Reference origin learning method and device, electronic equipment and vehicle
By detecting the operating data and theoretical length of the dog clutch shift element, the problem of reference origin misjudgment caused by the top teeth of the dog clutch is solved, and more accurate reference origin learning and position control are achieved.
Patent Information
- Application Number
- CN202510639484.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-19
- Publication Date
- 2025-09-23
AI Technical Summary
The dog clutch is prone to tooth collision during the gear shifting process, which can lead to misjudgment of the reference origin learning results and affect position detection and control accuracy.
By detecting the operating data of the shift element when it moves from the first extreme position to the second extreme position, including the extreme position difference, the maximum speed and the moving time, the state of the dog clutch is judged, and the reference origin is determined according to the predetermined theoretical length in the top tooth state.
The accuracy of the reference origin learning of the dog clutch is improved, the inaccuracy of the reference origin learning during the top gear is avoided, and the accuracy of position detection and control is ensured.
Smart Images
Figure CN120684537A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of vehicle technology, and in particular to a reference origin learning method, device, electronic equipment and vehicle. Background Art
[0002] Dog clutches are widely used in automotive transmissions and industrial automation equipment. As an engaging shifting device, the shifting process of the dog clutch requires position control, that is, the sliding sleeve or dog ring is moved to the target gear position through the actuator to complete the power engagement. However, since the tooth tip of the dog clutch is a flat design, there is a high probability of tooth topping during the engagement process, that is, the tooth tips of the dog teeth are aligned with each other, resulting in failure to engage smoothly, which in turn affects the position detection and control accuracy.
[0003] In related technologies, the reference origin is usually determined by detecting the limit stroke of the driven part of the dog clutch when it moves. However, the reference origin learning mechanism of the dog clutch relies on the record of the limit stroke. If the dog clutch has a tooth-top phenomenon, the sliding sleeve cannot enter the gear tooth groove, which will cause the limit stroke recorded by the system to be shorter than the actual limit stroke, resulting in misjudgment of the learning result, and then the reference origin is unreliable. Summary of the Invention
[0004] The problem solved by the present invention is how to improve the credibility of reference origin learning when a top tooth appears in a dog clutch.
[0005] To solve the above problems, the present invention provides a reference origin learning method, device, electronic device and vehicle.
[0006] In a first aspect, the present invention provides a reference origin learning method applied to a dog clutch, wherein the dog clutch includes a shift element, a shift fork, a driving portion, and a driven portion, wherein the shift fork is connected to the driven portion, and the shift element is configured to drive the shift fork to move when moving, thereby driving the driven portion to move. The reference origin learning method includes:
[0007] determining the state of the dog clutch based on operating condition data when the shift element moves from a first limit position to a second limit position, wherein the operating condition data includes at least one of a limit position difference, a maximum speed, and a movement duration of the shift element during movement, the first limit position being the position of the shift element when the driven part moves to the limit in a direction away from the driving part, and the second limit position being the position of the shift element when the driven part moves to the limit in a direction toward the driving part;
[0008] When the dog clutch is in the top tooth state, a reference origin is determined according to the first limit position and a predetermined theoretical length.
[0009] Optionally, before determining the state of the dog clutch according to the operating condition data when the shift element moves from the first extreme position to the second extreme position, the method further includes:
[0010] After driving the shift element to move to the first limit position, driving the shift element to move from the first limit position to the second limit position;
[0011] The limit position difference between the first limit position and the second limit position, the movement time of the shift element from the first limit position to the second limit position, and the maximum speed during the movement of the shift element are determined.
[0012] Optionally, determining the state of the dog clutch according to the operating condition data when the shift element moves from the first limit position to the second limit position includes:
[0013] When the limit position difference matches the sum of the idle stroke of the shift element and the top tooth stroke of the driven part, the movement duration matches the first duration, and the maximum speed matches the first speed, it is determined that the dog clutch is in the top tooth state, wherein the top tooth stroke represents the movement stroke of the driven part from a preset position to when the driven part is in top tooth with the driving part, and the preset position is the position of the driven part when the shift element is in the first limit position;
[0014] When the limit position difference matches the sum of the idle stroke and the engagement stroke of the driven part, and the movement duration matches the second duration, and the maximum speed matches the second speed, it is determined that the dog clutch is in the engaged state, wherein the first duration is less than the second duration, the first speed is greater than the second speed, and the engagement stroke represents the movement stroke of the driven part when it moves from the preset position to engage with the active part.
