Vehicle motor gear shifting control method and related device

Abstract

The invention provides a vehicle motor gear shifting control method and a related device, by implementing the embodiment of the invention, firstly, a gear shifting control instruction is received, the gear shifting control instruction is used for indicating gear shifting to a target gear, the target gear is one of multiple gears corresponding to an inductive brushless direct current motor, then the gear shifting control instruction is responded, and the gear shifting control instruction is sent to the inductive brushless direct current motor. A moving displacement vector corresponding to the target gear is obtained, the moving displacement vector is the directed distance between the current position of the shifting piece and the target shifting piece position corresponding to the target gear, then motor reversing operation is obtained based on the moving displacement vector, and the motor reversing operation comprises the motor rotation frequency and the motor rotation direction; and then the motor main body is controlled to execute motor reversing operation, and after the reversing operation is executed, the target gear is output. Wherein a mapping coefficient exists between the motor reversing operation and the target gear, accurate displacement information of the shifting piece can be obtained without a position sensor, and then gear information is accurately matched.

Description

Technical Field

[0001] The present invention relates to the field of motor technology, and in particular to a vehicle motor shift control method and related devices. Background Art

[0002] With the continuous development of new energy electric vehicles in my country, various technologies are being upgraded. One of the most significant changes is the shift in powertrain control from traditional hydraulic systems to electric motors. Compared to hydraulic shifting, electric motor shifting offers a simpler control structure, reducing vehicle cost and weight while still meeting driving requirements.

[0003] Current two-speed transmissions are primarily powered by a brushless DC motor (BLDC). The motor's bearings are converted into linear motion by paddles with fixed travels at either end of the motor. When the paddles reach the ends of the lead screw and the intermediate transmission, gears 1, 2, and N are activated. Traditionally, a position sensor is installed at either or both ends of the lead screw. When the sensor detects the paddle reaching a specified position, it generates a signal that informs the shift motor controller.

[0004] Although this method can accurately detect the position of the paddle, it has the disadvantages of not being able to accurately detect the position of the paddle when the position sensor fails and increasing the cost of the sensor. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a vehicle motor shift control method and related devices to address the defects of the existing technology, thereby accurately detecting the paddle position without the need for a position sensor, reducing the cost of the sensor, and improving the accuracy of paddle position detection.

[0006] In a first aspect, an embodiment of the present application provides a vehicle motor shift control method, which is applied to a shift motor, wherein the shift motor further includes a motor body and a screw rod, and a paddle located on the screw rod. The method includes:

[0007] receiving a shift control instruction, wherein the shift control instruction is used to instruct the paddle to move to a target gear position;

[0008] In response to a shift control instruction, the motor body is controlled to perform a positioning action to move the paddle to a neutral position; wherein the paddle passes through at least one extreme position on the lead screw;

[0009] The motor body is controlled to perform a gear shifting action.

[0010] In a second aspect, an embodiment of the present application provides a vehicle motor shift control device, comprising:

[0011] A receiving module, configured to receive a shift control instruction, wherein the shift control instruction is used to instruct the paddle to move to a target gear position;

[0012] a response module, configured to control the motor body to perform a positioning action in response to a shift control instruction, so that the paddle moves to a neutral position; wherein the paddle passes through at least one extreme position on the lead screw;

[0013] The control module is used to control the motor body to perform a gear shifting action.

[0014] In a third aspect, an embodiment of the present application provides a computer device comprising: a memory and a processor, wherein the memory stores a computer program, and one or more programs; the one or more programs are stored in the memory and configured to implement part or all of the steps described in any one of the methods in the first aspect when the processor executes the motor shifting program.

[0015] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium on which a computer program is stored. The computer storage medium stores a computer program, and the computer program includes program instructions. When the program instructions are executed by a processor, the processor performs the steps of the method as described in any one of the first aspects.

[0016] In a fifth aspect, an embodiment of the present application provides a vehicle, including the shifting motor, and applying a vehicle motor shifting control method and a vehicle motor shifting control device as described in any one of the first and second aspects.

[0017] By implementing the embodiments of the present application, a shift control instruction is first received, the shift control instruction being used to instruct a shift to a target gear position, where the target gear position is one of multiple gear positions corresponding to a sensored brushless DC motor. Then, in response to the shift control instruction, a movement displacement vector corresponding to the target gear position is obtained, where the movement displacement vector is the directed distance between the current position of the paddle and the target paddle position corresponding to the target gear position. A motor commutation operation is then obtained based on the movement displacement vector, where the motor commutation operation includes the number of motor rotations and the direction of motor rotation. The motor body is then controlled to perform the motor commutation operation, and after the commutation operation is completed, the target gear position is output. A mapping coefficient exists between the motor commutation operation and the target gear position, achieving a matching mapping relationship between the number of motor rotations and the target gear position, thereby replacing the function of a position sensor. This allows accurate paddle displacement information to be obtained even without a position sensor, thereby accurately matching the paddle position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the background technology, the drawings required for use in the embodiments of the present invention or the background technology will be described below.

