Gear shift control method, device, electronic device and storage medium

Abstract

The present application provides a shift control method, device, electronic device and storage medium, wherein the shift control method includes: when the vehicle is in a gear state, obtaining the torque loss corresponding to the transmission system; when receiving a shift command, determining the synchronous inertia torque of the synchronizer; determining the shift force of the synchronizer in the synchronization stage according to the synchronous inertia torque, the torque loss and the structural parameters corresponding to the synchronizer; in the synchronization stage of the synchronizer, controlling the shift actuator corresponding to the synchronizer to output the shift force. The present application accurately calculates the synchronous inertia torque and torque loss, and determines the appropriate shift force accordingly, so that the synchronizer can more smoothly match the speed of the input shaft and the target gear during the synchronization process, avoiding the impact and frustration caused by excessive or insufficient shift force, and improving the shift quality.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a gear shift control method, device, electronic equipment and storage medium. Background Art

[0002] Synchronous shifting is a common shifting method. The synchronizer is the main component to improve the shifting performance of the automobile mechanical transmission. Its performance directly affects the comfort of automobile operation. Synchronous shifting not only has the advantages of light shifting, avoiding impact, and eliminating noise, but also makes shifting fast, which can improve the power and economy of the vehicle. During the synchronization stage of the shifting process, the synchronizer needs to control the shifting force to push the gear sleeve to drive the slider synchronizer ring to move until it contacts the synchronizer ring slider, so that the gear sleeve speed is synchronized with the synchronizer ring speed. In this process, the control of the shifting force becomes the key to successful shifting.

[0003] At present, the shift force is controlled in real time through a calibrated fixed value. However, due to the influence of transmission drag torque, oil viscosity, ambient temperature, etc., the shift force requirements are quite different from the conventional requirements. In this process, the fixed shift force may cause shift noise and increase the probability of shift failure. Summary of the invention

[0004] The embodiments of the present application provide a shift control method, device, electronic device and storage medium to solve the problem in the prior art that a fixed shift force may cause shift noise and shift failure.

[0005] In a first aspect, an embodiment of the present application provides a shift control method, the method comprising:

[0006] When the vehicle is in gear, the torque loss corresponding to the transmission system is obtained;

[0007] upon receiving a shift command, determining a synchronous inertia torque of the synchronizer;

[0008] determining a shift force of the synchronizer in a synchronization phase according to the synchronization inertia torque, the torque loss and corresponding structural parameters of the synchronizer;

[0009] During the synchronization phase of the synchronizer, a shift actuator corresponding to the synchronizer is controlled to output the shift force.

[0010] In a second aspect, an embodiment of the present application further provides a shift control device, the device comprising:

[0011] An acquisition module, used for acquiring a torque loss corresponding to a transmission system when the vehicle is in a gear state;

[0012] A first determination module, configured to determine a synchronous inertia torque of a synchronizer upon receiving a shift instruction;

[0013] A second determination module, configured to determine a shift force of the synchronizer in a synchronization phase according to the synchronization inertia torque, the torque loss and structural parameters corresponding to the synchronizer;

[0014] The control module is used to control the shift actuator corresponding to the synchronizer to output the shift force during the synchronization stage of the synchronizer.

[0015] In a third aspect, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the above-mentioned shift control method when executed by the processor.

[0016] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned shift control method is implemented.

[0017] The embodiments of the present application include at least the following technical effects:

[0018] The technical solution of the embodiment of the present application, by accurately calculating the synchronous inertia torque and torque loss and determining the appropriate shifting force accordingly, can enable the synchronizer to more smoothly match the rotational speeds of the input shaft and the target gear gear during the synchronization process, thereby avoiding the impact and frustration caused by excessive or insufficient shifting force and improving the shifting quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0020] Figure 1 is a flow chart of a shift control method provided in an embodiment of the present application;

[0021] Figure 2 is a schematic structural diagram of a shift control device provided in an embodiment of the present application;

[0022] Figure 3 A block diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] It should be understood that the references to "one embodiment" or "an embodiment" throughout the specification mean that the specific features, structures, or characteristics associated with the embodiment are included in at least one embodiment of the present application. Therefore, the references to "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0025] In the various embodiments of the present application, it should be understood that the size of the serial numbers of the following processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0026] like Figure 1 As shown, an embodiment of the present application provides a shift control method, the method comprising:

[0027] Step 101: When the vehicle is in gear, obtain the torque loss corresponding to the transmission system.