[0015] Optionally, the theoretical length is the sum of a theoretical value of the engagement stroke and a theoretical value of the idle stroke.
[0016] Optionally, when the dog clutch is in the top tooth state, determining the reference origin according to the first limit position and a predetermined theoretical length includes:
[0017] When the dog clutch is in the top tooth state, the position reached by the shift element after moving the theoretical length from the first extreme position to the target direction is determined as the reference origin, wherein the target direction is the moving direction of the shift element when driving the driven part to move toward the active part.
[0018] Optionally, the reference origin learning method further includes:
[0019] When the dog clutch is in an engaged state, the second limit position is determined as the reference origin.
[0020] Optionally, the reference origin learning method further includes:
[0021] When the shift element moves to the second limit position, if the dog clutch is not in the top tooth state or the engaged state, it is determined that the reference origin learning has failed.
[0022] In a second aspect, the present invention provides a reference origin learning device for use with a dog clutch, the dog clutch comprising a shift element, a shift fork, a driving portion, and a driven portion, the shift fork being connected to the driven portion, the shift element being configured to drive the shift fork to move when moving, thereby driving the driven portion to move; the reference origin learning device comprising:
[0023] a first module for determining a state of the dog clutch based on operating condition data when the shift element moves from a first limit position to a second limit position, wherein the operating condition data includes at least one of a limit position difference, a maximum speed, and a movement duration of the shift element during movement; the first limit position is a position of the shift element when the driven part moves to a limit in a direction away from the driving part; and the second limit position is a position of the shift element when the driven part moves to a limit in a direction toward the driving part;
[0024] The second module is used to determine a reference origin according to the first limit position and a predetermined theoretical length when the dog clutch is in a top tooth state.
[0025] In a third aspect, the present invention provides an electronic device comprising a memory and a processor;
[0026] The memory is used to store computer programs;
[0027] The processor is configured to implement the reference origin learning method as described in the first aspect when executing the computer program.
[0028] In a fourth aspect, the present invention provides a vehicle comprising the electronic device as described in the third aspect.
[0029] The beneficial effect of the reference origin learning method of the present invention is that when learning the reference origin, the state of the dog clutch is first determined based on the operating condition data when the shift element moves from the first extreme position to the second extreme position. For example, the state of the dog clutch is determined based on the extreme position difference, maximum speed and movement time of the shift element during the movement process. Since the operating condition data of the movement process corresponding to the dog clutch being in the top tooth state or the engaged state are different, the state of the dog clutch when the shift element moves to the second extreme position can be accurately determined based on the operating condition data. When the dog clutch is in the top tooth state, the first extreme position is fixed, and the theoretical length can be a pre-calibrated length. The reference origin is determined based on the first extreme position and the pre-determined theoretical length. For example, the reference origin is determined by moving the theoretical length from the first extreme position. This can avoid the problem of inaccurate recorded extreme stroke when determining the reference origin using the recorded extreme stroke during top toothing, thereby avoiding the problem of inaccurate reference origin learning during top toothing, and effectively improving the accuracy of reference origin learning. BRIEF DESCRIPTION OF THE DRAWINGS
[0030] Figure 1 Schematic diagram of the reference origin learning method according to an embodiment of the present invention;
[0031] Figure 2 A schematic diagram of a flow chart for determining a moving duration and a maximum speed according to an embodiment of the present invention;
[0032] Figure 3 A schematic diagram of a flow chart for determining the state of a dog clutch according to an embodiment of the present invention;
[0033] Figure 4 A schematic structural diagram of a dog clutch according to an embodiment of the present invention;
[0034] Figure 5 This is a system architecture diagram of a reference origin learning device according to an embodiment of the present invention;
[0035] Figure 6 2 is a system architecture diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION
[0036] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.
[0037] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.
[0038] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.
[0039] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".