[0019] Figure 1 Schematic diagram of the system architecture of a vehicle motor shift control method provided by an embodiment of the present application;

[0020] Figure 2 This is a flow chart of a vehicle motor shift control method provided by an embodiment of the present application;

[0021] Figure 3 This is a flowchart of a self-learning process for the total length of a lead screw in a vehicle motor shift control method provided by an embodiment of the present application;

[0022] Figure 4 This is a partial scenario diagram of a vehicle motor shift control method provided by an embodiment of the present application;

[0023] Figure 5 Another flow chart of a vehicle motor shift control method provided by an embodiment of the present application;

[0024] Figure 6 Another flow chart of a vehicle motor shift control method provided by an embodiment of the present application;

[0025] Figure 7 This is a schematic structural diagram of a vehicle motor shift control device provided by an embodiment of the present application;

[0026] Figure 8 It is a structural schematic diagram of another vehicle motor shift control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0028] The terms "first," "second," and "third," etc. in the specification, claims, and drawings of this application are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements, but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0029] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0030] In response to the above problems, an embodiment of the present application provides a motor shifting method, which first receives a shift control instruction, wherein the shift control instruction is used to instruct a shift to a target gear, wherein the target gear is one of multiple gears corresponding to the sensored brushless DC motor. Then, in response to the shift control instruction, a movement displacement vector corresponding to the target gear is obtained, and then a motor commutation operation is obtained based on the movement displacement vector, wherein the motor commutation operation includes the number of motor rotations and the direction of motor rotation. Then, the motor body is controlled to perform the motor commutation operation, and after performing the commutation operation, the target gear is output. wherein a mapping relationship exists between the motor commutation operation and the target gear. By matching the mapping relationship between the number of motor rotations and the target gear, the role of replacing the position sensor is achieved, and accurate displacement information of the paddle can be obtained without a position sensor, thereby accurately matching the gear information, thereby saving the cost of the sensor and accurately detecting the position information of the paddle.

[0031] See also Figure 1 , Figure 1 A system architecture diagram of a vehicle motor shift control method provided in an embodiment of the present application, including: a user 110, a motor control system 120, a motor 130, a motor drive shaft 140, a drive gear plate 150, a paddle 160, a screw 170 and a screw fixing bolt 180.

[0032] When the motor control system 120 receives a shift control command from the user 110 and processes the shift control command, the motor control system 120 can obtain relevant parameters such as the number of motor rotations through a software control algorithm to control and determine the position of the paddle 160. The motor's reversing operation is mapped to the target gear position. The total length of the transmission sprocket 150 and the screw rod 170, as well as the transmission gear ratio, are fixed features.

[0033] The motor 130 may be a brushless DC motor or another brushless motor, which is not limited here.

[0034] Based on this, the present application provides a motor shifting method, which is described in detail below with reference to the accompanying drawings.

[0035] See also Figure 2 , Figure 2 This is a flow chart of a vehicle motor shift control method provided by an embodiment of the present application. Figure 2 As shown, the method includes the following steps:

[0036] S201, receiving a gear shift control instruction, where the gear shift control instruction is used to instruct the paddle to move to a target gear position.

[0037] Among them, the target gear may include a first port gear, a second port gear, and a third gear, wherein the positions of the first port gear and the second port gear are respectively located at the two ends of the screw rod, and the position of the third port gear can be located in the middle of the screw rod. The multiple gears can also be other gears, and the gear positions can also be set according to actual needs, which is not limited in this embodiment.

[0038] S202 , in response to a shift control instruction, controlling the motor body to perform a positioning action, so that the paddle moves to a neutral position; wherein the paddle passes through at least one extreme position on the lead screw.

[0039] Among them, the motor body corresponds to Figure 1 The motor 130 in FIG.

[0040] Specifically, when the motor body performs the positioning action, the paddle passes through the two extreme positions on the screw rod.

[0041] The positioning action is performed to position the paddle to a predetermined position before shifting. The predetermined position can be any point on the lead screw or a predetermined point, such as the middle of the lead screw, without limitation. By moving the paddle in either direction on the lead screw to an extreme position, the positional relationship between the paddle's initial position and the lead screw can be calculated. The extreme position can be the position at which the motor body experiences a stalled overcurrent condition, or the extreme position at which the motor body is about to experience a stalled overcurrent condition, without limitation.

[0042] Specifically, when the motor body is stalled and overcurrent occurs, the paddle reaches one of the limit positions on the lead screw.

[0043] For example, if the two ends of the screw are A and B respectively, the middle of the screw is N, and the initial position of the paddle is unknown, at any position of the screw, let the motor rotate in any direction, control the paddle to move in one direction first, until the paddle can no longer move, that is, reaches the limit position, record the current position, and then the motor reverses to move to another place, and reaches the position where it can no longer move. Then the actual stroke of the paddle can be calculated through the above two actions, and the position of the paddle can be calculated through the dimensional parameters and stroke of the screw. The dimensional parameters of the screw can be the length of the screw. The length of the above screw is a fixed value and has been selected during manufacturing.

[0044] When the motor is operating, its output shaft drives the transmission gear disc in circular motion. The lead screw, under the action of the lead screw fixing bolt, moves in a circular motion along with the transmission gear disc. The threads on the lead screw drive the paddle in linear motion from one end to the other. It can be specified that when the motor rotates forward, the paddle moves toward the lead screw fixing bolt, and when the motor rotates reversely, the paddle moves away from the lead screw fixing bolt. It can be specified that when the displacement vector is greater than 0, the motor's motion direction can be set to move away from the transmission gear disc, and when the displacement vector is less than 0, the motor's motion direction can be set to move toward the transmission gear disc. The absolute value of the displacement vector is taken, and the displacement vector is converted into a scalar.

[0045] S203, controlling the motor body to perform a gear shifting action.

[0046] Shifting occurs when the motor rotates a certain angle or number of times, causing the paddle to move to a different predetermined gear position on the lead screw to achieve the desired gear shift. The number of motor rotations is mapped to the distance the paddle moves, meaning different distances correspond to different number of motor rotations. The direction of the motor's rotation is determined by the direction of the displacement vector, and different rotation directions result in different directions of movement of the paddle on the lead screw.

