A low-temperature gear hanging control method, device and equipment of an electric drive system and a medium

Abstract

The application discloses a low-temperature gear engagement control method, device, equipment and medium for an electric drive system. The method comprises the following steps: in a low-temperature state, different power driving states of the electric drive system are identified; different motor request rotating speeds are output according to the different power driving states; in a gear engagement synchronization control period, the motor is controlled to enter a motor rotating speed control mode based on the motor request rotating speed until the motor rotating speed control mode is controlled to exit according to a real-time shift fork position and a target shift fork position; and the motor is controlled to enter a motor zero-torque control mode. The scheme is optimized for gear engagement control in a low-temperature condition, and the problem of low gear engagement success rate of the motor in a low-temperature condition is avoided.

Description

Technical Field

[0001] This invention relates to the field of motor technology, and more particularly to a method, device, equipment, and medium for low-temperature gear shifting control of an electric drive system. Background Technology

[0002] With social development, pure electric vehicles and hybrid vehicles driven by electric motors are becoming increasingly widely used. In the commercial vehicle sector, electric drive systems are generally based on electric motors paired with multi-speed gearboxes to meet the high torque starting power requirements of commercial vehicles.

[0003] Generally, in a multi-speed gearbox of an electric drive system, the gears on the input shaft and the intermediate shaft are directly connected. When the input shaft rotates, it drives the intermediate shaft to rotate as well. The gears on the intermediate shaft are in close engagement with the gears on the output shaft. When the shift fork is activated, the connecting sleeve of the shift fork moves left and right to engage with the corresponding gear on the intermediate shaft. Once engaged (i.e., gear is engaged), the output shaft rotates synchronously with the input shaft. Before the connecting sleeve of the shift fork engages with the corresponding gear, the gear speed on the intermediate shaft drops rapidly due to the high resistance at low temperatures. This results in a large speed difference between the gear on the intermediate shaft and the connecting sleeve, which reduces the success rate of gear engagement and affects the normal operation of the electric drive system. Summary of the Invention

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

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

[0006] Identify different power drive states of the electric drive system at low temperatures;

[0007] Different motor speeds are requested based on different power drive states;

[0008] During the gear shifting synchronization control period, the motor is controlled to enter the motor speed control mode based on the motor request speed control 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 zero torque control mode.

[0010] Optionally, different power drive states of the electric drive system can be identified, including:

[0011] Different power drive states are identified based on the real-time torque of the electric drive system, the speed and acceleration of the motor output shaft, and the braking status; among which, the different power drive states include: acceleration drive state, cruise stability state, and deceleration braking state.

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

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

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

[0015] When the acceleration of the motor output shaft 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, different motor requested speeds may be output according to different power drive states, including:

[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 requested speed is determined according to the synchronous speed of the motor 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;

[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 synchronous speed of the motor and the second speed compensation; wherein, the second speed compensation is determined by the deceleration of the motor output shaft speed 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 output shaft speed of the motor 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 speed reduced in the zero torque control mode of the low temperature motor.

[0020] Optionally, the method further includes: compensating for the zero-torque control mode of the motor according to different power drive states.

[0021] Optionally, the zero-torque control mode of the motor can be compensated for according to different power drive states, including:

[0022] When the power drive state is the acceleration drive state, a periodic positive torque request signal is output;

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

[0024] When the power drive state is cruise stable, maintain the output zero torque request signal.

[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] Secondly, embodiments of the present invention also provide a low-temperature gear shifting control device for an electric drive system, the device comprising:

[0027] The identification module is used to identify different power drive states of the electric drive system at low temperatures.

[0028] The speed request module is used to output different motor speed requests based on different power drive states.

[0029] The speed control mode entry module is used to control the motor to enter the motor speed control mode based on the motor request speed control during the gear shifting synchronization 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 zero-torque control mode.

[0031] Thirdly, embodiments of the present invention also provide 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, the computer program being executed by the at least one processor to enable the at least one processor to perform the low-temperature gear shifting control method for an electric drive system as described in the first aspect.

[0035] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions, which are used to cause a processor to execute and implement the low-temperature gear shifting control method for an electric drive system described in the first aspect.

