Electric drive system torque zero-crossing control method, device and equipment of disconnected differential mechanism and storage medium

Abstract

The invention discloses an electric drive system torque zero-crossing control method, device and equipment of a disconnected differential mechanism and a storage medium, and relates to the technical field of electric vehicle motor control. Determining a target zero-crossing control strategy based on the whole vehicle torque demand; and pulse torque is applied to the motor end of the differential mechanism based on the target zero-crossing control strategy, so that the inter-tooth clearance of the differential mechanism is eliminated, torque zero-crossing control is completed, tooth leaning, inter-tooth clearance elimination and gear abrasion reduction are rapidly and stably conducted by executing positive and negative pulse torque, and then the time requirement for motor torque zero crossing is met.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle motor control, and in particular to a method, device, equipment and storage medium for controlling the torque zero crossing of an electric drive system of a disconnect differential. Background Art

[0002] With the development of automotive motor control technology, the market requirements for torque response time are becoming more and more stringent.

[0003] However, when the motor's torque passes through zero and the gear switches between positive and negative tooth surfaces, the gap is too large and the gear engagement time is too long. The VCU request is not responded to before the gear engagement is successful, causing the gear to be installed at a higher speed and produce jitter. The larger jitter will further accelerate the wear of the gear and reduce the service life of the disconnect differential device.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a method, device, equipment and storage medium for controlling the torque zero crossing of an electric drive system of a disconnect differential, aiming to solve the technical problem of excessive inter-tooth clearance when the torque crosses zero.

[0006] To achieve the above object, the present invention provides a method for controlling the torque zero crossing of an electric drive system of a disconnect differential, the method comprising the following steps:

[0007] Obtain the vehicle torque requirement;

[0008] Determining a target zero-crossing control strategy based on the vehicle torque demand;

[0009] Based on the target zero-crossing control strategy, a pulse torque is applied to the motor end of the differential to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0010] In one embodiment, the step of applying a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control includes:

[0011] When the target zero-crossing control strategy is the first control strategy, negative pulse torque and positive pulse torque are sequentially applied to the motor end of the differential according to the first control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0012] In one embodiment, the steps of sequentially applying a negative pulse torque and a positive pulse torque to the motor end of the differential according to the first control strategy include:

[0013] Controlling the movement of the motor end of the differential by a first negative pulse torque of a first preset duration according to the first control strategy;

[0014] When the differential moves toward the gear end by a first preset distance, the motor end of the differential is controlled to continue to move by a second preset distance through a first positive pulse torque of a second preset duration according to the first control strategy.

[0015] In one embodiment, the step of applying a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control includes:

[0016] When the target zero-crossing control strategy is the second control strategy, positive pulse torque and negative pulse torque are sequentially applied to the motor end of the differential according to the second control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0017] In one embodiment, the steps of sequentially applying positive pulse torque and negative pulse torque to the motor end of the differential according to the second control strategy include:

[0018] Controlling the movement of the motor end of the differential by a second positive pulse torque of a third preset duration according to the second control strategy;

[0019] When the differential moves toward the gear end by a third preset distance, the motor end of the differential is controlled to continue to move by a fourth preset distance through a second negative pulse torque of a fourth preset duration according to the second control strategy.

[0020] In one embodiment, the method further comprises:

[0021] Obtain the control duration of applying pulse torque;

[0022] When the control time length satisfies the target control time length, determining that the inter-tooth clearance of the differential is eliminated;

[0023] When the inter-tooth clearance is eliminated, the motor end of the differential is controlled by the target tooth force so that the differential meets the torque requirement of the whole vehicle.

[0024] In one embodiment, the step of obtaining the vehicle torque requirement includes:

[0025] Obtain vehicle gear change information, vehicle speed information and vehicle driving mode;

[0026] The vehicle torque demand is determined based on the vehicle gear change information, vehicle speed information and vehicle driving mode, and the vehicle torque demand includes: any one of the vehicle torque demand switching from negative torque to positive torque demand and the vehicle torque demand switching from positive torque to negative torque demand.