[0047] Among them, if the number of motor rotations is equal to the target number of motor rotations, the gear shifting action is performed. If the number of motor rotations is not equal to the target number of motor rotations, the motor continues to rotate until the number of motor rotations is equal to the target number of motor rotations, and then the gear shifting action is performed.

[0048] As can be seen, in this embodiment, a shift control command is first received, which instructs the paddle to move to the target gear position. In response to the shift control command, the motor body is controlled to perform a positioning action to move the paddle to the neutral position. The paddle passes through at least one extreme position on the lead screw. Finally, the motor body is controlled to perform the shift action. By matching the number of motor rotations with the position of the paddle, the function of a position sensor is replaced, and accurate paddle displacement information can be obtained without a position sensor, thereby accurately matching the gear position information. This achieves the effect of converting the position movement distance required to reach the target gear into the number of motor rotations, accurately detecting the paddle position information.

[0049] In a possible embodiment, the target gear position includes a first port gear position and a second port gear position, the first port gear position is one of the limit positions of the screw rod, and the second port gear position is another limit position of the screw rod; and controlling the motor body to perform the positioning action includes:

[0050] 21. Controlling the motor body to rotate in a first preset direction until the paddle moves to one of the limit positions on the screw rod;

[0051] 22. Controlling the motor body to rotate in a second preset direction until the paddle moves to another extreme position of the lead screw, and recording the number of motor rotations of the motor body as a predetermined number, wherein the second preset direction is opposite to the first preset direction;

[0052] 23. Determine the total length of the screw rod based on the predetermined number of times and a mapping relationship between the number of motor rotations and the displacement distance of the paddle;

[0053] 24. When the total length of the screw rod is equal to the preset screw rod length value, control the motor body to perform a gear shifting action.

[0054] The above-mentioned limit position is the limit position at which the motor generates a stalled rotor overcurrent phenomenon or is about to generate a stalled rotor overcurrent phenomenon. It can also be other limit positions and is not limited here. The above-mentioned stalled rotor overcurrent refers to when the motor is suddenly blocked by an external load force during operation, and the motor speed drops rapidly or becomes stuck. The control system detects this situation and automatically determines whether the motor is in a completely stalled state, an operating state, or a motor short-circuited state when the overcurrent occurs. If the motor is in an operating state when the overcurrent occurs, intervention is implemented to avoid hardware damage. In this embodiment of the present application, the stalled rotor overcurrent means that the motor rotates so that the paddle moves to the edge of the screw rod.

[0055] Among them, the first preset direction can be the direction away from the transmission gear disc or the direction close to the transmission gear disc, and the second preset direction can be the direction away from the transmission gear disc or the direction close to the transmission gear disc. When the first preset direction is the direction away from the transmission gear disc, the second preset direction is the direction close to the transmission gear disc. The above-mentioned first preset direction and second preset direction can be other directions, which are not limited here.

[0056] Among them, the predetermined number of times may include multiple rotation numbers, such as the first rotation number, the second rotation number, and the third rotation number. The first rotation number, the second rotation number, and the third rotation number correspond to the number of times the motor needs to rotate to drive the paddle to the middle of the screw, one end of the screw, and the other end of the screw, respectively. The total length of the screw and the distance that the paddle needs to travel to the two ends and the middle of the screw are obtained by calculation using the first rotation number, the second rotation number, and the third rotation number. The number of motor rotations and the distance have a mapping relationship. According to the mapping relationship, the total length of the screw can be calculated based on the distance traveled by the paddle.

[0057] The number of motor rotations can be determined using a software control algorithm, such as a 6-step square wave algorithm. In this algorithm, the electrical angle of each motor commutation is 60°. This 60° electrical angle is calculated by dividing (360 / 6)°. The electrical angle is an electrical signal, not the visible angle of the motor shaft rotation. The relationship between the electrical angle and the visible number of motor shaft rotations is: number of rotations * electrical angle per commutation * number of motor pole pairs = visible number of motor shaft rotations.

[0058] Specifically, the mapping coefficient of the mapping relationship between the number of motor rotations and the moving displacement distance of the paddle is determined based on one or more of the following parameters: the pitch corresponding to the screw rod, the transmission ratio between the motor and the screw rod, the number of motor pole pairs, and the electrical angle of each commutation of the motor.

[0059] Among them, the above-mentioned pitch is the axial distance between two corresponding points on the mid-diameter line of two adjacent teeth of the threaded screw; the electrical angle of each commutation is determined after the software control algorithm is determined. If a 6-step square wave control algorithm is used, the electrical angle of each commutation is 60°. The software control algorithm can also use other software control algorithms, which are not limited here.

[0060] For example, the above process is a self-learning process after power-on. Power-on self-learning needs to be repeated multiple times, three or more times (not limited here). If the values ​​obtained from each learning session differ within 0.01mm, learning is considered successful; otherwise, self-learning is considered a failure. If self-learning fails, the paddle position at the last power-off is used to enter limp mode. Self-learning failure may be caused by a stuck end point of the screw. Upon power-on, the limp mode is read from the last position: If the last gear was N, attempt to engage 1st gear, and hold 2nd gear. Attempt to engage 2nd gear, and 1st gear will be reported as an error. If in 1st gear, hold the gear and report a 2nd gear error. If in 2nd gear, report a 1st gear error and report a 1st gear error. Because the gear value read upon power-on is unreliable, gear monitoring is performed during driving. The speed ratio between the output shaft and motor speed is determined, and the current gear is compared to ensure it is correct.

