Method for judging rotation speed synchronization during gear shifting of synchronizer-free gearbox and related equipment

Abstract

The invention provides a rotating speed synchronization judgment method during gear shifting of a synchronizer-free gearbox and related equipment, and belongs to the technical field of vehicle control. The control method comprises the steps that according to the rotating speed of a shaft where a joint sleeve is located, the rotating speed of a shaft where joint teeth are located is adjusted through closed-loop control; judging whether the joint teeth and the joint sleeve are synchronous in rotating speed or not; when the rotating speeds are synchronous or asynchronous and the duration is less than or equal to the time threshold, determining that the rotating speed is in a rotating speed synchronous state; and when the rotating speeds are not synchronous and the duration is greater than the time threshold, determining to quit the rotating speed synchronization state. The method can adapt to the working characteristics of the synchronizer-free gearbox, the real synchronous state is effectively recognized, misjudgment caused by instantaneous disturbance is restrained, and the reliability and smoothness of gear shifting control are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a synchronizerless gearbox shift speed synchronization judgment method and related equipment. BACKGROUND

[0002] In the transmission system of modern commercial vehicles, in order to reduce manufacturing cost and simplify structure, some gearboxes are designed without synchronizer, and gear shifting is realized by meshing of the engagement tooth and the engagement sleeve. Such structure eliminates the complex components such as the synchronizing ring and the spline hub in the synchronizer, and relies on accurate control of the input shaft and output shaft speeds to complete the shift operation. During the shift process, the control system needs to first adjust the speeds of the two shafts, and when the speed difference between the engagement tooth and the engagement sleeve is less than a preset threshold and lasts for a certain time, it is determined that the "speed synchronization" is achieved, and then the gear shifting action is performed to make the engagement tooth and the engagement sleeve complete the meshing.

[0003] However, in the actual shift process, due to the lack of the buffering and pre-synchronization functions of the synchronizer, the engagement tooth and the engagement sleeve are prone to tooth tip collision (i.e. "tooth top tooth" phenomenon) when meshing, resulting in instantaneous impact and causing the speed difference to suddenly change. The traditional speed synchronization judgment method usually only judges whether the speed difference is below the threshold, and once the speed difference is detected to be out of limit, it is determined that the "speed is not synchronized", and thus the gear shifting process is interrupted and the speed matching is re-performed in the speed adjustment stage. Such misjudgment is particularly common at the beginning of the gear shifting, and is prone to cause repeated gear shifting back and repeated speed adjustment, which not only reduces the shift efficiency, but also intensifies the mechanical impact, affecting the driving smoothness and the service life of the parts. SUMMARY

[0004] The present application aims to solve at least one of the technical problems existing in the prior art, and proposes a synchronizerless gearbox shift speed synchronization judgment method and related equipment, which can adapt to the working characteristics of the synchronizerless gearbox, effectively identify the true synchronization state, and suppress the misjudgment caused by instantaneous disturbance, thereby improving the reliability and smoothness of the shift control.

[0005] In a first aspect, the present application embodiment provides a synchronizerless gearbox shift speed synchronization judgment method, which comprises: adjusting the speed of the shaft where the engagement tooth is located through closed-loop control according to the speed of the shaft where the engagement sleeve is located; judging whether the engagement tooth and the engagement sleeve are speed synchronized; when the speed is synchronized, or the speed is not synchronized and the duration is less than or equal to a time threshold, it is determined that the speed is in a synchronization state; and when the speed is not synchronized and the duration is greater than the time threshold, it is determined that the speed exits the synchronization state.

[0006] In a second aspect, the present application embodiment provides a synchronizerless gearbox shift speed synchronization judgment device, which comprises a speed adjustment module, a synchronization judgment module and a synchronization state determination module.

[0007] The rotation speed adjusting module is configured to adjust the rotation speed of the shaft on which the engaging tooth is arranged by closed-loop control according to the rotation speed of the shaft on which the engaging sleeve is arranged.

[0008] The synchronization judging module is configured to judge whether the rotation speeds of the engaging tooth and the engaging sleeve are synchronized.

[0009] The synchronization state determining module is configured to determine that the rotation speeds are in the synchronization state when the rotation speeds are synchronized or the rotation speeds are not synchronized and the duration is less than or equal to the time threshold value, and determine that the rotation speeds exit the synchronization state when the rotation speeds are not synchronized and the duration is greater than the time threshold value.

[0010] In a third aspect, an electronic device is provided, which comprises a memory configured to store instructions, and a processor configured to invoke the instructions stored in the memory to implement the synchronization judging method for the gear shifting of the gear box without the synchronizer.

