Multi-gear electric driving wheel gear shifting device and gear shifting control method

Abstract

The invention belongs to the technical field of vehicle electric driving, and particularly relates to a multi-gear electric driving wheel gear shifting device and a gear shifting control method.The gear shifting control method comprises the steps that a target gear is compared with a current gear, the gear shifting time is judged, active torque control is conducted after judgment is accepted, active unloading of an electric driving wheel is achieved, the gear picking resistance of the gear shifting device is reduced, and the gear shifting speed is increased. After unloading is completed, a gear shifting instruction is sent to a gear shifting motor controller for gear shifting; the gear shifting motor controller receives the control instruction and performs gear shifting; the electric driving wheel controller actively regulates the speed, regulates the driving motor to a target rotating speed, and sends a gear shifting instruction to a gear shifting motor controller after the speed is regulated; the gear shifting motor controller receives the control instruction to engage a gear; the electric driving wheel controller performs active torque control, so that electric driving wheel system loading is realized, and the impact force before and after gear shifting is reduced; and gear shifting is finished. The driving smoothness problem in the gear shifting process is fully considered, an electric mode is adopted, gear shifting consumed time and gear shifting impact are reduced, and gear shifting is stable.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle electric drive, and in particular relates to a multi-speed electric drive wheel shifting device and a shifting control method. Background Art

[0002] The electric drive wheel is a compact electric drive system that integrates the power unit, transmission, and brake system into the wheel hub. Due to the limited space within the wheel rim, the shifting mechanism must be extremely compact. Furthermore, shifting between different axles of the electric drive wheel can affect vehicle ride smoothness. To improve shift control smoothness, reduce shift time and shift shock, and ensure the power and comfort of the electric drive wheel system during shifts, conventional shifting methods are not feasible. Instead, a dynamic shifting strategy is required to coordinate the control of the shift motor and the drive motor. Summary of the Invention

[0003] (1) Technical issues to be solved

[0004] The technical problem to be solved by the present invention is: how to solve the problems of power interruption, poor power performance, insufficient vehicle driving smoothness and comfort caused by the electric drive wheel integrated in the wheel hub during gear shifting.

[0005] (2) Technical solution

[0006] In order to solve the above technical problems, the present invention provides a multi-speed electric drive wheel shift device, such as Figure 6 As shown, the shifting device comprises: a transmission actuator (1), a position identification component (2), a mounting seat (3), a shifting motor (4), and a shifting motor controller (5);

[0007] The mounting seat (3) is mounted in the electric drive wheel by screws and serves as a mounting platform to complete the integration of the components of the gear shifting device;

[0008] The shift motor (4) is a permanent magnet synchronous motor, mounted on the mounting seat (3), and serves as a power source for the shift device;

[0009] The shift motor controller (5) is mounted on the mounting seat (3) and is used to receive shift instructions and send action instructions to control the action of the shift motor (4);

[0010] The transmission actuator (1) includes a two-stage gear transmission and a one-stage worm gear transmission, is mounted on the mounting seat (3), and is connected to the electric drive wheel synchronizer fork, and is used to receive power from the shift motor (4) to directly drive and complete the shifting action;

[0011] The position identification mechanism 2 is mounted on the mounting seat (3) and is used to realize a position identification function.

[0012] Among them, such as Figure 7 As shown, the transmission actuator (1) includes: a worm wheel (101), a worm shaft (102), a transmission shaft (103), and a driving shaft (104);

[0013] The driving shaft (104) is connected to the output end of the shift motor (4) via a flat key. The driving shaft (104) and the transmission shaft (103), and the transmission shaft (103) and the worm shaft (102) are connected by a gear meshing method to transmit the shift torque. The worm wheel (101) and the worm shaft (102) are connected by a worm gear meshing method. A large-step ratio transmission is adopted, and the transmission ratio i is selected according to the target shift torque.

[0014] The shift motor (4) outputs torque to a driving shaft (104), a transmission shaft (103) and a worm shaft (102) meshed therewith; the worm shaft (102) and the worm wheel (101) reverse the shift torque and maintain self-locking through the structure of the worm wheel itself; the worm wheel (101) is connected to a target shift fork lever via a flat key or a pin shaft; the rotation of the worm wheel (101) is consistent with the displacement and position of the target shift fork lever.

[0015] Among them, such as Figure 8 As shown, the position identification component (2) includes: an angle sensor (203), a first position identification tooth (201), and a second position identification tooth (202). The first position identification tooth (201) is connected to the worm wheel (101) by a screw, and is consistent with the displacement of the worm wheel (101) and the target fork. The second position identification tooth (202) is connected to the angle sensor (203) to perform position judgment. The transmission ratio is i a , according to the target angle of the shift fork, the transmission ratio i a Select to amplify the fork position signal.

[0016] The shift motor (4) receives an action instruction from a shift motor controller (5), rotates forward or reverse, and drives the transmission actuator (1) to move.

[0017] The shift motor controller (5) receives a shift instruction from the electric drive wheel controller, issues an action instruction to the shift motor (4), and receives an angle position signal fed back by the position recognition component (2).

[0018] In addition, the present invention also provides a multi-speed electric drive wheel shift control method, the multi-speed electric drive wheel shift control method is based on the multi-speed electric drive wheel shift device to implement the electric drive wheel shift process, such as Figure 1 As shown, the method includes:

[0019] Step S1: The electric drive wheel controller receives a shift command and determines the current gear position, torque, and speed. If it is determined that the gear positions are consistent or the speed is not suitable for shifting, no shift is required and step S9 is executed. If it is determined that the gear positions are inconsistent and the speed is suitable for shifting, a shift is performed and step S2 is executed.