[0027] In addition, to achieve the above-mentioned purpose, the present invention also proposes a torque zero-crossing control device for an electric drive system of a disconnect differential, the device comprising:

[0028] An acquisition module is used to obtain the torque requirement of the entire vehicle;

[0029] A strategy determination module, used to determine a target zero-crossing control strategy based on the vehicle torque demand;

[0030] The control module is used to apply a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0031] In addition, to achieve the above-mentioned purpose, the present invention also proposes a torque zero-crossing control device for an electric drive system of a disconnecting differential, the device comprising: a memory, a processor, and a torque zero-crossing control program for the electric drive system of a disconnecting differential stored in the memory and executable on the processor, the torque zero-crossing control program for the electric drive system of the disconnecting differential being configured to implement the steps of the torque zero-crossing control method for the electric drive system of the disconnecting differential as described above.

[0032] In addition, to achieve the above-mentioned purpose, the present invention also proposes a storage medium, on which is stored a torque zero-crossing control program for an electric drive system of a disconnecting differential, and when the torque zero-crossing control program for an electric drive system of a disconnecting differential is executed by a processor, the steps of the torque zero-crossing control method for an electric drive system of a disconnecting differential as described above are implemented.

[0033] One or more technical solutions proposed in this application have at least the following technical effects:

[0034] Obtain the torque demand of the whole vehicle; determine the target zero-crossing control strategy based on the torque demand of the whole vehicle; apply pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the gap between the teeth of the differential and complete the torque zero-crossing control. By executing positive and negative pulse torques, the gears are quickly and smoothly engaged to eliminate the gap between the teeth and reduce the wear between the gears, thereby meeting the time requirement for the motor torque to cross zero. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] 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 will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0037] Figure 1 A flow chart of a first embodiment of a method for controlling the torque zero crossing of an electric drive system of a disconnect differential in the present application;

[0038] Figure 2 A flow chart of a torque zero-crossing control method for an electric drive system of a disconnect differential provided in the present application;

[0039] Figure 3 A zero-crossing strategy flow chart from positive torque to negative torque provided in Embodiment 2 of the torque zero-crossing control method for an electric drive system of a disconnect differential of the present application;

[0040] Figure 4 A torque schematic diagram from positive torque to negative torque provided in Embodiment 2 of the torque zero-crossing control method for an electric drive system of a disconnect differential of the present application;

[0041] Figure 5 A flow chart of a torque zero-crossing control method for an electric drive system of a disconnect differential provided in the present application in Embodiment 3;

[0042] Figure 6 A zero-crossing strategy flow chart from negative torque to positive torque provided in Embodiment 3 of the torque zero-crossing control method for an electric drive system of a disconnect differential of the present application;

[0043] Figure 7 A torque schematic diagram from negative torque to positive torque provided in Embodiment 3 of the torque zero-crossing control method for an electric drive system of a disconnect differential of the present application;

[0044] Figure 8 This is a schematic diagram of the module structure of the torque zero-crossing control device of the electric drive system of the disconnect differential according to an embodiment of the present application;

[0045] Fig. 9 Schematic diagram of the device structure of the hardware operating environment involved in the torque zero-crossing control method of the electric drive system of the disconnect differential in the embodiment of the present application.

[0046] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0048] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0049] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a torque zero-crossing control device for an electric drive system of a disconnecting differential, etc. The following takes the torque zero-crossing control device for an electric drive system of a disconnecting differential as an example to illustrate this embodiment and the following embodiments.

[0050] Based on this, the embodiment of the present application provides a torque zero-crossing control method for an electric drive system of a disconnect differential, referring to Figure 1 , Figure 1 This is a flow chart of a first embodiment of a method for controlling torque zero crossing of an electric drive system of a disconnect differential in the present application.