[0040] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes and are not used to limit the scope of these messages or information.
[0041] like Figure 1 As shown, an embodiment of the present invention provides a reference origin learning method, which is applied to a dog clutch. The dog clutch includes a shift element, a shift fork, a driving part, and a driven part. The shift fork is connected to the driven part. The shift element is used to drive the shift fork to move when it moves, thereby driving the driven part to move. The reference origin learning method includes:
[0042] S100: Determine the state of the dog clutch based on the operating condition data when the shift element moves from a first extreme position to a second extreme position, wherein the operating condition data includes at least one of the extreme position difference, maximum speed and movement duration of the shift element during the movement process, the first extreme position is the position of the shift element when the driven part moves to the extreme in a direction away from the active part, and the second extreme position is the position of the shift element when the driven part moves to the extreme in a direction close to the active part.
[0043] Specifically, combined Figure 4As shown, the dog clutch includes: (1) a shift motor: provides power to drive the screw to rotate; (2) a screw: converts the rotational motion of the shift motor into linear motion; (3) a shift element, such as a ball screw nut: moves along the axial direction of the screw to push the shift fork; (4) a shift fork: connects to the dog clutch sliding sleeve to engage or disengage; (5) a dog clutch active part: fixed on the input shaft and always rotates; (6) a dog clutch driven part: fixed on the output shaft and rotates only in the engaged state; (7) a limit block: limits the position of the dog clutch driven part, thereby limiting the maximum movement stroke of the screw nut; the shift motor drives the screw to rotate, the nut moves along the axial line, and the shift fork moves with the nut, pushing the dog clutch sliding sleeve to the right or left. Left movement, so as to determine the operating condition data of the shift element when it moves from the first extreme position Posn1 (the position of the shift element when the driven part moves in the direction away from the active part to the limit, that is, the right extreme position) to the second extreme position Posn2 (the position of the shift element when the driven part moves in the direction close to the active part to the limit, that is, the left extreme position), such as the extreme position difference, maximum speed and movement time of the shift element during the movement, and then the state of the dog clutch can be determined according to the operating condition data, for example, by determining the extreme position difference L=Posn1-Posn2 between the first extreme position and the second extreme position of the shift element, and then determining whether the dog clutch is in the top tooth state, engaged state or other state.
[0044] S200: When the dog clutch is in the top tooth state, determining a reference origin according to the first limit position and a predetermined theoretical length.
[0045] Specifically, the state of the dog clutch is determined based on the limit position difference, maximum speed and movement time. If the limit position difference L is close to the sum of the idle stroke and the top tooth stroke, and meets other time and speed conditions, it can be confirmed that the dog clutch is in the top tooth state. At this time, the reference origin is determined based on the first limit position and the predetermined theoretical length.
[0046] In this embodiment, during reference origin learning, the state of the dog clutch is first determined based on the operating condition data when the shift element moves from the first extreme position to the second extreme position. For example, the state of the dog clutch is determined based on the extreme position difference, maximum speed, and movement duration of the shift element during the movement process. Because the operating condition data corresponding to the movement process of the dog clutch in the top tooth state and the engaged state are different, the state of the dog clutch when the shift element moves to the second extreme position can be accurately determined based on the operating condition data. When the dog clutch is in the top tooth state, the first extreme position is fixed, and the theoretical length can be a pre-calibrated length. The reference origin is determined based on the first extreme position and the pre-determined theoretical length, for example, by moving the theoretical length from the first extreme position to determine the reference origin. This can avoid the problem of inaccurate recorded extreme stroke when determining the reference origin during top toothing, thereby avoiding the problem of inaccurate reference origin learning during top toothing, effectively improving the accuracy of reference origin learning.
[0047] Optionally, before determining the state of the dog clutch according to the operating condition data when the shift element moves from the first limit position to the second limit position, the method further includes:
[0048] S001: After driving the shift element to move to the first limit position, driving the shift element to move from the first limit position to the second limit position.
[0049] Specifically, combined Figure 2 As shown, the shift element is driven to move to the right by the shift motor until the driven part of the dog clutch presses the limit block, the shift element no longer moves, reaches the first limit position, and then drives the shift element to move from the first limit position to the second limit position.
