Synchronizer-free AMT gear self-learning control method and device, equipment and medium
By controlling the movement of the gear shift actuator fork and motor in the synchronizer-free AMT, the problems of position deviation and tooth difficulty in gear self-learning are solved, and the self-learning success rate and efficiency are improved.
Patent Information
- Application Number
- CN202311433795.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-10-31
- Publication Date
- 2025-05-02
AI Technical Summary
Synchronizer-free AMT has problems such as position deviation, difficulty in tooth control, low impact and gear success rate during gear self-learning, resulting in too long or failure of self-learning.
By acquiring the self-learning conditions and status of the target vehicle, the gear self-learning process is performed, including controlling the shift actuator fork movement to reach the gear position, and by adjusting the PWM value of the shift motor and the given drive motor to generate a speed difference and jitter torque to ensure successful meshing of the ring gear and the gear sleeve.
It improves the success rate of self-learning of the synchronizer-free AMT gear, reduces the self-learning time, and avoids self-learning failure caused by rebound or top teeth.
Smart Images
Figure CN119914676A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of computer technology, and in particular to a synchronizer-free AMT gear self-learning control method, device, equipment and medium. Background Art
[0002] Automated Mechanical Transmission (AMT) is an electronically controlled automatic transmission that adds an automatic shift control system to the mechanical transmission, with automatic gear selection and shifting functions. It inherits the advantages of traditional mechanical transmissions such as high transmission efficiency, small size, simple structure, high reliability, low cost, and easy daily repair and maintenance, and also has the advantages of driving safety and high fuel economy.
[0003] To improve the shifting performance, the transmission control unit (TCU) needs to accurately identify the gear position. However, factors such as manufacturing tolerances during the production process and wear and tear due to long-term use cause position deviations in the mechanical automatic transmission's shifting mechanism, which cannot be consistent, affecting accurate and rapid shifting. The traditional solution is for calibration personnel to calibrate the gearbox one by one when it comes off the production line, which greatly wastes time and personnel costs. Therefore, the control system needs to automatically identify the gear position. In addition, synchronizer-free AMTs also have problems such as difficulty in tooth alignment, easy impact, and low success rate of gear shifting. For the gear self-learning process, it will cause the self-learning time to be too long and self-learning failure.
[0004] Most of the existing gear self-learning methods are to identify the gear position. Taking the first gear of the gearbox as an example, since the gear position is set on the left side of the actuator shift shaft, a groove is generally set as the gear position. This method has high requirements for the control method. Otherwise, when self-learning to shift the first gear, the shift motor control will be inaccurate, causing it to rush out of the groove position. Finally, the physical limit of the groove is relied on to achieve a more accurate identification of the gear position. In fact, there is redundancy in the space on the left side of the actuator shift shaft. If the shift shaft cannot reach the groove position due to manufacturing or use wear and other problems, the gear will fail to be engaged. If it can reach the bottom position on the far left of the actuator shift shaft, it will definitely pass through the gear position to ensure that there is no hardware problem in the gear engagement. Since the leftmost side of the shift shaft has its own physical limit, if the appropriate control method is not used when hitting the bottom, rebound will occur, resulting in inaccurate position identification. Summary of the invention
[0005] The main purpose of the embodiments of the present invention is to provide a synchronizer-free AMT gear self-learning control method, device, equipment and medium.
[0006] One aspect of the present invention provides a synchronizer-free AMT gear self-learning control method, comprising:
[0007] According to the gear self-learning control request, the self-learning condition and self-learning state of the target vehicle are obtained;
[0008] When the self-learning condition and the self-learning state both satisfy the gear self-learning, the gear self-learning process of the target vehicle is executed to obtain a first learning result, wherein the first self-learning result includes the gear and the gear limit value;
[0009] The gear limit value in the first self-learning result is compared with a preset gear range to obtain a comparison result, and re-self-learning processing and reporting of successful self-learning information are performed according to the comparison result.