[0051] In this embodiment, the torque zero-crossing control method of the electric drive system of the disconnect differential includes steps S10 to S30:

[0052] Step S10, obtaining the vehicle torque requirement;

[0053] It should be noted that the vehicle torque demand refers to the torque required by the vehicle under different driving conditions to achieve acceleration, deceleration or maintain a constant speed. In this solution, it includes the switching of the vehicle torque demand from positive torque to negative torque and the switching of the vehicle torque demand from negative torque to positive torque.

[0054] In a feasible implementation, step S10 includes steps A11 to A12:

[0055] Step A11: Acquire vehicle gear change information, vehicle speed information and vehicle driving mode;

[0056] It should be noted that the vehicle gear change information refers to the current gear state of the vehicle, which will affect the torque output and vehicle power transmission efficiency; the vehicle speed information refers to the current driving speed of the vehicle, which will affect the torque demand and the choice of driving mode; the vehicle driving mode refers to the vehicle's driving settings, such as economy mode, sports mode, etc., and the vehicle driving mode will affect the torque output characteristics.

[0057] In specific implementation, the torque zero-crossing problem in the vehicle can correspond to the following operating conditions:

[0058] Static zero crossing, including static shifting, switching from D gear to R gear, and from R gear to D gear;

[0059] Dynamic zero crossing, including rapid deceleration and rapid acceleration switching: When a new energy vehicle suddenly switches from an accelerating state to a decelerating state, or vice versa, the torque demand of the motor will change from positive torque to negative torque, and the motor torque will pass through the zero point;

[0060] Energy recovery conditions, including in the energy recovery mode of new energy vehicles, the motor switches from driving mode to power generation mode, at which time the torque demand of the motor will also pass through zero.

[0061] Step A12: Determine the vehicle torque demand based on the vehicle gear change information, vehicle speed information and vehicle driving mode, the vehicle torque demand including: any one of the vehicle torque demand switching from negative torque to positive torque demand and the vehicle torque demand switching from positive torque to negative torque demand.

[0062] In the specific implementation, based on the collected data, combined with the vehicle's power system characteristics and driving requirements, the torque required for the entire vehicle is calculated, including the need to switch from negative torque to positive torque, or from positive torque to negative torque.

[0063] Step S20, determining a target zero-crossing control strategy based on the vehicle torque demand;

[0064] It should be noted that the target zero-crossing control strategy is a control strategy determined according to the torque demand of the whole vehicle to smoothly achieve the transition of torque from negative to positive or from positive to negative, including the first control strategy and the second control strategy, and the purpose is to ensure the smoothness and response speed when the torque passes through zero.

[0065] Step S30: applying a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0066] It should be noted that pulse torque refers to the torque applied in a short period of time, which is used to quickly change the speed or position of the motor; the motor end refers to the part where the differential is connected to the motor, and the gear meshing of the differential can be controlled by applying torque; inter-tooth clearance elimination refers to the reduction or elimination of the gap (side clearance) between teeth during gear meshing in the gear transmission system through specific design and control methods. When the gear pair frequently rotates in both directions, this gap will cause the transmission system to lag behind the issuance of the motor command, resulting in a reverse dead zone (empty travel), as well as impact, vibration, noise, etc., which has a great impact on the transmission accuracy.

[0067] It should be understood that, through the control strategy, a smooth transition from positive torque to negative torque or from negative torque to positive torque is achieved, which reduces impact and noise and improves driving comfort.

[0068] In a feasible implementation manner, step S30 includes steps A21 to A22:

[0069] Step A21: When the target zero-crossing control strategy is the first control strategy, negative pulse torque and positive pulse torque are sequentially applied to the motor end of the differential according to the first control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0070] Step A22: When the target zero-crossing control strategy is the second control strategy, positive pulse torque and negative pulse torque are sequentially applied to the motor end of the differential according to the second control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0071] It should be noted that, according to the target zero-crossing control strategy, negative and positive pulse torques are applied to the motor end of the differential in sequence to eliminate the inter-tooth gap and complete the torque zero-crossing control.