[0028] The torque loss of the transmission system includes many aspects, such as oil pump driving torque, clutch drag torque, transmission oil stirring loss and bearing drag torque loss, etc. This parameter can be used to calculate the torque loss according to the transmission gear state and vehicle monitoring parameters. The vehicle monitoring parameters mainly include transmission clutch torque loss, gear ratio, transmission input torque, transmission in-gear rotational inertia and vehicle acceleration.

[0029] Step 102: upon receiving a shift command, determining the synchronous inertia torque of the synchronizer.

[0030] When receiving the shift command, the synchronizer enters the shift process to synchronize the speed of the gears in the gearbox, so that the gears can mesh smoothly during the shift, reducing impact and noise. Specifically, the shift process can be divided into neutral position, pre-synchronization process, lock position, lock release, free travel, meshing process and speed change process.

[0031] During the synchronization stage (including the synchronization process and the locking position), the synchronizer needs to control the shifting force, pushing the gear sleeve to drive the slider and the synchronizer ring to move until it contacts the synchronizer ring slider, so that the gear sleeve speed is synchronized with the synchronizer ring speed. In this process, the control of the shifting force becomes the key to successful shifting.

[0032] In the specific implementation process, after receiving the gear shift command, it is necessary to determine the inertia torque that the synchronizer needs to synchronize during the acceleration and deceleration gear shifting process of the whole vehicle, that is, the synchronous inertia torque.

[0033] The synchronous inertia torque is an inherent property of the synchronizer itself, which is related to the structural design of the synchronizer, the mass distribution of its components, etc.

[0034] Step 103: Determine the shift force of the synchronizer in the synchronization phase according to the synchronization inertia torque, the torque loss and the corresponding structural parameters of the synchronizer.

[0035] The calculation of shift force needs to comprehensively consider the synchronous inertia torque, torque loss and structural parameters of the synchronizer. Among them, the structural parameters of the synchronizer include the cone angle of the synchronizer ring, the dynamic friction coefficient on the friction material of the synchronizer ring, the average friction radius of the synchronizer ring and the friction coefficient calibration correction parameters. For example, the shift force must overcome the synchronous inertia torque to make the synchronizer sleeve synchronize with the target gear quickly and accurately, and at the same time overcome the resistance caused by torque loss.

[0036] Step 104 : During the synchronization phase of the synchronizer, control the shift actuator corresponding to the synchronizer to output the shift force.

[0037] After the shift force is determined, during the synchronization phase of the synchronizer, the shift actuator of the synchronizer is controlled to output the shift force calculated above.

[0038] Specifically, the corresponding control strategy is adopted according to the type of synchronizer shift actuator (such as hydraulic control, motor hub control and motor screw control, etc.). For the hydraulic control method, the force output by the hydraulic cylinder is adjusted by controlling the opening and pressure of the hydraulic valve to make it equal to the calculated shift force; for the motor hub control method, the output torque and speed of the motor are accurately controlled according to the size and direction of the shift force, and transmitted to the synchronizer through the hub; for the motor screw control method, the rotation of the motor is controlled to make the screw generate appropriate thrust to provide the shift force.

[0039] Optionally, during the synchronization process, the status of the synchronizer is monitored in real time, and the shift force is fine-tuned according to the feedback information to ensure that the synchronization process is fast, smooth and accurate.

[0040] In this embodiment, by accurately calculating the synchronous inertia torque and torque loss and determining the appropriate shift force accordingly, the synchronizer can more smoothly match the rotational speeds of the input shaft and the target gear during the synchronization process, avoiding the impact and jerk caused by excessive or insufficient shift force, and improving the shift quality.

[0041] In an optional embodiment of the present application, obtaining the torque loss corresponding to the transmission system includes:

[0042] Obtain the clutch drag torque, the gear ratio corresponding to the current gear, and the input torque and output torque corresponding to the transmission;

[0043] monitoring whether the synchronizer enters the synchronization phase;

[0044] At an initial moment of the synchronization phase, determining a torque loss corresponding to the initial moment according to a first clutch drag torque corresponding to the initial moment, a second clutch drag torque corresponding to a moment before the initial moment, the gear ratio, and an input torque and an output torque corresponding to the initial moment;

[0045] At other moments except the initial moment in the synchronization phase, the torque loss corresponding to the current moment is determined according to the historical torque loss at the previous moment corresponding to the current moment, the gear transmission ratio, and the input torque and output torque corresponding to the current moment.

