Method, device and equipment for judging engagement of dog clutch, medium and product

Abstract

The invention provides a method, device and equipment for judging engagement of a dog clutch, a medium and a product, and relates to the technical field of vehicles, and the method comprises the steps that the angular acceleration of a driven part of the dog clutch is obtained, and the rotational inertia of a driving part of the dog clutch is obtained; applying a target torque to the active part based on the angular acceleration and the rotational inertia; acquiring the rotation slip frequency between the driving part and the driven part under the condition that the target torque is applied to the driving part; and determining the joint state of the driving part and the driven part based on the rotation slip. By adopting the technical scheme provided by the invention, whether the driving part and the driven part of the dog-tooth clutch are jointed or not can be accurately judged, so that the condition of tooth breaking of the clutch is effectively avoided.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, equipment, medium and product for determining engagement of a dog clutch. Background Art

[0002] In the related art, the dog clutch is a type of clutch commonly used in vehicle shifting mechanisms. The tooth tips of the engaging teeth of the active part and the passive part of the dog clutch are generally flat. Therefore, when the active part and the passive part are engaged, the tooth tips of the engaging teeth of the active part and the passive part are very likely to hit the teeth, that is, the active part and the passive part are not fully engaged. If a driving torque is applied to the active part when the active part and the passive part are not fully engaged, a serious situation of tooth knocking between the active part and the passive part may occur. Based on this, how to accurately determine whether the active part and the passive part of the dog clutch are fully engaged has become a technical problem that needs to be solved urgently in this field. Summary of the Invention

[0003] The main purpose of the embodiments of the present application is to propose a method, device, equipment, medium and product for judging the engagement of a dog clutch, aiming to accurately determine whether the active part and the driven part of the dog clutch are engaged, thereby effectively avoiding the occurrence of clutch teeth playing.

[0004] To achieve the above-mentioned object, a first aspect of an embodiment of the present application provides a method for determining whether a dog clutch is engaged, the method comprising:

[0005] Obtaining the angular acceleration of the driven part of the dog clutch, and obtaining the moment of inertia of the active part of the dog clutch;

[0006] applying a target torque to the active portion based on the angular acceleration and the moment of inertia;

[0007] obtaining a rotational slip between the active part and the driven part when the target torque is applied to the active part;

[0008] A state in which the driving portion is engaged with the driven portion is determined based on the rotational slip.

[0009] In some embodiments, the active part is connected to a first power source, and applying a target torque to the active part based on the angular acceleration and the moment of inertia includes:

[0010] determining a target torque to be applied to the active portion based on the angular acceleration and the moment of inertia;

[0011] The target torque is outputted through the first power source to apply the target torque to the active portion.

[0012] In some embodiments, determining the target torque applied to the active part based on the angular acceleration and the moment of inertia includes:

[0013] calculating an average torque of the active portion based on the angular acceleration and the moment of inertia;

[0014] superimposing a preset periodic oscillation torque on the average torque to obtain a target torque applied to the active part;

[0015] Wherein, the average value of the periodic oscillation torque is 0.

[0016] In some embodiments, determining the engagement state of the driving part and the driven part based on the rotational slip comprises:

[0017] Comparing the rotational slip with a preset threshold value to obtain a comparison result;

[0018] If the comparison result indicates that the rotational slip is less than the threshold value, determining that the engagement state of the driving part and the driven part is engagement completion;

[0019] In the case where the comparison result indicates that the rotational slip is greater than or equal to the threshold value, it is determined that the state of engagement between the driving part and the driven part is not completed.

[0020] In some embodiments, the method further comprises:

[0021] applying an engagement force to a driven portion of the dog clutch to engage the active portion with the driven portion;

[0022] The step of obtaining the angular acceleration of the driven part of the dog clutch and the moment of inertia of the active part of the dog clutch comprises:

[0023] In response to applying an engagement force to the driven part, an angular acceleration of the driven part is obtained, and a moment of inertia of the driving part is obtained.

[0024] In some embodiments, obtaining the angular acceleration of the driven part of the dog clutch includes at least one of the following:

[0025] obtaining an operating speed of a second power source and determining an angular acceleration of the driven part based on the operating speed; the driven part is connected to the second power source;

[0026] The angular acceleration of the driven part is collected based on a preset first sensor; the driven part is connected to the first sensor.

[0027] In some embodiments, obtaining the rotational slip between the active part and the driven part when the target torque is applied to the active part includes:

[0028] acquiring a first rotational speed of the active part and acquiring a second rotational speed of the driven part when the target torque is applied to the active part;

[0029] A rotational slip between the driving part and the driven part is calculated based on the first rotational speed and the second rotational speed.

[0030] In some embodiments, obtaining the first rotational speed of the active part includes at least one of the following:

[0031] determining a first rotational speed of the active part based on an operating rotational speed of a first power source; the active part being connected to the first power source;

[0032] A first rotation speed of the active part is collected based on a second sensor; the active part is connected to the second sensor;

[0033] The obtaining of the second rotational speed of the driven part includes at least one of the following:

[0034] determining a second rotational speed of the driven part based on an operating rotational speed of a second power source; the driven part being connected to the second power source;

[0035] A second rotational speed of the driven part is collected based on a first sensor; the driven part is connected to the first sensor.

[0036] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a device for determining whether a dog clutch is engaged, the device comprising:

[0037] a first data acquisition module, configured to acquire an angular acceleration of a driven portion of the dog clutch, and to acquire a moment of inertia of an active portion of the dog clutch;

[0038] an active control module for applying a target torque to the active portion based on the angular acceleration and the moment of inertia;

[0039] a second data acquisition module, configured to acquire a rotational slip between the active part and the driven part when the target torque is applied to the active part; the second data acquisition module includes the first data acquisition module;

[0040] An engagement determination module is configured to determine an engagement state of the driving portion and the driven portion based on the rotational slip.

[0041] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes a device for determining the engagement of a dog clutch, wherein the device for determining the engagement of a dog clutch comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method for determining the engagement of a dog clutch as described in the first aspect above is implemented.

[0042] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a vehicle, which is equipped with a device for determining the engagement of a dog clutch, and the device for determining the engagement of the dog clutch includes a memory and a processor, and the memory stores a computer program. When the processor executes the computer program, it implements the method for determining the engagement of the dog clutch described in the first aspect above.

[0043] To achieve the above-mentioned purpose, the fifth aspect of the embodiment of the present application proposes a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method for determining the engagement of the dog clutch described in the first aspect.