[0020] Step S2: The electric drive wheel controller performs active torque control to realize active unloading of the electric drive wheel system, thereby reducing the gear shifting resistance of the gear shifting device. After the unloading is completed, a gear shifting instruction is sent to the gear shifting motor controller (5), and step S3 is executed;

[0021] Step S3: The shift motor controller (5) receives the shift instruction, shifts the gear to neutral, and performs the gear shifting operation. After the gear shifting is completed, a completion signal is sent to the electric drive wheel controller. If the gear shifting is successful, step S4 is executed.

[0022] Step S4: The electric drive wheel controller drives the motor to actively adjust the speed, adjusts the drive motor to the target speed, reads the wheel speed from the wheel speed sensor, compares the speed difference to see if it is less than the preset data (30r / min), and sends a shift command to the shift motor controller (5) after completion, and executes step S5;

[0023] Step S5: The shift motor controller (5) receives the shift instruction, shifts the gear to the target gear, and performs the gear engagement operation; if the gear engagement is successful, a signal is sent to the electric drive wheel controller, and step S6 is executed; if the gear engagement fails, step S7 is executed;

[0024] Step S6: The electric drive wheel controller performs active torque control to load the electric drive wheel and reduce the impact force before and after the gear shift, and then executes step S9;

[0025] Step S7: Feedback a gear shift failure signal to the electric drive wheel controller, which records the number of gear shift failures and determines the current number of failures. If the number is less than a preset value (3 times), the shift motor controller returns the gear to neutral and executes step S8; otherwise, executes step S10.

[0026] Step S8: The electric drive wheel controller reads the wheel speed from the wheel speed sensor, takes the motor speed corresponding to the target gear as the target speed, and returns to step S4;

[0027] Step S9: Confirm that the gear shift is successful;

[0028] Step S10: Confirm that the gear shift has failed.

[0029] Among them, such as Figure 2 As shown, step S2 includes the following sub-steps:

[0030] Step S21: The electric drive wheel controller determines the active unloading duration and the target torque according to the result of determining the current torque by using a table lookup method, and proceeds to step S22;

[0031] Step S22: Record the current torque to the memory, analyze the difference between the current torque signal feedback and the target torque, form comparison information, and proceed to step S23;

[0032] Step S23: The electric drive wheel controller issues a control instruction to perform unloading according to the agreed active unloading strategy, so that the torque state before and after is continuously derivable, and then proceeds to step S24;

[0033] Step S24: Active uninstallation ends.

[0034] Among them, Figure 3 As shown, step S3 includes the following sub-steps:

[0035] Step S31: The shift motor controller (5) receives the control instruction corresponding to the shift, and transmits the control instruction to the data processing chip, analyzes the difference between the current position signal feedback and the target position, forms comparison information, and executes step S32;

[0036] Step S32: The shift motor controller (5) determines the shift motor motion state according to the current gear information and the target gear information corresponding to the control instruction, and generates a shift execution instruction. If the gear is from the second gear to the neutral gear, step S33 is executed; if the gear is from the first gear to the neutral gear, step S34 is executed.

[0037] Step S33: the shift motor (4) receives the shift-off execution instruction, the shift motor (4) rotates forward, drives the transmission actuator (1) to execute the shift-off action, and executes step S35;

[0038] Step S34: the shift motor (4) receives the shift-off execution instruction, the shift motor (4) reverses, drives the transmission actuator (1) to execute the shift-off action, and executes step S35;

[0039] Step S35: After the motor controller 5 receives the signal indicating that the multi-speed electric drive wheel fork has moved to the target position detected by the position recognition component (2), a stop instruction is generated, and step S36 is executed;

[0040] Step S36: The shift motor (4) receives the stop command, stops the action, and the shift is completed, and step S37 is executed;

[0041] Step S37: the shift motor controller (5) sends a shift-off completion signal to the electric drive wheel controller.

[0042] Among them, Figure 4 As shown, step S5 includes the following sub-steps:

[0043] Step S51: The shift motor controller (5) receives the gear shift control instruction and transmits the control instruction to the data processing chip, analyzes the difference between the current position signal feedback and the target position, forms comparison information, and executes step S52;

[0044] Step S52: The shift motor controller (5) determines the movement state of the shift motor according to the current gear information and the target gear information corresponding to the control instruction, and generates a gear shift execution instruction. If the gear shift is from neutral to first gear, step S53 is executed; if the gear shift is from neutral to second gear, step S54 is executed.

[0045] Step S53: the shift motor (4) receives the gear engagement execution instruction, the shift motor (4) rotates forward, drives the transmission actuator (1) to execute the gear engagement action, and executes step S55;

[0046] Step S54: the shift motor (4) receives the gear engagement execution instruction, the shift motor (4) reverses, drives the transmission actuator (1) to execute the gear engagement action, and executes step S55;

[0047] Step S55: the shift motor controller (5) determines the target position signal of the multi-speed electric drive wheel fork detected by the position recognition component (2). If it is in place, a stop instruction is generated and step S56 is executed. Otherwise, step S58 is executed.

[0048] Step S56: the shifting motor (4) receives the stop command, stops the action, the gear engagement is completed, and step S57 is executed;

[0049] Step S57: the gear shifting motor controller (5) sends a gear shifting success signal to the electric drive wheel controller;

[0050] Step S58: the gear shifting motor controller (5) sends a gear shifting failure signal to the electric drive wheel controller.

