Gear self-learning method, device and equipment for shifting block rollback and storage medium

Abstract

The invention discloses a gear self-learning method and device for shifting block rollback, equipment and a storage medium. The method comprises the following steps: during first self-learning, controlling a motor to perform speed regulation and gear engagement; after speed regulation and gear engagement are completed, non-speed-regulation gear engagement is conducted for preset times based on open-loop control; in the non-speed-regulation gear engaging process, based on the gear engaging position and the current of a gear shifting motor, it is judged that the limiting position is reached, and the limiting position is recorded; determining a self-learning value of the gear limit position based on the recorded limit position; and after the gear engaging operation is executed based on the self-learning value, the shifting block is controlled to retreat by a preset distance, so that the shifting block is separated from the sliding sleeve. According to the gear shifting control method and device, accurate alignment between teeth is ensured through speed regulation gear shifting during first-time self-learning, then multiple times of speed-regulation-free gear shifting are conducted through open-loop control, the limiting position is judged through the current of the gear shifting motor, the self-learning value is obtained, and the shifting block is controlled to retreat so that the shifting block can be separated from the sliding sleeve. The precision of gear self-learning is improved, abrasion is reduced, and the service life of the transmission is prolonged.

Description

Technical Field

[0001] The present application relates to the technical field of AMT gearboxes, and in particular to a gear self-learning method, device, equipment and storage medium for shift block retraction. Background Art

[0002] With the rapid development of social economy and the improvement of people's living standards, cars have become an indispensable part of modern life. The increase in their usage has provided great convenience for people's travel. In this context, in order to further improve the driving experience and reduce the operating burden of drivers, electronically controlled mechanical automatic transmissions (AMTs) have been widely used and developed.

[0003] The AMT system realizes the automatic control of the traditional mechanical manual transmission through the electronic control unit (ECU) and the actuator. This automatic shifting method not only reduces the labor intensity of the driver, but also improves the smoothness and accuracy of the shifting, thereby significantly improving the driver's comfort and the driving performance of the vehicle. However, the AMT system also faces some challenges in practical applications, such as shifting accuracy and system durability.

[0004] During the transmission process of the gearbox, if the gear is engaged, the shift block and the sliding sleeve will be in contact for a long time, which will cause excessive wear, thus affecting the service life of the transmission and reducing the gear engagement accuracy. Summary of the invention

[0005] The embodiments of the present application provide a gear self-learning method, device, equipment and storage medium for shift block retraction, so as to at least solve the technical problems of poor gear control accuracy and high wear of the shifting system in the related art.

[0006] According to one aspect of an embodiment of the present application, a gear self-learning method for shift block retraction is provided, comprising: During the first self-learning, the motor is controlled to adjust the speed and shift gears; After completing the speed adjustment and gear shifting, performing a preset number of non-speed adjustment and gear shifting based on open-loop control; During the non-speed-adjusted gear shifting process, based on the gear shifting position and the current of the gear shifting motor, it is determined that a limit position has been reached, and the limit position is recorded; Based on the recorded limit positions, determine the self-learning value of the gear limit position; After the user performs a gear shifting operation based on the self-learning value, the shift block is controlled to retract a preset distance so that the shift block and the sliding sleeve are separated.

[0007] In one embodiment, controlling the motor to adjust the speed and shift into gear includes: The motor is controlled to adjust speed and shift gears based on the PID control method.

[0008] In one embodiment, controlling the motor to adjust the speed and shift gears based on the PID control method includes: Determine the target gear to be engaged and set the corresponding gear shift position as the target value of the PID controller; Initialize PID parameters; Monitor the actual shift position of the motor in real time and calculate the error between it and the target shift position; According to the calculated error, the control signal is obtained through the PID algorithm to control the motor speed so that the shift position reaches the target position.

[0009] In one embodiment, the non-speed adjustment gear shifting is performed based on open-loop control, including: Set the initial duty cycle; The duty cycle is gradually increased according to a predetermined step length until the shift actuator starts to act, and the minimum action duty cycle at this time is recorded; The recorded minimum action duty cycle is used to perform open-loop control and execute the gear shifting action without speed regulation.