[0036] In this embodiment of the invention, different power drive states of the electric drive system are identified under low-temperature conditions; different motor request speeds are output according to the different power drive states; during the gear shifting synchronization control period, the motor is controlled to enter the 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; after exiting the motor speed control mode, the motor is controlled to enter the motor zero torque control mode. Thus, during the gear shifting synchronization control period, the motor is controlled to enter the motor speed control mode based on the motor request speed, thereby keeping the motor at the requested motor speed. After the motor enters the motor zero torque control mode, the speed difference between the intermediate shaft gear and the engagement sleeve in the gearbox is kept within a suitable range, thereby ensuring successful gear shifting. This avoids the problem of low-temperature gear shifting failure caused by the motor speed decreasing at low temperatures, which leads to a large speed difference between the intermediate shaft gear and the engagement sleeve after the motor enters the motor zero torque control mode, which is not conducive to gear engagement. Attached Figure Description

[0037] Figure 1 This is a schematic flowchart of a low-temperature gear shifting control method for an electric drive system provided in an embodiment of the present invention;

[0038] Figure 2 This is a schematic flowchart of another low-temperature gear shifting control method for an electric drive system provided in an embodiment of the present invention;

[0039] Figure 3 This is a schematic flowchart of another low-temperature gear shifting control method for an electric drive system provided in an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of a low-temperature gear shifting control device for an electric drive system provided in an embodiment of the present invention;

[0041] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0042] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0043] Figure 1 This is a flowchart illustrating a low-temperature gear shifting control method for an electric drive system according to an embodiment of the present invention. This embodiment is applicable to gear shifting control in low-temperature conditions. The method can be executed by a low-temperature gear shifting control device for the electric drive system, such as... Figure 1 As shown, the method specifically includes the following steps:

[0044] S110. Identify different power drive states of the electric drive system under low temperature conditions.

[0045] The electric drive system includes a motor and a gearbox. Generally, the motor output shaft is connected to the input shaft of the gearbox. The gear on the input shaft is directly connected to the gear on the intermediate shaft. When the motor rotates, the input shaft rotates, causing the intermediate shaft to rotate as well. The gear on the intermediate shaft meshes tightly with the gear on the output shaft. When the shift fork is activated, the connecting sleeve moves left and right to engage with the corresponding gear on the intermediate shaft. Once engaged (i.e., gear is engaged), the output shaft rotates synchronously with the input shaft. In this embodiment, the electric drive system is in a low-temperature state, meaning both the motor and the multi-speed gearbox are in a low-temperature state; that is, when the motor temperature is within a certain low-temperature range, and the multi-speed gearbox system is also within a certain low-temperature range, the electric drive system is in a low-temperature state.

[0046] Different power drive states of an electric drive system are the same as the drive states of the motor; different judgment principles can be used to identify the motor as being in different power drive states; this embodiment does not make specific limitations on this.

[0047] S120 outputs different motor speed requests based on different power drive states.

[0048] The motor's requested speed is the target speed of the gears on the intermediate shafts corresponding to each gear position within the gearbox. When the motor's requested speed is reached, the engagement sleeve can engage with the gears on the intermediate shafts corresponding to each gear position, thus successfully engaging the gear and causing the output shaft of the gearbox to output the target speed. The target speed of the gears on the intermediate shafts corresponding to each gear position within the gearbox is determined by the speed of the motor's output shaft. Since different power drive states correspond to different motor output shaft speeds, they correspond to different motor requested speeds.

[0049] S130. During the gear shifting synchronization control period, the motor is controlled to enter the motor speed control mode based on the motor request speed control until the motor speed control mode exits based on the real-time shift fork position and the target shift fork position.

[0050] The gear shifting synchronization control period refers to the process where the gears on the intermediate shafts corresponding to each gear in the gearbox reach the target speed. During the gear shifting synchronization control period, the motor is controlled to enter the motor speed control mode based on the motor's requested speed. This ensures that the gears on the intermediate shafts corresponding to each gear in the gearbox maintain a constant motor-requested speed. Due to the high resistance of the gears on the intermediate shaft at low temperatures, their speed drops rapidly, resulting in a larger speed difference between the gears on the intermediate shaft and the engagement sleeve, thus reducing the success rate of single gear shifts. In this embodiment, the motor is controlled to enter the motor speed control mode based on the motor's requested speed during the gear shifting synchronization control period. This ensures that the speed of the gears on the intermediate shaft does not drop but remains at the motor's requested speed, thereby minimizing the speed difference between the gears on the intermediate shaft and the engagement sleeve.