[0051] Among them, Figure 4 As shown, step S6 includes the following sub-steps:

[0052] Step S61: The electric drive wheel controller extracts the torque before unloading from the memory and uses it as the target torque, and proceeds to step S22;

[0053] Step S62: Analyze the difference between the current torque signal feedback and the target torque to form comparison information, and proceed to step S23;

[0054] Step S63: The electric drive wheel controller issues a control instruction and performs loading according to the agreed active loading strategy, so that the torque state before and after is continuously differentiable, and then proceeds to step S24;

[0055] Step S64: Active loading ends.

[0056] (3) Beneficial effects

[0057] Compared with the prior art, the present invention provides a multi-speed electric drive wheel shift control method and device, which fully considers the driving smoothness problem during the gear shifting process, adopts an electric method, reduces the gear shifting time and gear shifting shock, and ensures smooth gear shifting; in this technical solution, in order to cope with different road conditions during vehicle driving, gear shifting operations are required. Since gear shifting shock and power interruption will affect the smoothness and comfort of vehicle driving, the present invention focuses on the gear shifting shock and power interruption problems, adopts an active loading / unloading method to reduce the impact caused by gear shifting, and considers the dynamic factor to control the torque state before and after gear shifting, so as to shorten the gear shifting time as much as possible and improve driving smoothness and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a flow chart of the multi-speed electric drive wheel shift control method.

[0059] Figure 2 This is a flowchart of the sub-steps of step S2.

[0060] Figure 3 This is a flowchart of the sub-steps of step S3.

[0061] Figure 4 This is a flowchart of the sub-steps of step S5.

[0062] Figure 5 This is a flowchart of the sub-steps of step S6.

[0063] Figure 6 Schematic diagram of the gear shifting device structure.

[0064] Figure 7 This is an exploded diagram of the transmission actuator structure.

[0065] Figure 8 This is an exploded diagram of the position identification device structure.

[0066] Figure 9 This is an exploded view of the mounting base structure.

[0067] Reference numerals:

[0068] 1- transmission actuator; 2- position identification mechanism; 3- mounting seat; 4- shift motor; 5- shift motor controller; 101- worm gear; 102- worm shaft; 103- transmission shaft; 104- driving shaft; 201- first position identification tooth; 202- angle sensor; 203- second position identification tooth; 301- mounting plate; 302- bottom plate. DETAILED DESCRIPTION

[0069] In order to make the purpose, content, and advantages of the present invention more clear, the specific implementation methods of the present invention are further described in detail below with reference to the accompanying drawings and examples.

[0070] In order to solve the above technical problems, the present invention provides a multi-speed electric drive wheel shift device, such as Figure 6 As shown, the shifting device comprises: a transmission actuator (1), a position identification component (2), a mounting seat (3), a shifting motor (4), and a shifting motor controller (5);

[0071] The mounting seat (3) is mounted in the electric drive wheel by screws and serves as a mounting platform to complete the integration of the components of the gear shifting device;

[0072] The shift motor (4) is a permanent magnet synchronous motor, mounted on the mounting seat (3), and serves as a power source for the shift device;

[0073] The shift motor controller (5) is mounted on the mounting seat (3) and is used to receive shift instructions and send action instructions to control the action of the shift motor (4);

[0074] The transmission actuator (1) includes a two-stage gear transmission and a one-stage worm gear transmission, is mounted on the mounting seat (3), and is connected to the electric drive wheel synchronizer fork, and is used to receive power from the shift motor (4) to directly drive and complete the shifting action;

[0075] The position identification mechanism 2 is mounted on the mounting seat (3) and is used to realize a position identification function.

[0076] Among them, Figure 7 As shown, the transmission actuator (1) includes: a worm wheel (101), a worm shaft (102), a transmission shaft (103), and a driving shaft (104);

[0077] The driving shaft (104) is connected to the output end of the shift motor (4) via a flat key. The driving shaft (104) and the transmission shaft (103), and the transmission shaft (103) and the worm shaft (102) are connected by a gear meshing method to transmit the shift torque. The worm wheel (101) and the worm shaft (102) are connected by a worm gear meshing method. A large-step ratio transmission is adopted, and the transmission ratio i is selected according to the target shift torque.

[0078] The shift motor (4) outputs torque to a driving shaft (104), a transmission shaft (103) and a worm shaft (102) meshed therewith; the worm shaft (102) and the worm wheel (101) reverse the shift torque and maintain self-locking through the structure of the worm wheel itself; the worm wheel (101) is connected to a target shift fork lever via a flat key or a pin shaft; the rotation of the worm wheel (101) is consistent with the displacement and position of the target shift fork lever.

[0079] Among them, Figure 8As shown, the position identification component (2) includes: an angle sensor (203), a first position identification tooth (201), and a second position identification tooth (202). The first position identification tooth (201) is connected to the worm wheel (101) by a screw, and is consistent with the displacement of the worm wheel (101) and the target fork. The second position identification tooth (202) is connected to the angle sensor (203) to perform position judgment. The transmission ratio is i a , according to the target angle of the shift fork, the transmission ratio i a Select to amplify the fork position signal.

[0080] The shift motor (4) receives an action instruction from a shift motor controller (5), rotates forward or reverse, and drives the transmission actuator (1) to move.

[0081] The shift motor controller (5) receives a shift instruction from the electric drive wheel controller, issues an action instruction to the shift motor (4), and receives an angle position signal fed back by the position recognition component (2).

[0082] In addition, the present invention also provides a multi-speed electric drive wheel shift control method, the multi-speed electric drive wheel shift control method is based on the multi-speed electric drive wheel shift device to implement the electric drive wheel shift process, such as Figure 1 As shown, the method includes:

[0083] Step S1: The electric drive wheel controller receives a shift command and determines the current gear position, torque, and speed. If it is determined that the gear positions are consistent or the speed is not suitable for shifting, no shift is required and step S9 is executed. If it is determined that the gear positions are inconsistent and the speed is suitable for shifting, a shift is performed and step S2 is executed.