[0010] According to the synchronizer-free AMT gear self-learning control method, the self-learning condition and self-learning state of the target vehicle are obtained according to the gear self-learning control request, including:
[0011] Detecting a first operating state of the target vehicle, if the first operating state is normal, the self-learning condition is satisfied, the first operating state including a transmission control unit communication state, a transmission control unit communication state, a motor controller communication state, and a driving motor high-voltage operating state;
[0012] The second operating state of the target vehicle is detected. If the second operating state is normal, the self-learning state is satisfied. The second operating state includes that the vehicle is stationary, the handbrake signal is 1, the throttle opening is 0% and the non-self-learning state.
[0013] According to the synchronizer-free AMT gear self-learning control method, when the self-learning condition and the self-learning state both meet the gear self-learning, the gear self-learning process of the target vehicle is executed, including:
[0014] Controlling the gear actuator fork of the transmission control unit through the first command pushes the engagement sleeve to move to the gear position so that the engagement sleeve engages with the target engagement ring gear;
[0015] The shift actuator fork reaches the limit position and enters the target gear position. If the shift actuator fork position remains unchanged at the limit position for a time that reaches a first preset value, the shift actuator fork moves back through the first instruction to separate the engagement sleeve from the target engagement ring gear, thereby completing a self-learning process of the target vehicle.
[0016] Repeat the previous step until all gears are self-learned.
[0017] According to the synchronizer-free AMT gear self-learning control method, the method further includes:
[0018] Acquire the continuous monitoring data collected by the sensor, and continuously monitor the data when the shift actuator fork reaches the limit position, and determine whether the shift actuator fork rebounds according to the continuous monitoring data. The continuous monitoring data is used to characterize the state in which the shift actuator fork reaches the limit position;
[0019] If rebound occurs, the second instruction controls the shift motor to control the shift actuator fork to move toward the limit position. When approaching the limit position, the PWM value of the shift motor is made close to 0, so that the shift actuator fork reaches the limit position through inertia.
[0020] According to the synchronizer-free AMT gear self-learning control method, the method further includes:
[0021] If rebound still occurs after the self-learning process is executed by the second instruction, the PWM value of the shift motor is controlled to be accumulated by the third instruction so that the pushing force of the shift actuator is gradually increased to offset the rebound effect generated when hitting the bottom;
[0022] After the time for which the shift actuator fork keeps the gear position unchanged at the limit position reaches a first preset value, the shift actuator fork is controlled to move back so that the engagement sleeve is separated from the target engagement gear ring, thereby completing a self-learning process.
[0023] According to the synchronizer-free AMT gear self-learning control method, the method further includes a gear shifting process during self-learning, including:
[0024] The fourth instruction causes the shift motor to push the shift actuator to move toward the target gear position, and the motor controller sends a message to the drive motor to generate a speed difference so that the gear ring and the gear sleeve are engaged, then the gear is engaged successfully, and the subsequent gear self-learning process is performed;
[0025] If the gear ring and the gear sleeve hit the teeth and the shift fork position of the shift actuator remains unchanged for a period of time that exceeds a second preset value, it is determined that the gear ring and the gear sleeve hit the teeth, and a message is sent through the motor controller to give the drive motor a first jitter torque so that the gear sleeve rotates when the gear ring and the gear sleeve are in meshing relationship and the gear shift is completed.
[0026] According to the synchronizer-free AMT gear self-learning control method, the method further includes:
[0027] If the gear is still in the top gear state after being processed by the fourth instruction, the shift actuator is reset to the initial position, the speed is re-given for speed regulation, and the gear angle is adjusted to continue shifting. If the gear is successfully shifted, the subsequent self-learning process is performed;
[0028] If the top gear phenomenon still occurs, continue to give the drive motor the second jitter torque. If the gear is engaged, continue the self-learning process. If it fails, repeat the above operations. If the number of tooth meshing failures exceeds the preset value or the self-learning time exceeds the preset value, it is judged that the self-learning has failed.
[0029] Another aspect of the embodiment of the present invention provides a synchronizer-free AMT gear self-learning control device, comprising:
[0030] The first module is used to obtain the self-learning condition and self-learning state of the target vehicle according to the gear self-learning control request;
[0031] The second module is used for executing the gear self-learning process of the target vehicle when the self-learning condition and the self-learning state both meet the gear self-learning condition, and obtaining a first learning result, wherein the first self-learning result includes the gear and the gear limit value;
[0032] The third module is used to compare the gear limit value in the first self-learning result with the preset gear range to obtain a comparison result, and perform re-self-learning processing and report information on successful self-learning according to the comparison result.
