control mode, so that during the gear engagement synchronous control period, controls the motor to enter a motor speed control mode based on the motor request speed, thereby maintaining the motor at the motor request speed, so that after the motor enters the motor zero torque control mode, the intermediate shaft gear speed in the gearbox and the speed difference of the coupling sleeve are maintained within a suitable range, thereby ensuring the success of gear engagement; and avoids the problem of low temperature gear engagement failure caused by the motor speed drop at low temperature resulting in a large difference between the intermediate shaft gear speed and the coupling sleeve speed after the motor enters the motor zero torque control mode, which is not conducive to gear engagement. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of a low-temperature gear shifting control method for an electric drive system provided by an embodiment of the present invention;

[0038] Figure 2 is a flow chart of another low-temperature gear shifting control method for an electric drive system provided by an embodiment of the present invention;

[0039] Figure 3 is a flow chart of another low-temperature gear shifting control method for an electric drive system provided by an embodiment of the present invention;

[0040] Figure 4 It is a structural schematic diagram of a low-temperature gear shift control device for an electric drive system provided by an embodiment of the present invention;

[0041] Figure 5 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0043] Figure 1 is a flow chart of a low-temperature gear shift control method for an electric drive system provided by an embodiment of the present invention. This embodiment is applicable to gear shift control under low temperature conditions. The method can be executed by a low-temperature gear shift control device for an electric drive system, such as Figure 1 As shown, the method specifically comprises the following steps:

[0044] S110: Under low temperature conditions, identify different power drive states of the electric drive system.

[0045] Among them, the electric drive system includes a motor and a gearbox; generally, the motor output shaft is connected to the input shaft in the gearbox, and the gear on the input shaft in the gearbox is directly connected to the gear on the intermediate shaft. When the motor is driven to rotate, the input shaft in the gearbox rotates, which will drive the intermediate shaft to rotate together. The gear on the intermediate shaft is tightly meshed with the gear on the output shaft. When the shift fork moves, the coupling sleeve connected to the shift fork moves left and right to mesh with the gear on the corresponding intermediate shaft. Once the meshing is successful (i.e. the gear is engaged), the output shaft will rotate synchronously with the input shaft. In this embodiment, the electric drive system is in a low-temperature state, that is, the motor and the multi-speed gearbox are both in a low-temperature state; that is, when the temperature of the motor is in a certain low-temperature range, and the multi-speed gearbox system is in a certain low-temperature range, the electric drive system is in a low-temperature state;

[0046] Different power drive states of the electric drive system are the drive states of the motor. The motor can be identified as being in different power drive states based on different judgment principles. This embodiment does not make any specific limitation to this.

[0047] S120 , outputting different motor request speeds according to different power drive states.

[0048] Among them, the motor requested speed is the target speed of the gears on the intermediate shaft on each gear position in the gearbox; when the motor requested speed is reached, the coupling sleeve can engage the gears on the intermediate shaft on each gear position, thereby successfully engaging the gear, and then the target speed is output on the output shaft on the gearbox; the target speed of the gears on the intermediate shaft on each gear position in the gearbox is determined by the motor output shaft speed. Since different motor output shaft speeds correspond to different power drive states, different motor requested speeds correspond to them.

[0049] S130, during the gear-engaging synchronous control period, controlling the motor to enter a motor speed control mode based on the motor request speed until the motor speed control mode is exited based on the real-time shift fork position and the target shift fork position.

[0050] Among them, the gear-engaging synchronous control period is the process in which the gears on the intermediate shafts corresponding to each gear in the gearbox reach the target speed; when in the gear-engaging synchronous control period, the motor is controlled to enter the motor speed control mode based on the motor request speed, that is, during the gear-engaging synchronous control period, the gears on the intermediate shafts corresponding to each gear in the gearbox can be kept at the motor request speed. Since the resistance of the gears on the intermediate shaft is relatively large at low temperatures, the speed of the gears on the intermediate shaft will drop rapidly, so that the speed difference between the subsequent gears on the intermediate shaft and the coupling sleeve will be relatively large, so the success rate of a single gear engagement will be reduced. In this embodiment, during the gear-engaging synchronous control period, the motor is controlled to enter the motor speed control mode based on the motor request speed, which can ensure that the speed of the gears on the intermediate shaft does not drop and is maintained at the motor request speed, thereby ensuring that the speed difference between the subsequent gears on the intermediate shaft and the coupling sleeve is relatively small.