[0084] Step S2: The electric drive wheel controller performs active torque control to realize active unloading of the electric drive wheel system, thereby reducing the gear shifting resistance of the gear shifting device. After the unloading is completed, a gear shifting instruction is sent to the gear shifting motor controller (5), and step S3 is executed;

[0085] Step S3: The shift motor controller (5) receives the shift instruction, shifts the gear to neutral, and performs the gear shifting operation. After the gear shifting is completed, a completion signal is sent to the electric drive wheel controller. If the gear shifting is successful, step S4 is executed.

[0086] Step S4: The electric drive wheel controller drives the motor to actively adjust the speed, adjusts the drive motor to the target speed, reads the wheel speed from the wheel speed sensor, compares the speed difference to see if it is less than the preset data (30r / min), and sends a shift command to the shift motor controller (5) after completion, and executes step S5;

[0087] Step S5: The shift motor controller (5) receives the shift instruction, shifts the gear to the target gear, and performs the gear engagement operation; if the gear engagement is successful, a signal is sent to the electric drive wheel controller, and step S6 is executed; if the gear engagement fails, step S7 is executed;

[0088] Step S6: The electric drive wheel controller performs active torque control to load the electric drive wheel and reduce the impact force before and after the gear shift, and then executes step S9;

[0089] Step S7: Feedback a gear shift failure signal to the electric drive wheel controller, which records the number of gear shift failures and determines the current number of failures. If the number is less than a preset value (3 times), the shift motor controller returns the gear to neutral and executes step S8; otherwise, executes step S10.

[0090] Step S8: The electric drive wheel controller reads the wheel speed from the wheel speed sensor, takes the motor speed corresponding to the target gear as the target speed, and returns to step S4;

[0091] Step S9: Confirm that the gear shift is successful;

[0092] Step S10: Confirm that the gear shift has failed.

[0093] Among them, such as Figure 2 As shown, step S2 includes the following sub-steps:

[0094] Step S21: The electric drive wheel controller determines the active unloading duration and the target torque according to the result of determining the current torque by using a table lookup method, and proceeds to step S22;

[0095] Step S22: Record the current torque to the memory, analyze the difference between the current torque signal feedback and the target torque, form comparison information, and proceed to step S23;

[0096] Step S23: The electric drive wheel controller issues a control instruction to perform unloading according to the agreed active unloading strategy, so that the torque state before and after is continuously derivable, and then proceeds to step S24;

[0097] Step S24: Active uninstallation ends.

[0098] Among them, such as Figure 3 As shown, step S3 includes the following sub-steps:

[0099] Step S31: The shift motor controller (5) receives the control instruction corresponding to the shift, and transmits the control instruction to the data processing chip, analyzes the difference between the current position signal feedback and the target position, forms comparison information, and executes step S32;

[0100] Step S32: The shift motor controller (5) determines the shift motor motion state according to the current gear information and the target gear information corresponding to the control instruction, and generates a shift execution instruction. If the gear is from the second gear to the neutral gear, step S33 is executed; if the gear is from the first gear to the neutral gear, step S34 is executed.

[0101] Step S33: the shift motor (4) receives the shift-off execution instruction, the shift motor (4) rotates forward, drives the transmission actuator (1) to execute the shift-off action, and executes step S35;

[0102] Step S34: the shift motor (4) receives the shift-off execution instruction, the shift motor (4) reverses, drives the transmission actuator (1) to execute the shift-off action, and executes step S35;

[0103] Step S35: After the motor controller 5 receives the signal indicating that the multi-speed electric drive wheel fork has moved to the target position detected by the position recognition component (2), a stop instruction is generated, and step S36 is executed;

[0104] Step S36: The shift motor (4) receives the stop command, stops the action, and the shift is completed, and step S37 is executed;

[0105] Step S37: the shift motor controller (5) sends a shift-off completion signal to the electric drive wheel controller.

[0106] Among them, Figure 4 As shown, step S5 includes the following sub-steps:

[0107] Step S51: The shift motor controller (5) receives the gear shift control instruction and transmits the control instruction to the data processing chip, analyzes the difference between the current position signal feedback and the target position, forms comparison information, and executes step S52;

[0108] Step S52: The shift motor controller (5) determines the movement state of the shift motor according to the current gear information and the target gear information corresponding to the control instruction, and generates a gear shift execution instruction. If the gear shift is from neutral to first gear, step S53 is executed; if the gear shift is from neutral to second gear, step S54 is executed.

[0109] Step S53: the shift motor (4) receives the gear engagement execution instruction, the shift motor (4) rotates forward, drives the transmission actuator (1) to execute the gear engagement action, and executes step S55;

[0110] Step S54: the shift motor (4) receives the gear engagement execution instruction, the shift motor (4) reverses, drives the transmission actuator (1) to execute the gear engagement action, and executes step S55;

[0111] Step S55: the shift motor controller (5) determines the target position signal of the multi-speed electric drive wheel fork detected by the position recognition component (2). If it is in place, a stop instruction is generated and step S56 is executed. Otherwise, step S58 is executed.

[0112] Step S56: the shifting motor (4) receives the stop command, stops the action, the gear engagement is completed, and step S57 is executed;

[0113] Step S57: the gear shifting motor controller (5) sends a gear shifting success signal to the electric drive wheel controller;

[0114] Step S58: the gear shifting motor controller (5) sends a gear shifting failure signal to the electric drive wheel controller.