[0050] S002: Determine the limit position difference between the first limit position and the second limit position, the movement time of the shift element from the first limit position to the second limit position, and the maximum speed of the shift element during movement.
[0051] Specifically, combined Figure 2 As shown, the shift element is driven to move to the left by the shift motor (activating the timer). When the shift element no longer moves, the second extreme position at this time is recorded (the extreme position difference can be determined in combination with the first extreme position), and the movement time Tim0 of the shift element from the first extreme position to the second extreme position, as well as the maximum rotational speed Spd0 when the shift motor drives the shift element to move (corresponding to the maximum speed of the shift element during the movement process).
[0052] In this optional embodiment, by introducing the maximum speed and movement time, multiple working condition data are combined to judge the state of the dog clutch, which can effectively distinguish the top tooth state and the fully engaged state. Compared with the use of a single working condition data, the accuracy is higher, thereby effectively improving the accuracy of reference origin learning.
[0053] Optionally, determining the state of the dog clutch according to the operating condition data when the shift element moves from the first limit position to the second limit position includes:
[0054] S210: When the extreme position difference matches the sum of the idle stroke of the shift element and the top tooth stroke of the driven part, and the movement duration matches the first duration, and the maximum speed matches the first speed, it is determined that the dog clutch is in the top tooth state, wherein the top tooth stroke represents the movement stroke of the driven part from a preset position to when it has top tooth with the active part, and the preset position is the position of the driven part when the shift element is in the first extreme position.
[0055] Specifically, combined Figure 3 As shown, when the limit position difference L≈idle stroke L0+top tooth stroke L1, that is, the difference between the limit position difference L and the sum of idle stroke L0+top tooth stroke L1 is less than the first preset threshold, it means that the limit position difference matches the sum of idle stroke and top tooth stroke. At this time, if the movement time Tim0≈first time Tim1, that is, the difference between the movement time Tim0 and the first time Tim1 is less than the second preset threshold, and the maximum speed Spd0≈first speed Spd1, that is, the difference between the maximum speed Spd0 and the first speed Spd1 is less than the third preset threshold, the first preset threshold, the second preset threshold and the third preset threshold can be set according to actual conditions, then it means that the dog clutch is in the top tooth state (tooth tip to tooth tip, meshing failure, short stroke). When the tooth is top tooth, the tooth tip of the active part collides with the tooth tip of the driven part, and the sleeve cannot continue to move, so the moving stroke only reaches the top tooth point position, and the stroke is one tooth width less than the complete engagement (L2-L1).
[0056] The toothing stroke refers to the movement stroke of the driven part from the preset position to the toothing with the driving part, and the preset position is the position of the driven part when the shift element is in the first extreme position.
[0057] S220: When the limit position difference matches the sum of the idle stroke and the engagement stroke of the driven part, and the movement duration matches the second duration, and the maximum speed matches the second speed, it is determined that the dog clutch is in the engaged state, wherein the first duration is less than the second duration, the first speed is greater than the second speed, and the engagement stroke represents the movement stroke of the driven part from the preset position to the engagement with the active part.
[0058] Specifically, combined Figure 3 As shown, when the limit position difference L≈idle stroke L0+engagement stroke L2, that is, the difference between the limit position difference L and the sum of idle stroke L0+engagement stroke L2 is less than the first preset threshold, it means that the limit position difference matches the sum of idle stroke and engagement stroke. At this time, if the moving time Tim0≈the second time Tim2, that is, the difference between the moving time Tim0 and the second time Tim2 is less than the second preset threshold (Tim1<Tim2, in the top tooth state, the sliding sleeve only moves to the tooth tip position and stops immediately after the collision, the moving distance is short, and the time is shorter; in the engaged state, the sliding sleeve continues to slide along the tooth surface until it is fully engaged, the moving distance is long, and the time is longer), and the maximum speed Spd0≈the second speed Spd2, that is, the difference between the maximum speed Spd0 and the second speed Spd2 is less than the third preset threshold (Spd1>Spd2, the tooth tip collides with the tooth tip, the resistance is small, and the motor idles quickly; the tooth surface is engaged, the resistance is large, the motor load is heavy, and the speed is low), then it means that the dog clutch is in the engaged state (tooth surface engagement, full engagement, and long stroke).