[0072] In a feasible implementation manner, after step S30, steps A31 to A33 are further included:

[0073] Step A31: Obtaining the control duration of applying the pulse torque;

[0074] It should be noted that the control duration of applying the pulse torque, that is, the time during which the pulse torque acts, can be calibrated.

[0075] Step A32: When the control time meets the target control time, determining that the inter-tooth clearance of the differential is eliminated;

[0076] In a specific implementation, it is determined whether the control duration meets the target control duration to ensure that the gap between teeth is eliminated.

[0077] Step A33: When the inter-tooth clearance is eliminated, the motor end of the differential is controlled by the target tooth force so that the differential meets the torque requirement of the vehicle.

[0078] In a specific implementation, when the gap between teeth is eliminated, the motor end of the differential is controlled by the target tooth force to meet the torque requirement of the whole vehicle.

[0079] It should be noted that, in this solution, when the torque is not crossing zero, the torque changes rapidly, thereby improving the response; when the torque crosses zero, the change slope is small, thereby reducing the zero-crossing impact.

[0080] The present embodiment provides a method for controlling the torque zero crossing of an electric drive system of a disconnecting differential, which obtains the torque demand of the whole vehicle; determines a target zero crossing control strategy based on the torque demand of the whole vehicle; applies a pulse torque to the motor end of the differential based on the target zero crossing control strategy to eliminate the gap between the teeth of the differential, complete the torque zero crossing control, and quickly and smoothly engage the teeth by executing positive and negative pulse torques, eliminate the gap between the teeth, and reduce the wear between the gears, thereby meeting the time requirement for the motor torque to cross zero.

[0081] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 In step A21, "applying negative pulse torque and positive pulse torque to the motor end of the differential in sequence according to the first control strategy" includes steps S301 to S302:

[0082] Step S301, controlling the movement of the motor end of the differential by a first negative pulse torque of a first preset duration according to a first control strategy;

[0083] like Figure 3 As shown, Figure 3 This is a zero-crossing strategy flow chart from positive torque to negative torque. First, it is determined that the torque demand is from positive torque to negative torque, and then a negative pulse torque N1 is applied to the motor for acceleration, wherein the negative pulse torque application time t1 can be calibrated, and then a positive pulse torque N2 is applied to the motor for deceleration, wherein the positive pulse torque application time t2 can be calibrated. When it is determined that the inter-tooth gap has been completely eliminated, the tooth torque N0 is applied to the motor to maintain it in response to the torque request of the VCU.

[0084] In the specific implementation, negative pulse torque N1 is applied to accelerate the motor speed from positive to negative, and the gear of the disconnect differential motor section moves quickly toward the gear of the half-shaft section. The negative pulse torque time is t1. Under the action of N1 and t1, the motor end moves toward the gear end.

[0085] It should be noted that the first preset time duration is t1, which is a calibrable parameter, such as ten seconds, five seconds, etc.; the first negative pulse torque is N1, which is a calibrable parameter, such as 100Nm, 80Nm, etc.

[0086] It should be understood that under the action of N1 and t1, the distance that the motor end moves toward the gear end is L1, and L1 will change with the setting changes of N1 and t1.

[0087] Step S302: When the differential moves toward the gear end by a first preset distance, the motor end of the differential is controlled to continue to move by a second preset distance through a first positive pulse torque of a second preset duration according to a first control strategy.

[0088] In the specific implementation, after the negative pulse torque N1 is executed for t1, the positive pulse torque N2 is executed to reduce the gear speed at the motor end and mitigate the impact on the opposite gear surface. The positive pulse torque N2 acts for t2, and under the action of N2 and t2, the distance moved by the motor end to the gear end is L2.

[0089] It should be noted that the second preset time duration is t2, which is a calibrable parameter, such as ten seconds, five seconds, etc.; the first positive pulse torque is N2, which is a calibrable parameter, such as 100Nm, 80Nm, etc.; the second preset distance is L2, which will change with the settings of N2 and t2;

[0090] Among them, t1+t2≤vehicle zero crossing time; L1+L2=tooth gap.

