Static gear shifting anti-shake method and system for double-electric-drive-axle vehicle and storage medium

Abstract

The invention discloses a double-electric-drive-axle vehicle static gear shifting anti-shake method and system and a storage medium, and relates to the technical field of new energy vehicles. The method comprises the steps that current gear information and speed information of a vehicle are obtained, and the current state of the vehicle is judged; when the vehicle is in a static state and a gear switching instruction is detected, an anti-slip instruction and a torque request are output; the middle axle driving motor and the rear axle driving motor are switched into a torque mode, the middle axle driving motor and the rear axle driving motor are controlled to operate in the opposite directions to reach the target rotating speed, the torque of the middle axle driving motor and the torque of the rear axle driving motor are removed, and the middle axle gear shifting motor and the rear axle gear shifting motor are controlled to execute the gear shifting action; and after the middle axle gear shifting motor and the rear axle gear shifting motor enter the preset gears, the anti-slip instruction is released, and static gear shifting is finished. According to the method, the shaking problem of the vehicle in the static gear shifting process is effectively restrained while no cost is increased, and the driving comfort is improved.

Description

Technical Field

[0001] The present application relates to the technical field of new energy vehicles, and in particular to a static shift anti-shake method, system and storage medium for a dual-electric drive axle vehicle. Background Art

[0002] With the continuous development of new energy technologies, electric drive axles have found widespread application in new energy heavy-duty trucks and other vehicles, particularly dual electric drive axles, which are characterized by high efficiency, high power, and high torque. During the electric drive axle shifting process, to avoid the meshing sleeve and the shift teeth from hitting each other and causing shift failure, the drive motor must be pre-started at a certain speed, and the shift action must be performed after a certain speed difference is reached. However, at the moment of gear engagement, the drive motor speed decreases to 0 in a very short time. The huge rotational inertia is transmitted to the wheels through the transmission system, causing vehicle vibration, which is particularly noticeable during static shifts, resulting in a poor driving experience. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: how to suppress the vibration problem of a dual electric drive axle vehicle during static shifting and improve driving comfort, safety and stability.

[0004] To achieve the above object, the technical solution of the present invention is:

[0005] In a first aspect, the present invention provides a static shift anti-shake method for a dual electric drive axle vehicle, comprising the following steps:

[0006] Obtain the vehicle's current gear information and speed information, and determine the vehicle's current state based on the gear information and speed information;

[0007] When the vehicle is stationary and a gear shift command is detected, a hill-slide prevention command and a torque request are output;

[0008] switching the control mode of the middle axle drive motor and the rear axle drive motor to a torque mode according to the torque request, and controlling the middle axle drive motor and the rear axle drive motor to operate in opposite directions in the torque mode;

[0009] When the middle axle drive motor and the rear axle drive motor reach the target speed, the torque of the middle axle drive motor and the rear axle drive motor is cleared, and the middle axle shift motor and the rear axle shift motor are controlled to execute the shift action;

[0010] After the mid-axle shift motor and the rear-axle shift motor enter the preset gear position, the anti-slope sliding instruction is released and the static shift is completed.

[0011] The stationary state is when the current gear is neutral and the vehicle speed is 0.

[0012] The absolute values of the rotational speeds of the middle axle drive motor and the rear axle drive motor are equal.

[0013] The target speed of the mid-axle drive motor is 100 rpm, and the target speed of the rear-axle drive motor is -100 rpm.

[0014] The step of releasing the prohibition of the anti-slope rolling instruction includes: continuously monitoring the rotation speed of the middle axle drive motor and the rear axle drive motor, and releasing the prohibition of the anti-slope rolling instruction if the rotation speed of the middle axle drive motor and the rear axle drive motor remains at 0 within a preset time.

[0015] In a second aspect, the present invention provides a static shift anti-shake system for a dual electric drive axle vehicle, comprising:

[0016] The vehicle status monitoring module is used to obtain the vehicle's current gear information and speed information and output the vehicle's current status;

[0017] A master controller is configured to output a torque request and a hill-slide prevention prohibition instruction based on the current state of the vehicle and the gear shift instruction;

[0018] a torque control module, configured to control the operating modes of the mid-axle drive motor and the rear-axle drive motor according to the current state of the vehicle and the gear shift instruction, and to control the speed and direction of the mid-axle drive motor and the rear-axle drive motor;

[0019] The gear shift control module is used to control the mid-axle shift motor and the rear-axle shift motor to execute the gear shift action after the mid-axle drive motor and the rear-axle drive motor reach the target speed.

[0020] In a third aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned static shift anti-shake method for a dual-electric drive axle vehicle.

[0021] In a fourth aspect, the present invention provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned static shift anti-shake method for a dual electric drive axle vehicle.