[0044] To achieve the above objectives, the sixth aspect of the embodiments of the present application proposes a computer program product, which includes a computer program. When the computer program is executed by a processor, it implements the method for determining the engagement of the dog clutch provided in the first aspect above.

[0045] The embodiments of the present application propose a method, apparatus, device, vehicle, computer-readable storage medium, and computer program product for determining engagement of a dog clutch, by obtaining the angular acceleration of the driven part of the dog clutch and the moment of inertia of the active part of the dog clutch; applying a target torque to the active part based on the angular acceleration and the moment of inertia; obtaining the rotational slip between the active part and the driven part when the target torque is applied to the active part; and determining the engagement state of the active part and the driven part based on the rotational slip.

[0046] In this way, the embodiment of the present application can accurately determine whether the active part and the driven part of the vehicle's dog clutch are engaged, thereby avoiding applying driving torque to the active part when the active part and the driven part are not engaged, and effectively avoiding the occurrence of clutch teeth engagement. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic flow chart of the steps of the method for determining engagement of a dog clutch provided in some embodiments of the present application;

[0048] Figure 2A flowchart of steps involved in other embodiments of the method for determining engagement of a dog clutch provided in an embodiment of the present application;

[0049] Figure 3 for Figure 1 Schematic diagram of the detailed steps of step S102;

[0050] Figure 4 for Figure 1 Schematic diagram of the detailed process of step S103;

[0051] Figure 5 for Figure 1 Schematic diagram of the detailed steps of step S104;

[0052] Figure 6 A schematic diagram of the transmission principle involved in a complete embodiment of the method for determining engagement of a dog clutch provided in an embodiment of the present application;

[0053] Figure 7 A schematic diagram of a logic flow diagram of a complete embodiment of the method for determining engagement of a dog clutch provided in an embodiment of the present application;

[0054] Figure 8 A schematic structural diagram of a device for determining engagement of a dog clutch provided in an embodiment of the present application;

[0055] Figure 9 Schematic diagram of the hardware structure of the device for determining the engagement of the dog clutch provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0057] It should be noted that although the device schematics illustrate functional module divisions and the flowcharts illustrate logical sequences, in certain circumstances, the steps shown or described may be performed in a sequence that differs from the module divisions in the device or the sequence in the flowcharts. The terms "first," "second," and so on, in the specification, claims, and drawings, are used to distinguish similar items and are not necessarily used to describe a specific sequence or precedence.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0059] First, the overall concept of the method for determining engagement of a dog clutch provided in an embodiment of the present application is described.

[0060] In the prior art, when a dog clutch is engaged, the tips of the engaging teeth on both the active and passive parts of the dog clutch are typically flat, making it very easy for the dog to hit the teeth. Furthermore, if the active and passive parts of the dog clutch are not engaged and the driving motor or engine is used to generate torque, the motor or engine can easily overspeed, sometimes even causing the clutch to rattle.

[0061] Based on this, how to accurately determine whether the active part and the driven part of the dog clutch have completed the engagement has become a technical problem that needs to be solved urgently in this field.

[0062] The embodiments of the present application provide a method, device, equipment, vehicle, computer-readable storage medium and computer program product for determining whether a dog clutch is engaged, aiming to overcome the deficiencies of the above-mentioned related technologies and effectively avoid clutch engagement by accurately determining whether the active part and the driven part of the dog clutch are engaged.

[0063] The embodiments of the present application propose a method, apparatus, device, vehicle, computer-readable storage medium, and computer program product for determining engagement of a dog clutch, by obtaining the angular acceleration of the driven part of the dog clutch and the moment of inertia of the active part of the dog clutch; applying a target torque to the active part based on the angular acceleration and the moment of inertia; obtaining the rotational slip between the active part and the driven part when the target torque is applied to the active part; and determining the engagement state of the active part and the driven part based on the rotational slip.

[0064] In this way, the embodiment of the present application can accurately determine whether the active part and the driven part of the vehicle's dog clutch are engaged, thereby avoiding applying driving torque to the active part when the active part and the driven part are not engaged, and effectively avoiding the occurrence of clutch teeth engagement.

[0065] Next, the method, device, equipment, vehicle, computer-readable storage medium and computer program product for determining the engagement of a dog clutch provided in the embodiments of the present application are specifically described through the following embodiments, and the method for determining the engagement of a dog clutch provided in the embodiments of the present application is first described in detail.

[0066] It should be noted that in each specific embodiment of the present application, when it comes to the need to perform relevant processing based on data related to the user's identity or characteristics, such as user information, user behavior data, user historical data, and user location information, the user's permission or consent will be obtained first, and the collection, use, and processing of such data will comply with relevant laws, regulations, and standards. In addition, when the embodiment of the present application needs to obtain the user's sensitive personal information, the user's separate permission or consent will be obtained through a pop-up window or by jumping to a confirmation page. After clearly obtaining the user's separate permission or consent, the necessary user-related data for the normal operation of the embodiment of the present application will be obtained.

[0067] It should be noted that the method for determining the engagement of the dog clutch provided in the embodiment of the present application can be applied to the terminal, can also be applied to the server side, and can also be software running in the terminal or the server side. In some embodiments, the terminal can be an on-board terminal on the vehicle (such as an on-board computing platform), or can be a computer device such as a smart phone, tablet computer, laptop computer, desktop computer, etc. associated with the vehicle. The association of the terminal with the vehicle means that the terminal can communicate and interact with the vehicle based on the network. The server side can be the background server terminal device of the vehicle, which can be configured as an independent physical server, or as a server cluster or distributed system composed of multiple physical servers. It can also be configured as a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms. The software can be an application that implements the method for determining the engagement of the dog clutch, a computer program, and a storage medium that carries the computer program. It should be understood that, based on different design requirements of actual applications, in different feasible embodiments, the terminal, server side, and software that apply the method for determining the engagement of the dog clutch provided in the embodiment of the present application may of course also be in other forms not listed here. The method for determining the engagement of the dog clutch provided in the embodiment of the present application does not specifically limit this.