[0091] It should be understood that the first preset duration and the second preset duration, as well as the first positive pulse torque and the first negative pulse torque, are not directly related, and all need to be calibrated, and the initial value is calibrated on the electric drive test bench, and the final calibration is further performed on the whole vehicle.

[0092] Furthermore, when the positive pulse torque N2 is executed for a time period of t2, it can be determined that the inter-tooth clearance has been completely eliminated, and a small positive tooth force N0 is maintained to execute the torque request of the entire vehicle.

[0093] like Figure 4 As shown, Figure 4 It is a torque diagram from positive torque to negative torque, where the dotted line represents the vehicle torque demand and the solid line represents the electric drive output torque.

[0094] The present embodiment provides a torque zero-crossing control method for an electric drive system of a disconnecting differential, in which the vehicle control unit first outputs a negative pulse torque, the magnitude and duration of which are preset. The negative torque will cause the gear at the motor end to start moving toward the gear of the half-shaft section to reduce or eliminate the gap between the teeth. Since the magnitude and duration of the torque are carefully designed, it can be ensured that the distance the gear moves (the first preset distance) is controllable while avoiding excessive impact. After the motor end moves the first preset distance, the vehicle control unit then outputs a positive pulse torque, which will cause the gear at the motor end to move further (the second preset distance) while reducing the impact on the opposing gear surface. This process helps to further eliminate the gap between the teeth and ensure the smoothness of the gear meshing.

[0095] Based on the first and second embodiments of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiments can be referred to the above introduction, and will not be described in detail later. Figure 5 In step A22, "applying positive pulse torque and negative pulse torque to the motor end of the differential in sequence according to the second control strategy" includes steps S310 to S320:

[0096] Step S310, controlling the movement of the motor end of the differential by a second positive pulse torque of a third preset duration according to a second control strategy;

[0097] like Figure 6 As shown, Figure 6 This is a zero-crossing strategy flow chart from negative torque to positive torque. First, it is determined that the torque demand is from negative torque to positive torque, and then a positive pulse torque N3 is applied to the motor for acceleration, wherein the positive pulse torque application time t3 can be calibrated, and then a negative pulse torque N4 is applied to the motor for deceleration, wherein the negative pulse torque application time t4 can be calibrated. When it is determined that the inter-tooth gap has been completely eliminated, the tooth torque N0 is applied to the motor to maintain it in response to the torque request of the VCU.

[0098] In the specific implementation, the positive pulse torque N3 is applied to accelerate the motor speed from negative to positive, and the gear of the disconnect differential motor section moves quickly toward the gear of the half-shaft section. The time of the positive pulse torque is t3. Under the action of N3 and t3, the motor end moves toward the gear end.

[0099] It should be noted that the third preset time length is t3, which is a calibrable parameter, such as ten seconds, five seconds and other data; the second negative pulse torque is N3, which is a calibrable parameter, such as 100Nm, 80Nm and other data.

[0100] It should be understood that, under the action of N3 and t3, the distance that the motor end moves toward the gear end is L3, and L3 will change with the setting changes of N3 and t3.

[0101] Step S320: When the differential moves toward the gear end by a third preset distance, the motor end of the differential is controlled to continue to move by a fourth preset distance through a second negative pulse torque of a fourth preset duration according to the second control strategy.

[0102] In the specific implementation, after the positive pulse torque N3 is executed for t3, the negative pulse torque N4 is executed to reduce the gear speed at the motor end and mitigate the impact on the opposite gear surface. The negative pulse torque N4 acts for a time of t4, and under the action of N4 and t4, the distance moved by the motor end to the gear end is L4.