[0061] Among them, after obtaining the total length of the screw rod, the total length of the screw rod is equal to the preset screw rod length value, then the gear shifting action can be performed. The above-mentioned preset screw rod length value is a fixed parameter value of the screw rod. After the screw rod is selected during manufacturing, the preset screw rod length value is a fixed value.

[0062] The screw rod length value may be determined by measuring the screw rod length value each time the power is turned on to ensure the accuracy of the measurement. In actual operation, the screw rod length value may not be measured each time the power is turned on, which is not limited here.

[0063] It can be seen that in this embodiment, by recording the number of motor rotations and the direction of rotation, the movement distance of the paddle can be obtained, and then the length value of the screw rod can be obtained, that is, the position sensor can be omitted to judge the position of the paddle, thereby improving the accuracy of the paddle position detection.

[0064] In a possible embodiment, for better understanding, an example is given below. Figure 3 and Figure 4 , Figure 3 This is a flowchart of a self-learning process for the total length of the screw rod in a vehicle motor shift control method provided in an embodiment of the present application. Figure 4 A partial scene diagram of a vehicle motor shift control method provided in an embodiment of the present application. The figure shows the screw structure part, with the two ends of the screw corresponding to gear 1 and gear 2 respectively, and the starting position of the paddle may be at any position of the screw. In order to obtain this position, when the motor is powered on, the motor control system records the number of motor rotations corresponding to the current position as 0 turns. Then blindly turn the motor so that the motor drives the paddle to move in any direction. Assuming that the direction is the first direction, the motor is controlled to drive the paddle to move in the first direction, and detect whether the motor is currently blocked and overcurrent. If there is no blocked overcurrent, the motor continues to rotate. If the motor moves in the first direction until the motor is blocked and overcurrent occurs, the motor stops, and the motor control system records the current number of motor rotations, assuming it is +2 turns, corresponding to displacement S1. The motor is then controlled to drive the paddle in the second direction (the opposite direction of the first direction) to detect whether the motor is currently stalled and overcurrent. If not, the motor continues to rotate. If the motor is stalled and overcurrent occurs, the motor stops. At this time, the number of motor rotations from the first direction stalled and overcurrent to the second direction stalled and overcurrent is recorded. Assume that it is -5 rotations, corresponding to displacement S2. The number of motor rotations corresponding to the starting position of the paddle is 2 rotations in the positive direction, corresponding to displacement S1, and -5 rotations in the negative direction, corresponding to displacement S2. This indicates that the starting position of the paddle is 2 / 5 of the distance from the edge of the first direction and 3 / 5 of the distance from the edge of the second direction. Assuming that the total stroke of the screw is L = |S2-S1|, the paddle distance is L*(-3 / 5), where the negative sign indicates the direction, or the paddle distance can also be recorded as L*(2 / 5). When N gear needs to be output, the corresponding paddle position = |S2-S1| / 2. Assuming that one end of the screw needs to output 1 gear and the other end needs to output 2 gear, when the paddle is at one end of the screw, 1 gear is output, and when it is at the other end of the screw, 2 gear is output.

[0065] It can be seen that in this embodiment, the movement distance of the paddle can be obtained by recording the number of motor rotations and the direction of rotation after power-on, that is, the position sensor can be omitted to determine the position of the paddle.

[0066] In a possible embodiment, controlling the motor body to perform the gear shifting action includes: determining the gear shifting action corresponding to the target gear based on the movement displacement vector of the neutral position and the corresponding position of the target gear, and the mapping relationship between the number of motor rotations and the movement displacement distance of the paddle, and controlling the motor body to perform the gear shifting action corresponding to the target gear.

[0067] Among them, the moving displacement vector is the directed distance that the paddle moves on the screw rod. When the above-mentioned moving displacement vector is greater than 0, the moving direction of the paddle controlled by the motor can be set to move away from the transmission gear disc. When the above-mentioned moving displacement vector is less than 0, the moving direction of the paddle controlled by the motor can be set to move closer to the transmission gear disc. The specific direction setting can be changed and is not limited here.

[0068] Among them, the mapping coefficient of the mapping relationship can be determined according to the pitch, transmission gear ratio, and the number of motor pole pairs. The screw rod can be a threaded screw rod, and the pitch is included between adjacent threads. The above pitch, transmission gear ratio, and motor pole pair number are all fixed characteristics of the motor. When the motor is selected, the above pitch, transmission gear ratio, and motor pole pair number will not change.

[0069] When the moving displacement distance obtained by mapping the number of motor rotations matches the target gear, the gear shifting action to the target gear can be performed.

[0070] It can be seen that in this embodiment, the number of motor rotations is converted into the number of motor rotations by using the fixed characteristics of the motor as a mapping coefficient. The number of rotations can be used for subsequent position judgment to convert the position movement distance required for the target gear into the number of motor rotations.

[0071] In a possible embodiment, determining the shifting action corresponding to the target gear position based on the displacement vector between the neutral position and the position corresponding to the target gear position, and the mapping relationship between the number of motor rotations and the displacement distance of the paddle, and controlling the motor body to execute the shifting action corresponding to the target gear position, further includes:

[0072] determining a rotation direction of the motor based on a sign of the movement displacement vector;

[0073] Determining a movement displacement scalar based on the movement displacement vector, and determining the target motor rotation number according to the movement displacement scalar and a mapping relationship between the motor rotation number and the movement displacement distance of the paddle;

[0074] The relationship between the motor rotation number and the target motor rotation number is determined. If the motor rotation number is equal to the target motor rotation number, a gear shifting action is performed. If the motor rotation number is not equal to the target motor rotation number, the motor continues to rotate until the motor rotation number is equal to the target motor rotation number.