[0051] When the shift fork pushes the coupling sleeve to enter the tooth, the motor speed control mode is controlled to exit; specifically, when the real-time shift fork position reaches the target shift fork position, the motor speed control mode is controlled to exit.

[0052] S140, controlling the motor to enter a motor zero torque control mode.

[0053] Among them, when the motor speed control mode exits, the motor is controlled to enter the motor zero torque control mode, that is, the motor continuously outputs zero torque, so as to maintain a small speed difference between the gear on the intermediate shaft and the coupling sleeve, thereby ensuring that the coupling sleeve is well engaged.

[0054] The embodiment of the present invention controls the motor to enter the motor speed control mode based on the motor request speed during the gear shifting synchronous control period, thereby maintaining the gear on the intermediate shaft at the motor request speed, so that after the motor enters the motor zero torque control mode, the speed difference between the gear on the intermediate shaft and the coupling sleeve is maintained within an appropriate range, thereby ensuring the success of gear shifting; and avoiding the problem of low temperature gear shifting failure caused by the motor speed drop at low temperature resulting in a large speed difference between the gear on the intermediate shaft and the coupling sleeve after the motor enters the motor zero torque control mode, which is not conducive to gear engagement.

[0055] Optionally, based on the above embodiment, step S120 is further refined. Figure 2 FIG. 1 is a flow chart of another low-temperature gear shifting control method for an electric drive system provided by an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0056] S210. Under low temperature conditions, different power drive states are identified according to the real-time torque of the electric drive system, the acceleration of the motor output shaft speed, and the braking state; wherein the different power drive states include: an acceleration drive state, a cruise stability state, and a deceleration braking state.

[0057] Specifically, when the real-time torque of the electric drive system is greater than the preset torque threshold, and the motor output shaft speed acceleration is greater than the first preset threshold, and the braking state is no braking, the power drive state is identified as the acceleration drive state; when the real-time torque of the electric drive system is within the preset torque range, and the motor output shaft speed acceleration is less than the first preset threshold and greater than the second preset threshold, and the braking state is no braking, the power drive state is identified as the cruise stability state; when the motor output shaft speed acceleration is less than the preset threshold, and the braking state is with braking, the power drive state is identified as the deceleration drive state.

[0058] S220: When the power drive state is the acceleration drive state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the first motor request speed is determined according to the motor synchronous speed and the first speed compensation.

[0059] Specifically, when the power drive state is the acceleration drive state, the motor synchronous speed is output according to the motor output shaft speed and the corresponding gear ratio, and the first motor request speed is determined according to the sum of the motor synchronous speed and the first speed compensation; wherein the first speed compensation is determined by the motor output shaft speed acceleration and the current gear information. Generally, when the current gear information is low gear, the first speed compensation is larger.

[0060] S221: When the power driving state is the deceleration driving state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the requested speed of the second motor is determined according to the synchronous speed of the motor and the second speed compensation.

[0061] Specifically, when the power drive state is the deceleration drive state, the motor synchronous speed is output according to the motor output shaft speed and the corresponding gear ratio, and the second motor request speed is determined according to the difference between the motor synchronous speed and the second speed compensation; wherein the second speed compensation is determined by the motor output shaft speed deceleration and the current gear information. Generally, when the current gear information is low gear, the second speed compensation is larger.

[0062] S222: When the power drive state is the cruise stable state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the requested speed of the third motor is determined according to the synchronous speed of the motor and the third speed compensation.

[0063] Specifically, when the power drive state is a cruise stable state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the third motor request speed is determined according to the sum of the motor synchronous speed and the third speed compensation; wherein the third speed compensation is the speed reduced in the low temperature motor zero torque control mode. Generally, the synchronous speed of the motor in the low temperature motor zero torque control mode will drop to a preset speed, and for example, the preset speed may be 50r / s.

[0064] S230: During the gear-engaging synchronous control period, the motors are controlled to enter a motor speed control mode based on the requested speeds of the motors until the motor speed control mode is exited based on the real-time shift fork position and the target shift fork position.