[0046] When obtaining the torque loss corresponding to the transmission system, first of all, it is necessary to obtain the clutch drag torque, the gear ratio corresponding to the current gear, and the input torque and output torque corresponding to the transmission. The acquisition of clutch drag torque usually relies on sensors installed near the clutch. These sensors can monitor parameters such as clutch speed, lubrication conditions, and oil temperature, and calculate the clutch drag torque through a pre-set algorithm. The gear ratio is an inherent parameter of the transmission and can be directly read from the vehicle's control system according to different gear settings. The input torque can be measured by torque sensors installed on the input and output shafts of the transmission. The output torque can be calculated from the vehicle's rotational inertia and vehicle acceleration.

[0047] At the same time, monitor whether the synchronizer enters the synchronization phase.

[0048] At the initial moment of the synchronization phase, the first clutch drag torque (i.e., the clutch drag torque at the initial moment), the second clutch drag torque (i.e., the clutch drag torque at the moment before the initial moment), and the input torque and output torque corresponding to the initial moment are obtained simultaneously. The torque loss corresponding to the initial moment is determined based on these parameters and the gear ratio.

[0049] Specifically, the torque loss calculation formula corresponding to the initial moment is as follows:

[0050] T drag (1) = T in (1)-i(1)*T out (1)+T clutch (1)-T clutch (0)

[0051] Among them, T drag (1) is the torque loss at the initial moment, T in (1) is the input torque at the initial moment, i(1) is the gear ratio, T out (1) is the output torque at the initial moment, Tclutch (1) is the first clutch drag torque, T clutch (0) is the second clutch drag torque.

[0052] In the synchronization phase, at other moments except the initial moment, the torque loss corresponding to the current moment is determined according to the historical torque loss at the previous moment corresponding to the current moment, the gear ratio, and the input torque and output torque corresponding to the current moment. The torque loss information at the previous moment is used here, and considering the dynamic characteristics of the transmission system, the change of torque loss can be more accurately reflected to a certain extent.

[0053] Specifically, the torque loss calculation formula corresponding to the current moment is as follows:

[0054] T drag (t+1)=T drag (t)+T in (t+1)-i(t+1)*T out (t+1)

[0055] Among them, T drag (t) is the torque loss at the previous moment, T in (t+1) is the input torque at the current moment, i(t+1) is the gear ratio, T out (t+1) is the output torque at the current moment.

[0056] The above implementation scheme of the present application, by considering different calculation methods at the initial moment and other moments respectively during the synchronization phase, fully considers the change of the clutch drag torque and the influence of the torque loss at the previous moment, and can more accurately reflect the actual torque loss of the transmission system during the shifting process. Accurate torque loss information can enable the vehicle's control system to better adjust the operating parameters of the shift actuator. Based on accurate torque loss calculation, the wear and impact of the transmission components during the shifting process can be reduced.

[0057] In an optional embodiment of the present application, obtaining the clutch drag torque includes:

[0058] Obtaining the corresponding relationship between clutch parameters and drag torque;

[0059] Acquire current clutch parameters corresponding to the current moment, wherein the current clutch parameters at least include lubrication flow, oil temperature and clutch speed;

[0060] The clutch drag torque is determined according to the corresponding relationship and the current clutch parameter.

[0061] Specifically, the clutch drag torque is not fixed, but is affected by multiple clutch parameters, and there is a specific correspondence between these parameters and the drag torque. Usually, this correspondence is obtained through a large number of experimental tests and theoretical analysis.

[0062] During the experiment, the operation of the clutch under different working conditions will be simulated on a special test bench, and the parameters such as lubrication flow, oil temperature, clutch speed, etc. will be changed, and the corresponding clutch drag torque value will be accurately measured. Then the corresponding relationship between the clutch drag torque and the clutch parameters can be obtained. The corresponding relationship can be a map table. According to the map table, linear interpolation can be performed to obtain the clutch drag torque under different conditions. At the same time, the value is corrected according to the actual vehicle verification to obtain the system calibration correction parameter.