[0115] Among them, Figure 4 As shown, step S6 includes the following sub-steps:

[0116] Step S61: The electric drive wheel controller extracts the torque before unloading from the memory and uses it as the target torque, and proceeds to step S22;

[0117] Step S62: Analyze the difference between the current torque signal feedback and the target torque to form comparison information, and proceed to step S23;

[0118] Step S63: The electric drive wheel controller issues a control instruction and performs loading according to the agreed active loading strategy, so that the torque state before and after is continuously differentiable, and then proceeds to step S24;

[0119] Step S64: Active loading ends.

[0120] Example 1

[0121] This embodiment provides a multi-speed electric drive wheel shift control method and device, which is used in the electric drive wheel shift process, such as Figure 1 As shown, the control method includes:

[0122] S1: The electric drive wheel controller receives a shift command and determines the current gear position, torque, and speed. If the gear position is consistent or the speed is not suitable for shifting, no shift is required and step S6 is executed. If the gear position is inconsistent and the speed is suitable for shifting, a shift is performed and step S2 is executed.

[0123] S2: The electric drive wheel controller performs active torque control to achieve active unloading of the electric drive wheel system, thereby reducing the gear shifting resistance of the shifting device. After unloading is completed, a shift command is sent to the shift motor controller, and step S3 is executed;

[0124] S3: The shift motor controller receives the control command, shifts the gear to neutral, and performs the gear shifting operation. After the gear shifting is completed, a completion signal is sent to the electric drive wheel controller. The gear shifting is successful, and step S4 is executed;

[0125] S4: The electric drive wheel controller actively controls the speed of the drive motor, adjusts the drive motor to the target speed, reads the wheel speed from the wheel speed sensor, and compares the speed difference to see if it is less than 30 r / min. After completion, it issues a shift command to the shift motor controller, and then executes step S5;

[0126] S5: The shifting device receives the shifting instruction, shifts the gear to the target gear, and performs the gear engagement operation. If the gear engagement is successful, a signal is sent to the electric drive wheel controller, and step S6 is executed; if the gear engagement fails, step S7 is executed;

[0127] S6: The electric drive wheel controller performs active torque control to load the electric drive wheel and reduce the impact force before and after the gear shift, and then executes step S9;

[0128] S7: Feedback a gear shift failure signal to the electric drive wheel controller, which records the number of gear shift failures and determines the current number of failures. If the number is less than 3, the shift motor controller returns the gear to neutral and executes step S8; otherwise, executes step S10;

[0129] S8: The electric drive wheel controller reads the wheel speed from the wheel speed sensor, takes the motor speed corresponding to the target gear as the target speed, and executes step S4;

[0130] S9: Gear shift successful;

[0131] S10: Gear shift failed.

[0132] The shifting device according to claim 1, Figure 6 As shown, it is characterized by including: a transmission actuator 1, a position identification component 2, a mounting seat 3, a shift motor 4, and a shift motor controller 5.

[0133] The transmission actuator 1 includes a two-stage gear transmission and a first-stage worm gear transmission, is mounted on the mounting seat 3, and is connected to the electric drive wheel synchronizer fork to directly drive and complete the gear shifting action.

[0134] The shift motor 4 is a permanent magnet synchronous motor, which is mounted on the mounting seat and serves as a power source for the shift device.

[0135] The shift motor controller 5 is mounted on the mounting base 3 , receives shift instructions, and controls the operation of the shift motor.

[0136] The position identification mechanism 2 is installed on the mounting seat 3 to realize the position identification function.

[0137] The mounting seat 3 is mounted in the electric drive wheel by screws to complete the integration of the shifting device.

[0138] The shifting device according to claim 2 is characterized in that Figure 7 As shown, the transmission actuator 1 includes a worm wheel 101, a worm shaft 102, a transmission shaft 103, and a driving shaft 104. The driving shaft 103 is connected to the output end of the shift motor 4 via a flat key. Gear meshing is used to transmit shifting torque between the driving shaft 104 and the transmission shaft 103, and between the transmission shaft 103 and the worm shaft 102. The worm wheel 101 and the worm shaft 102 are engaged in a worm-gear meshing method, with a large-ratio transmission. The transmission ratio i is selected based on the target shifting torque. The shift motor 4 outputs torque to the meshing transmission shaft 103 and the worm shaft 102. The worm shaft 102 and worm wheel 101 reverse the shifting torque and maintain self-locking through the worm and worm wheel structure. The worm wheel 101 can be connected to the target shift fork and shift lever via a flat key or pin. The rotation of the worm wheel 101 is consistent with the displacement and position of the target shift fork and shift lever.

[0139] The shifting device according to claim 2 is characterized in that Figure 8 As shown, the position identification component 2 includes an angle sensor 203, a position identification tooth 201, and a position identification tooth 202. The position identification tooth 201 is connected to the worm wheel 101 by a screw, and is consistent with the displacement of the worm wheel 101 and the target fork. The position identification tooth 202 is connected to the angle sensor 203 to perform position judgment. The transmission ratio is i a , according to the target angle of the shift fork a Select to amplify the fork position signal.

[0140] The shifting device according to claim 2 is characterized in that the shifting motor 4 receives instructions from the shifting motor controller 5 to rotate forward or reverse, thereby driving the transmission actuator 1 to move.

[0141] The shifting device according to claim 2 is characterized in that the shifting motor controller 5 receives the shifting instruction from the electric drive wheel controller, sends an action instruction to the shifting motor 4, and receives the angle position signal of the position identification component position 3.