[0068] In addition, the present application can also be used in many general or special computer system environments or configurations. For example: vehicles, personal computers, server computers, handheld devices or portable devices, tablet devices, multi-processor systems, microprocessor-based systems, set-top boxes, programmable consumer computer devices, personal computers (PCs), minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc. The present application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0069] For ease of understanding and explanation, the following text will use a terminal device (directly configured on or associated with a vehicle) applying the method for determining dog clutch engagement provided in an embodiment of the present application as an example to describe various specific embodiments of the present application in detail. The implementation of the method for determining dog clutch engagement provided in an embodiment of the present application by any of the above-mentioned entities can refer to the process of applying the method for determining dog clutch engagement by a terminal device described below.

[0070] Please refer to Figure 1 , Figure 1 The following is a flow chart of the steps in some embodiments of the method for determining engagement of a dog clutch provided in the present application. It should be understood that although Figure 1 The following flowcharts of other steps illustrate the execution order of some method steps, but based on the different design requirements of actual applications, the method for determining engagement of the dog clutch provided in the embodiment of the present application can certainly adopt an execution order different from the method steps shown in the figure. That is, Figure 1 The order of the steps in the method shown does not constitute a limitation on the execution logic order of the method for determining the engagement of the dog clutch provided in the embodiment of the present application. Figure 1 Reasonable changes in the order of the steps of the method shown should be included in the scope of protection of the method for determining the engagement of the dog clutch provided in the embodiment of the present application.

[0071] In some embodiments, as Figure 1 As shown, the method for determining engagement of a dog clutch provided in an embodiment of the present application may include steps S101 to S104 as shown below.

[0072] Step S101: Acquire the angular acceleration of the driven part of the dog clutch, and acquire the moment of inertia of the active part of the dog clutch.

[0073] It should be noted that the active and passive parts of the dog clutch each have engaging teeth. A tooth groove is defined between adjacent engaging teeth on the active part and between adjacent engaging teeth on the passive part. The width of the engaging teeth is slightly smaller than the width of the tooth groove, for example, by approximately 5%. To engage the dog clutch, the passive part applies an engaging force, causing the passive part to move axially toward the active part, thereby inserting the engaging teeth of the passive part into the tooth grooves of the active part and vice versa.

[0074] The terminal device can determine the engagement status of the active part and the driven part of the dog clutch during the entire process of vehicle startup and operation when the vehicle needs to engage the dog clutch. Only when it is determined that the engagement of the active part and the driven part is completed, the driving motor or engine connected to the active part will drive the active part with a larger torque to avoid excessive speed of the driving motor or engine and possible clutch engagement.

[0075] When determining the engagement state of the active part and the driven part of the dog clutch, the terminal device first obtains the angular acceleration of the driven part and the moment of inertia of the active part.

[0076] In some embodiments, the terminal device can collect the rotational speed of the vehicle transmission system to which the driven part is connected through a sensor, and then reversely infer the gear ratio (the speed ratio of the gear in the transmission system to the gear of the driven part) based on the rotational speed to obtain the angular acceleration of the driven part.

[0077] In some embodiments, the terminal device can retrieve the factory design parameters of the dog clutch to directly read the moment of inertia of the active part.

[0078] In other embodiments, the terminal device may also obtain the mass of the active part, combine the position parameters of the active part (such as the vertical distance to the rotation axis), and use the calculation formula of the moment of inertia to calculate the moment of inertia of the active part.

[0079] In some further embodiments, the terminal device may also receive the moment of inertia of the active part manually uploaded by the vehicle staff through the human-computer interaction interface in advance.

[0080] Step S102: applying a target torque to the active part based on the angular acceleration and the moment of inertia.

[0081] After obtaining the angular acceleration of the driven part of the dog clutch and the moment of inertia of the active part of the dog clutch, the terminal device can further determine a target torque that needs to be applied to the active part based on the angular acceleration and the moment of inertia, and then apply the target torque to the active part to determine the state of engagement between the active part and the driven part.

[0082] In some embodiments, after determining the target torque, the terminal device can apply the target torque to the active part via a dedicated drive module on the vehicle. For example, an industrial-grade small motor (such as a DC reduction motor or a small servo motor) can be connected to the active part via a reducer, and the small motor can then output the target torque to apply the target torque to the active part.

[0083] Step S103: Obtaining the rotational slip between the active part and the driven part when the target torque is applied to the active part.

[0084] When the terminal device applies a target torque to the active part of the dog clutch to determine the state of engagement between the active part and the driven part, the terminal device obtains the rotational slip between the active part and the driven part while applying the target torque to the active part, thereby determining the state of engagement between the active part and the driven part based on the rotational slip.

[0085] In some embodiments, the terminal device may use the difference between the rotational speeds of the active part and the driven part as the rotational slip between the active part and the driven part when the target torque is applied to the active part.

[0086] In other embodiments, the terminal device may also divide the difference between the rotational speeds of the active part and the driven part by the rotational speed of the active part when the target torque is applied to the active part, thereby obtaining the rotational slip between the active part and the driven part.

[0087] Step S104: Determine the engagement state of the driving portion and the driven portion based on the rotational slip.

[0088] After obtaining the rotational slip between the active part and the driven part when the target torque is applied to the active part, the terminal device can further determine the engagement state of the active part and the driven part based on the size of the rotational slip.

[0089] In some embodiments, the terminal device may determine that the engagement state between the active part and the driven part is complete when the rotational slip between the active part and the driven part is small. Furthermore, the terminal device may determine that the engagement state between the active part and the driven part is incomplete (e.g., in a disengaged state or a toothed state) when the rotational slip between the active part and the driven part is large.

[0090] In an embodiment of the present application, when determining the engagement state of the active and passive parts of a dog clutch, a terminal device first obtains the angular acceleration of the passive part and the rotational inertia of the active part. The terminal device then determines a target torque to be applied to the active part based on the angular acceleration and the rotational inertia. This target torque is then applied to the active part to determine the engagement state of the active and passive parts. Furthermore, while applying the target torque to the active part, the terminal device obtains the rotational slip between the active and passive parts, thereby determining the engagement state of the active and passive parts based on the magnitude of this rotational slip. For example, if the rotational slip is small, the engagement state between the active and passive parts is determined to be complete, while if the rotational slip is large, the engagement state between the active and passive parts is determined to be incomplete.

[0091] In this way, the embodiment of the present application can accurately determine whether the active part and the driven part of the vehicle's dog clutch are engaged, thereby avoiding applying driving torque to the active part when the active part and the driven part are not engaged, and effectively avoiding the occurrence of clutch teeth engagement.