[0033] Another aspect of an embodiment of the present invention provides an electronic device, including a processor and a memory;
[0034] The memory is used to store programs;
[0035] The processor executes the program to implement the method described above.
[0036] The embodiment of the present invention also discloses a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device can read the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the method described above.
[0037] The beneficial effects of the present invention are as follows: when the shift actuator fork fails to reach the limit gear position, the separation of the clutch sleeve and the target clutch ring gear is completed by controlling the PWM value of the shift motor; by providing a speed difference and a jitter torque generated by a given drive motor, the gear ring and the clutch sleeve are helped to engage smoothly, thereby achieving a successful rate of self-learning gear positions of the AMT without a synchronizer. BRIEF DESCRIPTION OF THE DRAWINGS
[0038] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
[0039] Figure 1 Schematic diagram of the interior of the actuator of the embodiment of the present invention.
[0040] Figure 2 It is a flow chart of the synchronizer-free AMT gear self-learning control method according to an embodiment of the present invention.
[0041] Figure 3 It is a schematic diagram of the synchronizer-free AMT gear self-learning process according to an embodiment of the present invention.
[0042] Figure 4 It is a schematic diagram of the self-learning process of the gear limit position when rebound occurs in an embodiment of the present invention.
[0043] Figure 5 It is a schematic diagram of the self-learning process of the gear limit position when rebound occurs again in an embodiment of the present invention.
[0044] Figure 6 It is a schematic diagram of the self-learning relationship between the gearbox control unit and the motor controller according to an embodiment of the present invention.
[0045] Figure 7 It is a schematic diagram of the self-learning process of the gear limit position when the top gear occurs in an embodiment of the present invention.
[0046] Figure 8 It is a schematic diagram of the self-learning process of the gear limit position when the top gear occurs again in an embodiment of the present invention.
[0047] Fig. 9 It is a schematic diagram of the overall process flow of the synchronizer-free AMT gear positions in an embodiment of the present invention.
[0048] Fig.10 It is a schematic diagram of a synchronizer-free AMT gear self-learning control method device according to an embodiment of the present invention. DETAILED DESCRIPTION
[0049] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. In the subsequent description, the use of suffixes such as "module", "component" or "unit" used to represent elements is only for the purpose of facilitating the description of the present invention, and has no specific meaning in itself. Therefore, "module", "component" or "unit" can be used in a mixed manner. "First", "second" and the like are only used for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the order of the indicated technical features. In this subsequent description, the continuous numbering of the method steps is for the convenience of review and understanding. In combination with the overall technical solution of the present invention and the logical relationship between the various steps, adjusting the implementation order between the steps will not affect the technical effect achieved by the technical solution of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.
[0050] Reference Figure 1 ,in Figure 1 It is an internal schematic diagram of the actuator, which includes a shift fork D1, a shift fork D2, a shift motor M1, a shift motor M2, a sensor S1 and a sensor S2, wherein the shift motor M1 is used to control the shift fork D1 to reach the gear limit position L1 and the gear limit position L2, and the sensor S1 is used to collect the current position of the shift fork D1. Correspondingly, the shift motor M2 is used to control the shift fork D2 to reach the gear limit position L2 and the gear limit position L2, and the sensor S2 is used to collect the current position of the shift fork D2.
[0051] In some embodiments, the shift motor M1 and the shift motor M2 perform a self-learning process of the shift limit positions of the shift fork D1 and the shift fork D2 according to instructions.
[0052] In some embodiments, Figure 2 The figure is a flow chart of a method for self-learning control of gear positions of an AMT without a synchronizer, which includes but is not limited to steps S100 to S400:
[0053] S100, obtaining a self-learning condition and a self-learning state of a target vehicle according to a gear self-learning control request.
[0054] In some embodiments, when performing self-learning, it is also necessary to detect the self-learning conditions and self-learning status of the target vehicle to determine whether self-learning processing can be performed.
[0055] In some embodiments, whether the self-learning conditions are met; whether the self-learning state is entered; whether the self-learning of all gears is successful.
[0056] In some embodiments, the self-learning conditions include: the transmission control unit (TCU) operates normally, the transmission control unit (TCU) and the motor controller (MCU) communicate normally, and the drive motor voltage operates normally.