[0142] According to the multi-speed electric drive wheel shift control method according to claim 1, Figure 2 As shown, it is characterized in that: step S2 includes the following sub-steps:

[0143] S21: The electric drive wheel controller determines the current torque and the active unloading duration and target torque by looking up the table, and then proceeds to step S22;

[0144] S22: Record the current torque to the memory, analyze the difference between the current torque signal feedback and the target torque, form comparison information, and proceed to step S23;

[0145] S23: The electric drive wheel controller issues a control instruction to perform unloading according to the agreed active unloading strategy, so that the torque state before and after is continuously differentiable, and then proceeds to step S24;

[0146] S24: Active uninstallation ends.

[0147] According to the multi-speed electric drive wheel shift control method according to claim 1, Figure 3 As shown, it is characterized in that: step S3 includes the following sub-steps:

[0148] S31: The shift motor controller 5 of the shift device receives the shift control instruction and transmits the control instruction to the data processing chip, analyzes the difference between the current position signal feedback and the target position, forms comparison information, and executes step S32;

[0149] S32: The shift motor controller 5 of the shift device determines the movement state of the shift motor according to the current gear information and the control gear information, and generates a shift execution instruction. If the gear is from the second gear to the neutral gear, step S33 is executed; if the gear is from the first gear to the neutral gear, step S34 is executed.

[0150] S33: The shift motor 4 of the shift device receives the shift-off execution instruction, and the shift motor 4 of the shift device rotates forward to drive the transmission actuator 1 to execute the shift-off action, and then execute step S35;

[0151] S34: The shift motor 4 of the shift device receives the shift-off execution instruction, and the shift motor 4 of the shift device reverses to drive the transmission actuator 1 to execute the shift-off action, and then executes step S35;

[0152] S35: After the shift device motor controller 5 receives the signal from the shift device position recognition component 2 detecting that the multi-speed electric drive wheel fork has moved to the target position, generating a stop instruction, step S36 is executed;

[0153] S36: The shift motor 4 of the shift device receives a stop command, stops moving, and the shift is completed, and step S37 is executed;

[0154] S37: The shift motor controller 5 sends a shift-off completion signal to the electric drive wheel controller.

[0155] According to the multi-speed electric drive wheel shift control method according to claim 1, Figure 4 As shown, it is characterized in that: step S5 includes the following sub-steps:

[0156] S51: The shift motor controller 5 of the shift device receives the gear shift control instruction and transmits the control instruction to the data processing chip, analyzes the difference between the current position signal feedback and the target position, forms comparison information, and executes step S52;

[0157] S52: The shift motor controller 5 of the shift device determines the movement state of the shift motor according to the current gear information and the control gear information, and generates a gear shift execution instruction. If it is from neutral to first gear, step S53 is executed; if it is from neutral to second gear, step S54 is executed;

[0158] S53: The shift motor 4 of the shift device receives the gear engagement execution instruction, and the shift motor 4 of the shift device rotates forward to drive the transmission actuator 1 to perform the gear engagement action, and then execute step S55;

[0159] S54: The shift motor 4 of the shift device receives the gear engagement execution instruction, and the shift motor 4 of the shift device reverses to drive the transmission actuator 1 to execute the gear engagement action, and then executes step S55;

[0160] S55: Determine the target position signal of the multi-speed electric drive wheel fork detected by the shift device position recognition component 2 received by the shift device motor controller 5. If the target position signal is in place, a stop command is generated and step S56 is executed. Otherwise, step S58 is executed.

[0161] S56: The shift motor 4 of the shift device receives a stop command, stops moving, and the gear engagement is completed, and step S57 is executed;

[0162] S57: The shift motor controller 5 sends a gear engagement success signal to the electric drive wheel controller;

[0163] S58: The shift motor controller 5 sends a gear engagement failure signal to the electric drive wheel controller.

[0164] According to the multi-speed electric drive wheel shift control method according to claim 1, Figure 5 As shown, it is characterized in that: step S6 includes the following sub-steps:

[0165] S61: The electric drive wheel controller extracts the pre-unloading torque from the storage as the target torque and proceeds to step S22;

[0166] S62: Analyze the difference between the current torque signal feedback and the target torque to form comparison information, and proceed to step S23;

[0167] S63: The electric drive wheel controller issues a control instruction to load according to the agreed active loading strategy, so that the torque state before and after is continuously differentiable, and then proceeds to step S24;

[0168] The present invention will be described in detail below with reference to specific embodiments.

[0169] Example 2

[0170] Take shifting from first gear to second gear as an example.

[0171] 1) Torque unloading

[0172] Active torque control is used to achieve torque unloading of the drive motor, and the required unloading time is about 0.05s.

[0173] 2) First gear to neutral

[0174] The shift from first gear to neutral is achieved through shift motor speed control. The fully engaged first gear position is the initial state, and the neutral position is the control target. The drive motor speed is controlled, and feedback from the position sensor is used to determine whether the clutch has reached the target position. When the neutral target position is reached, the shift motor speed is reduced to zero, and the clutch stops. The required shift time is approximately 0.05 seconds.

[0175] 3) Speed ​​synchronization

[0176] By controlling the speed of the drive motor, the speed of the drive motor is reduced to the required input shaft speed corresponding to the second gear transmission ratio, so that the speed difference between the input shaft speed and the coupling sleeve speed is within the target speed difference. That is, while completing the active speed synchronization, a certain speed difference is ensured between the coupling sleeve engagement ring gear and the target ring gear. In the process of engaging from neutral to second gear, the speed difference can be used to reduce the probability of coupling gear collision and jamming, and motor stalling. The required drive motor speed regulation time is about 0.05s.