[0011] In a fourth aspect, a vehicle is provided, which comprises the synchronization judging device for the gear shifting of the gear box without the synchronizer according to the second aspect, or the electronic device according to the third aspect.

[0012] In a fifth aspect, a computer readable storage medium is provided, which stores computer instructions, and the computer instructions are executed by a processor to implement the synchronization judging method for the gear shifting of the gear box without the synchronizer according to the first aspect.

[0013] In a sixth aspect, a computer program product is provided, which stores instructions, and the instructions are executed by a computer to implement the synchronization judging method for the gear shifting of the gear box without the synchronizer according to the first aspect.

[0014] In a seventh aspect, a chip is provided, which comprises at least one processor and an interface, the interface is configured to provide program instructions or data for the at least one processor, and the at least one processor is configured to execute the program instructions to implement the synchronization judging method for the gear shifting of the gear box without the synchronizer according to the first aspect.

[0015] The application provides a synchronizerless gearbox shift speed synchronization judgment method and related equipment, precise adjustment of the engagement shaft speed is realized through closed-loop control, and stability in the speed regulation stage is ensured; a dynamic criterion of "duration" is introduced in the synchronization judgment, and a logical mechanism with delay response and state retention capability is constructed. When the engagement tooth and the engagement sleeve generate a transient speed difference due to tooth tip collision in the upshift process, the system does not immediately determine that the speed is "not synchronized", but determines whether the state lasts more than a preset time threshold. If the time is not exceeded, it is still determined that the speed is "synchronized", so that misjudgment and upshift interruption caused by transient disturbance are effectively avoided. Only when the speed is not synchronized for a long time (reflecting real speed regulation failure), the synchronization state is exited, and the speed regulation process is reentered. The mechanism significantly improves the robustness and smoothness of the shift control, reduces the occurrence of repeated downshift and repeated upshift, and improves the shift success rate. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1a The schematic diagram of the idle stroke of the embodiment of the application;

[0017] Figure 1b The schematic diagram of the tooth tip of the embodiment of the application;

[0018] Figure 1c The schematic diagram of the meshing of the embodiment of the application;

[0019] Figure 2 The schematic diagram of t1-speed synchronization confirmation time of the embodiment of the application;

[0020] Figure 3 The schematic diagram of the flow of the speed synchronization judgment method of the synchronizerless gearbox shift of the embodiment of the application;

[0021] Figure 4 The schematic diagram of the optional specific implementation method of step S302 in the embodiment of the application;

[0022] Figure 5 The schematic diagram of the flow of another speed synchronization judgment method of the synchronizerless gearbox shift of the embodiment of the application;

[0023] Figure 6 The schematic diagram of the architecture of the speed synchronization judgment of the synchronizerless gearbox shift of the embodiment of the application;

[0024] Figure 7 The schematic diagram of the speed difference and change rate judgment module in the embodiment of the application;

[0025] Figure 8 The schematic diagram of the speed synchronization delay module in the embodiment of the application;

[0026] Figure 9The schematic diagram of the exit rotating speed synchronization delay module in the embodiment of the present application is shown in the figure;

[0027] Figure 10 The structural block diagram of the no-synchronizer gearbox shifting rotating speed synchronization judgment device provided by the embodiment of the present application is shown in the figure;

[0028] Figure 11 The structural block diagram of an electronic device provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0029] In order for those skilled in the art to better understand the technical solutions of the present application, the exemplary embodiments of the present application are described below in conjunction with the drawings, which include various details of the embodiments of the present application to help understanding, and should be considered only as exemplary. Therefore, those skilled in the art should realize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. Also, for the sake of clarity and conciseness, the description below omits the description of well-known functions and structures.

[0030] In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0031] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0032] The terms used herein are only used to describe specific embodiments, and are not intended to limit the present application. As used herein, the singular forms "a" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that the terms "comprise" and / or "consist of", when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. The terms "connected" or "coupled" and / or similar terms are not limited to a physical or mechanical connection, but can include an electrical connection, whether direct or indirect.

[0033] Unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in a commonly used dictionary should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present application, and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0034] The collection, storage, use, processing, transmission, provision and disclosure of the user personal information in the technical solution of the present application comply with relevant laws and regulations and do not violate public order and good customs.The use of user data in the technical solution complies with relevant national laws and regulations (for example, the Information Security Technology Personal Information Security Specification and the like).For example, appropriate measures are taken for personal information access control, the display of personal information is limited, the use purpose of personal information does not exceed the direct or reasonably associated range, and the use of personal information eliminates explicit identity orientation and avoids accurate positioning to a specific individual.