[0092] In some embodiments, the terminal device can calculate the angular acceleration of the driven part based on the operating speed of the second power source connected to the driven part when the vehicle applies an engagement force to the driven part to engage the driven part with the active part, thereby applying a target torque to the active part based on the angular acceleration and the rotational inertia of the active part, and further obtain the rotational slip between the active part and the driven part when the active part applies the target torque, which is used to determine the engagement state of the active part and the driven part.

[0093] Please refer to Figure 2 , Figure 2 A flowchart illustrating the steps involved in other embodiments of the method for determining engagement of a dog clutch provided in an embodiment of the present application.

[0094] In some embodiments, as Figure 2 As shown, the method for determining engagement of the dog clutch provided in the embodiment of the present application may also include but is not limited to step S201 shown below.

[0095] Step S201: applying an engagement force to the driven part of the dog clutch to engage the active part with the driven part.

[0096] When the vehicle needs to engage the dog clutch, the terminal device can respond to the instruction to control the engagement of the dog clutch and apply engagement force to the driven part of the dog clutch through the vehicle, so that the active part of the dog clutch engages with the driven part.

[0097] In some embodiments, the terminal device can apply an engagement force to the driven portion of the dog clutch through a drive module specifically configured on the vehicle and connected to the driven portion, causing the driven portion to move axially toward the active portion of the dog clutch, thereby engaging the active portion and the driven portion. The drive module connected to the driven portion can be a small industrial-grade motor or an air pump, etc., which is a functional module specifically used to apply the engagement force to the driven portion.

[0098] In some embodiments, as Figure 2 As shown, the above step S101: obtaining the angular acceleration of the driven part of the dog clutch, and obtaining the moment of inertia of the active part of the dog clutch, may include the following step S202.

[0099] Step S202: in response to applying the engagement force to the driven part, acquiring the angular acceleration of the driven part and acquiring the moment of inertia of the active part.

[0100] When a vehicle applies an engagement force to the driven portion of the dog clutch, causing the active portion of the dog clutch to engage with the driven portion, the terminal device begins acquiring the angular acceleration of the driven portion and the moment of inertia of the active portion of the dog clutch in response to the application of the engagement force by the vehicle. Thus, the terminal device can apply a target torque to the active portion based on the angular acceleration and the moment of inertia, and further acquire the rotational slip between the active portion and the driven portion when the target torque is applied by the active portion, thereby determining the state of engagement between the active portion and the driven portion.

[0101] In some embodiments, the terminal device can obtain the angular acceleration of the driven part of the dog clutch by adopting any one of the following methods 1 and 2.

[0102] Mode 1: The operating speed of the second power source is acquired, and the angular acceleration of the driven part is determined based on the operating speed; the driven part is connected to the second power source.

[0103] It should be noted that the second power source can be a drive motor, such as the P3 motor installed at the output end of the dog clutch, near the vehicle's drive wheels. The second power source can be directly connected to the driven portion of the dog clutch or connected to the driven portion through a transmission system (composed of a drive shaft, output shaft, and / or transmission).

[0104] In the case where the vehicle is equipped with a second power source connected to the driven part of the dog clutch, the terminal device can obtain the operating speed of the second power source and then calculate the angular acceleration of the driven part based on the operating speed.

[0105] In some embodiments, when the second power source is directly connected to the driven part, the terminal device can convert the operating speed of the second power source into angular acceleration, and then use the angular acceleration and the time change to calculate the angular acceleration of the driven part.

[0106] In other embodiments, when the second power source is connected to the driven part through a transmission system, the terminal device can reversely calculate the gear ratio based on the operating speed of the second power source to obtain the speed of the driven part, and then convert the speed into angular acceleration and calculate the angular acceleration of the driven part in combination with the time change.

[0107] Mode 2: The angular acceleration of the driven part is collected based on a preset first sensor; the driven part is connected to the first sensor.

[0108] It should be noted that the first sensor can be an acceleration sensor pre-configured on the vehicle for collecting the angular acceleration of the driven portion of the dog clutch. For example, the first sensor can be directly installed on the driven portion, thereby collecting the angular acceleration of the driven portion as soon as the driven portion begins to operate and uploading the angular acceleration to the terminal device.

[0109] The terminal device can also receive the angular acceleration of the driven part collected in real time by the first sensor through the first sensor connected to the driven part of the dog clutch.

[0110] In some embodiments, to avoid the possibility of a single acquisition method failing to acquire the angular acceleration of the driven part or obtaining an abnormal angular acceleration value in the event of a failure, the terminal device can also simultaneously acquire two angular accelerations using the above-mentioned methods 1 and 2 when the second power source is connected to the driven part and the driven part is also connected to the first sensor, and compare and / or average the two angular accelerations to obtain an accurate angular acceleration value for subsequent determination of the angular engagement state of the active and driven parts of the dog clutch. In this case, if the two angular accelerations are found to be the same after comparison, the terminal device can select any one of the angular accelerations for subsequent determination. If the two angular accelerations are found to be different but the difference is less than a preset error tolerance threshold, the terminal device calculates the average of the two angular accelerations for subsequent determination. However, if the difference between the two angular accelerations found by the terminal device exceeds the error tolerance threshold, an alarm prompt message can be output to the vehicle user and / or the vehicle's operation and maintenance platform to facilitate timely handling of the relevant fault.

[0111] In this embodiment, the terminal device obtains the operating speed of the second power source connected to the driven part, and then calculates the angular acceleration of the driven part based on this operating speed. This allows the angular acceleration of the driven part to be calculated based on the operating speed of the second power source, without increasing the cost of vehicle hardware equipment, simply by upgrading the vehicle software. A target torque is then applied to the active part based on this angular acceleration and the rotational inertia of the active part. The rotational slip between the active part and the driven part when the active part applies the target torque is further obtained, which is used to determine the state of engagement between the active part and the driven part. Furthermore, by adding a first sensor to the driven part to collect angular acceleration, the angular acceleration of the driven part can be obtained in a more real-time and accurate manner for subsequent determination of the state of engagement between the active part and the driven part. In this way, this embodiment allows the flexible selection of any method for obtaining the angular acceleration of the driven part according to actual needs, further enhancing the flexibility of determining the state of engagement between the active part and the driven part.

[0112] In some embodiments, the terminal device can output the target torque through the first power source connected to the active part of the dog clutch, thereby achieving the operation of applying the target torque to the active part.