[0075] Among them, the moving displacement vector is the signed distance that the paddle moves on the screw rod, and the sign of the moving displacement vector includes positive and negative. When the above-mentioned moving displacement vector is greater than 0, the sign of the moving displacement vector is positive, and the moving direction of the motor-controlled paddle can be set to move away from the transmission sprocket. At this time, the motor rotation direction is the first rotation direction; when the above-mentioned moving displacement vector is less than 0, the sign of the moving displacement vector is negative, and the moving direction of the motor-controlled paddle can be set to move close to the transmission sprocket. At this time, the motor rotation direction is the second rotation direction. The specific direction setting can vary and is not limited here.

[0076] The moving displacement scalar is a value obtained by taking the absolute value of the moving displacement vector.

[0077] Among them, the mapping coefficient of the mapping relationship can be determined according to the pitch, transmission gear ratio, and the number of motor pole pairs. The screw rod can be a threaded screw rod, and the pitch is included between adjacent threads. The above pitch, transmission gear ratio, and motor pole pair number are all fixed characteristics of the motor. When the motor is selected, the above pitch, transmission gear ratio, and motor pole pair number will not change.

[0078] Specifically, the mapping coefficient is determined based on the following first formula: Number of motor rotations = displacement distance of the paddle / pitch*transmission ratio between the motor and the lead screw*number of motor pole pairs*360° / motor commutation electrical angle per time.

[0079] It can be seen that in this embodiment, the number of motor rotations is converted into the number of motor rotations by using the fixed characteristics of the motor as a mapping coefficient. The number of rotations can be used for subsequent position judgment to convert the position movement distance required for the target gear into the number of motor rotations.

[0080] In one possible embodiment, see Figure 5 , Figure 5 This is another flow chart of a vehicle motor shift control method provided by an embodiment of the present application, wherein the mapping coefficient is determined based on the following first formula:

[0081] Number of motor rotations = displacement distance of the paddle / pitch * transmission ratio between the motor and the lead screw * number of pole pairs of the motor * 360° / electrical angle of each commutation of the motor.

[0082] The motor is controlled using a software control algorithm, which includes a 6-step square wave algorithm. When the 6-step square wave algorithm is used, the electrical angle of the motor is 60° each time it commutates. Therefore, the electrical angle after two commutations is 120°, and the electrical angle after three commutations is 180°. The electrical angle of the motor is an electrical signal, and its coefficient is the number of pole pairs that differs between the motor shaft rotations, that is:

[0083] The number of visible rotations of the motor shaft = the number of rotations of the motor * the electrical angle of each commutation of the motor * the number of pole pairs of the motor;

[0084] The position of the paddle = the number of visible rotations of the motor shaft * the transmission ratio between the motor and the screw * the corresponding pitch of the screw.

[0085] For example, see Figure 5 , Figure 5 Another flow chart of a vehicle motor shift control method provided in an embodiment of the present application, first set the direction of the moving displacement distance, take the absolute value, the positive direction toward one end of the screw rod, and the negative direction toward the other end of the screw rod. In actual calculation, take the absolute value as the moving displacement distance. For example, if the paddle needs to move a distance of 10mm, then 10mm is substituted into the above formula to obtain the target number of rotations. Then, control the motor to rotate in a predetermined direction and record the number of motor rotations. The number of rotations starts from 0 and is counted up for each commutation. When the actual number of rotations is equal to the target number of rotations, the paddle reaches the predetermined position and the motor stops running. If the number of rotations is not equal to the target number of rotations, the motor continues to run until the actual number of motor rotations is equal to the target number of rotations.

[0086] It can be seen that in this embodiment, the software control algorithm can be used to record only the number of motor rotations. The number of motor rotations can be obtained through calculation. The number of motor rotations is used for subsequent position judgment, thereby converting the position movement distance required for the target gear into the number of motor rotations. The calculation process is relatively simple, can replace the role of the position sensor, and reduces the cost of the sensor.

[0087] In a possible embodiment, the method further includes:

[0088] controlling the motor body to perform a first rotation, recording a first rotation number corresponding to the first rotation, and detecting and obtaining an actual first displacement distance of the screw rod;

[0089] Calculate and obtain the initial motor commutation electrical angle each time based on the first rotation number, the pitch, the transmission ratio between the motor and the lead screw, the number of pole pairs of the motor, and the actual first displacement distance;

[0090] Controlling the motor body to perform a second rotation, the second rotation corresponding to each commutation electrical angle of the initial motor;

[0091] Recording a second rotation number corresponding to the second rotation, and detecting and obtaining an actual second displacement distance of the screw rod;

[0092] Calculate and obtain a predicted second displacement distance based on the second rotation number, the pitch, the transmission ratio between the motor and the lead screw, the number of pole pairs of the motor, and the electrical angle of each commutation of the initial motor;

[0093] Calculating a displacement difference between the actual second displacement distance and the predicted second displacement distance, and if the displacement difference is less than a preset threshold, determining the initial motor commutation electrical angle as the final motor commutation electrical angle;

[0094] If the displacement difference is greater than the preset threshold, the initial motor commutation electrical angle is adjusted each time, and the motor body is repeatedly controlled to perform the second rotation, the actual second displacement distance and the predicted second displacement distance are obtained, and the displacement difference is calculated until it is determined that the displacement difference is less than the preset threshold.

[0095] Among them, when the displacement difference is less than or equal to a preset threshold, the above-mentioned preset threshold can be a maximum error value, indicating that the predicted movement distance of the paddle driven by the rotation of the motor body is the same as (or very close to) the detected actual movement distance of the paddle, and meets the error tolerance range. If the displacement difference is greater than the preset threshold, the process continues until the difference between the first displacement distance and the second displacement distance is less than the preset threshold, and the maximum error value is calculated based on the maximum error.