[0057] In some embodiments, the self-learning state includes: the vehicle is stationary, the handbrake signal is 1, the throttle opening is 0%, and self-learning.
[0058] S200, when the self-learning condition and the self-learning state both satisfy the gear self-learning, the gear self-learning process of the target vehicle is executed to obtain a first learning result, and the first self-learning result includes the gear and the gear limit value.
[0059] In some embodiments, reference Figure 3 Schematic diagram of the process of self-learning gear position of AMT without synchronizer, which includes but is not limited to steps S210 to S230:
[0060] S210, controlling the shift fork of the gear actuator of the transmission control unit through the first instruction to push the engagement sleeve to move to the gear position, so that the engagement sleeve engages with the target engagement ring gear;
[0061] S220, the shift actuator fork reaches the limit position and enters the target gear position. If the shift actuator fork position remains at the limit position for a time that reaches a first preset value, the shift actuator fork moves back through a first instruction so that the engagement sleeve is separated from the target engagement gear ring, thereby completing a self-learning process for the target vehicle.
[0062] S230, repeat steps S210 to S220 until the self-learning process of all gears is completed.
[0063] In some embodiments, the transmission shift actuator fork is controlled to push the engagement sleeve to the gear position and engage with the target engagement ring gear. During this process, the shift actuator fork reaches the limit position and also smoothly enters the target gear. If the shift actuator fork position remains at the limit position for a time that reaches a first preset value, the shift actuator fork is controlled to move back so that the engagement sleeve is separated from the target engagement ring gear, thereby completing a self-learning of a gear.
[0064] In some embodiments, when the shift actuator reaches the gear limit position, the gear position identified by the sensor is not the gear limit position. Therefore, the reference Figure 4 The schematic diagram of the self-learning process of the gear limit position during rebound is shown, which includes but is not limited to steps S221 to S222:
[0065] S221, acquiring continuous monitoring data collected by the sensor, performing continuous monitoring data when the shift actuator fork reaches the limit position, and determining whether the shift actuator fork rebounds according to the continuous monitoring data, wherein the continuous monitoring data is used to characterize the state in which the shift actuator fork reaches the limit position;
[0066] S222, if rebound occurs, the second instruction is used to control the shift motor to control the shift actuator fork to move toward the limit position. When approaching the limit position, the PWM value of the shift motor is made close to 0, so that the shift actuator fork reaches the limit position through inertia.
[0067] In some embodiments, after the TCU recognizes this state, it controls the shift motor to continue to control the shift actuator to move toward the extreme position. When it approaches the extreme position, the PWM value of the shift motor is almost zero, and the inertia of the actuator is used to maintain the trend of approaching the extreme position. At this time, when the actuator reaches the extreme position, the rebound phenomenon caused by the impact can be eliminated as much as possible.
[0068] In some embodiments, rebound still occurs after the shift motor is controlled once, referring to Figure 5 The schematic diagram of the self-learning process of the gear limit position when rebound occurs again is shown, which includes but is not limited to steps S223 to S224:
[0069] S223, if rebound still occurs after the self-learning process is executed by the second instruction, the PWM value of the shift motor is controlled to be accumulated by the third instruction, so that the pushing force of the shift actuator is gradually increased to offset the rebound effect generated when hitting the bottom;
[0070] S224, after the time for which the shift actuator fork keeps the gear position unchanged at the extreme position reaches a first preset value, the shift actuator fork is controlled to move back so that the engagement sleeve is separated from the target engagement ring gear, thereby completing a self-learning process.
[0071] In some embodiments, if rebound still occurs after reaching the limit position, the TCU (transmission control unit) recognizes that the gear position is less than the previously recognized maximum value. The TCU (transmission control unit) controls the shift motor PWM value to accumulate, so that the pushing force of the shift actuator slowly increases to offset the rebound effect produced when bottoming out. Finally, after the time for stably maintaining the gear limit position unchanged reaches a first preset value, the shift actuator fork is controlled to move back to separate the engagement sleeve from the target engagement gear ring, completing a self-learning.