[0010] In one embodiment, during the execution of the gear shifting action without speed regulation, the gear shifting position and the gear shifting motor current are monitored; When the gear engaging position reaches a preset range and the current increase of the gear shifting motor is greater than a preset threshold, it is determined that the limit position is reached and the limit position is recorded.

[0011] In one embodiment, after recording the extreme position, the method further includes: Checking whether the limit position is within a preset gear position range; When the limit position is within a preset gear position range, it is determined that the limit position is qualified.

[0012] In one embodiment, determining the self-learning value of the gear limit position based on the recorded limit position includes: Based on multiple limit positions recorded in multiple self-learning, the average value of the limit positions is obtained; Based on the limit position mean value, a self-learned value of the gear limit position is determined.

[0013] According to another aspect of the embodiment of the present application, a gear self-learning device for shift block retraction is provided, comprising: The first control unit is used to control the motor to adjust the speed and shift gears during the first self-learning; A second control unit is used to perform a preset number of non-speed adjustment gear shifting based on open-loop control after completing the speed adjustment gear shifting; A determination unit, configured to determine, during the non-speed-adjusted gear shifting process, whether a limit position has been reached based on the gear shifting position and the current of the gear shifting motor, and record the limit position; A recording unit, used for determining a self-learning value of a gear limit position based on the recorded limit position; The retraction unit is used to control the shift block to retract a preset distance after the user performs a gear shifting operation based on the self-learning value, so as to separate the shift block and the sliding sleeve.

[0014] According to another aspect of an embodiment of the present application, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the gear self-learning method for shift block retraction through the computer program.

[0015] According to another aspect of the embodiment of the present application, a computer-readable storage medium is provided, in which a computer program is stored, wherein the computer program is configured to execute the above-mentioned gear self-learning method for shift block retraction when running.

[0016] The technical solution provided by the embodiments of the present application may have the following beneficial effects: The gear self-learning method proposed in the present application significantly improves the performance and reliability of the automatic transmission. By adjusting the speed and shifting the gear during the first self-learning, the precise alignment between the gears is ensured, thereby improving the accuracy and efficiency of the gear shift. Subsequently, the open-loop control is used to perform multiple gear shifts without speed adjustment. By monitoring the current of the gear shifting motor, the system can accurately determine the limit position of the gear shift, thereby obtaining a more reliable self-learning value. After the gear shift reaches the limit position of the gear, the shift block and the sleeve are separated by controlling the retraction of the shift block, which effectively reduces wear and extends the service life of the transmission. In general, the technical solution of the present application provides an efficient, reliable and economical solution for the shifting control of the automatic transmission, which has significant practical value and market potential. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings: Figure 1 is a flow chart of a gear self-learning method for shift block retraction according to an embodiment of the present application; Figure 2 This is a schematic diagram of the structure of a power uninterrupted gearbox system according to an embodiment of the present application; Figure 3 is a schematic diagram of a gear shifting process according to an embodiment of the present application; Figure 4 This is a schematic diagram of a gear self-learning non-speed-adjusting gear shifting process according to an embodiment of the present application; Figure 5is a schematic diagram of the operation of a gear shift actuator according to an embodiment of the present application; Figure 6 is a shift current variation trend diagram according to an embodiment of the present application; Figure 7 is a schematic diagram of a gear self-learning method according to an embodiment of the present application; Figure 8 It is a schematic diagram of a gear self-learning device for shift block retraction according to an embodiment of the present application; Fig. 9 It is a schematic diagram of the structure of an optional electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0019] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0020] The following is combined with Figure 1 The gear self-learning method for shift block retraction in the embodiment of the present application is described in detail. Figure 1 As shown, the method mainly includes the following steps: During the first self-learning, S101 controls the motor to adjust the speed and shift gears.

[0021] In one embodiment, the gear self-learning method for shift block retraction of the present application is used for Figure 2 The power uninterrupted gearbox system shown includes two gearboxes, A and B, which can perform gear self-learning at the same time to improve the self-learning efficiency.