[0051] When the shift fork pushes the engagement sleeve to engage the gear, the motor speed control mode is discontinued; specifically, when the real-time shift fork position reaches the target shift fork position, the motor speed control mode is discontinued.

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

[0053] When the motor speed control mode is exited, the motor is controlled to enter the zero torque control mode, that is, the motor continuously outputs zero torque, thus maintaining a small speed difference between the gear on the intermediate shaft and the engagement sleeve, thereby ensuring that the engagement sleeve can feed well.

[0054] In this embodiment of the invention, during the gear shifting synchronization control period, the motor is controlled to enter a motor speed control mode based on the requested motor speed. This ensures that the gear on the intermediate shaft is maintained at the requested motor speed. After the motor enters the zero-torque control mode, the speed difference between the gear on the intermediate shaft and the engagement sleeve is maintained within a suitable range, thus guaranteeing successful gear shifting. This avoids the problem of low-temperature gear shifting failure caused by a decrease in motor speed at low temperatures, which would result in a large speed difference between the gear on the intermediate shaft and the engagement sleeve after the motor enters the zero-torque control mode, hindering gear engagement.

[0055] Optionally, based on the above embodiments, step S120 can be further refined. Figure 2 This is a flowchart illustrating another low-temperature gear shifting control method for an electric drive system provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes the following steps:

[0056] S210. Under low temperature conditions, different power drive states are identified based on the real-time torque of the electric drive system, the speed and acceleration of the motor output shaft, and the braking status. Among them, the different power drive states include: acceleration drive state, cruise stability state, and deceleration braking state.

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

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

[0059] Specifically, when the power drive state is 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 sum of the synchronous speed of the motor 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. Generally, when the current gear information is low gear, the first speed compensation is larger.

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

[0061] Specifically, when the power drive mode is a deceleration drive mode, the synchronous speed of the output motor is output based on the motor output shaft speed and the corresponding gear ratio, and the requested speed of the second motor is determined based on the difference between the synchronous speed and the second speed compensation. The second speed compensation is determined by the deceleration of the motor output shaft speed and the current gear information. Generally, when the current gear information is a low gear, the second speed compensation is larger.

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

[0063] Specifically, when the power drive is in a stable cruising state, the synchronous speed of the motor is output based on the motor output shaft speed and the corresponding gear ratio. The requested speed of the third motor is determined based on the sum of the synchronous speed and the third speed compensation. The third speed compensation is the speed reduction under the zero-torque control mode of the low-temperature motor. Generally, the synchronous speed of the motor will decrease by a preset speed under the zero-torque control mode of the low-temperature motor; for example, the preset speed can be 50 r / s.

[0064] S230. During the gear shifting synchronization control period, the motor speed control mode is entered based on the speed requests of each motor until the motor speed control mode exits 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 shifting synchronization control period, the motor is controlled to enter the motor speed control mode based on the speed requested by the first motor, so that the speed of the gears on the intermediate shafts of each gear in the gearbox can always be kept at the speed requested by the first motor.

[0066] When the power drive state is deceleration drive state, during the gear shifting synchronization control period, the motor is controlled to enter the motor speed control mode based on the second motor's requested speed, so that the gear speed on the intermediate shaft of each gear in the gearbox can always be kept at the second motor's requested speed.

[0067] When the power drive is in cruise stability, during the gear shift synchronization control period, the motor enters the motor speed control mode based on the speed requested by the third motor. This ensures that the speed of the gears on the intermediate shafts of each gear in the gearbox remains constant at the speed requested by the third motor. In this way, the speed difference between the gears on the subsequent intermediate shafts and the engagement sleeve is kept small under different conditions.

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

[0069] Based on the above embodiments, this embodiment further identifies acceleration drive state, cruise stability state, and deceleration braking state according to the real-time torque of the electric drive system, the speed acceleration of the motor output shaft, and the braking state. It then determines the corresponding motor request speed under each of these states. During the gear shifting synchronization control period, the motor is controlled to enter the motor speed control mode based on the different motor request speeds until it exits the mode based on the real-time shift fork position and the target shift fork position. This ensures that the motor maintains its requested speed under different states, and that after entering the zero-torque control mode, the speed difference between the gear on the intermediate shaft and the engagement sleeve remains within a suitable range, thus guaranteeing successful gear shifting under various states.