[0035] In the current gearbox in the field of commercial vehicles, in order to reduce the cost, the mechanism of engaging teeth and engaging sleeve is usually used for gear shifting. This mechanism saves the complex mechanism such as synchronizer, but the engaging process will produce collision and impact.

[0036] As shown in Figures 1a-1c , the engaging teeth 1 and the engaging sleeve 2 are connected to the input end and the output end of the gearbox respectively, and the power output is realized through the meshing of the engaging teeth 1 and the engaging sleeve 2.

[0037] In the meshing process, first, the speed difference between the engaging teeth 1 and the engaging sleeve 2 is adjusted, and when the speed difference is less than a certain threshold value and lasts for a period of time, it is judged that the speed is synchronized.

[0038] After the speed is synchronized, the gear shifting control is performed. The gear shifting process is divided into idle stroke, tooth tip tooth and meshing. After the gear is meshed, the gear shifting is completed.

[0039] From the above process, it can be found that due to the absence of the synchronizer, the smooth gear shifting cannot be realized due to the clever cooperation of the mechanisms such as the engaging sleeve, the synchronizer ring and the spline hub. In some special cases, if the teeth and the tooth gap of the engaging teeth and the engaging sleeve are not well matched, or the tooth tip tooth, impact will be generated, thereby re-generating the speed difference, and it is easy to cause the judgment that the speed is not synchronized, thereby returning to the gear shifting process and re-performing the speed adjustment, as shown in Figure 2 .

[0040] In the related art, first, the speed difference between the engaging teeth and the engaging sleeve is adjusted, and when the speed difference is less than a certain threshold value and lasts for a period of time, it is judged that the speed is synchronized. For the engaging teeth and the engaging sleeve without the synchronizer mechanism, the tooth tip collision is easy to cause the speed difference when the gear is meshed, and the gear shifting process is interrupted due to the judgment that the speed is not synchronized, and the gear shifting is re-performed after the speed adjustment, thereby causing the repeated gear shifting and gear shifting.

[0041] In view of the gearbox using the engaging teeth and the engaging sleeve without the synchronizer, in order to solve the above technical problems, the present application provides a speed synchronization judgment method for gear shifting of a gearbox without a synchronizer. Figure 3 The flowchart of the speed synchronization judgment method for gear shifting of a gearbox without a synchronizer provided by the embodiment of the present application is shown in Figure 3As shown, the synchronization speed judgment method for shifting of the synchronizerless gearbox comprises S301-S304.

[0042] In S301, the speed of the shaft on which the engaging sleeve is located is adjusted by closed-loop control according to the speed of the shaft on which the engaging sleeve is located.

[0043] This step starts the speed regulation process for shifting, and the speed of the shaft on which the engaging tooth is located is dynamically adjusted by a closed-loop control algorithm (such as PID control) according to the actual speed of the shaft on which the engaging sleeve is located corresponding to the target gear position, so that the speed gradually approaches the speed of the engaging sleeve, thereby creating conditions for smooth engagement.

[0044] In S302, it is judged whether the engaging tooth and the engaging sleeve are in synchronization in speed.

[0045] The speed difference between the engaging tooth and the engaging sleeve and its rate of change are calculated in real time, and it is judged whether the two satisfy a preset synchronization condition. Generally, when the absolute value of the speed difference is less than a certain threshold and the rate of change is stable, it is preliminarily determined that the speed is synchronized. This judgment serves as an input signal for subsequent logic.

[0046] In S303, when the speed is synchronized, or the speed is not synchronized and the duration is less than or equal to a time threshold, it is determined that the speed is in a synchronized state.

[0047] This step introduces the time dimension for anti-jitter processing. If S302 continuously outputs "synchronization", it is confirmed that the synchronization state is entered; the key is that even if the speed is temporarily "not synchronized" due to tooth tip tooth collision during the process of shifting to a higher gear, as long as the duration of this state does not exceed the set time threshold, the system still determines that the speed is in a synchronized state. This effectively avoids interrupting the process of shifting to a higher gear due to transient interference misjudgment, and improves the continuity of shifting.

[0048] In S304, when the speed is not synchronized and the duration is greater than the time threshold, it is determined that the speed is out of the synchronized state.