[0113] It should be noted that the first power source can be the aforementioned drive module connected to the active portion of the dog clutch, that is, the first power source can be an engine connected to the active portion, or the first power source can also be a drive motor connected to the active portion. In the case where the first power source is a drive motor, the first power source can specifically be a P1 motor located at the rear end of the engine and the front end of the clutch, connected to the engine crankshaft and the active portion of the clutch, respectively.

[0114] Please refer to Figure 3 , Figure 3 for Figure 1 Schematic diagram of the detailed process flow of step S102.

[0115] In some embodiments, as Figure 3 As shown, the above-mentioned step S102: applying the target torque to the active part based on the angular acceleration and the moment of inertia may include the following steps S301 and S302.

[0116] Step S301: determining a target torque applied to the active part based on the angular acceleration and the moment of inertia.

[0117] When the terminal device applies the target torque to the active part of the dog clutch based on the angular acceleration and the moment of inertia, it first calculates based on the angular acceleration and the moment of inertia to obtain the target torque that needs to be applied to the active part to determine the current state of engagement between the active part and the driven part.

[0118] In some embodiments, step S301: determining the target torque applied to the active part based on the angular acceleration and the moment of inertia may include the following steps:

[0119] calculating an average torque of the active portion based on the angular acceleration and the moment of inertia;

[0120] A preset periodic oscillation torque is superimposed on the average torque to obtain a target torque applied to the active part.

[0121] It should be noted that the average value of the periodic oscillating torque is 0. That is, within a complete cycle, the torque gradually increases from 0, gradually decreases after reaching a peak value (e.g., 2 Nm), and then gradually increases again after reaching the next peak value (e.g., -2 Nm). The cumulative effects of the positive and negative effects of the torque offset each other over time, and no continuous unidirectional torque output is generated overall. The torque changes are symmetrical and reciprocating. For example, the periodic oscillating torque can be a sinusoidal torque, and in some implementations, it can also be a cosine torque.

[0122] When the terminal device determines the target torque to be applied to the active part based on the angular acceleration and the moment of inertia, it first multiplies the angular acceleration α and the moment of inertia I according to the following formula 1 to obtain the average torque Tq of the active part:

[0123] Tq=I*α, Formula 1.

[0124] Then, the terminal device superimposes a periodic oscillation torque on the calculated average torque Tq, thereby obtaining the target torque that needs to be applied to the active part to determine the current state of engagement between the active part and the driven part.

[0125] Step S302 : Outputting the target torque through the first power source to apply the target torque to the active part.

[0126] When the active part of the dog clutch is connected to the first power source, the terminal device applies the target torque to the active part through the first power source after determining the target torque to be applied to the active part.

[0127] In some embodiments, the terminal device may control the vehicle's power battery to output a periodic oscillating current to the first power source, thereby further superimposing a periodic oscillating torque on the average torque output by the first power source to the active part. For example, after controlling the power battery to output a current to the first power source P1 motor so that the P1 motor applies an average torque Tp to the active part, the terminal device may further control the power battery to output a sinusoidal current to the P1 motor, thereby causing the P1 motor to apply a sinusoidal torque to the active part on top of the average torque Tp applied to the active part, thereby applying the target torque currently required to be applied to the active part to determine the state of engagement between the active part and the driven part.

[0128] In this embodiment, a terminal device controls a first power source connected to the active portion of the dog clutch on the vehicle to apply a target torque to the active portion. The engagement state of the active and driven portions is determined based on the rotational slip between the active and driven portions when the target torque is applied to the active portion. This allows the engagement state of the active and driven portions to be determined solely through a vehicle software upgrade, without increasing the cost of additional vehicle hardware.

[0129] In some embodiments, the terminal device can obtain the respective rotational speeds of the active and passive parts when the target torque is applied to the dog clutch, thereby calculating the rotational slip based on the respective rotational speeds, and further determining the coupling state of the active and passive parts based on the rotational slip. Furthermore, when obtaining the respective rotational speeds of the active and passive parts, the terminal device can use the operating speeds of the power sources connected to the active and passive parts to infer the gear ratio, or directly obtain the information using sensors connected to the active and passive parts.

[0130] Please refer to Figure 4 , Figure 4 for Figure 1 Schematic diagram of the detailed process flow of step S103.

[0131] In some embodiments, as Figure 4 As shown, the above-mentioned step S103: obtaining the rotational slip between the active part and the driven part when the target torque is applied to the active part, may include the following steps S401 and S402.

[0132] Step S401: When the target torque is applied to the active part, a first rotation speed of the active part is acquired, and a second rotation speed of the driven part is acquired.

[0133] When the terminal device applies the target torque to the active part of the dog clutch, it can also respond to the operation of controlling the first power source and other driving modules to apply the target torque to the active part, obtain the first speed of the active part, and simultaneously obtain the second speed of the driven part.

[0134] In some embodiments, the terminal device may adopt any one of the following methods 3 and 4 to obtain the first rotation speed of the active part.

[0135] Mode 3: The first rotational speed of the active part is determined based on the operating rotational speed of the first power source; and the active part is connected to the first power source.

[0136] When the active part is connected to the first power source, the terminal device can collect the operating speed of the first power source in real time while the first power source applies the target torque to the active part, and then use the operating speed to perform gear ratio inverse processing to calculate and determine the first speed of the active part. If the first power source is directly connected to the active part, the terminal device can directly use the operating speed of the first power source as the first speed of the active part.

[0137] Mode 4: The first rotation speed of the active part is collected based on a second sensor; the active part is connected to the second sensor.

[0138] It should be noted that the second sensor can be a pre-configured sensor on the vehicle for detecting the rotational speed of the active portion of the dog clutch. For example, the second sensor can be directly installed on the active portion, thereby detecting the first rotational speed of the active portion as soon as the active portion begins to operate and transmitting this first rotational speed to the terminal device.

[0139] The terminal device can also receive the first rotational speed of the active part collected in real time by the second sensor via the second sensor connected to the active part of the dog clutch.

[0140] In some embodiments, to avoid the possibility of a single acquisition method failing to acquire the active part's first speed or obtaining an abnormal first speed value in the event of a failure, the terminal device can also simultaneously acquire two first speeds using the aforementioned methods 3 and 4, when the first power source is connected to the driven part and the active part is also connected to the second sensor. These two first speeds are then compared and / or averaged to obtain an accurate first speed for subsequent determination of the angular engagement state of the dog clutch's active and driven parts. Similar to the aforementioned determination of the driven part's angular acceleration by the terminal device, if the two first speeds are found to be identical, the terminal device can select either first speed for subsequent determination. If the two first speeds are found to differ but the difference is less than a preset error threshold, the terminal device averages the two first speeds for subsequent determination. However, if the difference between the two first speeds exceeds the error threshold, the terminal device can output an alarm to the vehicle user and / or the vehicle's operation and maintenance platform to facilitate timely resolution of the related fault.