[0022] like Figure 2As shown, during normal driving, the A and B gearboxes are in gear at the same time. If a gear shift request is received, the A side gearbox will shift first, while the B side gearbox remains in gear, and the torque cleared by the A side is supplemented to the B side gearbox to keep the power uninterrupted. After the B side gear shift is completed, the A side performs the same action to shift gears.

[0023] for Figure 2 The power transmission of the configuration is not interrupted. The schematic diagram of the shifting process is shown in Figure 3 , the gearbox side A and side B perform gear self-learning at the same time, shortening the self-learning time.

[0024] In one implementation of the present application, during the first self-learning, the motor is controlled to adjust the speed and shift into gear.

[0025] Optionally, the motor is controlled to adjust speed and shift gears based on a PID control method.

[0026] Specifically, the motor is controlled to adjust the speed and shift gears based on the PID control method, including: determining the target gear to be engaged, and setting the corresponding shift position as the target value of the PID controller; initializing the PID parameters; monitoring the actual shift position of the motor in real time, and calculating the error between the actual shift position and the target shift position; and obtaining a control signal through the PID algorithm based on the calculated error to control the motor speed so that the shift position reaches the target position.

[0027] The precise alignment between gears is ensured by the speed adjustment and gear shifting during the first self-learning.

[0028] After completing the speed adjustment and gear shifting, S102 performs a preset number of non-speed adjustment and gear shifting operations based on open-loop control.

[0029] Figure 4 This is a schematic diagram of the gear self-learning and non-speed shifting process. For example, when performing self-learning of the first gear, it is carried out according to the process of 0-1 (speed regulation) -0-1-0-1, that is, the first speed shift, and subsequently only the gear shifting and disengaging are carried out without speed regulation.

[0030] When performing 2nd gear self-learning, follow 0-2 (speed regulation) -0-2-0-2. The first speed regulation and gear shifting will make the gears correspond to each other. Subsequent self-learning will only perform the gear shifting and disengaging actions.

[0031] In one embodiment, Figure 5 This is a working diagram of the gear shift actuator. The first gear shift self-learning is controlled according to PID, and the subsequent ones are carried out according to open-loop control.

[0032] The method of performing non-speed-regulated gear shifting based on open-loop control includes: setting an initial duty cycle; gradually increasing the duty cycle according to a predetermined step length until the gear shift actuator starts to act, and recording the minimum action duty cycle at this time; performing open-loop control using the recorded minimum action duty cycle to perform a non-speed-regulated gear shifting action.

[0033] The initial duty cycle refers to the initial state of the control signal (such as a PWM signal) at the beginning of open-loop control. This value is usually set to a small value, such as 0, to ensure that the shift actuator can start smoothly and avoid impact or damage caused by excessive initial force. By gradually increasing the duty cycle according to a predetermined step size (such as 1%), the speed and strength of the shift actuator can be controlled. When the shift actuator starts to move, the duty cycle value at this time is recorded. This value is called the minimum action duty cycle (pwm1). This value is a key parameter in subsequent shift operations because it represents the minimum control signal for the shift actuator to start moving.

[0034] In the subsequent gear shifting operation, the recorded minimum action duty cycle is used for open-loop control to execute the gear shifting action without speed regulation. This means that during the gear shifting process, the system no longer adjusts the speed of the engine or motor, but directly uses the minimum action duty cycle to control the gear shift actuator to achieve fast and accurate gear shifting.

[0035] S103, during the process of shifting gears without speed regulation, determines that a limit position has been reached based on the gear shift position and the current of the gear shift motor, and records the limit position.

[0036] In one embodiment, during the process of performing the gear shifting action without speed regulation, the gear shifting position and the gear shifting motor current are monitored; when the gear shifting position reaches a preset range and the gear shifting motor current increases by more than a preset threshold, it is determined that the limit position has been reached and the limit position is recorded. The specific threshold value can be set according to the actual situation.

[0037] like Figure 6 As shown in the figure, it is a measured graph of the shift current change trend during the shift process. It can be seen from the picture that under the same duty cycle, an increase in load will lead to an increase in current. Based on this feature, the self-learning limit position can be determined.