[0072] For example, reference Figure 6The schematic diagram of the self-learning relationship between the transmission control unit and the motor controller shown in the figure includes a TCU (transmission control unit), an MCU (motor controller), a shift actuator and a drive motor. The MCU (motor controller) sends control instructions to directly control the drive motor in turn to complete the self-learning process, and sends a message to the TCU (transmission control unit) to complete the gear shifting actuator's gear shifting process.
[0073] In some embodiments, reference Figure 7 Schematic diagram of the self-learning process of the gear limit position when the top gear occurs, which includes but is not limited to steps S241 to S242:
[0074] S241, the shift motor is driven by the fourth instruction to move the shift actuator toward the target gear position, and the motor controller is used to send a message to the drive motor to generate a speed difference so that the gear ring and the gear sleeve are engaged, and the gear is successfully engaged, and the subsequent gear self-learning process is performed;
[0075] S242, if the toothing of the ring gear and the gear sleeve causes the shift actuator fork position to remain unchanged for a period of time exceeding a second preset value, it is determined that the toothing phenomenon has occurred, and a message is sent through the motor controller to give the drive motor a first jitter torque, so that the gear sleeve rotates when the toothing occurs, so that the ring gear and the gear sleeve mesh and complete the gear shifting.
[0076] In some embodiments, the self-learning method needs to control the transmission shift actuator fork to move on the shift shaft, and before reaching the gear limit position, it is necessary to ensure that the gear ring and the gear sleeve are aligned smoothly. Since there is no synchronizer to assist in gear alignment when the AMT without synchronizer is engaged, the gear engagement position of the shift actuator when the gear sleeve and the gear ring are in contact when the gear is engaged is more likely to cause a tooth collision phenomenon. Therefore, the self-learning method also includes ensuring successful gear alignment:
[0077] At the beginning of self-learning, the shift motor pushes the shift actuator to move toward the target gear position. The TCU sends a message to the MCU to give the drive motor a speed difference to help the gear ring and the gear sleeve mesh smoothly. If the gear ring and the gear sleeve mesh smoothly, the gear is successfully engaged and continues to move toward the target gear position to carry out the subsequent self-learning process. If the gear ring and the gear sleeve have a tooth-to-tooth collision, causing the shift actuator fork position to remain unchanged for a time exceeding the second preset value, it is determined that the tooth-to-tooth phenomenon has occurred. At this time, the TCU sends a message to the MCU to give the drive motor a first jitter torque, so that the gear sleeve rotates when it is tooth-to-tooth collision, adjusts the tooth angle, and thus helps to shift gears. When the gear ring and the gear sleeve mesh smoothly, the gear shift is successful.
[0078] In some embodiments, reference Figure 8 A schematic diagram of the self-learning process of the gear limit position when the top gear occurs again, which includes but is not limited to steps S243 to S244:
[0079] S243, if the gear is still in the top gear state after the fourth instruction is processed, the shift actuator is reset to the initial position, the speed is re-set for speed regulation, and the gear angle is adjusted to continue the gear shift. If the gear shift is successful, the subsequent self-learning process is performed;
[0080] S244, if the tooth top phenomenon still occurs, continue to give the drive motor the second jitter torque, if the gear is engaged, continue the self-learning process, if it fails, repeat the above operations, and if the number of tooth meshing failures exceeds the preset value or the self-learning time exceeds the preset value, it is judged that the self-learning has failed.
[0081] In some embodiments, when it is still in the top gear state, the actuator returns to its original position, re-sets the speed for speed regulation, and continues to try to shift gears after adjusting the tooth angle. If the gear shift is successful, the subsequent self-learning process is carried out. If the tooth shift phenomenon is still encountered, continue to give the drive motor a second jitter torque. If the gear shift is successful, the self-learning process continues. If it fails, repeat the above operations. If the number of tooth engagement failures exceeds the preset value or the self-learning time exceeds the preset value, it is judged that the self-learning has failed.
[0082] S300, comparing the gear limit value in the first self-learning result with the preset gear range to obtain a comparison result, and performing re-self-learning processing and reporting information of successful self-learning according to the comparison result.
[0083] In some embodiments, it is understandable that the first self-learning result (such as success or failure) is displayed and reported by the host computer.
[0084] In some embodiments, the combination Figure 2 to Figure 8 ,refer to Fig. 9 The overall process diagram of the AMT gear position without synchronizer is shown in the figure. Fig. 9 The method of the synchronizer-free AMT gear is used to learn the gear limit positions and ensure that the shift fork passes through the gear position.