[0141] In some embodiments, the terminal device may adopt any one of the following methods 5 and 6 to obtain the second rotational speed of the driven part.

[0142] Mode 5: The second rotational speed of the driven part is determined based on the operating rotational speed of the second power source; and the driven part is connected to the second power source.

[0143] In the case where the vehicle is equipped with a second power source connected to the driven part of the dog clutch, the terminal device can obtain the operating speed of the second power source and then calculate the second speed of the driven part based on the operating speed.

[0144] In some embodiments, when the second power source is directly connected to the driven part, the terminal device can directly use the operating speed of the second power source as the second speed of the driven part.

[0145] In other embodiments, when the second power source is connected to the driven part through a transmission system, the terminal device can reversely calculate the gear ratio based on the operating speed of the second power source to obtain the second speed of the driven part.

[0146] Mode 6: The second rotational speed of the driven part is collected based on a first sensor; the driven part is connected to the first sensor.

[0147] The terminal device can also receive the second rotational speed of the driven part collected in real time by the first sensor through the first sensor connected to the driven part of the dog clutch.

[0148] In some embodiments, to avoid the possibility of a single acquisition method failing to acquire the second speed of the driven part or obtaining an abnormal second speed value in the event of a failure, the terminal device can also simultaneously acquire two second speeds using the above-mentioned methods 5 and 6 when the second power source is connected to the driven part and the driven part is also connected to the first sensor. The two second speeds are then compared and / or averaged to obtain an accurate second speed value for subsequent determination of the angular engagement state of the active and driven parts of the dog clutch. In this case, if the two second speeds are found to be the same, the terminal device can select any one of the second speeds for subsequent determination. If the two second speeds are found to be different but the difference is less than a preset error threshold, the terminal device calculates the average of the two second speeds for subsequent determination. However, if the difference between the two second speeds exceeds the error threshold, the terminal device can output an alarm to the vehicle user and / or the vehicle's operation and maintenance platform to facilitate timely resolution of the related fault.

[0149] In some embodiments, the terminal device can obtain the first speed of the active part and the second speed of the passive part according to a preset time period (e.g., 1 second). Then, if the first speeds obtained in two adjacent periods are the same or the speed difference is below a preset error uniform speed threshold, the same first speed or the average of the two first speeds with a difference is used as the currently obtained first speed of the active part. Similarly, the terminal device can also obtain the second speed of the passive part in the same manner.

[0150] Step S402: Calculate the rotational slip between the driving part and the driven part based on the first rotational speed and the second rotational speed.

[0151] After obtaining the first speed of the active part and the second speed of the driven part when the target torque is applied to the active part, the terminal device calculates the difference between the first speed and the second speed, and uses the absolute value of the difference as the rotational slip between the active part and the driven part.

[0152] In some embodiments, the terminal device may also, after calculating the difference between the first speed and the second speed, divide the absolute value of the difference by the first speed of the active part to obtain a ratio, thereby using the ratio as the rotational slip between the active part and the driven part.

[0153] Please refer to Figure 5 , Figure 5 for Figure 1 Schematic diagram of the detailed steps of step S104.

[0154] In some embodiments, as Figure 5As shown, the above-mentioned step S104: determining the engagement state of the active part and the driven part based on the rotational slip may include steps S501 to S503 as shown below.

[0155] Step S501: Compare the rotational slip with a preset threshold value to obtain a comparison result.

[0156] It should be noted that the preset threshold value is the maximum value of the rotational slip between the active and passive parts of the dog clutch when engagement is complete. For example, if the rotational slip is the difference between the first and second speeds, the threshold value may be a speed value (e.g., 10 rpm). For another example, if the rotational slip is the ratio of the difference between the first and second speeds divided by the first speed, the threshold value may be a ratio value (e.g., 5%).

[0157] After calculating the rotational slip between the active part and the passive part based on the first and second rotational speeds, the terminal device compares the rotational slip with a preset threshold value to obtain a comparison result indicating the magnitude relationship between the rotational slip and the threshold value. For example, the comparison result may include "rotational slip is large," "rotational slip is small," "rotational slip is greater than the threshold value," "rotational slip is less than the threshold value," or "rotational slip is equal to the threshold value."

[0158] Step S502: When the comparison result indicates that the rotational slip is less than the threshold value, determining that the engagement state of the driving part and the driven part is engagement completed.

[0159] After the terminal device compares the rotational slip with the threshold value, if the comparison result indicates that the rotational slip is less than the threshold value (for example, the comparison result is "rotational slip is small" or "rotational slip is less than the threshold value"), the terminal device determines that the current engagement state of the active part and the passive part is complete. At this point, the terminal device may allow a larger torque to be applied to the active part.

[0160] Step S503: When the comparison result indicates that the rotational slip is greater than or equal to the threshold value, determining that the engagement state of the driving part and the driven part is not completed.

[0161] After the terminal device compares the rotational slip with the threshold value, if the comparison result indicates that the rotational slip is greater than or equal to the threshold value (for example, the comparison result is "large rotational slip," "rotational slip greater than threshold value," or "rotational slip equal to threshold value," etc.), the terminal device determines that the current engagement state of the active part and the driven part is not complete. In this case, the terminal device does not allow a large torque to be applied to the active part, thereby preventing the drive module applying torque to the active part from experiencing excessive speed due to the large torque applied to the active part, and preventing the dog clutch from engaging.

[0162] In this embodiment, when a target torque is applied to the active portion of the dog clutch, a terminal device obtains a first speed of the active portion and a second speed of the passive portion. Based on the first and second speeds, a rotational slip between the active and passive portions is calculated. Furthermore, based on a comparison of the rotational slip with a preset threshold, a determination is made as to whether the active and passive portions are engaged or not. In other words, this embodiment accurately determines whether the active and passive portions are engaged, thereby preventing the application of drive torque to the active portion when the active and passive portions are not fully engaged, effectively preventing clutch rattling.

[0163] Next, a complete embodiment of the method for determining the engagement of a dog clutch provided in an embodiment of the present application is proposed.