[0022] The technical solution of the present invention effectively suppresses the vehicle's vibration problem during static shifting without increasing any design and manufacturing costs, greatly improves the smoothness of the vehicle's static shifting, brings a good driving experience to users, and improves driving comfort, safety and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Flowchart of the method for static shift anti-shake of a dual electric drive axle vehicle of the present invention;

[0024] Figure 2 A structural diagram of the static shift anti-shake system for a dual electric drive axle vehicle according to the present invention;

[0025] Figure 3 The rotor oscillation waveform of the mid-bridge drive motor of the present invention;

[0026] Figure 4 The rear axle drive motor rotor oscillation waveform diagram of the present invention;

[0027] Figure 5 Oscillation waveform diagram after execution of the static gear shift anti-shake method for a dual electric drive axle vehicle of the present invention. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations on the technical solution of the present invention. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0029] Example 1

[0030] refer to Figure 2 As shown, a static shift anti-shake system for a dual electric drive axle vehicle includes:

[0031] The vehicle status monitoring module is used to obtain the vehicle's current gear information and speed information and output the vehicle's current status;

[0032] A master controller is configured to output a torque request and a hill-slide prevention prohibition instruction based on the current state of the vehicle and the gear shift instruction;

[0033] a torque control module, configured to control the operating modes of the mid-axle drive motor and the rear-axle drive motor according to the current state of the vehicle and the gear shift instruction, and to control the speed and direction of the mid-axle drive motor and the rear-axle drive motor;

[0034] The gear shift control module is used to control the mid-axle shift motor and the rear-axle shift motor to execute the gear shift action after the mid-axle drive motor and the rear-axle drive motor reach the target speed.

[0035] In a possible implementation, the master controller, the vehicle state monitoring module, the torque control module, and the shift control module may be integrated into a shift controller.

[0036] The shift controller is respectively connected to the middle axle shift motor, the rear axle shift motor, the middle axle drive motor controller, the rear axle drive motor controller, the middle axle gear position sensor and the rear axle gear position sensor for executing the static shift program and timing control;

[0037] The middle axle drive motor controller and the rear axle drive motor controller are connected to the middle axle drive motor and the rear axle drive motor respectively, and realize the speed control of the middle axle drive motor and the rear axle drive motor according to the instruction of the shift controller;

[0038] The mid-axle drive motor and the rear-axle drive motor include the mid-axle gearbox output shaft and the rear-axle gearbox. The mid-axle drive motor controller and the rear-axle drive motor controller are provided with a mid-axle output shaft speed sensor and a rear-axle output shaft speed sensor, which are responsible for detecting the speed of the mid-axle gearbox output shaft and the rear-axle gearbox output shaft;

[0039] The mid-axle shift motor and the rear-axle shift motor are used to execute the shift action according to the instructions of the shift controller and push the shift mechanism to the specified gear position; the mid-axle gear position sensor and the rear-axle gear position sensor are responsible for detecting whether the shift mechanism has reached the specified position;

[0040] The mid-axle drive motor controller and the rear-axle drive motor controller are responsible for executing the torque request issued by the shift controller and controlling the motor speed; the mid-axle drive motor and the rear-axle drive motor are responsible for responding to the torque request and forming a speed difference;

[0041] The CAN bus is responsible for transmitting the shift controller's instructions to the mid-axle drive motor controller and the rear-axle drive motor controller.

[0042] Example 2

[0043] refer to Figure 1 As shown, a method for static shift anti-shake of a dual electric drive axle vehicle includes the following steps:

[0044] Obtain the vehicle's current gear information and speed information, and determine the vehicle's current state based on the gear information and speed information;

[0045] When the vehicle is stationary and a gear shift command is detected, a hill-slide prevention command and a torque request are output;

[0046] switching the control mode of the middle axle drive motor and the rear axle drive motor to a torque mode according to the torque request, and controlling the middle axle drive motor and the rear axle drive motor to operate in opposite directions in the torque mode;

[0047] When the middle axle drive motor and the rear axle drive motor reach the target speed, the torque of the middle axle drive motor and the rear axle drive motor is cleared, and the middle axle shift motor and the rear axle shift motor are controlled to execute the shift action;

[0048] After the mid-axle shift motor and the rear-axle shift motor enter the preset gear position, the anti-slope sliding instruction is released and the static shift is completed.

[0049] More specifically, the mid-axle gear sensor and the rear-axle gear sensor feedback the gear position, the mid-axle output shaft speed sensor and the rear-axle output shaft speed sensor feedback speed information, and the shift controller determines whether the vehicle is in neutral. If it is in neutral and the vehicle speed is equal to 0, it is determined to be a stationary state. When the instruction to switch the handle from N gear to D gear is detected, the static shift process is entered.

[0050] First, the shift controller sends a prohibition anti-slope instruction to the drive motor controller, and then the shift controller switches the control mode of the mid-axle drive motor controller and the rear-axle drive motor controller to the torque mode, and sends target torques with opposite signs, so that the two drive motors run in opposite directions, and the absolute values of the speeds of the mid-axle drive motor and the rear-axle drive motor are equal.

[0051] The drive motor controller provides real-time feedback of the motor speed to the shift controller. When the motor speed reaches the preset target motor speed, the drive motor torque is cleared and the shift motor is controlled to operate, pushing the shift mechanism to the target gear position.