[0059] The engagement stroke refers to the movement stroke of the driven part from the preset position to the engagement with the driving part.
[0060] In related technologies, there is a certain uncertainty in simply using the stroke to judge the state of the dog clutch. In this embodiment, the movement duration and the motor speed (or the maximum speed of the driven part) can reflect the load characteristics, and the use of dynamic signal characteristics is more reliable.
[0061] In this optional embodiment, the difference in moving distance is directly reflected by the difference in extreme positions, the length of movement time is reflected by the length of movement, and the motor load size is reflected by the maximum speed (or the maximum speed of the driven part). The three dimensions of mechanical characteristics, time characteristics and dynamic characteristics are judged simultaneously. When the three are matched at the same time, the state of the dog clutch can be accurately judged to avoid misjudgment caused by relying solely on a certain feature.
[0062] Optionally, the theoretical length is the sum of a theoretical value of the engagement stroke and a theoretical value of the idle stroke.
[0063] Specifically, the theoretical length L3 can be calculated based on the structural dimensions of the dog clutch. For example, the theoretical length is the sum of the theoretical value of the engagement stroke L2 and the theoretical value of the idle stroke L0. Then, the accurate reference origin is determined in combination with the reference point (i.e., the first extreme position) to avoid misidentifying the top tooth position as the fully engaged position, thereby improving the accuracy of determining the reference origin.
[0064] Optionally, when the dog clutch is in the top tooth state, determining the reference origin according to the first limit position and a predetermined theoretical length includes:
[0065] When the dog clutch is in the top tooth state, the position reached by the shift element after moving the theoretical length from the first extreme position to the target direction is determined as the reference origin, wherein the target direction is the moving direction of the shift element when driving the driven part to move toward the active part.
[0066] Specifically, when the dog clutch is in the top tooth state, the sleeve cannot continue to move when the tooth is topped, resulting in a shorter moving stroke of the shift element. At this time, the first extreme position Posn1 is used as the reference point, and the reference origin Posn0 = Posn1-theoretical length L3, that is, the position reached after the shift element moves the theoretical length from the first extreme position to the target direction (the moving direction of the shift element when the driven part is driven to move toward the active part) is used as the reference origin, which can avoid the top tooth position being mistakenly identified as the fully engaged position.
[0067] In this optional embodiment, when the dog clutch is in the top tooth state, the sleeve cannot continue to move when the tooth is topped, resulting in a shorter moving stroke of the shift element. Compared with using the recorded moving stroke of the driven part that does not match the actual limit stroke to determine the reference origin, the first limit position and the theoretical length are fixed and are not affected by changes in the recorded moving stroke, which effectively improves the accuracy of determining the reference origin when the tooth is topped.
[0068] Optionally, the reference origin learning method further includes:
[0069] When the dog clutch is in an engaged state, the second limit position is determined as the reference origin.
[0070] Specifically, when the dog clutch is in the engaged state, the sleeve can slide along the tooth surface when engaged to complete the full stroke. At this time, the second extreme position Posn2 is used as the reference point, and the reference origin Posn0 = Posn2, ensuring the accuracy and reliability of the reference origin learning.
[0071] In this optional embodiment, when the dog clutch is in the engaged state, the sleeve can slide along the tooth surface when engaged to complete the full stroke. Therefore, the second extreme position Posn2 can be directly used as the reference origin without backing off. The reference origin is determined by the second extreme position of the shift element when the dog clutch is fully engaged. Compared with using theoretical values to determine the reference origin, it is more in line with actual conditions and has higher accuracy, thereby ensuring the accuracy and reliability of reference origin learning.
[0072] Among them, when L3=L0+L2, the reference origin Posn0 calculated when the dog clutch is in the top tooth state or the engaged state is equal. For the reference origin calculation formula when the dog clutch is in the top tooth state, Posn0=Posn1-theoretical length L3 is adopted instead of directly using the calculation formula Posn0=Posn2. This is because the second limit position Posn2 of the shift unit in the top tooth state is not the actual limit position, and the reference origin calculated by Posn0=Posn2 is inaccurate. Only by using Posn0=Posn1-theoretical length L3 can a more accurate reference origin be obtained.