[0063] During the actual operation of the vehicle, it is necessary to obtain the clutch parameters at the current moment in real time.

[0064] Specifically, the lubrication flow is measured by a flow sensor installed in the clutch lubrication system, the oil temperature is detected by an oil temperature sensor, and the clutch speed is measured by a speed sensor installed on the clutch.

[0065] After obtaining the current clutch parameters (lubrication flow, oil temperature, clutch speed), these parameter values ​​are substituted into the previously established correspondence between the clutch parameters and the drag torque, and the clutch drag torque at the current moment can be calculated.

[0066] The above-mentioned implementation scheme of the present application can accurately control the shift actuator to output appropriate shift force by accurately obtaining the clutch drag torque, thereby avoiding shift shock caused by excessive shift force, or shift delay and poor synchronization caused by insufficient shift force, thereby making the shift process smoother and faster and improving the driving experience.

[0067] In an optional embodiment of the present application, obtaining the output torque corresponding to the transmission includes:

[0068] Obtain the rotational inertia and vehicle acceleration corresponding to the transmission;

[0069] An output torque corresponding to the transmission is determined according to the rotational inertia and the acceleration.

[0070] Specifically, the moment of inertia is a measure of the inertia of a rigid body when it rotates. For a transmission, it depends on the mass distribution of the various rotating parts (such as gears, shafts, synchronizers, etc.) inside the transmission and their relative position relationship with the center of rotation. Its value is usually determined during the transmission design stage by combining theoretical calculations and actual tests.

[0071] Vehicle acceleration can be directly measured by an acceleration sensor installed on the vehicle.

[0072] The output torque is calculated as follows:

[0073] T out (t+1)=J(t+1)*α(t+1)

[0074] Among them, T out (t+1) is the output torque, J(t+1) is the moment of inertia, and α(t+1) is the vehicle acceleration.

[0075] The above implementation scheme of the present application, by accurately calculating the output torque corresponding to the transmission, knows the output torque during the gear shifting process. Combined with other parameters such as the input torque, it can reasonably arrange the gear shifting timing and control the action force of the gear shifting actuator to ensure that the power can be smoothly transitioned when switching gears, avoiding power interruption or excessive torque shock, thereby improving the driving comfort and handling stability of the vehicle.

[0076] In an optional embodiment of the present application, determining the synchronous inertia torque of the synchronizer includes:

[0077] Obtaining the moment of inertia, driving end speed and driven end speed of the synchronizer;

[0078] Determining a speed difference of the synchronizer according to the driving end speed and the driven end speed;

[0079] The synchronous inertia torque is determined according to the rotational inertia and the rotational speed difference.

[0080] Specifically, the moment of inertia of the synchronizer is an inherent physical property of the synchronizer, which mainly depends on the structural design of the synchronizer and the mass distribution of its components. During the design and manufacturing stage of the synchronizer, engineers will determine its moment of inertia through theoretical calculations combined with actual tests. During the actual use of the vehicle, this moment of inertia value is stored in the vehicle control system as a characteristic parameter of the synchronizer and can be accessed at any time.

[0081] Speed ​​sensors are installed at the corresponding positions of the active end and the driven end of the synchronizer. The speed sensors monitor the rotation speed of the active end and the driven end in real time.

[0082] After obtaining the driving end speed and the driven end speed, the speed difference of the synchronizer can be obtained by calculating the difference between the two.

[0083] After obtaining the moment of inertia and the speed difference, the synchronous inertia torque can be calculated using the following formula.

[0084] T c (t+1)=J c(t+1)*δω(t+1) / τ

[0085] Among them, J c (t+1) is the moment of inertia, δω(t+1) / τ is the speed difference, and τ is the sampling time interval.

[0086] In the above implementation scheme of the present application, accurate determination of the synchronous inertia torque is crucial to achieve smooth gear shifting. During the gear shifting process, the synchronizer needs to overcome this inertia torque to make the speed of the active end and the driven end consistent, thereby achieving smooth gear shifting without impact.

[0087] In an optional embodiment of the present application, determining the shift force of the synchronizer in the synchronization stage according to the synchronization inertia torque, the torque loss and the structural parameters corresponding to the synchronizer includes:

[0088] determining a synchronization torque of the synchronizer according to the synchronization inertia torque and the torque loss;

[0089] The shifting force of the synchronizer in the synchronization phase is determined according to the synchronization torque and the structural parameters corresponding to the synchronizer.