[0065] Specifically, when the power drive state is the acceleration drive state, during the gear-engaging synchronous control period, the motor is controlled to enter the motor speed control mode based on the first motor request speed, so that the speed of the gear on the intermediate shaft corresponding to each gear position in the gearbox can be kept unchanged at the first motor request speed;

[0066] When the power drive state is the deceleration drive state, during the gear-engaging synchronous control period, the motor is controlled to enter the motor speed control mode based on the second motor request speed, so that the speed of the gear on the intermediate shaft corresponding to each gear position in the gearbox can be kept unchanged at the second motor request speed;

[0067] When the power drive state is a cruise stable state, during the gear-engaging synchronous control period, the motor enters a motor speed control mode based on the third motor's requested speed control mode, so that the speed of the gears on the intermediate shaft corresponding to each gear in the gearbox can be kept unchanged at the third motor's requested speed; in this way, the speed difference between the subsequent gears on the intermediate shaft and the coupling sleeve is ensured to be small under different states.

[0068] S240: After the motor speed control mode is exited, the motor is controlled to enter the motor zero torque control mode.

[0069] Based on the above embodiments, the present embodiment further identifies the acceleration driving state, the cruising stable state and the deceleration braking state according to the real-time torque of the electric drive system, the acceleration of the motor output shaft speed and the braking state, and determines the corresponding motor request speed in different states of the acceleration driving state, the cruising stable state and the deceleration braking state; during the gear shifting synchronous control period, the motor is controlled to enter the motor speed control mode based on different motor request speeds until the motor speed control mode is exited according to the real-time shift fork position and the target shift fork position; thereby, the motor is maintained at the motor request speed in different states, so that after the motor enters the motor zero torque control mode, the speed difference between the gear on the intermediate shaft and the coupling sleeve can be maintained within an appropriate range, thereby ensuring the success of gear shifting in various states.

[0070] Optionally, based on the above embodiment, the method is further optimized. Figure 3 FIG. 1 is a flow chart of another low-temperature gear shifting control method for an electric drive system provided by an embodiment of the present invention. Figure 3 As shown, the method comprises the following steps:

[0071] S310, identifying different power drive states according to the real-time torque of the electric drive system, the acceleration of the motor output shaft speed and the braking state; wherein the different power drive states include: an acceleration drive state, a cruise stability state and a deceleration braking state.

[0072] S320, when the power drive state is the acceleration drive state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the first motor requested speed is determined according to the motor synchronous speed and the first speed compensation; wherein the first speed compensation is determined by the acceleration of the motor output shaft speed and the current gear information.

[0073] S321. When the power drive state is the deceleration drive state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the second motor requested speed is determined according to the motor synchronous speed and the second speed compensation; wherein the second speed compensation is determined by the motor output shaft speed deceleration and the current gear information.

[0074] S322. When the power drive state is the cruise stable state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the requested speed of the third motor is determined according to the synchronous speed and the third speed compensation; wherein the third speed compensation is the reduced speed in the low-temperature motor zero torque control mode.

[0075] S330: During the gear-engaging synchronous control period, the motors are controlled to enter a motor speed control mode based on the requested speed of each motor until the motor speed control mode is exited based on the real-time shift fork position and the target shift fork position.

[0076] S340: After the motor speed control mode is exited, the motor is controlled to enter the motor zero torque control mode.

[0077] S350, performing compensation control on the motor zero torque control mode according to different power driving states.

[0078] Specifically, the motor zero torque control mode is compensated and controlled according to different power drive states, including: when the power drive state is the acceleration drive state, a periodic positive torque request signal is output, and the periodic positive torque request signal can overcome the resistance caused by low temperature, and further ensure that the gear speed on the intermediate shaft corresponding to each gear in the gearbox in the acceleration drive state is always maintained at the requested speed of each motor, and at the same time further ensure that the speed difference between the intermediate shaft gear and the coupling sleeve is maintained within a suitable range, which is further conducive to the engagement of the coupling sleeve with the gear on the intermediate shaft; wherein, the positive torque in the periodic positive torque request signal is determined by the acceleration of the motor output shaft speed and the current gear information; generally, the positive torque is smaller; it can be between 0 and 5N / m.

[0079] When the power drive state is the deceleration drive state, a periodic negative torque request signal is output. The periodic negative torque request signal overcomes the resistance caused by low temperature, further ensuring that the gear speed on the intermediate shaft corresponding to each gear in the gearbox is kept constant at the requested speed of each motor in the deceleration drive state, and further ensuring that the speed difference between the intermediate shaft gear and the coupling sleeve is kept within a suitable range, which is further conducive to the coupling sleeve and the gear on the intermediate shaft. The negative torque in the periodic negative torque request signal is determined by the motor output shaft speed and the current gear information. Generally, the negative torque is smaller; it can be between 0 and 5N / m. When the power drive state is the cruise stable state, the zero torque request signal is output.