[0049] When it is detected that the speed is not synchronized and the duration of this state exceeds the time threshold, it indicates that the speed regulation fails or there is a serious out-of-sync, and the system determines that the speed is truly not synchronized, thereby exiting the synchronized state and re-entering the speed regulation process. This mechanism ensures that the system can be corrected in time when there is a long-term out-of-sync, thereby preventing invalid shifting to a higher gear.

[0050] The present application constructs a "delayed exit" logic through a time threshold, realizes the latching and anti-interference judgment of the synchronized state, and significantly improves the reliability of shifting.

[0051] In some embodiments, as shown in Figure 4 As shown, it is judged whether the engaging tooth and the engaging sleeve are in synchronization in speed, comprising S401-S402.

[0052] In S401, the speed difference is calculated according to the speeds of the engaging tooth and the engaging sleeve.

[0053] In S402, whether the engaging tooth and the engaging sleeve are synchronous in rotation speed is determined based on the rotation speed difference and the rate of change of the rotation speed difference.

[0054] In some embodiments, determining whether the engaging tooth and the engaging sleeve are synchronous in rotation speed based on the rotation speed difference and the rate of change of the rotation speed difference includes: taking an absolute value of the rotation speed difference to obtain an absolute value of the rotation speed difference; performing a derivative operation on the rotation speed difference to obtain the rate of change of the rotation speed difference, and taking an absolute value of the rate of change of the rotation speed difference; and determining whether the engaging tooth and the engaging sleeve are synchronous in rotation speed when the absolute value of the rotation speed difference is less than a first absolute value limit and the absolute value of the rate of change of the rotation speed difference is less than a first rate of change limit.

[0055] The application realizes dynamic monitoring of the convergence trend of the rotation speed by calculating the rotation speed difference and introducing the rate of change of the rotation speed difference (i.e. the derivative of the rotation speed difference). The “absolute value + double threshold” judgment condition is adopted, and only when the rotation speed difference and the rate of change are both small enough, it is determined to be synchronous, which avoids misjudgment caused by relying on the rotation speed difference only. The double criterion can effectively identify whether the rotation speed is truly stable, prevent misjudgment in the process of speed regulation oscillation, and enhance the robustness of the control system, laying a reliable foundation for subsequent anti-interference state maintenance.

[0056] In some embodiments, determining whether the engaging tooth and the engaging sleeve are synchronous in rotation speed includes: determining whether the current delay time meets a preset delay condition, and then determining whether the engaging tooth and the engaging sleeve are synchronous in rotation speed.

[0057] In some embodiments, whether the current delay time meets the preset delay condition is determined in the following manner:

[0058] Before the shift-in, if the current delay time is greater than a first preset time length, it is determined that the preset delay condition is met.

[0059] During the shift-in, if the current delay time is greater than a second preset time length, it is determined that the preset delay condition is met.

[0060] In some embodiments, the first preset time length is greater than the second preset time length.

[0061] Before the shift-in, a longer first preset time length (first preset time length > second preset time length) is adopted to ensure that the speed is fully stable before determining synchronization, which improves the initial synchronization accuracy. During the shift-in, a shorter second preset time length is adopted to quickly respond to transient disturbances caused by tooth tip collision, avoiding misjudgment of asynchronization due to excessive delay. By adaptively adjusting the delay condition according to the shift stage, the stability of the speed regulation stage is ensured, and the real-time performance and anti-interference ability of the shift-in process are enhanced, effectively preventing misretreat, improving the shift success rate and smoothness.

[0062] In some embodiments, adjusting the rotational speed of the shaft containing the engaging teeth via closed-loop control based on the rotational speed of the shaft containing the engaging sleeve includes: after entering the speed control phase, adjusting the rotational speed of the shaft containing the engaging teeth via closed-loop control based on the rotational speed of the shaft containing the engaging sleeve; determining that the rotational speed is in a synchronized state when the rotational speeds are synchronized, or when the rotational speeds are not synchronized and the duration is less than or equal to a time threshold, includes: after entering the speed control phase, determining that the rotational speed is in a synchronized state when the rotational speeds are synchronized, or when the rotational speeds are not synchronized and the duration is less than or equal to a time threshold; determining that the rotational speed is exiting the synchronized state when the rotational speeds are not synchronized and the duration is greater than a time threshold, includes: determining that the speed control phase has not yet been entered, or determining that the rotational speed is exiting the synchronized state when the rotational speeds are not synchronized and the duration is greater than a time threshold.