[0073] Optionally, the reference origin learning method further includes:
[0074] When the shift element moves to the second limit position, if the dog clutch is not in the top tooth state or the engaged state, it is determined that the reference origin learning has failed.
[0075] Specifically, learning failures include the following situations: (1) The learned limit position difference L meets the top tooth condition, but the time or speed is incorrect; if only the limit position difference is judged, it is easy to mistake other obstacles (such as foreign matter stuck) for top teeth. It is necessary to perform multi-dimensional verification in combination with time and speed to ensure that the tooth tip is actually top teeth; (2) The learned limit position difference L meets the engagement condition, but the time or speed is incorrect; the real engagement state is a smooth low-speed meshing process. If the learned speed is much higher than the normal speed, it means that there may be a mechanical fault; (3) The learned limit position difference L does not match the length when the tooth is top teeth, nor does it match the length when engaged; prevent the shift element from being in a random limit position due to jamming, foreign matter blocking, etc. during the learning process, and ensure that the learned result must belong to one of the two known states; when the above situation occurs, the dog clutch is not in the top tooth state or the engaged state (it may be due to a shift motor failure, mechanical jamming, foreign matter blockage, or abnormal transmission clearance, etc.), and the reference origin learning fails at this time.
[0076] In this optional embodiment, learning failure judgment is made to prevent misjudgment of abnormal conditions, ensure the accuracy of the learning reference origin, and ensure that the learned reference origin can meet the actual meshing accuracy requirements under any working conditions.
[0077] like Figure 5 As shown, an embodiment of the present invention provides a reference origin learning device 500, which is applied to a dog clutch. The dog clutch includes a shift element, a shift fork, a driving part, and a driven part. The shift fork is connected to the driven part. The shift element is used to drive the shift fork to move when it moves, thereby driving the driven part to move. The reference origin learning device 500 includes:
[0078] a first module 510 for determining a state of the dog clutch based on operating condition data when the shift element moves from a first limit position to a second limit position, wherein the operating condition data includes at least one of a limit position difference, a maximum speed, and a movement duration of the shift element during movement; the first limit position is the position of the shift element when the driven part moves to the limit away from the driving part; and the second limit position is the position of the shift element when the driven part moves to the limit toward the driving part.
[0079] The second module 520 is configured to determine a reference origin according to the first limit position and a predetermined theoretical length when the dog clutch is in a top tooth state.
[0080] like Figure 6 As shown, an electronic device 600 provided by an embodiment of the present invention includes a memory 620 and a processor 610; the memory 620 is used to store computer programs; the processor 610 is used to implement the reference origin learning method as described above when executing the computer program.
[0081] In other words, an electronic device 600 includes a memory 620 and a processor 610 coupled to the memory 620; the memory 620 is configured to store a computer program; and the processor 610 is configured to perform the following operations when executing the computer program:
[0082] determining the state of the dog clutch based on operating condition data when the shift element moves from a first limit position to a second limit position, wherein the operating condition data includes at least one of a limit position difference, a maximum speed, and a movement duration of the shift element during movement, the first limit position being the position of the shift element when the driven part moves to the limit in a direction away from the driving part, and the second limit position being the position of the shift element when the driven part moves to the limit in a direction toward the driving part;
[0083] When the dog clutch is in the top tooth state, a reference origin is determined according to the first limit position and a predetermined theoretical length.
[0084] An embodiment of the present invention provides a vehicle including the above-mentioned electronic device.
[0085] An electronic device 600 that can serve as a server or client of the present invention will now be described, which is an example of a hardware device that can be applied to various aspects of the present invention. The electronic device 600 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device 600 can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.
[0086] The electronic device 600 includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for device operation can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.
[0087] Those skilled in the art will understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM). In this application, the units described 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 the units can be selected according to actual needs to achieve the purpose of the embodiments of the present invention. In addition, the functional units in the various embodiments of the present invention can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into a single unit. The above-mentioned integrated units can be implemented in the form of hardware or software functional units.