[0096] The maximum error value can be obtained by the following maximum error formula for position control: Maximum error = ((60° / number of motor pole pairs) / 360°) / transmission ratio between motor and lead screw*pitch.

[0097] Among them, in order to control the displacement more accurately, it may be necessary to use a brushless DC motor with a higher number of pole pairs, such as 7 pole pairs or even higher motor pole pairs.

[0098] For example, if we use a motor with 7 pole pairs, a transmission ratio of 1.75 between the motor and the leadscrew, and a pitch of 2mm, the maximum error formula can be calculated as: Maximum Error = 60° / 7 / 360° / 1.75*2 = 0.0272mm. In practical applications, the leadscrew length is generally around 30mm, the actual shift displacement is around 25mm, and the required shift accuracy is within 1mm. The maximum error of 0.0272mm calculated using the maximum error formula is far less than the required shift accuracy of 1mm, so it can meet the shifting performance requirements.

[0099] Among them, when the calculated maximum error does not meet the shifting accuracy requirements, the software control algorithm can use the field-oriented control (FOC) algorithm instead of the 6-step square wave control algorithm. The field-oriented control algorithm has multiple resolutions. When using field-oriented control, if the resolution is 1024 lines, the electrical angle of each commutation of the motor is (360 / 1024) degrees. If the resolution is 4096 lines, the electrical angle is (360 / 4096) degrees.

[0100] Among them, please refer to Figure 6 , Figure 6 Another flow chart of a vehicle motor shift control method provided in an embodiment of the present application. The calculation method for predicting the first displacement distance may include: first, when using a 6-step square wave control algorithm, the electrical angle of each commutation is 60°, and the shift control system records the number of motor rotations. Then calculate the mechanical angular velocity generated by each commutation of the motor as follows: mechanical angle = electrical angle of each commutation / number of pole pairs of the motor, and then calculate the number of electrical angles required for the motor to rotate one mechanical angle: number of electrical angles = 360 / mechanical angle; then calculate the M number of mechanical rotations required for the motor to rotate one mechanical angle: M number of rotations = 360° * number of pole pairs of the motor / electrical angle of each commutation of the motor; then calculate the actual number of mechanical rotations of the motor: actual number of mechanical rotations of the motor = actual number of rotations of the motor / M number of rotations. Then calculate the predicted first displacement distance of the paddle: predicted first displacement distance = actual number of mechanical rotations of the motor / transmission ratio between the motor and the lead screw * pitch. Finally, it is determined whether the predicted first displacement distance of the paddle is equal to the actual first displacement distance, so as to obtain the current position of the paddle. If they are equal, the paddle has reached the end point of the screw rod and the self-learning of the motor is completed. If they are not equal, the paddle has not reached the end point of the screw rod, and the motor continues to run, and the shift control system continues to calculate until the predicted first displacement distance is equal to the actual first displacement distance.

[0101] The actual first displacement distance of the screw rod can be obtained through actual measurement.

[0102] It can be seen that the embodiment of the present application records the first number of rotations of the motor and converts the first number of rotations into a first predicted displacement distance, and compares the difference between the first predicted displacement distance and the first displacement distance obtained by self-learning. If the displacement difference is less than the preset threshold, it indicates that the gear position has been reached, thereby achieving the real-time position of the paddle without using a position sensor, and then judging whether the paddle has reached the gear position.

[0103] See also Figure 7 , Figure 7 is a structural diagram of a vehicle motor shift control device provided in an embodiment of the present application, such as Figure 7 As shown:

[0104] A vehicle motor shift control device 700, comprising:

[0105] The receiving module 701 is configured to receive a shift control instruction, where the shift control instruction is used to instruct the paddle to move to a target gear position.

[0106] The response module 702 is configured to control the motor body to perform a positioning action in response to a shift control instruction, so that the paddle moves to a neutral position; wherein the paddle passes through at least one extreme position on the lead screw.

[0107] The control module 703 is used to control the motor body to perform a gear shifting action.

[0108] In a possible embodiment, in terms of controlling the motor body to perform the positioning action, the control module 703 is specifically configured to:

[0109] Controlling the motor body to rotate in a first preset direction until the paddle moves to one of the limit positions on the lead screw;

[0110] controlling the motor body to rotate in a second preset direction until the paddle moves to another extreme position of the lead screw, and recording the number of motor rotations of the motor body as a predetermined number, wherein the second preset direction is opposite to the first preset direction;

[0111] Determining the total length of the screw rod based on the predetermined number of times and a mapping relationship between the number of motor rotations and the displacement distance of the paddle;

[0112] When the total length of the screw rod is equal to the preset screw rod length value, the motor body is controlled to perform a gear shifting action.

[0113] In a possible embodiment, in terms of controlling the motor body to perform a gear shifting action, the control module 703 is further configured to:

[0114] Based on the movement displacement vectors of the neutral position and the corresponding positions of the target gear, and the mapping relationship between the number of motor rotations and the movement displacement distance of the paddle, the shifting action corresponding to the target gear is determined, and the motor body is controlled to execute the shifting action corresponding to the target gear.