[0038] The present application is based on the monitored current change and accurately determines the limit position based on the current change, providing a more intelligent and reliable shift control strategy for the automatic transmission.

[0039] S104 determines the self-learning value of the gear limit position based on the recorded limit position.

[0040] In one embodiment, after recording the limit position, the method further includes: checking whether the limit position is located within a preset gear position range; and determining that the limit position is qualified when the limit position is located within the preset gear position range.

[0041] For example, the position range of the 2nd gear is approximately between 17cm and 20cm. If the determined limit position is around 15cm, it is determined that the self-learning value is unqualified and the unqualified data is deleted.

[0042] Furthermore, based on multiple limit positions recorded in multiple self-learnings, an average of the limit positions is obtained; and based on the average of the limit positions, a self-learning value of the gear limit position is determined.

[0043] In one embodiment, all qualified limit position data recorded in multiple self-learning processes are collected, and these data reflect the actual action range of the shift actuator under different working conditions.

[0044] Perform statistical analysis on all recorded qualified limit position data and calculate the mean of these data. This mean can better represent the average action range of the shift actuator under various working conditions, thereby improving the accuracy and universality of the self-learning value.

[0045] The calculated limit position mean is used as the self-learning value of the gear limit position. This value is used in subsequent gear shift control to ensure that the gear shift actuator can stably complete the gear shift action when it reaches this position.

[0046] S105: After the user performs a gear shifting operation based on the self-learning value, the shift block is controlled to retract a preset distance so that the shift block and the sliding sleeve are separated.

[0047] In one implementation scenario, the user or the control system performs a gear shifting operation according to the gear limit position value obtained through self-learning. The system monitors whether the gear shifting operation is completed, which can be achieved by monitoring the current of the gear shifting motor, the signal of the position sensor or other relevant parameters.

[0048] Once the gear shifting operation is completed, the control system issues a command to make the shift block retreat a preset distance. This preset distance is determined based on the design and operational requirements of the transmission to ensure that the shift block and the sleeve can be completely separated. For example, retreat 0.5 cm, and do not retreat too much to ensure that it is still in the target gear position. Because the present application can accurately calculate the extreme position of the gear, after performing the gear shifting operation according to the extreme position, it can retreat a little bit, not only to remain in the target gear position, but also to separate the shift block and the sleeve. After the shift block retreats to the preset position, the shift block and the sleeve are separated, reducing the contact between them, thereby reducing wear.

[0049] In this way, the wear of the internal components of the transmission can be effectively reduced, the service life of the transmission can be extended, and the overall performance and reliability of the vehicle can be improved.

[0050] In order to facilitate understanding of the gear self-learning method of the embodiment of the present application, the following is a Figure 7 Further description.

[0051] like Figure 7As shown, this picture shows a self-learning flow chart for an automatic transmission, specifically describing the process of simultaneous self-learning of box A and box B. The following is a detailed explanation of the flow chart: Static self-learning: The self-learning process starts under static conditions, that is, the vehicle is at rest.

[0052] Box A and box B perform self-learning at the same time: Box A and box B of the gearbox perform self-learning at the same time to improve learning efficiency.

[0053] Motor A1 speed adjustment and gear shifting: Use motor A1 to adjust the speed and gear shifting. Normal gear shifting: Determine that it is in gear according to the default basic gear band, or use PID control to shift the gear.

[0054] Disengage: After completing the gear shifting, perform the disengage operation, that is, disengage from the current gear.

[0055] Shifting gears without speed regulation: Shifting gears without speed regulation, that is, without adjusting the speed of the engine or motor.

[0056] The duty cycle increases from small to large in 1% steps: the duty cycle starts from the minimum value and gradually increases by 1% each time until the shift actuator starts to act.

[0057] Shift position change: Check if the shift position has changed. If not, continue to increase the duty cycle.

[0058] Record the duty cycle value pwm1 at this time and store it in EEPROM: When the shift position starts to change, record the duty cycle value (pwm1) at this time and store it in EEPROM.

[0059] Use pwm1 for open-loop control: Use the recorded pwm1 value for open-loop control, that is, send a control signal to the motor according to this duty cycle.