[0088] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.
Claims
1. A reference origin learning method, applied to a dog clutch, wherein the dog clutch comprises a shift element, a shift fork, a driving portion, and a driven portion, wherein the shift fork is connected to the driven portion, and the shift element is configured to drive the shift fork to move when moving, thereby driving the driven portion to move; characterized in that: The reference origin learning method includes: determining the state of the dog clutch based on operating condition data when the shift element moves from a first limit position to a second limit position, wherein the operating condition data includes at least one of a limit position difference, a maximum speed, and a movement duration of the shift element during movement, the first limit position being the position of the shift element when the driven part moves to the limit in a direction away from the driving part, and the second limit position being the position of the shift element when the driven part moves to the limit in a direction toward the driving part; When the dog clutch is in the top tooth state, a reference origin is determined according to the first limit position and a predetermined theoretical length.
2. The reference origin learning method according to claim 1, characterized in that: Before determining the state of the dog clutch according to the operating condition data when the shift element moves from the first limit position to the second limit position, the method further includes: After driving the shift element to move to the first limit position, driving the shift element to move from the first limit position to the second limit position; The limit position difference between the first limit position and the second limit position, the movement time of the shift element from the first limit position to the second limit position, and the maximum speed during the movement of the shift element are determined.
3. The reference origin learning method according to claim 2, characterized in that: Determining the state of the dog clutch according to the operating condition data when the shift element moves from the first limit position to the second limit position includes: When the limit position difference matches the sum of the idle stroke of the shift element and the top tooth stroke of the driven part, the movement duration matches the first duration, and the maximum speed matches the first speed, it is determined that the dog clutch is in the top tooth state, wherein the top tooth stroke represents the movement stroke of the driven part from a preset position to when the driven part is in top tooth with the driving part, and the preset position is the position of the driven part when the shift element is in the first limit position; When the limit position difference matches the sum of the idle stroke and the engagement stroke of the driven part, and the movement duration matches the second duration, and the maximum speed matches the second speed, it is determined that the dog clutch is in the engaged state, wherein the first duration is less than the second duration, the first speed is greater than the second speed, and the engagement stroke represents the movement stroke of the driven part when it moves from the preset position to engage with the active part.
4. The reference origin learning method according to claim 3, characterized in that: The theoretical length is the sum of the theoretical value of the engagement stroke and the theoretical value of the idle stroke.
5. The reference origin learning method according to claim 1, characterized in that: When the dog clutch is in the top tooth state, determining the reference origin according to the first limit position and a predetermined theoretical length includes: When the dog clutch is in the top tooth state, the position reached by the shift element after moving the theoretical length from the first extreme position to the target direction is determined as the reference origin, wherein the target direction is the moving direction of the shift element when driving the driven part to move toward the active part.
6. The reference origin learning method according to claim 1, characterized in that: Also includes: When the dog clutch is in an engaged state, the second limit position is determined as the reference origin.
7. The reference origin learning method according to any one of claims 1 to 6, characterized in that: Also includes: When the shift element moves to the second limit position, if the dog clutch is not in the top tooth state or the engaged state, it is determined that the reference origin learning has failed.
8. A reference origin learning device, applied to a dog clutch, the dog clutch comprising a shift element, a shift fork, a driving portion, and a driven portion, the shift fork being connected to the driven portion, the shift element being used to drive the shift fork to move when moving, thereby driving the driven portion to move; characterized in that: The reference origin learning device includes: a first module for determining a state of the dog clutch based on operating condition data when the shift element moves from a first limit position to a second limit position, wherein the operating condition data includes at least one of a limit position difference, a maximum speed, and a movement duration of the shift element during movement; the first limit position is a position of the shift element when the driven part moves to a limit in a direction away from the driving part; and the second limit position is a position of the shift element when the driven part moves to a limit in a direction toward the driving part; The second module is used to determine a reference origin according to the first limit position and a predetermined theoretical length when the dog clutch is in a top tooth state.
9. An electronic device, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to implement the reference origin learning method according to any one of claims 1 to 7 when executing the computer program.
10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.