[0063] This invention explicitly defines "entering the speed control phase" as a prerequisite for synchronization judgment, ensuring that synchronization judgment is only performed when speed control is activated, thus avoiding misjudgments in non-speed control states. Maintaining the synchronization state relies on a time threshold for interference resistance, while the exit condition includes a judgment of "not entering the speed control phase," which can forcibly reset the synchronization flag upon completion of a gear shift or disengagement, preventing erroneous continuation across gear shift cycles. This design improves the accuracy and safety of the state machine, ensuring that each gear shift judgment is independent and reliable, effectively avoiding the risk of gear grinding.

[0064] The following is combined with Figure 5 and Figure 6 This invention provides a detailed description of the method for determining speed synchronization during gear shifting in a synchronizerless gearbox.

[0065] Step 1: Speed ​​adjustment begins.

[0066] The speed adjustment indicator is set to position 1 (i.e., entering the speed adjustment control stage), and the speed of the shaft containing the engagement sleeve is adjusted through closed-loop control according to the rotational speed of the shaft containing the engagement sleeve.

[0067] Step 2: Determine the speed difference and the rate of change of speed difference.

[0068] pass Figure 6 The speed difference and speed difference change rate judgment module determines whether the rotational speeds of the engaging teeth and the engaging sleeve are synchronized.

[0069] refer to Figure 7 First, calculate the speed difference based on the rotational speeds of the engaging teeth and the engaging sleeve.

[0070] Speed ​​difference condition judgment: After taking the absolute value of the speed difference, the system proceeds to the speed difference judgment submodule. The rule for this module is: output 1 when the absolute value of the speed difference is greater than the second speed difference limit, and output 0 when it is less than the first speed difference limit. The second speed difference limit is greater than the first speed difference limit to ensure strict input and lenient output.

[0071] Rate of change of speed difference judgment: the rate of change of speed difference is obtained by taking the derivative of the speed difference, and after taking the absolute value, it enters the rate of change of speed difference judgment submodule. The rule of this module is that when the absolute value of the rate of change of speed difference is greater than the second rate of change of speed difference limit value, output 1, when it is less than the first rate of change of speed difference limit value, output 0. The second rate of change of speed difference limit value needs to be greater than the first rate of change of speed difference limit value, so as to strictly enter and broadly exit.

[0072] The derivative is usually a discrete type with low-pass filtering differential, and the calculation formula is:

[0073]

[0074] In the formula, is the rate of change of speed difference, is the speed difference, (filter coefficient), is the software module operation step.

[0075] When the speed difference condition judgment and the speed difference rate of change judgment are both 0, and the speed regulation flag bit is 1, the step 2 output result is 1, indicating that the speed difference and the speed difference rate of change are small enough.

[0076] Step 3 enters the speed synchronization delay module, referring to Figure 8 and Figure 9 .

[0077] When step 2 outputs 1, anti-jitter processing is needed, so delay judgment is needed.

[0078] The delay rise module has two inputs, input 1-step 2 output and input 2-speed synchronization judgment time. The rule is: when input 1 changes from 0 to 1, the output will change to 1 after experiencing the delay time of input 2; if input 1 changes from 1 to 0, the output will immediately change to 0.

[0079] The speed synchronization judgment time needs to be distinguished before and during the gear engagement. If it is before the gear engagement, the delay judgment time can be longer (i.e. the first preset time length) at this time, so that the speed regulation is more stable; if it is during the gear engagement, the delay judgment time needs to be shorter (i.e. the second preset time length). Because at this time, it is the transient speed difference caused by the collision between the engagement teeth and the engagement sleeve, it is necessary to enter the synchronization state again as soon as possible in order to maintain the gear engagement.

[0080] Step 4: exit the speed synchronization delay module.

[0081] This module is mainly composed of a latch module and a delay drop module.

[0082] The rule of the latch module is that when the input is 0, the output is 0; when the input is 1 and the reset is 0, no matter how the input changes, the output remains 1; only when the reset is 1, the output = input;

[0083] The delay down module and the delay up module have similar rules, and have two inputs, which are the outputs of input 1-step 3 and input 2-rotation speed synchronization judgment time respectively. The rule is that when input 1 changes from 1 to 0, the output will change to 1 only after the delay time of input 2; if input 1 changes from 0 to 1, the output will immediately change to 1.

[0084] The function of the above two modules combined is that after step 3 judges the rotation speed synchronization, the latch module will continuously output 1; when step 3 judges that the rotation speed is not synchronized, if the time has not reached the rotation speed synchronization judgment time (the time threshold in the foregoing description) and is synchronized again, the latch module will still output 1, so that the problem of tooth tip collision causing the exit of synchronization during the gear engaging process is avoided; when step 3 judges that the rotation speed is not synchronized and the duration exceeds the rotation speed synchronization judgment time, the reset is triggered, at this time, the latch module will output 0, so that the rotation speed is long time out of synchronization due to the speed regulation problem during the gear engaging process, and the exit of synchronization is avoided.