[0060] The position reaches the set range and the current value increases: When the shift position reaches the set range and the shift motor current suddenly increases (change value δi>0.4A), the position value pos1 at this time is recorded.

[0061] Record the position value pos1 at this time, and use the average of multiple pos1 as the self-learning value later: After measuring pos1 multiple times, take the average as the self-learning value.

[0062] Self-learning completed: The self-learning process is completed.

[0063] This flow chart describes in detail the self-learning process of the automatic transmission, which achieves precise control of the shifting process by precisely controlling the action of the shift actuator.

[0064] The method of the embodiment of the present application can also be applied to other gear shifting systems, such as a system with only one transmission, and the embodiment of the present application is not limited thereto.

[0065] The gear self-learning method proposed in the present application significantly improves the performance and reliability of the automatic transmission. By adjusting the speed and shifting the gear during the first self-learning, the precise alignment between the gears is ensured, thereby improving the accuracy and efficiency of the gear shift. Subsequently, the open-loop control is used to perform multiple gear shifts without speed adjustment. By monitoring the current of the gear shifting motor, the system can accurately determine the limit position of the gear shift, thereby obtaining a more reliable self-learning value. After the gear shift reaches the limit position of the gear, the shift block and the sleeve are separated by controlling the retraction of the shift block, which effectively reduces wear and extends the service life of the transmission. In general, the technical solution of the present application provides an efficient, reliable and economical solution for the shifting control of the automatic transmission, which has significant practical value and market potential.

[0066] According to another aspect of the embodiment of the present application, a gear self-learning device for shift block retraction is provided for implementing the gear self-learning method for shift block retraction. Figure 8 As shown, the device comprises: The first control unit 801 is used to control the motor to adjust the speed and shift gears during the first self-learning; The second control unit 802 is used to perform a preset number of non-speed adjustment gear shifting based on open-loop control after completing the speed adjustment gear shifting; The determination unit 803 is used to determine that the limit position has been reached based on the gear position and the current of the gear shifting motor during the process of shifting gears without speed regulation, and record the limit position; The recording unit 804 is used to determine the self-learning value of the gear limit position based on the recorded limit position; The retraction unit 805 is used to control the shift block to retract a preset distance after the user performs a gear shifting operation based on the self-learning value, so as to separate the shift block and the sliding sleeve.

[0067] It should be noted that the gear self-learning device for retracting the shift block provided in the above embodiment only uses the division of the above functional modules as an example when executing the gear self-learning method for retracting the shift block. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. In addition, the gear self-learning device for retracting the shift block provided in the above embodiment and the gear self-learning method for retracting the shift block belong to the same concept, and the implementation process thereof is detailed in the method embodiment, which will not be repeated here.

[0068] According to another aspect of the embodiments of the present application, an electronic device corresponding to the gear self-learning method for shift block retraction provided in the aforementioned embodiments is also provided to execute the aforementioned gear self-learning method for shift block retraction.

[0069] Please refer to Fig. 9 , which shows a schematic diagram of an electronic device provided by some embodiments of the present application. Fig. 9 As shown, the electronic device includes: a processor 900, a memory 901, a bus 902 and a communication interface 903, and the processor 900, the communication interface 903 and the memory 901 are connected via the bus 902; the memory 901 stores a computer program that can be run on the processor 900, and when the processor 900 runs the computer program, it executes the gear self-learning method for shift block retraction provided in any of the aforementioned embodiments of the present application.

[0070] The memory 901 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 903 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0071] The bus 902 may be an ISA bus, a PCI bus, or an EISA bus, etc. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 901 is used to store programs, and the processor 900 executes the programs after receiving the execution instruction. The gear self-learning method for shift block retraction disclosed in any implementation of the aforementioned embodiment of the present application may be applied to the processor 900, or implemented by the processor 900.

[0072] The processor 900 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 900. The above processor 900 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a readily available programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor to be executed, or the hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 901, and the processor 900 reads the information in the memory 901 and completes the steps of the above method in combination with its hardware.

[0073] The electronic device provided in the embodiment of the present application and the gear self-learning method for shift block retraction provided in the embodiment of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented therein.