[0177] 4) Neutral to second gear

[0178] The shift from neutral to second gear is achieved through shift motor speed control. Starting from the neutral mid-position and targeting the fully engaged second gear position, the drive motor speed is controlled. When the fully engaged second gear position is reached, the shift motor speed reaches zero, and the clutch stops. The shift motor speed is controlled using a constant speed control mechanism. To account for friction between the engaging teeth, the shift time is extended to approximately 0.3 seconds.

[0179] 5) Torque loading

[0180] Active torque control is used to restore the drive motor torque, which takes about 0.05s.

[0181] In summary, the present invention belongs to the field of vehicle electric drive technology, and specifically relates to a multi-speed electric drive wheel shifting device and a shifting control method, which is used in the electric drive wheel shifting process. The control method involves an electric drive wheel controller and a shift motor controller, including: the electric drive wheel controller compares the target gear position with the current gear position, and determines the shifting timing. After the determination is accepted, active torque control is performed to realize active unloading of the electric drive wheel, reduce the gear shifting resistance of the shifting device, and send a shifting instruction to the shifting motor controller to shift after the unloading is completed; the shifting motor controller receives the control instruction and performs gear shifting; the electric drive wheel controller actively adjusts the speed to adjust the drive motor to the target speed, and sends a shifting instruction to the shifting motor controller after completion; the shifting motor controller receives the control instruction and engages the gear; the electric drive wheel controller performs active torque control to realize loading of the electric drive wheel system and reduce the impact force before and after the gear shift; and the gear shift is completed. If the gear shift fails during the gear shifting process, the attempt is repeated three times, and the attempt is stopped after the gear shift still fails. The device includes a shift actuator, a shift motor, a shift motor controller, a position identification component, and a mounting base. The transmission actuator directly drives the shift action, the shift motor serves as the power source of the shift device, the shift motor controller receives the shift command and controls the shift motor action, the position identification mechanism realizes the position identification function, and the mounting base realizes the integrated function of the shift device.

[0182] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multi-speed electric drive wheel shift device, characterized in that: The shifting device comprises: a transmission actuator (1), a position identification component (2), a mounting seat (3), a shifting motor (4), and a shifting motor controller (5); The mounting seat (3) is installed in the electric drive wheel and serves as a mounting platform to complete the integration of components of the gear shifting device; The shift motor (4) is a permanent magnet synchronous motor, mounted on the mounting seat (3), and serves as a power source for the shift device; The shift motor controller (5) is mounted on the mounting seat (3) and is used to receive shift instructions and send action instructions to control the action of the shift motor (4); The transmission actuator (1) includes a two-stage gear transmission and a one-stage worm gear transmission, is mounted on the mounting seat (3), and is connected to the electric drive wheel synchronizer fork, and is used to receive power from the shift motor (4) to directly drive and complete the shifting action; The position identification mechanism 2 is mounted on the mounting seat (3) and is used to realize a position identification function.

2. The multi-speed electric drive wheel shifting device according to claim 1, characterized in that: The transmission actuator (1) comprises: a worm wheel (101), a worm shaft (102), a transmission shaft (103), and a driving shaft (104); The driving shaft (104) is connected to the output end of the shift motor (4) via a flat key; the driving shaft (104) and the transmission shaft (103), and the transmission shaft (103) and the worm shaft (102) are connected by a gear meshing method to transmit the shift torque; the worm wheel (101) and the worm shaft (102) are connected by a worm gear meshing method; and the transmission ratio i is selected according to the target shift torque; The shift motor (4) outputs torque to a driving shaft (104), a transmission shaft (103) and a worm shaft (102) meshed therewith; the worm shaft (102) and the worm wheel (101) reverse the shift torque and maintain self-locking through the structure of the worm wheel itself; the worm wheel (101) is connected to a target shift fork lever via a flat key or a pin shaft; the rotation of the worm wheel (101) is consistent with the displacement and position of the target shift fork lever.

3. The multi-speed electric drive wheel shifting device according to claim 2, characterized in that: The position identification component (2) comprises: an angle sensor (203), a first position identification tooth (201), and a second position identification tooth (202). The first position identification tooth (201) is connected to the worm wheel (101) and is consistent with the worm wheel (101) and the target fork displacement. The second position identification tooth (202) is connected to the angle sensor (203) to perform position judgment. The transmission ratio is i a , according to the target angle of the shift fork, the transmission ratio i a Select to amplify the fork position signal.

4. The multi-speed electric drive wheel shifting device according to claim 3, characterized in that: The shift motor (4) receives an action instruction from a shift motor controller (5) and performs forward or reverse rotation, thereby driving the transmission actuator (1) to move.

5. The multi-speed electric drive wheel shifting device according to claim 4, characterized in that: The shift motor controller (5) receives a shift instruction from the electric drive wheel controller, issues an action instruction to the shift motor (4), and receives an angle position signal fed back by the position recognition component (2).