[0103] It should be noted that the fourth preset time duration is t4, which is a calibrable parameter, such as ten seconds, five seconds, etc.; the second positive pulse torque is N4, which is a calibrable parameter, such as 100Nm, 80Nm, etc.; the fourth preset distance is L4, which changes with the settings of N4 and t4;

[0104] Among them, t3+t4≤vehicle zero crossing time; L3+L4=tooth gap.

[0105] It should be understood that the third preset duration and the fourth preset duration as well as the second positive pulse torque and the second negative pulse torque are not directly related, and all need to be calibrated, and the initial value is calibrated on the electric drive test bench, and the final calibration is further performed on the whole vehicle.

[0106] Furthermore, when the negative pulse torque N4 is executed for time t4, it can be determined that the inter-tooth clearance has been completely eliminated, and a small positive tooth force N0 is maintained to execute the torque request of the entire vehicle.

[0107] like Figure 7 As shown, Figure 7 It is a torque diagram from negative torque to positive torque, where the dotted line represents the vehicle torque demand and the solid line represents the electric drive output torque.

[0108] This embodiment provides a method for controlling the torque zero crossing of an electric drive system of a disconnect differential.

[0109] The vehicle control unit outputs a positive pulse torque, the magnitude and duration of which are preset. The positive torque causes the gear at the motor end to start moving toward the gear of the half-shaft section to reduce or eliminate the gap between the teeth. This process helps prepare for gear meshing and prepares for the next step of positive torque switching. After the motor end moves the third preset distance, the vehicle control unit then outputs a negative pulse torque, which causes the gear at the motor end to move further (the fourth preset distance) while reducing the impact on the opposing gear surface. It helps to complete gear meshing, ensure the smoothness of torque switching, and reduce vehicle instability caused by torque mutations.

[0110] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the torque zero-crossing control method of the electric drive system of the disconnecting differential of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0111] The present application also provides a torque zero-crossing control device for an electric drive system of a disconnect differential, please refer to Figure 8 The torque zero-crossing control device of the electric drive system of the disconnect differential comprises:

[0112] An acquisition module 10 is used to acquire the torque requirement of the whole vehicle;

[0113] A strategy determination module 20, for determining a target zero-crossing control strategy based on a vehicle torque demand;

[0114] The control module 30 is used to apply a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0115] The torque zero-crossing control device for the electric drive system of the disconnect differential provided in the present application adopts the torque zero-crossing control method for the electric drive system of the disconnect differential in the above-mentioned embodiment, which can solve the technical problem of excessive inter-tooth clearance when the torque passes through zero. Compared with the prior art, the beneficial effects of the torque zero-crossing control device for the electric drive system of the disconnect differential provided in the present application are the same as the beneficial effects of the torque zero-crossing control method for the electric drive system of the disconnect differential provided in the above-mentioned embodiment, and the other technical features of the torque zero-crossing control device for the electric drive system of the disconnect differential are the same as the features disclosed in the above-mentioned embodiment method, which will not be repeated here.

[0116] In one embodiment, the control module 30 is also used to apply negative pulse torque and positive pulse torque to the motor end of the differential in sequence according to the first control strategy when the target zero-crossing control strategy is the first control strategy, so as to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0117] In one embodiment, the control module 30 is further configured to control the movement of the motor end of the differential through a first negative pulse torque of a first preset duration according to a first control strategy;

[0118] When the differential moves toward the gear end by a first preset distance, the motor end of the differential is controlled to continue to move by a second preset distance through a first positive pulse torque of a second preset duration according to the first control strategy.

[0119] In one embodiment, the control module 30 is also used to apply positive pulse torque and negative pulse torque to the motor end of the differential in sequence according to the second control strategy when the target zero-crossing control strategy is the second control strategy, so as to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0120] In one embodiment, the control module 30 is further configured to control the movement of the motor end of the differential through a second positive pulse torque of a third preset duration according to a second control strategy;

[0121] When the differential moves toward the gear end by a third preset distance, the motor end of the differential is controlled to continue to move by a fourth preset distance through a second negative pulse torque of a fourth preset duration according to the second control strategy.