[0085] Fig.10 10 is a schematic diagram of a synchronizer-free AMT gear self-learning control method device according to an embodiment of the present invention. The device includes a first module 1010 , a second module 1020 and a third module 1030 .
[0086] Among them, the first module is used to obtain the self-learning conditions and self-learning status of the target vehicle according to the gear self-learning control request; the second module is used to execute the gear self-learning processing of the target vehicle when the self-learning conditions and self-learning status both meet the gear self-learning, and obtain the first learning result, and the first self-learning result includes the gear and the gear limit value; the third module is used to compare the gear limit value in the first self-learning result with the preset gear range to obtain a comparison result, and execute re-self-learning processing and report the information of successful self-learning according to the comparison result.
[0087] Exemplarily, with the cooperation of the first module, the second module and the third module in the device, the embodiment device can implement any of the aforementioned synchronizer-free AMT gear self-learning control methods, that is, according to the gear self-learning control request, the self-learning condition and self-learning state of the target vehicle are obtained; when the self-learning condition and the self-learning state both meet the gear self-learning, the gear self-learning processing of the target vehicle is performed to obtain a first learning result, and the first self-learning result includes the gear and the gear limit value; the gear limit value in the first self-learning result is compared with the preset gear range to obtain a comparison result, and the re-self-learning processing and the self-learning success information are reported according to the comparison result. The beneficial effects of the present invention are: by controlling the shifting motor PWM value to complete the separation of the engagement sleeve and the target engagement ring gear when the shift actuator fork fails to reach the limit gear; by providing a given drive motor to generate a speed difference and a jitter torque to help the ring gear and the gear sleeve to mesh smoothly, the success rate of the self-learning gear of the synchronizer-free AMT gear is achieved.
[0088] An embodiment of the present invention further provides an electronic device, the electronic device comprising a processor and a memory;
[0089] The memory stores a program;
[0090] The processor executes the program to perform the aforementioned synchronizer-free AMT gear self-learning control method; the electronic device has the function of carrying and running the synchronizer-free AMT gear self-learning control software system provided by the embodiment of the present invention, for example, a personal computer, a minicomputer, a main frame, a workstation, a network or distributed computing environment, a separate or integrated computer platform, or communicating with a charged particle tool or other imaging device, etc.
[0091] An embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a program, and the program is executed by a processor to implement the synchronizer-free AMT gear self-learning control method as described above.
[0092] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.
[0093] The embodiment of the present invention also discloses a computer program product or a computer program, which includes a computer instruction stored in a computer-readable storage medium. A processor of a computer device can read the computer instruction from the computer-readable storage medium, and the processor executes the computer instruction, so that the computer device executes the aforementioned synchronizer-free AMT gear self-learning control method.
[0094] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features described may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions, and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.
[0095] 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 invention, 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. The computer software product is stored in a storage medium, including several 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 methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.
[0096] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.
[0097] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.
[0098] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.
[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.
[0100] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.
[0101] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the described embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.
Claims
1. A synchronizer-free AMT gear self-learning control method, characterized in that: include: According to the gear self-learning control request, the self-learning condition and self-learning state of the target vehicle are obtained; When the self-learning condition and the self-learning state both satisfy the gear self-learning, the gear self-learning process of the target vehicle is executed to obtain a first learning result, wherein the first self-learning result includes the gear and the gear limit value; The gear limit value in the first self-learning result is compared with a preset gear range to obtain a comparison result, and re-self-learning processing and reporting of successful self-learning information are performed according to the comparison result.
2. The synchronizer-free AMT gear self-learning control method according to claim 1, characterized in that: The step of obtaining the self-learning condition and the self-learning state of the target vehicle according to the gear self-learning control request includes: Detecting a first operating state of the target vehicle, if the first operating state is normal, the self-learning condition is satisfied, the first operating state including a transmission control unit communication state, a transmission control unit communication state, a motor controller communication state, and a driving motor high-voltage operating state; The second operating state of the target vehicle is detected. If the second operating state is normal, the self-learning state is satisfied. The second operating state includes that the vehicle is stationary, the handbrake signal is 1, the throttle opening is 0% and the non-self-learning state.