[0080] On the basis of the above embodiments, after the motor speed control mode is exited, the motor is controlled to enter the motor zero torque control mode, and the motor zero torque control mode is compensated and controlled according to different power drive states, so that the gear speed on the intermediate shaft corresponding to each gear in the gearbox under different states is kept unchanged at the requested speed of each motor, and at the same time, it is further ensured that the intermediate shaft gear speed and the coupling speed difference are maintained within an appropriate range, thereby further ensuring the success of gear shifting under various states.

[0081] An embodiment of the present invention also provides a low-temperature gear shift control device for an electric drive system, which can execute the low-temperature gear shift control method for an electric drive system provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. Figure 4 is a schematic structural diagram of a low-temperature gear shift control device for an electric drive system provided by an embodiment of the present invention; Figure 4 As shown, the device comprises:

[0082] The identification module 100 is used to identify different power driving states of the electric drive system under low temperature conditions;

[0083] The speed request module 200 is used to output different motor request speeds according to different power driving states;

[0084] The speed control mode entry module 300 is used to control the motor to enter the motor speed control mode based on the motor request speed during the gear-engaging synchronous control period until the motor speed control mode is exited according to the real-time shift fork position and the target shift fork position;

[0085] The zero torque control mode entry module 400 is used to control the motor to enter the motor zero torque control mode.

[0086] Optionally, the identification module 100 includes:

[0087] The first identification unit is used to identify different power drive states according to the real-time torque of the electric drive system, the acceleration of the motor output shaft speed and the braking state; wherein the different power drive states include: an acceleration drive state, a cruise stability state and a deceleration braking state.

[0088] Optionally, the first identification unit is specifically:

[0089] When the real-time torque of the electric drive system is greater than the preset torque threshold, and the motor output shaft speed acceleration is greater than the first preset threshold, and the braking state is no braking, the power drive state is identified as the acceleration drive state;

[0090] When the real-time torque of the electric drive system is within the preset torque range, and the motor output shaft speed acceleration is less than the first preset threshold and greater than the second preset threshold, and the braking state is no braking, the power drive state is identified as a cruise stable state;

[0091] When the acceleration of the motor output shaft speed is less than a preset threshold and the braking state is braking, the power drive state is identified as a deceleration drive state.

[0092] Optionally, the rotation speed request module 200 includes:

[0093] A first speed request unit is used to output the synchronous speed of the motor according to the motor output shaft speed and the corresponding gear ratio when the power drive state is the acceleration drive state, and determine the first motor request speed according to the motor synchronous speed and the first speed compensation; wherein the first speed compensation is determined by the acceleration of the motor output shaft speed and the current gear information;

[0094] The second speed request unit is used to output the motor synchronous speed according to the motor output shaft speed and the corresponding gear ratio when the power drive state is a deceleration drive state, and determine the second motor request speed according to the motor synchronous speed and the second speed compensation; wherein the second speed compensation is determined by the motor output shaft speed deceleration and the current gear information.

[0095] The third speed request unit is used to output the motor synchronous speed according to the motor output shaft speed and the corresponding gear ratio when the power drive state is the cruise stable state, and determine the third motor request speed according to the motor synchronous speed and the third speed compensation; wherein the third speed compensation is the reduced speed in the low-temperature motor zero torque control mode.

[0096] Optionally, the device further comprises: a compensation module;

[0097] The compensation module is used to perform compensation control on the motor zero torque control mode according to different power driving states.

[0098] Optionally, the compensation module includes:

[0099] A first compensation unit, configured to output a periodic positive torque request signal when the power driving state is an acceleration driving state;

[0100] A second compensation unit, configured to output a periodic negative torque request signal when the power driving state is a deceleration driving state;

[0101] The third compensation unit is used for maintaining the output of a zero torque request signal when the power driving state is a cruise stable state.

[0102] Optionally, the magnitude of the positive torque in the periodic positive torque request signal is determined by the motor output shaft speed acceleration and the current gear information; the magnitude of the negative torque in the periodic negative torque request signal is determined by the motor output shaft speed and the current gear information.