[0122] In one embodiment, the control module 30 is further used to obtain the control duration of applying the pulse torque;

[0123] When the control time meets the target control time, it is determined that the gap between the teeth of the differential is eliminated;

[0124] When the gap between teeth is eliminated, the motor end of the differential is controlled by the target tooth force so that the differential can meet the torque requirements of the whole vehicle.

[0125] In one embodiment, the acquisition module 10 is further used to acquire vehicle gear change information, vehicle speed information and vehicle driving mode;

[0126] The vehicle torque demand is determined based on the vehicle gear change information, vehicle speed information and vehicle driving mode. The vehicle torque demand includes: any one of the vehicle torque demand switching from negative torque to positive torque demand and the vehicle torque demand switching from positive torque to negative torque demand.

[0127] The present application provides a torque zero-crossing control device for an electric drive system of a disconnecting differential, the torque zero-crossing control device for an electric drive system of a disconnecting differential comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the torque zero-crossing control method for the electric drive system of the disconnecting differential in the above-mentioned embodiment 1.

[0128] Reference below Fig. 9 , which shows a schematic diagram of the structure of the torque zero-crossing control device of the electric drive system of the disconnect differential suitable for implementing the embodiment of the present application. The torque zero-crossing control device of the electric drive system of the disconnect differential in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Fig. 9 The torque zero-crossing control device of the electric drive system of the disconnect differential shown is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present application.

[0129] like Fig. 9As shown, the electric drive system torque zero control device of the disconnect differential may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM: Read Only Memory) 1002 or the program loaded from the storage device 1003 to the random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the electric drive system torque zero control device of the disconnect differential are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the electric drive system torque zero-crossing control device of the disconnect differential to communicate wirelessly or wired with other devices to exchange data. Although the figure shows the electric drive system torque zero-crossing control device of the disconnect differential with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0130] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0131] The torque zero-crossing control device for the electric drive system of the disconnect differential provided in the present application adopts the torque zero-crossing control method for the electric drive system of the disconnect differential in the above-mentioned embodiment, which can solve the technical problem of excessive inter-tooth clearance when the torque passes through zero. Compared with the prior art, the beneficial effects of the torque zero-crossing control device for the electric drive system of the disconnect differential provided in the present application are the same as the beneficial effects of the torque zero-crossing control method for the electric drive system of the disconnect differential provided in the above-mentioned embodiment, and the other technical features of the torque zero-crossing control device for the electric drive system of the disconnect differential are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0132] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0133] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present 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. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0134] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, the computer-readable program instructions being used to execute the torque zero-crossing control method for an electric drive system of a disconnect differential in the above-mentioned embodiment.

[0135] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0136] The computer-readable storage medium may be included in the torque zero-crossing control device of the electric drive system of the disconnect differential; or may exist independently without being assembled into the torque zero-crossing control device of the electric drive system of the disconnect differential.

[0137] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the torque zero-crossing control device of the electric drive system of the disconnecting differential, the torque zero-crossing control device of the electric drive system of the disconnecting differential: obtains the torque demand of the whole vehicle; determines the target zero-crossing control strategy based on the torque demand of the whole vehicle; applies a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

[0138] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0139] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0140] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0141] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned method for controlling the torque zero crossing of the electric drive system of the disconnect differential, and can solve the technical problem of excessive inter-tooth clearance when the torque crosses zero. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the method for controlling the torque zero crossing of the electric drive system of the disconnect differential provided by the above-mentioned embodiment, and will not be repeated here.

[0142] The present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the torque zero-crossing control method of an electric drive system of a disconnect differential as described above.

[0143] The computer program product provided by the present application can solve the technical problem of excessive inter-tooth clearance when the torque passes through zero. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the torque zero-crossing control method of the electric drive system of the disconnect differential provided in the above embodiment, and will not be elaborated here.