[0090] Specifically, the synchronous inertia torque is generated when the synchronizer synchronizes the speed of the active end and the driven end. Its magnitude depends on the rotational inertia of the synchronizer and the speed difference between the active end and the driven end. This torque is the inertial resistance that needs to be overcome in order to change the speed of the two ends of the synchronizer to make them consistent.

[0091] Torque loss includes various energy losses in the transmission system, such as clutch drag torque, transmission oil churning loss, and bearing drag torque loss. These losses will reduce the torque actually used for synchronization. When calculating the synchronization torque, the impact of these losses needs to be considered.

[0092] The structural parameters of the synchronizer include the cone angle of the synchronizer ring, the friction coefficient calibration correction parameter, the dynamic friction coefficient on the synchronizer ring friction material and the average friction radius of the synchronizer ring.

[0093] The formula for calculating the shift force is as follows:

[0094] F(t+1)=(T drag (t+1)+T c (t+1))*sinθ / (b*μ*r)

[0095] Among them, F(t+1) is the shift force, T drag (t+1) is the torque loss, T c (t+1) is the synchronous inertia torque, θ is the cone angle of the synchronizer ring, b is the calibration correction parameter of the friction coefficient; μ is the dynamic friction coefficient on the friction material of the synchronizer ring; r is the average friction radius of the synchronizer ring.

[0096] The above implementation scheme of the present application can ensure that the synchronizer works smoothly during the synchronization stage by accurately calculating the shift force. The appropriate shift force can enable the synchronizer to accurately adjust the speed of the active end and the driven end during the synchronization process. This is very important for improving the ride comfort of the vehicle and can bring a more pleasant driving experience to the driver.

[0097] In an optional embodiment of the present application, during the synchronization stage of the synchronizer, controlling the shift actuator corresponding to the synchronizer to output the shift force includes:

[0098] determining a control parameter according to the shift force and parameter information corresponding to a shift actuator in the synchronizer;

[0099] During the synchronization phase of the synchronizer, the shift actuator is controlled based on the control parameter.

[0100] Specifically, common gear shift actuators include hydraulic control, motor hub control, and motor screw control.

[0101] For hydraulically controlled shift actuators, the parameter information includes the piston area of ​​the hydraulic cylinder, the pressure and flow characteristics of the hydraulic oil, the opening characteristics of the hydraulic valve, etc. For motor hub controlled shift actuators, the parameter information includes the torque characteristic curve of the motor, the transmission ratio of the hub, the speed control accuracy of the motor, etc. For motor lead screw controlled shift actuators, the parameter information includes the pitch of the lead screw, the relationship between the output torque and speed of the motor, the friction coefficient of the lead screw nut, etc.

[0102] For example, in a hydraulically controlled shift actuator, there is a relationship between the shift force F, the shift piston area S and the shift piston pressure P, F = P*S. In order to achieve the shift force required during the shift process, the corresponding shift piston pressure needs to be calculated when the shift piston area is known. At the same time, considering that there is energy loss in the hydraulic system during the power transmission process, that is, there is shift efficiency. The actual calculation formula for calculating the shift piston pressure is as follows:

[0103] P=F / (S*γ)

[0104] Among them, P is the shift piston pressure, F is the shift force, S is the shift piston area, and γ is the shift efficiency.

[0105] In motor hub type and motor screw type shift actuators, the motor torque can be calculated using the following formula.

[0106] T 电机 =F / (ε)

[0107] Among them, (ε) is the physical parameter related to the hub or screw. It shows that the torque is generated by the shift force through the specific physical structure and characteristics of the hub or screw. The composition of the parameters is different under different transmission modes. For the hub shift, it can be obtained based on the hub radius, profile and friction coefficient, and for the screw shift, it can be obtained based on the screw lead and screw efficiency.

[0108] The above implementation scheme of the present application can accurately apply the shift force to the synchronizer during the synchronization stage by accurately determining the control parameters and accurately controlling the shift actuator based on these parameters. This ensures that the synchronization process between the synchronizer sleeve and the target gear is more accurate, reduces synchronization errors, improves the accuracy of the shift, and improves the reliability of the shift system by reasonably determining and controlling the shift force.