[0164] Please refer to Figure 6 and Figure 7 , Figure 6 A schematic diagram of the transmission principle involved in a complete embodiment of the method for determining engagement of a dog clutch provided in an embodiment of the present application, Figure 7 A schematic diagram of a logic flow involved in a complete embodiment of the method for determining engagement of a dog clutch provided in an embodiment of the present application.

[0165] like Figure 6 As shown, the dog clutch includes an active portion and a passive portion. The active portion is connected to the P1 motor, allowing it to rotate when driven by the P1 motor. The passive portion is connected to the P3 motor through a transmission system, allowing it to rotate accordingly when the P3 motor drives the transmission system. When the P3 motor rotates the dog clutch's passive portion, the angular acceleration of the dog clutch's passive portion can be calculated based on the P3 motor's operating speed by reading the P3 motor's operating speed.

[0166] In addition, if Figure 7As shown, when the active and passive parts of the dog clutch need to be engaged, an engagement force is applied to the passive part, causing it to move leftward toward the active part to initiate engagement of the dog clutch. Subsequently, to accurately determine the state of engagement between the active and passive parts, the angular acceleration of the passive part of the dog clutch can be calculated based on the operating speed of the P3 motor. Then, based on this angular acceleration and the active part's moment of inertia, the average torque of the active part is calculated as: angular acceleration of the passive part * moment of inertia of the active part. Furthermore, based on this average torque, the target torque output by the P1 motor is calculated as: average torque of the active part + sinusoidal torque. The sinusoidal torque can have an amplitude of 2 Nm and a period of 0.3 seconds. This target torque is then applied to the active part by outputting it via the P1 motor. Finally, the rotational slip between the active and passive parts is calculated when the target torque is applied to the active part, and the rotational slip is compared with a preset threshold value. If the rotational slip between the active and passive parts is less than the threshold value, the clutch engagement is complete, i.e., the active and passive parts are in the state of engagement completed. Conversely, if the rotational slip between the active and passive parts is greater than or equal to the threshold value, the clutch engagement is incomplete, i.e., the active and passive parts are in the state of engagement incomplete.

[0167] In this embodiment, when an engagement force is applied to the driven portion of the dog clutch to engage the driven portion with the active portion, to verify that the dog clutch is no longer in the top gear state (i.e., that the active and driven portions are fully engaged), the average torque of the active portion is obtained by multiplying the angular acceleration of the driven portion by the rotational inertia of the active portion. A sinusoidal torque is then added to this torque to obtain the P1 motor output torque. The sinusoidal torque has an amplitude of 2 Nm and a period of 0.3 seconds. In this case, if the rotational slip between the active and driven portions is less than a threshold value, the clutch engagement is complete; otherwise, the clutch engagement is incomplete.

[0168] See also Figure 8 , an embodiment of the present application also provides a device for determining whether a dog clutch is engaged, which can implement the above-mentioned method for determining whether a dog clutch is engaged.

[0169] like Figure 8 As shown, the device for determining engagement of a dog clutch provided in the embodiment of the present application includes a first data acquisition module 801, an active control module 802, a second data acquisition module 803 and an engagement determination module 804.

[0170] A first data acquisition module 801 is configured to acquire the angular acceleration of the driven portion of the dog clutch and the moment of inertia of the active portion of the dog clutch;

[0171] an active control module 802 for applying a target torque to the active part based on the angular acceleration and the moment of inertia;

[0172] A second data acquisition module 803 is configured to acquire a rotational slip between the active part and the driven part when the target torque is applied to the active part; the second data acquisition module includes the first data acquisition module;

[0173] The engagement determination module 804 is configured to determine the engagement state of the driving part and the driven part based on the rotational slip.

[0174] In some embodiments, the active part is connected to a first power source, and the active control module 802 is further used to determine a target torque applied to the active part based on the angular acceleration and the moment of inertia; and output the target torque through the first power source to apply the target torque to the active part.

[0175] In some embodiments, the active control module 802 is further used to calculate the average torque of the active part based on the angular acceleration and the moment of inertia; and to superimpose a preset periodic oscillation torque on the average torque to obtain a target torque applied to the active part; wherein the average value of the periodic oscillation torque is 0.

[0176] In some embodiments, the engagement judgment module 804 is further configured to compare the rotational slip with a preset threshold value to obtain a comparison result; if the comparison result indicates that the rotational slip is less than the threshold value, the engagement state of the active part and the driven part is determined to be engagement complete; and if the comparison result indicates that the rotational slip is greater than or equal to the threshold value, the engagement state of the active part and the driven part is determined to be incomplete.

[0177] In some embodiments, the device for determining engagement of the dog clutch provided in the embodiments of the present application further includes:

[0178] an engagement control module for applying an engagement force to a driven portion of the dog clutch to engage the active portion with the driven portion;

[0179] The first data acquisition module 801 is further configured to acquire the angular acceleration of the driven part and the moment of inertia of the active part in response to applying the engagement force to the driven part.

[0180] In some embodiments, the first data acquisition module 801 is also used to obtain the operating speed of the second power source and determine the angular acceleration of the driven part based on the operating speed; the driven part is connected to the second power source; the angular acceleration of the driven part is collected based on a preset first sensor; and the driven part is connected to the first sensor.

[0181] In some embodiments, the second data acquisition module 801 is further used to obtain the first speed of the active part and the second speed of the driven part when the target torque is applied to the active part; and to calculate the rotational slip between the active part and the driven part based on the first speed and the second speed.

[0182] In some embodiments, the second data acquisition module 801 is also used to determine the first speed of the active part based on the operating speed of the first power source; the active part is connected to the first power source; the first speed of the active part is collected based on the second sensor; the active part is connected to the second sensor; the second speed of the driven part is determined based on the operating speed of the second power source; the driven part is connected to the second power source; and, the second speed of the driven part is collected based on the first sensor; the driven part is connected to the first sensor.

[0183] It should be noted that the specific implementation of the device for determining engagement of a dog clutch provided in the embodiment of the present application is basically the same as the specific implementation of the method for determining engagement of a dog clutch described above, and will not be repeated here.

[0184] See also Figure 9 An embodiment of the present application also provides a device for determining the engagement of a dog clutch. The device for determining the engagement of a dog clutch includes a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the above-mentioned visual language model evaluation method is implemented.

[0185] In some embodiments, the device for determining whether the dog clutch is engaged may be any smart terminal such as a vehicle-mounted hardware platform (such as a vehicle-mounted computer), a tablet computer, a smart phone, a wearable device, or the like.