[0103] An embodiment of the present invention further provides an electronic device, Figure 5 It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as embedded computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0104] like Figure 5 As shown, the electronic device 01 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 01 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0105] A number of components in the electronic device 01 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 100 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0106] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a low-temperature gear shift control method for an electric drive system.

[0107] In some embodiments, a low-temperature gear shift control method for an electric drive system may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 01 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the low-temperature gear shift control method for an electric drive system described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute a low-temperature gear shift control method for an electric drive system in any other appropriate manner (for example, by means of firmware).

[0108] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0110] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0111] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0112] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0113] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0114] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0115] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0116] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A low temperature gear shift control method for an electric drive system, characterized in that: include: Under low temperature conditions, identify different power drive states of the electric drive system; Outputting different motor request speeds according to different power driving states; During the gear-engaging synchronous control period, the motor is controlled to enter a motor speed control mode based on the motor request speed until the motor speed control mode is exited based on the real-time shift fork position and the target shift fork position; Control the motor to enter the motor zero torque control mode.

2. The low temperature gear shift control method of the electric drive system according to claim 1, characterized in that: Identify different power drive states of the electric drive system, including: Different power drive states are identified according to the real-time torque of the electric drive system, the acceleration of the motor output shaft speed and the braking state; wherein the different power drive states include: an acceleration drive state, a cruise stability state and a deceleration braking state.

3. The low temperature gear shift control method of the electric drive system according to claim 2, characterized in that: Different power drive states are identified based on the real-time torque of the electric drive system, the motor output shaft speed acceleration and the braking state, including: When the real-time torque of the electric drive system is greater than the preset torque threshold, and the motor output shaft speed acceleration is greater than the first preset threshold, and the braking state is no braking, the power drive state is identified as the acceleration drive state; When the real-time torque of the electric drive system is within the preset torque range, and the motor output shaft speed acceleration is less than the first preset threshold and greater than the second preset threshold, and the braking state is no braking, the power drive state is identified as a cruise stable state; When the acceleration of the motor output shaft speed is less than a preset threshold and the braking state is braking, the power drive state is identified as a deceleration drive state.

4. The low temperature gear shift control method of the electric drive system according to claim 3, characterized in that: Outputting different motor request speeds according to different power driving states includes: When the power drive state is the acceleration drive state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the first motor request speed is determined according to the motor synchronous speed and the first speed compensation; wherein the first speed compensation is determined by the motor output shaft speed acceleration and the current gear position information; When the power drive state is a deceleration drive state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the second motor request speed is determined according to the motor synchronous speed and the second speed compensation; wherein the second speed compensation is determined by the motor output shaft speed deceleration and the current gear information; When the power drive state is a cruise stable state, the synchronous speed of the motor is output according to the motor output shaft speed and the corresponding gear ratio, and the requested speed of the third motor is determined according to the synchronous speed of the motor and the third speed compensation; wherein the third speed compensation is the reduced speed in the low-temperature motor zero torque control mode.

5. The low temperature gear shift control method of the electric drive system according to claim 3, characterized in that: Also includes: The motor zero torque control mode is compensated and controlled according to different power driving states.

6. The low temperature gear shift control method of the electric drive system according to claim 5, characterized in that: The motor zero torque control mode is compensated and controlled according to different power driving states, including: When the power driving state is an acceleration driving state, outputting a periodic positive torque request signal; When the power driving state is a deceleration driving state, a periodic negative torque request signal is output; When the power driving state is a cruise stable state, the zero torque request signal is kept output.

7. The low temperature gear shift control method of the electric drive system according to claim 6, characterized in that: The magnitude of the positive torque in the periodic positive torque request signal is determined by the motor output shaft speed acceleration and the current gear information; the magnitude of the negative torque in the periodic negative torque request signal is determined by the motor output shaft speed and the current gear information.

8. A low temperature gear shift control device for an electric drive system, characterized in that: include: An identification module, used to identify different power drive states of the electric drive system under low temperature conditions; A speed request module, used for outputting different motor request speeds according to different power driving states; A speed control mode entry module, used for controlling the motor to enter a motor speed control mode based on the motor request speed during the gear-engaging synchronous control period until the motor speed control mode is exited based on the real-time shift fork position and the target shift fork position; The zero torque control mode entry module is used to control the motor to enter the motor zero torque control mode.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute a low-temperature gear shift control method for an electric drive system according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement a low-temperature gear shift control method for an electric drive system according to any one of claims 1 to 7 when executed.

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