[0052] During the gear shifting process, at the moment the clutch sleeve collides with the shift teeth, the rotors of the mid-axle and rear-axle drive motors decelerate in a very short period of time. Due to their rotational inertia, the motor rotors oscillate repeatedly for a period of time before coming to rest. If the mid-axle and rear-axle drive motor rotors are rotating at the same speed and direction, the oscillations will also be in the same direction. The two oscillations will superimpose on each other, causing the vehicle to vibrate more severely.

[0053] refer to Figures 3 to 5 As shown, in this embodiment, the mid-axle drive motor and the rear-axle drive motor operate at speeds of 100 rpm and -100 rpm, respectively. At the moment of collision, due to the opposite initial speeds, two waveforms with the same amplitude, frequency, and opposite directions are oscillated. After the two waveforms are superimposed, they cancel each other out, greatly attenuating the vibration transmitted to the entire vehicle.

[0054] In one possible implementation, the mid-axle drive motor and the rear-axle drive motor operate at -100 rpm and 100 rpm, respectively. At the moment of collision, due to the opposite initial rotational speeds, two waveforms with the same amplitude, frequency, and opposite directions are oscillated. After the two waveforms are superimposed, they cancel each other out, greatly attenuating the vibration transmitted to the entire vehicle.

[0055] The shift controller continuously monitors the speed of the mid-axle drive motor and the rear-axle drive motor through the signals sent by the mid-axle drive motor controller and the rear-axle drive motor controller until the speed of the mid-axle drive motor and the rear-axle drive motor remains at 0 within the preset time and the motor is in a stationary state. At this time, the prohibition of the anti-slope rollback instruction is released, and the mid-axle drive motor controller and the rear-axle drive motor controller can enter the anti-slope rollback mode normally, and the entire static shift process is completed.

[0056] Example 3

[0057] The present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-mentioned method for static gear shifting and anti-shake of a dual-electric drive axle vehicle.

[0058] Example 4

[0059] The present invention provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned method for static gear shifting anti-shake of a dual electric drive axle vehicle.

[0060] To sum up, the technical solution of the present invention can effectively solve the vibration problem during the static gear shifting process of the vehicle by controlling the speed of the mid-axle drive motor and the rear-axle drive motor of the dual-electric drive axle vehicle without increasing the design and production costs of the vehicle, greatly improving the smoothness of the static gear shifting, bringing a good driving experience to users, and improving driving comfort, safety and stability.

[0061] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0062] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0063] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0064] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0065] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which are all protected by the present invention.

Claims

1. A static shift anti-shake method for a dual electric drive axle vehicle, characterized in that: The steps include: Obtain the vehicle's current gear information and speed information, and determine the vehicle's current state based on the gear information and speed information; When the vehicle is stationary and a gear shift command is detected, a hill-slide prevention command and a torque request are output; switching the control mode of the middle axle drive motor and the rear axle drive motor to a torque mode according to the torque request, and controlling the middle axle drive motor and the rear axle drive motor to operate in opposite directions in the torque mode; When the middle axle drive motor and the rear axle drive motor reach the target speed, the torque of the middle axle drive motor and the rear axle drive motor is cleared, and the middle axle shift motor and the rear axle shift motor are controlled to execute the shift action; After the mid-axle shift motor and the rear-axle shift motor enter the preset gear position, the anti-slope sliding instruction is released and the static shift is completed.

2. The static shift anti-shake method for a dual electric drive axle vehicle according to claim 1, characterized in that: The stationary state is when the current gear is neutral and the vehicle speed is 0.

3. The static shift anti-shake method for a dual electric drive axle vehicle according to claim 1, characterized in that: The absolute values of the rotational speeds of the middle axle drive motor and the rear axle drive motor are equal.

4. The static shift anti-shake method for a dual electric drive axle vehicle according to claim 1, characterized in that: The target speed of the mid-axle drive motor is 100 rpm, and the target speed of the rear-axle drive motor is -100 rpm.

5. The static shift anti-shake method for a dual electric drive axle vehicle according to claim 1, characterized in that: The step of releasing the prohibition of the anti-slope rolling instruction includes: continuously monitoring the rotation speed of the middle axle drive motor and the rear axle drive motor, and releasing the prohibition of the anti-slope rolling instruction if the rotation speed of the middle axle drive motor and the rear axle drive motor remains at 0 within a preset time.

6. A static shift anti-shake system for a dual electric drive axle vehicle, based on the method according to any one of claims 1 to 5, characterized in that: include: The vehicle status monitoring module is used to obtain the vehicle's current gear information and speed information and output the vehicle's current status; A master controller is configured to output a torque request and a hill-slide prevention prohibition instruction based on the current state of the vehicle and the gear shift instruction; a torque control module, configured to control the operating modes of the mid-axle drive motor and the rear-axle drive motor according to a torque request, and to control the speed and direction of the mid-axle drive motor and the rear-axle drive motor; The gear shift control module is used to control the mid-axle shift motor and the rear-axle shift motor to execute the gear shift action after the mid-axle drive motor and the rear-axle drive motor reach the target speed.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the static shift anti-shake method for a dual electric drive axle vehicle according to any one of claims 1 to 5 are implemented.

8. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the static shift anti-shake method for a dual electric drive axle vehicle according to any one of claims 1 to 5 are implemented.

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