[0109] like Figure 2 As shown, an embodiment of the present invention further provides a shift control device, the device comprising:

[0110] An acquisition module 201 is used to acquire a torque loss corresponding to a transmission system when the vehicle is in gear;

[0111] A first determination module 202, configured to determine a synchronous inertia torque of a synchronizer when a shift instruction is received;

[0112] A second determination module 203, configured to determine a shift force of the synchronizer in a synchronization phase according to the synchronization inertia torque, the torque loss and structural parameters corresponding to the synchronizer;

[0113] The control module 204 is used to control the shift actuator corresponding to the synchronizer to output the shift force during the synchronization stage of the synchronizer.

[0114] Optionally, the acquisition module includes:

[0115] The first acquisition submodule is used to acquire the clutch drag torque, the gear ratio corresponding to the current gear, and the input torque and output torque corresponding to the transmission;

[0116] A monitoring submodule, used for monitoring whether the synchronizer enters the synchronization phase;

[0117] A first determination submodule is used to determine, at an initial moment of the synchronization phase, a torque loss corresponding to the initial moment according to a first clutch drag torque corresponding to the initial moment, a second clutch drag torque corresponding to a moment before the initial moment, the gear ratio, and an input torque and an output torque corresponding to the initial moment;

[0118] The second determination submodule is used to determine the torque loss corresponding to the current moment at other moments except the initial moment in the synchronization stage according to the historical torque loss of the previous moment corresponding to the current moment, the gear transmission ratio, and the input torque and output torque corresponding to the current moment.

[0119] Optionally, the first acquisition submodule includes:

[0120] A first acquisition unit, used to acquire a corresponding relationship between a clutch parameter and a drag torque;

[0121] A second acquisition unit, configured to acquire current clutch parameters corresponding to a current moment, wherein the current clutch parameters at least include lubrication flow, oil temperature, and clutch speed;

[0122] The first determining unit is used to determine the clutch drag torque according to the corresponding relationship and the current clutch parameter.

[0123] Optionally, the first acquisition submodule further includes:

[0124] A third acquisition unit, used to acquire the rotational inertia corresponding to the transmission and the vehicle acceleration;

[0125] The second determination unit is used to determine the output torque corresponding to the transmission according to the rotational inertia and the acceleration.

[0126] Optionally, the first determining module includes:

[0127] A second acquisition submodule is used to acquire the rotational inertia, the driving end speed and the driven end speed of the synchronizer;

[0128] A third determination submodule, configured to determine a speed difference of the synchronizer according to the driving end speed and the driven end speed;

[0129] The fourth determination submodule is configured to determine the synchronous inertia torque according to the rotational inertia and the rotational speed difference.

[0130] Optionally, the second determining module includes:

[0131] a fifth determination submodule, configured to determine a synchronization torque of the synchronizer according to the synchronization inertia torque and the torque loss;

[0132] The sixth determination submodule is used to determine the shifting force of the synchronizer in the synchronization phase according to the synchronization torque and the structural parameters corresponding to the synchronizer.

[0133] Optionally, the control module includes:

[0134] a seventh determination submodule, configured to determine a control parameter according to the shift force and parameter information corresponding to a shift actuator in the synchronizer;

[0135] The control submodule is used to control the shift actuator based on the control parameter during the synchronization phase of the synchronizer.

[0136] The shift control device provided in the present application can enable the synchronizer to more smoothly match the rotational speeds of the input shaft and the target gear gear during the synchronization process by accurately calculating the synchronization inertia torque and torque loss and determining the appropriate shift force accordingly, thereby avoiding the impact and frustration caused by excessive or insufficient shift force and improving the shift quality.

[0137] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0138] An embodiment of the present application also provides an electronic device, including: a processor, a memory, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, the various processes of the above-mentioned shift control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0139] For example, Figure 3 FIG. 1 shows a schematic diagram of the physical structure of an electronic device. Figure 3 As shown, the electronic device may include: a processor (processor) 310, a communication interface (Communications Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other through the communication bus 340. The processor 310 can call the logic instructions in the memory 330, and the processor 310 is used to perform the following steps: when the vehicle is in a gear state, obtain the torque loss corresponding to the transmission system; when receiving a shift instruction, determine the synchronous inertia torque of the synchronizer; according to the synchronous inertia torque, the torque loss and the structural parameters corresponding to the synchronizer, determine the shift force of the synchronizer in the synchronization stage; in the synchronization stage of the synchronizer, control the corresponding shift actuator of the synchronizer to output the shift force. The processor 310 can also execute other schemes in the embodiments of the present application, which will not be further elaborated here.