[0074] According to another aspect of the embodiments of the present application, there is also provided a computer-readable storage medium corresponding to the gear self-learning method for shift block retraction provided in the aforementioned embodiments, on which a computer program (i.e., a program product) is stored. When the computer program is run by the processor, it will execute the gear self-learning method for shift block retraction provided in any of the aforementioned embodiments.

[0075] It should be noted that examples of computer-readable storage media may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0076] The computer-readable storage medium provided in the above-mentioned embodiments of the present application and the gear self-learning method for shift block retraction provided in the embodiments of the present application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0077] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the attached claims.

Claims

1. A gear self-learning method for shift block retraction, characterized in that: include: During the first self-learning, the motor is controlled to adjust the speed and shift gears; After completing the speed adjustment and gear shifting, performing a preset number of non-speed adjustment and gear shifting based on open-loop control; During the non-speed-adjusted gear shifting process, based on the gear shifting position and the current of the gear shifting motor, it is determined that a limit position has been reached, and the limit position is recorded; Based on the recorded limit positions, determine the self-learning value of the gear limit position; After the user performs a gear shifting operation based on the self-learning value, the shift block is controlled to retract a preset distance so that the shift block and the sliding sleeve are separated.

2. The method according to claim 1, characterized in that Control the motor to adjust the speed and shift gears, including: The motor is controlled to adjust speed and shift gears based on the PID control method.

3. The method according to claim 2, characterized in that The motor is controlled to adjust speed and shift gears based on the PID control method, including: Determine the target gear to be engaged and set the corresponding gear shift position as the target value of the PID controller; Initialize PID parameters; Monitor the actual shift position of the motor in real time and calculate the error between it and the target shift position; According to the calculated error, the control signal is obtained through the PID algorithm to control the motor speed so that the shift position reaches the target position.

4. The method according to claim 1, characterized in that: Shift gears without speed regulation based on open-loop control, including: Set the initial duty cycle; The duty cycle is gradually increased according to a predetermined step length until the shift actuator starts to act, and the minimum action duty cycle at this time is recorded; The recorded minimum action duty cycle is used to perform open-loop control and execute the gear shifting action without speed regulation.

5. The method according to claim 1 or 4, characterized in that: During the gear shifting operation without speed regulation, the gear shifting position and the gear shifting motor current are monitored; When the gear engaging position reaches a preset range and the current increase of the gear shifting motor is greater than a preset threshold, it is determined that the limit position is reached and the limit position is recorded.

6. The method according to claim 1, characterized in that After recording the extreme position, the method further comprises: Checking whether the limit position is within a preset gear position range; When the limit position is within a preset gear position range, it is determined that the limit position is qualified.

7. The method according to claim 1, characterized in that Based on the recorded limit positions, determine the self-learning values ​​of the gear limit positions, including: Based on multiple limit positions recorded in multiple self-learning, the average value of the limit positions is obtained; Based on the limit position mean value, a self-learned value of the gear limit position is determined.

8. A gear self-learning device for shift block retraction, characterized in that: include: The first control unit is used to control the motor to adjust the speed and shift gears during the first self-learning; A second control unit is used to perform a preset number of non-speed adjustment gear shifting based on open-loop control after completing the speed adjustment gear shifting; A determination unit, configured to determine, during the non-speed-adjusted gear shifting process, whether a limit position has been reached based on the gear shifting position and the current of the gear shifting motor, and record the limit position; A recording unit, used for determining a self-learning value of a gear limit position based on the recorded limit position; The retraction unit is used to control the shift block to retract a preset distance after the user performs a gear shifting operation based on the self-learning value, so as to separate the shift block and the sliding sleeve.

9. An electronic device, characterized in that: It comprises a processor and a memory storing program instructions, wherein the processor is configured to execute the gear self-learning method for shift block retraction as claimed in any one of claims 1 to 7 when executing the program instructions.

10. A computer-readable medium, characterized in that Computer-readable instructions are stored thereon, and the computer-readable instructions are executed by a processor to implement a gear self-learning method for shift block retraction as described in any one of claims 1 to 7.

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