[0085] The above logic also needs to consider triggering the reset when the speed regulation activation flag is 0. Because sometimes after the gear engaging is completed, a new gear shifting is immediately performed, the rotation speed difference is calculated based on the new target gear ratio, at this time, the rotation speed difference is definitely over the threshold. But at this time, due to the function of the delay down module, it cannot immediately return to 0. If the rotation speed synchronization is always 1, it will be misjudged that the rotation speed has been synchronized immediately after the gear is disengaged, and the tooth will be severely impacted; because the speed regulation activation flag is 0 during the gear shifting and the gear disengaging process, and will be changed to 1 only after the gear disengaging is completed, the speed regulation activation flag is introduced to trigger the reset when it is 0, so that after each gear shifting is completed, if there is a new gear shifting, the rotation speed synchronization judgment result can be reset to 0.

[0086] Step 5: rotation speed synchronization flag output.

[0087] The rotation speed synchronization flag is output.

[0088] The present application can solve the problem of rotation speed over difference caused by tooth tip collision during the gear engaging process, and the exit of the gear engaging process.

[0089] Based on the same inventive concept, the embodiment of the present application also provides a rotation speed synchronization judgment device for a synchronizerless gearbox during gear shifting, as shown in Figure 10 The rotation speed synchronization judgment device for the synchronizerless gearbox during gear shifting includes a rotation speed adjustment module 1001, a synchronization judgment module 1002 and a synchronization state determination module 1003.

[0090] The rotation speed adjustment module 1001 is configured to adjust the rotation speed of the shaft on which the engaging tooth is located by closed-loop control according to the rotation speed of the shaft on which the engaging sleeve is located.

[0091] The synchronization judgment module 1002 is configured to judge whether the rotation speeds of the engaging tooth and the engaging sleeve are synchronized.

[0092] The synchronization state determination module 1003 is configured to determine that the rotation speeds of the engaging tooth and the engaging sleeve are synchronized when the rotation speeds are synchronized or the rotation speeds are not synchronized and the duration is less than or equal to the time threshold value, and determine that the rotation speeds of the engaging tooth and the engaging sleeve are not synchronized when the rotation speeds are not synchronized and the duration is greater than the time threshold value.

[0093] In some embodiments, the synchronization judgment module 1002 is configured to calculate a rotation speed difference according to the rotation speeds of the engaging tooth and the engaging sleeve, and judge whether the rotation speeds of the engaging tooth and the engaging sleeve are synchronized based on the rotation speed difference and a speed difference change rate of the rotation speed difference.

[0094] In some embodiments, judging whether the rotation speeds of the engaging tooth and the engaging sleeve are synchronized based on the rotation speed difference and the speed difference change rate of the rotation speed difference includes: taking an absolute value of the rotation speed difference to obtain a speed difference absolute value; performing a differential operation on the rotation speed difference to obtain the speed difference change rate, and taking an absolute value of the speed difference change rate; and determining whether the rotation speeds of the engaging tooth and the engaging sleeve are synchronized when the speed difference absolute value is less than a first speed difference limit value and the speed difference change rate absolute value is less than a first speed difference change rate limit value.

[0095] In some embodiments, the synchronization judgment module 1002 is configured to judge whether the rotation speeds of the engaging tooth and the engaging sleeve are synchronized after determining that the current delay time meets the preset delay condition.

[0096] In some embodiments, whether the current delay time meets the preset delay condition is judged in the following manner:

[0097] If the current delay time is greater than a first preset time length before the gear is shifted in, it is determined that the preset delay condition is met.

[0098] If the current delay time is greater than a second preset time length during the gear is shifted in, it is determined that the preset delay condition is met.

[0099] In some embodiments, the first preset time length is greater than the second preset time length.

[0100] In some embodiments, adjusting the rotation speed of the shaft on which the engaging tooth is located by closed-loop control according to the rotation speed of the shaft on which the engaging sleeve is located includes: after entering a rotation speed control stage, adjusting the rotation speed of the shaft on which the engaging tooth is located by closed-loop control according to the rotation speed of the shaft on which the engaging sleeve is located.

[0101] When the speed is synchronized, or the speed is not synchronized and the duration is less than or equal to the time threshold, it is determined that the speed is in a synchronized state. This includes: after entering the speed control stage, when the speed is synchronized, or the speed is not synchronized and the duration is less than or equal to the time threshold, it is determined that the speed is in a synchronized state.