[0140] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application.

[0141] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each process of the above-mentioned shift control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0142] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0143] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0144] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0145] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the present application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0147] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0148] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0149] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0150] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard drives, ROM, RAM, magnetic disks, or optical disks.

[0151] The above description is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A gear shift control method, characterized in that: The method comprises: When the vehicle is in gear, the torque loss corresponding to the transmission system is obtained; upon receiving a shift command, determining a synchronous inertia torque of the synchronizer; determining a shift force of the synchronizer in a synchronization phase according to the synchronization inertia torque, the torque loss and corresponding structural parameters of the synchronizer; During the synchronization phase of the synchronizer, a shift actuator corresponding to the synchronizer is controlled to output the shift force.

2. The shift control method according to claim 1, characterized in that: Get the torque loss corresponding to the transmission system, including: Obtain the clutch drag torque, the gear ratio corresponding to the current gear, and the input torque and output torque corresponding to the transmission; monitoring whether the synchronizer enters the synchronization phase; At an initial moment of the synchronization phase, determining a torque loss corresponding to the initial moment according to a first clutch drag torque corresponding to the initial moment, a second clutch drag torque corresponding to a moment before the initial moment, the gear ratio, and an input torque and an output torque corresponding to the initial moment; At other moments except the initial moment in the synchronization phase, the torque loss corresponding to the current moment is determined according to the historical torque loss at the previous moment corresponding to the current moment, the gear transmission ratio, and the input torque and output torque corresponding to the current moment.

3. The shift control method according to claim 2, characterized in that: Get clutch drag torque, including: Obtaining the corresponding relationship between clutch parameters and drag torque; Acquire current clutch parameters corresponding to the current moment, wherein the current clutch parameters at least include lubrication flow, oil temperature and clutch speed; The clutch drag torque is determined according to the corresponding relationship and the current clutch parameter.

4. The shift control method according to claim 2, characterized in that: Get the output torque corresponding to the transmission, including: Obtain the rotational inertia and vehicle acceleration corresponding to the transmission; An output torque corresponding to the transmission is determined according to the rotational inertia and the acceleration.

5. The shift control method according to claim 1, characterized in that: Determine the synchronous inertia torque of the synchronizer, including: Obtaining the moment of inertia, driving end speed and driven end speed of the synchronizer; Determining a speed difference of the synchronizer according to the driving end speed and the driven end speed; The synchronous inertia torque is determined according to the rotational inertia and the rotational speed difference.

6. The shift control method according to claim 1, characterized in that: Determining the shift force of the synchronizer in the synchronization stage according to the synchronization inertia torque, the torque loss and the structural parameters corresponding to the synchronizer includes: determining a synchronization torque of the synchronizer according to the synchronization inertia torque and the torque loss; The shifting force of the synchronizer in the synchronization phase is determined according to the synchronization torque and the structural parameters corresponding to the synchronizer.

7. The shift control method according to claim 1, characterized in that: In the synchronization stage of the synchronizer, controlling the shift actuator corresponding to the synchronizer to output the shift force comprises: determining a control parameter according to the shift force and parameter information corresponding to a shift actuator in the synchronizer; During the synchronization phase of the synchronizer, the shift actuator is controlled based on the control parameter.

8. A gear shift control device, characterized in that: include: An acquisition module, used for acquiring a torque loss corresponding to a transmission system when the vehicle is in a gear state; A first determination module, configured to determine a synchronous inertia torque of a synchronizer upon receiving a shift instruction; A second determination module, configured to determine a shift force of the synchronizer in a synchronization phase according to the synchronization inertia torque, the torque loss and structural parameters corresponding to the synchronizer; The control module is used to control the shift actuator corresponding to the synchronizer to output the shift force during the synchronization stage of the synchronizer.

9. An electronic device, characterized in that: The invention comprises a processor, a memory and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the shift control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the shift control method according to any one of claims 1 to 7 are implemented.

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