3. The synchronizer-free AMT gear self-learning control method according to claim 2, characterized in that: When the self-learning condition and the self-learning state both satisfy the gear self-learning, the gear self-learning process of the target vehicle is executed, including: Controlling the gear actuator fork of the transmission control unit through the first command pushes the engagement sleeve to move to the gear position so that the engagement sleeve engages with the target engagement ring gear; The shift actuator fork reaches the limit position and enters the target gear position. If the shift actuator fork position remains unchanged at the limit position for a time that reaches a first preset value, the shift actuator fork moves back through the first instruction so that the engagement sleeve is separated from the target engagement gear ring, thereby completing a self-learning process of the target vehicle. Repeat the previous step until all gears are self-learned.
4. The synchronizer-free AMT gear self-learning control method according to claim 3, characterized in that: The method further comprises: Acquire the continuous monitoring data collected by the sensor, and continuously monitor the data when the shift actuator fork reaches the limit position, and determine whether the shift actuator fork rebounds according to the continuous monitoring data. The continuous monitoring data is used to characterize the state in which the shift actuator fork reaches the limit position; If rebound occurs, the second instruction controls the shift motor to control the shift actuator fork to move toward the limit position. When approaching the limit position, the PWM value of the shift motor is made close to 0, so that the shift actuator fork reaches the limit position through inertia.
5. The synchronizer-free AMT gear self-learning control method according to claim 4, characterized in that: The method further comprises: If rebound still occurs after the self-learning process is executed by the second instruction, the PWM value of the shift motor is controlled to be accumulated by the third instruction so that the pushing force of the shift actuator is gradually increased to offset the rebound effect generated when hitting the bottom; After the time for which the shift actuator fork keeps the gear position unchanged at the limit position reaches a first preset value, the shift actuator fork is controlled to move back so that the engagement sleeve is separated from the target engagement gear ring, thereby completing a self-learning process.
6. The synchronizer-free AMT gear self-learning control method according to claim 2, characterized in that: The method also includes processing the advance of the file during self-learning, including: The fourth instruction causes the shift motor to push the shift actuator to move toward the target gear position, and the motor controller sends a message to the drive motor to generate a speed difference so that the gear ring and the gear sleeve are engaged, then the gear is engaged successfully, and the subsequent gear self-learning process is performed; If the gear ring and the gear sleeve hit the teeth and the shift fork position of the shift actuator remains unchanged for a time that exceeds a second preset value, it is determined that the gear ring and the gear sleeve hit the teeth, and a message is sent through the motor controller to give the drive motor a first jitter torque to make the gear sleeve rotate when the gear ring and the gear sleeve are in meshing relationship to complete the gear shift.
7. The synchronizer-free AMT gear self-learning control method according to claim 6, characterized in that: The method further comprises: If the gear is still in the top gear state after being processed by the fourth instruction, the shift actuator is reset to the initial position, the speed is re-given for speed regulation, and the gear angle is adjusted to continue shifting. If the gear is successfully shifted, the subsequent self-learning process is performed; If the top gear phenomenon still occurs, continue to give the drive motor the second jitter torque. If the gear is engaged, continue the self-learning process. If it fails, repeat the above operations. If the number of tooth meshing failures exceeds the preset value or the self-learning time exceeds the preset value, it is judged that the self-learning has failed.
8. A synchronizer-free AMT gear self-learning control device, characterized in that: include: The first module is used to obtain the self-learning condition and self-learning state of the target vehicle according to the gear self-learning control request; The second module is used for executing the gear self-learning process of the target vehicle when the self-learning condition and the self-learning state both meet the gear self-learning condition, and obtaining a first learning result, wherein the first self-learning result includes the gear and the gear limit value; The third module is used to compare the gear limit value in the first self-learning result with the preset gear range to obtain a comparison result, and perform re-self-learning processing and report information on successful self-learning according to the comparison result.
9. An electronic device, characterized in that: including a processor and a memory; The memory is used to store programs; The processor executes the program to implement the synchronizer-free AMT gear self-learning control method as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that: The storage medium stores a program, and the program is executed by a processor to implement the synchronizer-free AMT gear self-learning control method as described in any one of claims 1-7.