Control method and system of gear shifting executing mechanism, vehicle and controller

Abstract

The invention discloses a control method and system of a gear shifting executing mechanism, a vehicle and a controller, and relates to the technical field of vehicle control. According to the method, after a vehicle is powered on, a shifting fork is controlled to move to a first positioning point, preliminary zero position learning of a gear shifting execution mechanism is completed based on in-place information generated by controlling the shifting fork to repeat a first preset zero position learning process, then a second preset zero position learning process is repeated, namely, the shifting fork is controlled to move between the first positioning point and a second positioning point, and the gear shifting execution mechanism is started. When the shifting fork is about to reach the first positioning point and the second positioning point and meets the preset current requirement, the speed of the shifting fork is reduced to the preset speed within the first preset duration, and output is stopped after the preset speed is kept for the second preset duration, so that accurate zero learning of the gear shifting execution mechanism is completed; and finally, a gear shifting execution mechanism is controlled based on the determined zero position data. Therefore, the problems that the cost is high and the maintainability is poor due to the fact that gear shifting operation control is conducted through a sensor or a mechanical clamping position are solved.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a control method, system, vehicle, and controller for a gear shifting actuator. Background Technology

[0002] The multi-gear response of a vehicle's powertrain depends on the functional operation of the gear shifting mechanism. The gear shifting control method determines the powertrain's response and the smoothness of the shifts, directly impacting the driver's driving experience. Therefore, achieving accurate control during gear shifts—that is, ensuring precise shifting positions, rapid response, and within an acceptable cost range—has always been a sought-after goal.

[0003] However, current gear shifting methods typically involve adding various sensors or mechanical locking mechanisms, which then feed back to the control system for adjustment. While using sensors or mechanical locking mechanisms offers greater accuracy, they do not provide significant advantages in terms of cost and maintainability. Summary of the Invention

[0004] In view of this, the embodiments of this application aim to provide a control method, system, vehicle and controller for a gear shifting actuator, so as to solve the problems of high cost and poor maintainability caused by controlling gear shifting operation through sensors or mechanical clamps.

[0005] In a first aspect, the present invention provides a control method for a gear shifting actuator, comprising: In response to the vehicle's power-on signal, after the control fork moves to the first positioning point, the first preset zero-position learning process is repeated, and the positioning information generated by executing the first preset zero-position learning process is recorded. The first preset zero-position learning process includes: controlling the shift fork to move from the first positioning point to the second positioning point, and from the second positioning point to the first positioning point, wherein the first positioning point and the second positioning point are the endpoints of the shift actuator near the highest gear and the lowest gear, respectively; the positioning information includes: number of steps, duration and current. Based on the positioning information, determine whether the initial zero-position learning was successful; After confirming the success of the initial zero-position learning, the precise zero-position learning is completed by repeating the second preset zero-position learning process. The second preset zero-position learning process includes: controlling the shift fork to move between the first positioning point and the second positioning point, and when the shift fork is about to reach the first positioning point and the second positioning point and meet the preset current requirement, reducing the speed of the shift fork to a preset speed within a first preset time period, and stopping the output after maintaining the preset speed for a second preset time period; The shift actuator is controlled based on the zero-position data determined through the precise zero-position learning.

[0006] In one possible implementation, the movement of the control fork to the first positioning point includes: Control the shift fork to move towards the first positioning point; Determine whether the shift fork is stalled; When it is determined that the shift fork has stalled and the stall current reaches a preset minimum threshold, it is determined that the shift fork has moved to the first positioning point.

[0007] In one possible implementation, determining whether the initial zero-position learning was successful based on the positioning information includes: Determine whether the differences between the position information generated in each execution of the first preset zero-position learning process meet preset requirements; If the difference is determined to meet the preset requirements, then the initial zero-position learning is considered successful.

[0008] In one possible implementation, the preset current requirement includes: the current increase of the shift fork is greater than a preset current threshold.

[0009] In one possible implementation, controlling the shift actuator based on the zero-position data determined through the precise zero-position learning includes: Get location request command; In response to the position request command, the fork is controlled to move to the target position based on the zero-position data.

[0010] In one possible implementation, after controlling the fork to move to the target position, the method further includes: Obtain the actual values ​​of the operating data of the shift fork, the operating data including: position, current and duration; The theoretical value of the operating data is retrieved when the shift fork moves to the position indicated by the position requirement command. Based on the relationship between the actual value and the theoretical value, determine whether the zero-position data is accurate.

[0011] In one possible implementation, determining whether the zero-digit data is accurate based on the relationship between the actual value and the theoretical value includes: When the difference between the actual value and the theoretical value exceeds a preset range, the zero-point data is determined to be inaccurate, and zero-point learning is performed again. When the difference between the actual value and the theoretical value is within the preset range, the zero-position data is determined to be accurate.

[0012] Secondly, the present invention provides a control system for a gear shifting actuator, comprising: The initial learning unit is used to respond to the vehicle's power-on signal, control the shift fork to move to the first positioning point, repeat the first preset zero-position learning process, and record the positioning information generated by executing the first preset zero-position learning process. The first preset zero-position learning process includes: controlling the shift fork to move from the first positioning point to the second positioning point, and from the second positioning point to the first positioning point, wherein the first positioning point and the second positioning point are the endpoints of the shift actuator near the highest gear and the lowest gear, respectively; the positioning information includes: number of steps, duration and current. The judgment unit is used to determine whether the initial zero-position learning was successful based on the positioning information. The precise positioning unit is used to complete the precise zero-position learning by repeating the second preset zero-position learning process after confirming that the initial zero-position learning is successful. The second preset zero-position learning process includes: controlling the shift fork to move between the first positioning point and the second positioning point, and when the shift fork is about to reach the first positioning point and the second positioning point and meet the preset current requirement, reducing the speed of the shift fork to a preset speed within a first preset time period, and stopping the output after maintaining the preset speed for a second preset time period; An execution unit is used to control the shifting actuator based on the zero-position data determined through the precise zero-position learning.