[0102] If the speeds are out of sync and the duration exceeds the time threshold, the system will exit the speed synchronization state. This includes determining that the system has not yet entered the speed control phase, or that the speeds are out of sync and the duration exceeds the time threshold.

[0103] Regarding the speed synchronization determination device for shifting gears in the above embodiments, the specific operation of each module has been described in detail in the embodiments concerning the speed synchronization determination method for shifting gears in the unsynchronized gearbox, and will not be elaborated here.

[0104] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 11 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 11 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 1101, a memory 1102, and one or more I / O interfaces 1103. The memory 1102 stores one or more programs, which, when executed by the one or more processors, enable the one or more processors to implement a speed synchronization determination method for shifting gears in any of the synchronizerless gearboxes described in the above embodiments; the one or more I / O interfaces 1103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0105] The processor 1101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 1102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 1103 is connected between the processor 1101 and the memory 1102, and can realize information interaction between the processor 1101 and the memory 1102, including but not limited to a data bus (Bus).

[0106] In some embodiments, the processor 1101, memory 1102, and I / O interface 1103 are interconnected via bus 1104, and thus connected to other components of the computing device.

[0107] In some embodiments, the one or more processors 1101 include a field-programmable gate array.

[0108] Based on the same inventive concept, the embodiments of the present application also provide a vehicle comprising the synchronizerless transmission gear shifting time speed synchronization judgment device introduced in the foregoing embodiments, or comprising the electronic device introduced in the foregoing embodiments, and capable of realizing the functions and effects of the synchronizerless transmission gear shifting time speed synchronization judgment device of the foregoing embodiments or the functions and effects of the electronic device introduced in the foregoing embodiments, which will not be repeated here.

[0109] Based on the same inventive concept, the embodiments of the present application also provide a computer readable medium. The computer readable medium stores a computer program, wherein the program, when executed by a processor, realizes the steps in any one of the synchronizerless transmission gear shifting time speed synchronization judgment methods of the foregoing embodiments. The computer readable storage medium can be a volatile or non-volatile computer readable storage medium.

[0110] Based on the same inventive concept, the embodiments of the present application also provide a computer program product comprising computer readable code or a non-volatile computer readable storage medium carrying computer readable code, when the computer readable code is run in a processor of an electronic device, the processor in the electronic device executes the synchronizerless transmission gear shifting time speed synchronization judgment method.

[0111] Based on the same inventive concept, the embodiments of the present application also provide a chip comprising at least one processor and an interface; the interface is configured to provide program instructions or data for the at least one processor; the at least one processor is configured to execute the program instructions to realize the synchronizerless transmission gear shifting time speed synchronization judgment method described in the method embodiments.

[0112] In some embodiments, the chip can further comprise a memory configured to save program instructions and data, and the memory is located in the processor or outside the processor.

[0113] Those skilled in the art can understand that all or some of the steps in the methods disclosed above, the functions of the modules / units in the systems and devices can be implemented as software, firmware, hardware or appropriate combinations thereof. In the hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software can be distributed on a computer readable storage medium, which can include computer storage media (or non-transitory media) and communication media (or transitory media).

[0114] As those skilled in the art will appreciate, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable program instructions, data structures, program modules or other data. Computer storage media include, but are not limited to, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), flash memory or other memory technology, portable compact disc read only memory (CD-ROM), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. Further, as those skilled in the art will appreciate, communication media typically embodies computer readable program instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. In this document, the terms "computer storage medium" and "computer readable medium" are used to generally refer to media such as removable storage drives, memory, certain hardware storage components, or storage media of memory devices (e.g., random access memory, or RAM) such as computer storage media and signals. Computer storage media and computer readable media do not generally include carrier waves and / or other propagating / transitory signals.

[0115] Computer readable program instructions described herein can be downloaded to respective computing / processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and / or edge servers. A network adapter card or network interface in each computing / processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing / processing device.

[0116] Computer readable program instructions for carrying out operations of the present application can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate array (FPGA), or programmable logic array (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present application.

[0117] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied in a specific manner as a computer storage medium, and in another optional embodiment, the computer program product is embodied in a specific manner as a software product, such as a software development kit (SDK) or the like.

[0118] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied in a specific manner as a computer storage medium, and in another optional embodiment, the computer program product is embodied in a specific manner as a software product, such as a software development kit (SDK) or the like.