[0070] Optionally, based on the above embodiments, the method can be further optimized. Figure 3 This is a flowchart illustrating another low-temperature gear shifting control method for an electric drive system provided in an embodiment of the present invention, as shown below. Figure 3 As shown, the method includes the following steps:

[0071] S310: Identify different power drive states based on the real-time torque of the electric drive system, the speed and acceleration of the motor output shaft, and the braking status; among which, the different power drive states include: acceleration drive state, cruise stability state, and 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 requested speed of the second motor is determined according to the synchronous speed of the motor and the second speed compensation; wherein, the second speed compensation is determined by the deceleration of the motor output shaft speed and the current gear information.

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

[0075] S330. During the gear shifting synchronization control period, the motor speed control mode is entered based on the speed requests of each motor until the motor speed control mode exits based on the real-time shift fork position and the target shift fork position.

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

[0077] S350 performs compensation control on the zero-torque control mode of the motor according to different power drive states.

[0078] Specifically, compensation control is performed on the zero-torque control mode of the motor according to different power drive states, including: when the power drive state is acceleration drive state, a periodic positive torque request signal is output. The periodic positive torque request signal can overcome the resistance caused by low temperature, and further ensure that the speed of the gears on the intermediate shaft of each gear in the gearbox remains unchanged at the speed requested by each motor under acceleration drive state. At the same time, it further ensures that the speed difference between the intermediate shaft gear and the engagement sleeve is kept within a suitable range, which is more conducive to the engagement of the engagement sleeve and the gear on the intermediate shaft. The magnitude of 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 relatively small, between 0 and 5 N / m.

[0079] When the power drive mode is in deceleration drive mode, a periodic negative torque request signal is output. This signal overcomes the resistance caused by low temperature, further ensuring that the gear speed on the intermediate shaft of each gear in the gearbox remains constant at the requested speed of each motor during deceleration drive. It also ensures that the speed difference between the intermediate shaft gear and the engagement sleeve remains within a suitable range, facilitating gear engagement between the engagement sleeve and the gear on the intermediate shaft. 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. Generally, the negative torque is relatively small, ranging from 0 to 5 N / m. When the power drive mode is in cruise control mode, a zero torque request signal is maintained.

[0080] Based on the above embodiments, after the motor speed control mode is exited, the motor is controlled to enter the motor zero torque control mode. The motor zero torque control mode is compensated according to different power drive states. In this way, the gear speed on the intermediate shaft of each gear in the gearbox remains unchanged at the speed requested by each motor under different states. At the same time, it is further ensured that the speed difference between the intermediate shaft gear and the engagement sleeve is kept within a suitable range, thereby further ensuring the success of gear shifting under various states.

[0081] This invention also provides a low-temperature gear shifting control device for an electric drive system. This device can execute the low-temperature gear shifting control method for an electric drive system provided in any embodiment of this invention, and has the corresponding functional modules and beneficial effects of the method. Figure 4 This is a schematic diagram of the structure of a low-temperature gear shifting control device for an electric drive system provided in an embodiment of the present invention; as shown. Figure 4 As shown, the device includes:

[0082] The identification module 100 is used to identify different power drive 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 drive 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 control during the gear shifting synchronization control period, and to control the motor speed control mode to exit the motor speed control mode based on 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 zero-torque control mode.

[0086] Optionally, the recognition module 100 includes:

[0087] The first identification unit is used to identify different power drive states based on the real-time torque of the electric drive system, the speed and acceleration of the motor output shaft, and the braking status; among which, the different power drive states include: acceleration drive state, cruise stability state, and 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 speed acceleration of the motor output shaft 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 acceleration of the motor output shaft speed 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 cruise stability state.

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

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

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

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

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

[0096] Optionally, the device may also include: a compensation module;

[0097] The compensation module is used to compensate for the zero-torque control mode of the motor according to different power drive states.

[0098] Optionally, the compensation module includes:

[0099] The first compensation unit is used to output a periodic positive torque request signal when the power driving state is the acceleration driving state.

[0100] The second compensation unit is used to output a periodic negative torque request signal when the power drive state is a deceleration drive state.

[0101] The third compensation unit is used to maintain the zero torque request signal when the power drive state is cruise stable.