[0186] As shown in the figure, the device for determining engagement of a dog clutch provided in an embodiment of the present application may include:

[0187] The processor 901 can be implemented as a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0188] The memory 902 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 902 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program codes are stored in the memory 902 and are called by the processor 901 to execute the method for determining the engagement of the dog clutch in the embodiments of this application.

[0189] Input / output interface 903, used to implement information input and output;

[0190] Communication interface 904, used to implement communication interaction between this device and other devices, which can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WiFi, Bluetooth, etc.);

[0191] Bus 905 , which transmits information between various components of the device (e.g., processor 901 , memory 902 , input / output interface 903 , and communication interface 904 );

[0192] The processor 901 , the memory 902 , the input / output interface 903 and the communication interface 904 are connected to each other in communication within the device via a bus 905 .

[0193] An embodiment of the present application also provides a vehicle, which is equipped with a device for determining the engagement of a dog clutch. The device for determining the engagement of the dog clutch includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the above-mentioned method for determining the engagement of the dog clutch is implemented.

[0194] An embodiment of the present application further provides a computer-readable storage medium storing a computer program, which implements the above-mentioned method for determining engagement of a dog clutch when executed by a processor.

[0195] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0196] The embodiment of the present application also provides a computer program product, including a computer program. The steps implemented when the computer program is executed by a processor are basically the same as the specific embodiment of the above-mentioned method for determining the engagement of the dog clutch, and will not be repeated here.

[0197] The embodiments described in the embodiments of this application are intended to more clearly illustrate the technical solutions of the embodiments of this application and do not constitute a limitation on the technical solutions provided by the embodiments of this application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0198] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0199] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0200] Those skilled in the art will appreciate that all or some of the steps in the methods, systems, and functional modules / units in the devices disclosed above may be implemented as software, firmware, hardware, or appropriate combinations thereof.

[0201] The terms "first", "second", "third", "fourth", etc. (if any) in the specification 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 sequential order. 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 variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes 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.

[0202] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0203] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0204] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0205] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0206] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes multiple instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: various media that can store programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0207] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but are not intended to limit the scope of the present invention. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and essence of the present invention should be within the scope of the present invention.

Claims

1. A method for determining engagement of a dog clutch, characterized in that: The method comprises: Obtaining the angular acceleration of the driven part of the dog clutch, and obtaining the moment of inertia of the active part of the dog clutch; applying a target torque to the active portion based on the angular acceleration and the moment of inertia; obtaining a rotational slip between the active part and the driven part when the target torque is applied to the active part; A state in which the driving portion is engaged with the driven portion is determined based on the rotational slip.

2. The method according to claim 1, characterized in that The active part is connected to a first power source, and applying a target torque to the active part based on the angular acceleration and the moment of inertia includes: determining a target torque to be applied to the active portion based on the angular acceleration and the moment of inertia; The target torque is outputted through the first power source to apply the target torque to the active portion.

3. The method according to claim 2, characterized in that The determining of the target torque applied to the active part based on the angular acceleration and the moment of inertia comprises: calculating an average torque of the active portion based on the angular acceleration and the moment of inertia; superimposing a preset periodic oscillation torque on the average torque to obtain a target torque applied to the active part; Wherein, the average value of the periodic oscillation torque is 0.

4. The method according to claim 1, wherein The determining of the engagement state of the driving part and the driven part based on the rotational slip comprises: Comparing the rotational slip with a preset threshold value to obtain a comparison result; If the comparison result indicates that the rotational slip is less than the threshold value, determining that the engagement state of the driving part and the driven part is engagement completion; In the case where the comparison result indicates that the rotational slip is greater than or equal to the threshold value, it is determined that the state of engagement between the driving part and the driven part is not completed.

5. The method according to claim 1, wherein The method further comprises: applying an engagement force to a driven portion of the dog clutch to engage the active portion with the driven portion; The step of obtaining the angular acceleration of the driven part of the dog clutch and the moment of inertia of the active part of the dog clutch comprises: In response to applying an engagement force to the driven part, an angular acceleration of the driven part is obtained, and a moment of inertia of the driving part is obtained.

6. The method according to claim 1, characterized in that The obtaining of the angular acceleration of the driven part of the dog clutch includes at least one of the following: obtaining an operating speed of a second power source and determining an angular acceleration of the driven part based on the operating speed; the driven part is connected to the second power source; The angular acceleration of the driven part is collected based on a preset first sensor; the driven part is connected to the first sensor.

7. The method according to any one of claims 1 to 6, characterized in that The obtaining of the rotational slip between the active part and the driven part when the target torque is applied to the active part includes: acquiring a first rotational speed of the active part and acquiring a second rotational speed of the driven part when the target torque is applied to the active part; A rotational slip between the driving part and the driven part is calculated based on the first rotational speed and the second rotational speed.

8. The method according to claim 7, characterized in that The obtaining of the first rotational speed of the active part includes at least one of the following: determining a first rotational speed of the active part based on an operating rotational speed of a first power source; the active part being connected to the first power source; collecting a first rotational speed of the active part based on a second sensor; The active portion is connected to the second sensor; The obtaining of the second rotational speed of the driven part includes at least one of the following: determining a second rotational speed of the driven part based on an operating rotational speed of a second power source; the driven part being connected to the second power source; A second rotational speed of the driven part is collected based on a first sensor; the driven part is connected to the first sensor.

9. A device for determining engagement of a dog clutch, characterized in that: The device comprises: a first data acquisition module, configured to acquire an angular acceleration of a driven portion of the dog clutch, and to acquire a moment of inertia of an active portion of the dog clutch; an active control module for applying a target torque to the active portion based on the angular acceleration and the moment of inertia; a second data acquisition module, configured to acquire a rotational slip between the active part and the driven part when the target torque is applied to the active part; the second data acquisition module includes the first data acquisition module; An engagement determination module is configured to determine an engagement state of the driving portion and the driven portion based on the rotational slip.

10. A device for determining engagement of a dog clutch, characterized in that: The device for determining engagement of a dog clutch comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the method for determining engagement of a dog clutch according to any one of claims 1 to 8 when executing the computer program.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for determining engagement of a dog clutch according to any one of claims 1 to 8 is implemented.

12. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the method for determining engagement of a dog clutch according to any one of claims 1 to 8 is implemented.

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