[0144] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A method for controlling the torque zero crossing of an electric drive system of a disconnect differential, characterized in that: The method for controlling the torque zero crossing of the electric drive system of the disconnect differential comprises the following steps: Obtain the vehicle torque requirement; Determining a target zero-crossing control strategy based on the vehicle torque demand; Based on the target zero-crossing control strategy, a pulse torque is applied to the motor end of the differential to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

2. The method for controlling the torque zero crossing of the electric drive system of a disconnect differential according to claim 1, characterized in that: The step of applying a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control includes: When the target zero-crossing control strategy is the first control strategy, negative pulse torque and positive pulse torque are sequentially applied to the motor end of the differential according to the first control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

3. The method for controlling the torque zero crossing of the electric drive system of a disconnect differential according to claim 2, characterized in that: The steps of sequentially applying negative pulse torque and positive pulse torque to the motor end of the differential according to the first control strategy include: Controlling the movement of the motor end of the differential by a first negative pulse torque of a first preset duration according to the first control strategy; When the differential moves toward the gear end by a first preset distance, the motor end of the differential is controlled to continue to move by a second preset distance through a first positive pulse torque of a second preset duration according to the first control strategy.

4. The method for controlling the torque zero crossing of the electric drive system of a disconnect differential according to claim 1, characterized in that: The step of applying a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control includes: When the target zero-crossing control strategy is the second control strategy, positive pulse torque and negative pulse torque are sequentially applied to the motor end of the differential according to the second control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

5. The method for controlling the torque zero crossing of the electric drive system of a disconnect differential as claimed in claim 4, characterized in that: The step of sequentially applying positive pulse torque and negative pulse torque to the motor end of the differential according to the second control strategy includes: Controlling the movement of the motor end of the differential by a second positive pulse torque of a third preset duration according to the second control strategy; When the differential moves toward the gear end by a third preset distance, the motor end of the differential is controlled to continue to move by a fourth preset distance through a second negative pulse torque of a fourth preset duration according to the second control strategy.

6. The method for controlling the torque zero crossing of the electric drive system of a disconnect differential according to claim 1, characterized in that: The method further comprises: Obtain the control duration of applying pulse torque; When the control time length satisfies the target control time length, determining that the inter-tooth clearance of the differential is eliminated; When the inter-tooth clearance is eliminated, the motor end of the differential is controlled by the target tooth force so that the differential meets the torque requirement of the whole vehicle.

7. The method for controlling the torque zero crossing of an electric drive system of a disconnect differential according to any one of claims 1 to 6, characterized in that: The step of obtaining the vehicle torque requirement includes: Obtain vehicle gear change information, vehicle speed information and vehicle driving mode; The vehicle torque demand is determined based on the vehicle gear change information, vehicle speed information and vehicle driving mode, and the vehicle torque demand includes: any one of the vehicle torque demand switching from negative torque to positive torque demand and the vehicle torque demand switching from positive torque to negative torque demand.

8. A torque zero-crossing control device for an electric drive system of a disconnect differential, characterized in that: The device comprises: An acquisition module is used to obtain the torque requirement of the entire vehicle; A strategy determination module, used to determine a target zero-crossing control strategy based on the vehicle torque demand; The control module is used to apply a pulse torque to the motor end of the differential based on the target zero-crossing control strategy to eliminate the inter-tooth clearance of the differential and complete the torque zero-crossing control.

9. A torque zero-crossing control device for an electric drive system of a disconnect differential, characterized in that: The device includes: a memory, a processor, and a torque zero-crossing control program for an electric drive system of a disconnecting differential stored in the memory and executable on the processor, wherein the torque zero-crossing control program for an electric drive system of a disconnecting differential is configured to implement the steps of a torque zero-crossing control method for an electric drive system of a disconnecting differential as described in any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium stores a torque zero-crossing control program for the electric drive system of a disconnecting differential, and when the torque zero-crossing control program for the electric drive system of the disconnecting differential is executed by the processor, the steps of the torque zero-crossing control method for the electric drive system of the disconnecting differential are implemented.

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