[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] This invention also provides an electronic device. Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as embedded computers, desktop computers, workstations, 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 processors, cellular phones, smartphones, 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 illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

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

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

[0108] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0109] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

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

[0111] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0112] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0113] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0114] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0115] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

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

Claims

1. A method for low-temperature gear shifting control in an electric drive system, characterized in that, include: Identify different power drive states of the electric drive system at low temperatures; Among these, identifying different power drive states of the electric drive system includes: Different power drive states are identified based on the real-time torque of the electric drive system, the speed and acceleration of the motor output shaft, and the braking status; among which, the different power drive states include: acceleration drive state, cruise stability state, and deceleration braking state; Different motor speeds are requested based on different power drive states; Among them, different power drive states are identified based on the real-time torque of the electric drive system, the speed and acceleration of the motor output shaft, and the braking status, including: 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 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; 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 requested speed of the second motor is determined according to the synchronous speed and the second speed compensation; wherein, the second speed compensation is determined by the deceleration of the motor output shaft speed and the current gear information; When the power drive state is a cruise stable state, the synchronous speed of the output motor is output according to the output shaft speed of the motor 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 speed reduction in the low temperature motor zero torque control mode; During the gear shifting synchronization control period, the motor is controlled to enter the motor speed control mode based on the motor request speed control 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 zero torque control mode.

2. The low-temperature gear shifting control method for an electric drive system according to claim 1, characterized in that, Different power drive states are identified based on the real-time torque of the electric drive system, the speed and acceleration of the motor output shaft, and the braking status, including: When the real-time torque of the electric drive system is greater than a preset torque threshold, and the speed acceleration of the motor output shaft is greater than a first preset threshold, and the braking state is no braking, the power drive state is identified as an acceleration drive state. When the real-time torque of the electric drive system is within the preset torque range, and the speed acceleration of the motor output shaft is less than the first preset threshold and greater than the second preset threshold, and the braking state is no braking, then the power drive state is identified as cruise stability state. When the acceleration of the motor output shaft is less than a preset threshold and the braking state is braking, the power drive state is identified as a deceleration drive state.

3. The low-temperature gear shifting control method for an electric drive system according to claim 1, characterized in that, Also includes: The zero-torque control mode of the motor is compensated and controlled according to different power drive states.

4. The low-temperature gear shifting control method for an electric drive system according to claim 3, characterized in that, The zero-torque control mode of the motor 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; When the power drive state is a deceleration drive state, a periodic negative torque request signal is output; When the power drive state is cruise stable, maintain the output zero torque request signal.

5. The low-temperature gear shifting control method for an electric drive system according to claim 4, 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.

6. A low-temperature gear shifting control device for an electric drive system, characterized in that, include: The identification module is used to identify different power drive states of the electric drive system at low temperatures. The identification module includes: The first identification unit is used to identify different power drive states based on the real-time torque of the electric drive system, the speed and acceleration of the motor output shaft, and the braking status; among which, the different power drive states include: acceleration drive state, cruise stability state, and deceleration braking state. The speed request module is used to output different motor speed requests based on different power drive states. The speed request module includes: The first speed request unit is used to output the synchronous speed of the motor according to the output shaft speed of the motor and the corresponding gear ratio when the power drive state is the acceleration drive state, and to determine the first motor request speed according to the 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; The second speed request unit is used to output the synchronous speed of the motor based on the output shaft speed of the motor and the corresponding gear ratio when the power drive state is a deceleration drive state, and to determine the second motor request speed based on the synchronous speed and the second speed compensation; wherein, the second speed compensation is determined by the deceleration of the motor output shaft speed and the current gear information; The third speed request unit is used to output the synchronous speed of the motor based on the output shaft speed of the motor and the corresponding gear ratio when the power drive state is cruise stable state, and to determine the third motor request speed based on the synchronous speed and the third speed compensation; wherein, the third speed compensation is the speed reduction in the low temperature motor zero torque control mode; The speed control mode entry module is used to control the motor to enter the motor speed control mode based on the motor request speed control during the gear shifting synchronization 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 zero-torque control mode.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform a low-temperature gear shifting control method for an electric drive system according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that are used to cause a processor to execute a low-temperature gear shifting control method for an electric drive system according to any one of claims 1-5.

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