[0119] The computer program product described herein can be embodied in a specific manner by hardware, software, or a combination thereof. In an optional embodiment, the computer program product is embodied in a specific manner as a computer storage medium, and in another optional embodiment, the computer program product is embodied in a specific manner as a software product, such as a software development kit (SDK) or the like.

[0120] These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can include a non-transitory computer readable storage medium that can be a computer- readable storage medium having no data storage cycles that change state. The instructions can be executed by one or more processors of a computer, other programmable data processing apparatus, or other devices to produce a computer-implemented process such that the instructions which execute via the one or more processors of the computer or other programmable data processing devices create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0121] The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0122] The flow and block diagrams in the drawings show the architectural, functional, and operational views of possible implementations of systems, methods, and computer program products according to the present application. In this regard, each block in the flow and block diagrams can represent a module, a segment, or a portion of instructions which contain one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0123] Example embodiments have been disclosed and, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described with respect to a particular embodiment can be used, combined, and / or modified in alternative embodiments. Thus, it will be understood by those skilled in the art that various changes can be made and equivalents can be substituted for elements without departing from the scope of the application as set forth in the appended claims.

Claims

1. A method for judging synchronization of rotational speed at the time of shifting in a synchronizerless transmission, characterized by, The method comprises the following steps: adjusting the rotating speed of the engaging tooth shaft by closed-loop control according to the rotating speed of the engaging sleeve shaft; determining whether the rotating speed of the engaging tooth and the engaging sleeve is synchronous; determining that the rotating speed is synchronous when the rotating speed is synchronous or the rotating speed is asynchronous and the duration is less than or equal to a time threshold value; determining that the rotating speed is not synchronous when the rotating speed is asynchronous and the duration is greater than the time threshold value.

2. The method of claim 1, wherein, The method comprises the following steps: calculating the rotating speed difference according to the rotating speed of the engaging tooth and the engaging sleeve; determining whether the rotating speed of the engaging tooth and the engaging sleeve is synchronous based on the rotating speed difference and the rotating speed difference change rate.

3. The method of claim 2, wherein, The method comprises the following steps: taking the absolute value of the rotating speed difference to obtain the rotating speed difference absolute value; deriving the rotating speed difference to obtain the rotating speed difference change rate and taking the absolute value of the rotating speed difference change rate; determining whether the rotating speed of the engaging tooth and the engaging sleeve is synchronous when the rotating speed difference absolute value is less than a first rotating speed difference limit value and the rotating speed difference change rate absolute value is less than a first rotating speed difference change rate limit value.

4. The method of claim 1, wherein, The method comprises the following steps: determining whether the rotating speed of the engaging tooth and the engaging sleeve is synchronous after determining that the current delay time meets the preset delay condition.

5. The method of claim 4, wherein, The method comprises the following steps: determining that the preset delay condition is met when the current delay time is greater than a first preset time length before the gear is engaged; determining that the preset delay condition is met when the current delay time is greater than a second preset time length during the gear engagement.

6. The method of claim 5, wherein, The first preset time length is greater than the second preset time length.

7. The method of claim 1, wherein, The method comprises the following steps: adjusting the rotating speed of the engaging tooth shaft by closed-loop control according to the rotating speed of the engaging sleeve shaft after entering the rotating speed control stage; determining that the rotating speed is synchronous when the rotating speed is synchronous or the rotating speed is asynchronous and the duration is less than or equal to a time threshold value after entering the rotating speed control stage; 8. A device for determining the synchronization of the rotational speed of a transmission during a gear shift without a synchronizer, characterized in that determining that the rotating speed is not synchronous when the rotating speed is asynchronous and the duration is greater than the time threshold value. The method comprises the following steps: a rotating speed adjustment module for adjusting the rotating speed of the engaging tooth shaft by closed-loop control according to the rotating speed of the engaging sleeve shaft; a synchronization determination module for determining whether the rotating speed of the engaging tooth and the engaging sleeve is synchronous; 9. An electronic device, comprising: a synchronization state determination module for determining that the rotating speed is synchronous when the rotating speed is synchronous or the rotating speed is asynchronous and the duration is less than or equal to a time threshold value, and determining that the rotating speed is not synchronous when the rotating speed is asynchronous and the duration is greater than the time threshold value. The method comprises the following steps: one or more processors; a memory for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the synchronization-free gearbox shifting speed synchronization determination method as claimed in any one of claims 1 to 7.

10. A vehicle characterized by comprising: The synchronization-free gearbox shifting speed synchronization determination device as claimed in claim 8, or the electronic device as claimed in claim 9.

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