[0115] In a possible embodiment, in determining the shifting action corresponding to the target gear position based on the displacement vector between the neutral position and the position corresponding to the target gear position, and the mapping relationship between the number of motor rotations and the displacement distance of the paddle, and controlling the motor body to execute the shifting action corresponding to the target gear position, the control module 703 is further specifically configured to:

[0116] determining a rotation direction of the motor based on a sign of the movement displacement vector;

[0117] Determining a movement displacement scalar based on the movement displacement vector, and determining the target motor rotation number according to the movement displacement scalar and a mapping relationship between the motor rotation number and the movement displacement distance of the paddle;

[0118] The relationship between the motor rotation number and the target motor rotation number is determined. If the motor rotation number is equal to the target motor rotation number, a gear shifting action is performed. If the motor rotation number is not equal to the target motor rotation number, the motor continues to rotate until the motor rotation number is equal to the target motor rotation number.

[0119] In a possible embodiment, the control module 703 is further configured to:

[0120] The mapping coefficient of the mapping relationship between the number of motor rotations and the displacement distance of the paddle is determined based on one or more of the following parameters: the pitch corresponding to the screw rod, the transmission ratio between the motor and the screw rod, the number of motor pole pairs, and the electrical angle of each commutation of the motor.

[0121] The number of motor rotations = the displacement of the paddle / pitch * the transmission ratio between the motor and the screw * the number of pole pairs of the motor * 360° / the electrical angle of each commutation of the motor.

[0122] In a possible embodiment, the response module 702 is specifically configured to:

[0123] controlling the motor body to perform a first rotation, recording a first rotation number corresponding to the first rotation, and detecting and obtaining an actual first displacement distance of the screw rod;

[0124] Calculate and obtain the initial motor commutation electrical angle each time based on the first rotation number, the pitch, the transmission ratio between the motor and the lead screw, the number of pole pairs of the motor, and the actual first displacement distance;

[0125] Controlling the motor body to perform a second rotation, the second rotation corresponding to each commutation electrical angle of the initial motor;

[0126] Recording a second rotation number corresponding to the second rotation, and detecting and obtaining an actual second displacement distance of the screw rod;

[0127] Calculate and obtain a predicted second displacement distance based on the second rotation number, the pitch, the transmission ratio between the motor and the lead screw, the number of pole pairs of the motor, and the electrical angle of each commutation of the initial motor;

[0128] Calculating a displacement difference between the actual second displacement distance and the predicted second displacement distance, and if the displacement difference is less than a preset threshold, determining the initial motor commutation electrical angle as the final motor commutation electrical angle;

[0129] If the displacement difference is greater than the preset threshold, the initial motor commutation electrical angle is adjusted each time, and the motor body is repeatedly controlled to perform the second rotation, the actual second displacement distance and the predicted second displacement distance are obtained, and the displacement difference is calculated until it is determined that the displacement difference is less than the preset threshold.

[0130] As can be seen, in this example, the receiving module 701 first receives the shift control command; the response module 702 then controls the motor body to perform a positioning action in response to the shift control command, moving the paddle to the neutral position; and finally, the control module 703 controls the motor body to execute the shift action. By obtaining the number of motor rotations and mapping the displacement vector to obtain the actual displacement of the paddle, the position sensor is replaced, and the gear position information is accurately matched, thus saving sensor costs and accurately detecting the paddle position information.

[0131] Specifically, the embodiment of the present application can divide the motor shifting device into functional units according to the above-mentioned method example. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated into one processing unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0132] In a possible embodiment, a vehicle includes a shift motor, and applies the shift motor control method and shift motor control device included in any one of the above embodiments.

[0133] See also Figure 8 , Figure 8 is a structural diagram of another vehicle motor shift control device provided in an embodiment of the present application, such as Figure 8 As shown:

[0134] A vehicle motor shift control device, comprising:

[0135] The processor, memory, and communication interface are interconnected and complete communication work between them.

[0136] The memory stores executable program codes, and the communication interface is used for wireless communication.

[0137] The processor is used to retrieve the executable program code stored in the memory and execute part or all of the steps of any vehicle motor shift control method recorded in the above method embodiments. The above computer includes an electronic terminal device.

[0138] The memory may be a volatile memory such as a dynamic random access memory (DRAM) or a non-volatile memory such as a mechanical hard disk. The memory is used to store a set of executable program codes, and the processor is used to call the executable program codes stored in the memory to execute some or all of the steps of any of the vehicle motor shift control methods described in the above-mentioned vehicle motor shift control method embodiments.

[0139] An embodiment of the present application provides a computer-readable storage medium, which stores a computer program for electronic data exchange. The computer program includes execution instructions, and the execution instructions are used to execute part or all of the steps of any one of the motor shifting methods described in the above-mentioned motor shifting method embodiments. The above-mentioned computer includes an electronic terminal device.

[0140] An embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to enable a computer to perform part or all of the steps of any motor shifting method recorded in the above method embodiments. The computer program product can be a software installation package.

[0141] It should be noted that for the sake of simplicity, the embodiments of any of the aforementioned motor shifting methods are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited to the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions involved are not necessarily required by this application.

[0142] The above is a detailed introduction to the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of a motor shifting method of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, based on the idea of ​​a motor shifting method of the present application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0143] The present application is described with reference to the flowcharts and / or block diagrams of the methods, hardware products, and computer program products of the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0144] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The memory may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0145] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality of components or steps. The fact that certain measures are recited in different dependent claims does not mean that these measures cannot be combined to produce good results.

[0146] A person skilled in the art will understand that all or part of the steps in the various methods of any of the above-mentioned vehicle motor shift control method embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0147] It can be understood that any product that is controlled or configured to execute the processing method of the flowchart described in an embodiment of a vehicle motor shift control method of the present application, such as the device and computer program product of the above flowchart, falls within the scope of the related products described in the present application.

[0148] Obviously, those skilled in the art may make various modifications and variations to the motor shifting method provided in this application without departing from the spirit and scope of this application. Thus, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application is intended to include such modifications and variations.