6. A multi-speed electric drive wheel shift control method, characterized in that: The multi-speed electric drive wheel shift control method is based on the multi-speed electric drive wheel shift device according to any one of claims 1 to 5 to implement the shifting process of the electric drive wheel, and the method includes: Step S1: The electric drive wheel controller receives a shift command and determines the current gear position, torque, and speed. If it is determined that the gear positions are consistent or the speed is not suitable for shifting, no shift is required and step S9 is executed. If it is determined that the gear positions are inconsistent and the speed is suitable for shifting, a shift is performed and step S2 is executed. Step S2: The electric drive wheel controller performs active torque control to realize active unloading of the electric drive wheel system, thereby reducing the gear shifting resistance of the gear shifting device. After the unloading is completed, a gear shifting instruction is sent to the gear shifting motor controller (5), and step S3 is executed; Step S3: The shift motor controller (5) receives the shift instruction, shifts the gear to neutral, and performs the gear shifting operation. After the gear shifting is completed, a completion signal is sent to the electric drive wheel controller. If the gear shifting is successful, step S4 is executed. Step S4: The electric drive wheel controller drives the motor to actively adjust the speed, adjusts the drive motor to the target speed, reads the wheel speed from the wheel speed sensor, compares the speed difference to see if it is less than the preset data, and sends a shift command to the shift motor controller (5) after completion, and executes step S5; Step S5: The shift motor controller (5) receives the shift instruction, shifts the gear to the target gear, and performs the gear engagement operation; if the gear engagement is successful, a signal is sent to the electric drive wheel controller, and step S6 is executed; if the gear engagement fails, step S7 is executed; Step S6: The electric drive wheel controller performs active torque control to load the electric drive wheel and reduce the impact force before and after the gear shift, and then executes step S9; Step S7: Feedback a gear shift failure signal to the electric drive wheel controller, which records the number of gear shift failures and determines the current number of failures. If the number is less than a preset value, the shift motor controller returns the gear to neutral and executes step S8; otherwise, executes step S10. Step S8: The electric drive wheel controller reads the wheel speed from the wheel speed sensor, takes the motor speed corresponding to the target gear as the target speed, and returns to step S4; Step S9: Confirm that the gear shift is successful; Step S10: Confirm that the gear shift has failed.

7. The multi-speed electric drive wheel shift control method according to claim 6, characterized in that: The step S2 includes the following sub-steps: Step S21: The electric drive wheel controller determines the active unloading duration and the target torque according to the result of determining the current torque by using a table lookup method, and proceeds to step S22; Step S22: Record the current torque to the memory, analyze the difference between the current torque signal feedback and the target torque, form comparison information, and proceed to step S23; Step S23: The electric drive wheel controller issues a control instruction to perform unloading according to the agreed active unloading strategy, so that the torque state before and after is continuously derivable, and then proceeds to step S24; Step S24: Active uninstallation ends.

8. The multi-speed electric drive wheel shift control method according to claim 7, characterized in that: The step S3 includes the following sub-steps: Step S31: The shift motor controller (5) receives the control instruction corresponding to the shift, and transmits the control instruction to the data processing chip, analyzes the difference between the current position signal feedback and the target position, forms comparison information, and executes step S32; Step S32: The shift motor controller (5) determines the shift motor motion state according to the current gear information and the target gear information corresponding to the control instruction, and generates a shift execution instruction. If the gear is from the second gear to the neutral gear, step S33 is executed; if the gear is from the first gear to the neutral gear, step S34 is executed. Step S33: the shift motor (4) receives the shift-off execution instruction, the shift motor (4) rotates forward, drives the transmission actuator (1) to execute the shift-off action, and executes step S35; Step S34: the shift motor (4) receives the shift-off execution instruction, the shift motor (4) reverses, drives the transmission actuator (1) to execute the shift-off action, and executes step S35; Step S35: After the motor controller 5 receives the signal indicating that the multi-speed electric drive wheel fork has moved to the target position detected by the position recognition component (2), a stop instruction is generated, and step S36 is executed; Step S36: The shift motor (4) receives the stop command, stops the action, and the shift is completed, and step S37 is executed; Step S37: the shift motor controller (5) sends a shift-off completion signal to the electric drive wheel controller.

9. The multi-speed electric drive wheel shift control method according to claim 8, characterized in that: The step S5 includes the following sub-steps: Step S51: The shift motor controller (5) receives the gear shift control instruction and transmits the control instruction to the data processing chip, analyzes the difference between the current position signal feedback and the target position, forms comparison information, and executes step S52; Step S52: The shift motor controller (5) determines the movement state of the shift motor according to the current gear information and the target gear information corresponding to the control instruction, and generates a gear shift execution instruction. If the gear shift is from neutral to first gear, step S53 is executed; if the gear shift is from neutral to second gear, step S54 is executed. Step S53: the shift motor (4) receives the gear engagement execution instruction, the shift motor (4) rotates forward, drives the transmission actuator (1) to execute the gear engagement action, and executes step S55; Step S54: the shift motor (4) receives the gear engagement execution instruction, the shift motor (4) reverses, drives the transmission actuator (1) to execute the gear engagement action, and executes step S55; Step S55: the shift motor controller (5) determines the target position signal of the multi-speed electric drive wheel fork detected by the position recognition component (2). If it is in place, a stop instruction is generated and step S56 is executed. Otherwise, step S58 is executed. Step S56: the shifting motor (4) receives the stop command, stops the action, the gear engagement is completed, and step S57 is executed; Step S57: the gear shifting motor controller (5) sends a gear shifting success signal to the electric drive wheel controller; Step S58: the gear shifting motor controller (5) sends a gear shifting failure signal to the electric drive wheel controller.

10. The multi-speed electric drive wheel shift control method according to claim 9, characterized in that: The step S6 includes the following sub-steps: Step S61: The electric drive wheel controller extracts the torque before unloading from the memory and uses it as the target torque, and proceeds to step S22; Step S62: Analyze the difference between the current torque signal feedback and the target torque to form comparison information, and proceed to step S23; Step S63: The electric drive wheel controller issues a control instruction and performs loading according to the agreed active loading strategy, so that the torque state before and after is continuously differentiable, and then proceeds to step S24; Step S64: Active loading ends.

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