Claims

1. A vehicle motor shift control method, characterized in that: Applied to a gear shift motor, the gear shift motor further includes a motor body and a screw rod, and a paddle located on the screw rod, the method comprising: receiving a shift control instruction, wherein the shift control instruction is used to instruct the paddle to move to a target gear position; In response to a shift control instruction, the motor body is controlled to perform a positioning action to move the paddle to a neutral position; wherein the paddle passes through at least one extreme position on the lead screw; The motor body is controlled to perform a gear shifting action.

2. The method according to claim 1, characterized in that When the motor body performs a positioning action, the paddle passes through the two extreme positions on the screw rod.

3. The method according to claim 1, characterized in that When the motor body is stalled and overcurrent occurs, the paddle reaches one of the limit positions on the lead screw.

4. The method according to claim 2, characterized in that The target gear position includes a first end gear position and a second end gear position, wherein the first end gear position is one of the limit positions of the screw rod, and the second end gear position is another limit position of the screw rod; The controlling the motor body to perform the positioning action includes: Controlling the motor body to rotate in a first preset direction until the paddle moves to one of the limit positions on the lead screw; controlling the motor body to rotate in a second preset direction until the paddle moves to another extreme position of the lead screw, and recording the number of motor rotations of the motor body as a predetermined number, wherein the second preset direction is opposite to the first preset direction; Determining the total length of the screw rod based on the predetermined number of times and a mapping relationship between the number of motor rotations and the displacement distance of the paddle; When the total length of the screw rod is equal to the preset screw rod length value, the motor body is controlled to perform a gear shifting action.

5. The method according to claim 4, characterized in that The controlling the motor body to perform the gear shifting action includes: Based on the movement displacement vectors of the neutral position and the corresponding positions of the target gear, and the mapping relationship between the number of motor rotations and the movement displacement distance of the paddle, the shifting action corresponding to the target gear is determined, and the motor body is controlled to execute the shifting action corresponding to the target gear.

6. The method according to claim 5, characterized in that The method further comprises determining a shifting action corresponding to the target gear position based on a displacement vector between the neutral position and a position corresponding to the target gear position, and a mapping relationship between the number of motor rotations and the displacement distance of the paddle, and controlling the motor body to execute the shifting action corresponding to the target gear position. determining a rotation direction of the motor based on a sign of the movement displacement vector; Determining a movement displacement scalar based on the movement displacement vector, and determining the target motor rotation number according to the movement displacement scalar and a mapping relationship between the motor rotation number and the movement displacement distance of the paddle; The relationship between the motor rotation number and the target motor rotation number is determined. If the motor rotation number is equal to the target motor rotation number, a gear shifting action is performed. If the motor rotation number is not equal to the target motor rotation number, the motor continues to rotate until the motor rotation number is equal to the target motor rotation number.

7. The method according to any one of claims 4 to 6, characterized in that: The method further comprises: The mapping coefficient of the mapping relationship between the number of motor rotations and the displacement distance of the paddle is determined based on one or more of the following parameters: the pitch corresponding to the screw rod, the transmission ratio between the motor and the screw rod, the number of motor pole pairs, and the electrical angle of each commutation of the motor.

8. The method according to claim 7, characterized in that The mapping coefficient is determined based on the following first formula: Number of motor rotations = displacement distance of the paddle / pitch * transmission ratio between the motor and the lead screw * number of pole pairs of the motor * 360° / electrical angle of each commutation of the motor.

9. The method according to claim 8, characterized in that The method further comprises: controlling the motor body to perform a first rotation, recording a first rotation number corresponding to the first rotation, and detecting and obtaining an actual first displacement distance of the screw rod; Calculate and obtain the initial motor commutation electrical angle each time based on the first rotation number, the pitch, the transmission ratio between the motor and the lead screw, the number of pole pairs of the motor, and the actual first displacement distance; Controlling the motor body to perform a second rotation, the second rotation corresponding to each commutation electrical angle of the initial motor; Recording a second rotation number corresponding to the second rotation, and detecting and obtaining an actual second displacement distance of the screw rod; Calculate and obtain a predicted second displacement distance based on the second rotation number, the pitch, the transmission ratio between the motor and the lead screw, the number of pole pairs of the motor, and the electrical angle of each commutation of the initial motor; Calculating a displacement difference between the actual second displacement distance and the predicted second displacement distance, and if the displacement difference is less than a preset threshold, determining the initial motor commutation electrical angle as the final motor commutation electrical angle; If the displacement difference is greater than the preset threshold, the initial motor commutation electrical angle is adjusted each time, and the motor body is repeatedly controlled to perform the second rotation, the actual second displacement distance and the predicted second displacement distance are obtained, and the displacement difference is calculated until it is determined that the displacement difference is less than the preset threshold.

10. A vehicle motor shift control device, characterized in that: The device comprises: A receiving module, configured to receive a shift control instruction, wherein the shift control instruction is used to instruct the paddle to move to a target gear position; a response module, configured to control the motor body to perform a positioning action in response to a shift control instruction, so that the paddle moves to a neutral position; wherein the paddle passes through at least one extreme position on the lead screw; The control module is used to control the motor body to perform a gear shifting action.

11. A computer device, characterized in that: include: A memory and a processor, the memory storing a computer program, and one or more programs; the one or more programs being stored in the memory and configured to implement the steps of the method according to any one of claims 1 to 9 when the computer program is executed by the processor.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor is caused to perform the steps of the method according to any one of claims 1 to 9.

13. A vehicle, characterized in that: Including the shift motor, a vehicle motor shift control method and a vehicle motor shift control device as described in any one of claims 1 to 10 are applied.

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