[0013] Thirdly, the present invention provides a vehicle, the vehicle comprising a vehicle body and a control system for a shift actuator provided in the second aspect of the present invention.

[0014] Fourthly, the present invention provides a shift controller, the shift controller comprising: processor; Memory used to store the processor's executable instructions; The processor is used to execute the control method for the shift actuator provided in the first aspect of the present invention.

[0015] According to the control method for the shift actuator provided in this application, after the vehicle is powered on, the shift fork is moved to the first positioning point. Based on the number of steps and duration of the positioning information generated by the repeated first preset zero-position learning process of the shift fork, the initial zero-position learning of the shift actuator is completed. Then, after confirming the success of the initial zero-position learning, the second preset zero-position learning process is repeated. That is, the shift fork is moved between the first and second positioning points. When the shift fork is about to reach the first and second positioning points and meets the preset current requirements, the speed of the shift fork is reduced to a preset speed within a first preset time. After maintaining the preset speed for a second preset time, the output stops. The position deviation is introduced to prevent the position from shifting due to the springback caused by the mechanical stress characteristics during the movement of the shift fork, so as to complete the precise zero-position learning of the shift actuator and achieve the purpose of precise positioning. This allows for accurate shifting when controlling the shift actuator based on the zero-position data determined by precise zero-position learning, and reduces the number of sensors and some mechanical positioning mechanisms, thereby reducing costs and improving maintainability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0017] Figure 1 The diagram shows a flowchart of a control method for a gear shifting actuator provided in an embodiment of the present invention.

[0018] Figure 2 The diagram shown is a structural diagram of an example of a shift actuator controlled by a control system according to an embodiment of the present invention.

[0019] Figure 3 The figure shown is a time-speed relationship graph of an example of shift fork speed control during precise zero-position learning provided by an embodiment of the present invention.

[0020] Figure 4 The diagram shown is a structural diagram of a control system for a gear shifting actuator provided in an embodiment of the present invention.

[0021] Figure 5 The diagram shown is a structural diagram of a control system for another gear shifting actuator provided in an embodiment of the present invention.

[0022] Figure 6 The diagram shown is a structural schematic of a shift controller provided in an embodiment of the present invention. Detailed Implementation

[0023] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

[0024] Unless the context otherwise requires, throughout this specification, "a plurality of" means "at least two," and "including" is interpreted as open-ended or encompassing, that is, "including, but not limited to." In the description of this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this specification. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example.

[0025] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0026] Understandably, the current method for controlling gear shifting is to feed back signals from sensors or mechanical latches installed on the vehicle to the vehicle's control system. However, while sensor detection is convenient and accurate, it adds extra cost and, like mechanical latches, suffers from poor maintainability.

[0027] The present invention aims to solve the above problems. After the vehicle is powered on, the movement of the shift fork between positioning points is controlled. Combined with the introduced position deviation, the zero position of the shift actuator is accurately learned. Then, the shift actuator is controlled based on the zero position data determined by the accurate zero position learning, thereby achieving the purpose of directly achieving precise shifting through angle control.

[0028] Furthermore, the control method for the shift actuator provided by the present invention is executed on a controller, which may be a vehicle shift controller, a smart terminal such as a laptop computer remotely connected to the vehicle shift controller, or a network-side server.

[0029] Based on the above, see Figure 1 , Figure 1 This is a flowchart of a control method for a gear shifting actuator provided in an embodiment of the present invention, such as... Figure 1As shown, the process of this method may include: S100: In response to the power-on signal of the vehicle, after controlling the shift fork to move to the first positioning point, repeat the first preset zero-position learning process and record the positioning information generated by executing the first preset zero-position learning process. The first preset zero-position learning process includes: controlling the shift fork to move from the first positioning point to the second positioning point, and from the second positioning point to the first positioning point.

[0030] The first positioning point and the second positioning point are the endpoints of the shift actuator near the highest gear and the lowest gear, respectively; the positioning information includes: number of steps, duration and current.

[0031] Specifically, after the vehicle is powered on, the vehicle's control system receives a power-on signal. In response to this signal, the control system begins zero-position learning of the shift actuator.

[0032] Specifically, Figure 2 This is a structural diagram of an example of a gear shifting actuator controlled by a control system. Figure 2 As shown, the shift fork 1 of the gear shifting actuator moves under the drive of the motor 2 to achieve gear shifting. This gear shifting actuator includes: 3: gear 0, 4: gear 1, and 5: gear 2. The first positioning point 6 and the second positioning point 7 are respectively set as the two endpoints of the gear shifting actuator near gear 2 and gear 0. Then, the motor 2 is connected to an angle sensor 8, which is electrically connected to the vehicle's control system 10 via a PCB (Printed Circuit Board) 9, specifically through a CAN connection. This allows the angle sensor 8 to collect the rotation angle of the motor 2's rotor, and then, by accumulating and calculating the collected angles, converting them into position data information of the shift fork 1's stroke, thus achieving the purpose of controlling the motor rotation to make the shift fork move as required.

[0033] More specifically, the initial position of the shift fork 1 can be any position between the first positioning point 6 and the second positioning point 7. After the vehicle is powered on, the control motor 2 rotates, first moving the shift fork 1 to the first positioning point 6, and then controlling the shift fork 1 to move from the first positioning point 6 to the second positioning point 7, and then from the second positioning point 7 to the first positioning point 6, that is, executing the first preset zero-position learning process, so that the shift fork 1 can complete the entire stroke of the shift actuator.

[0034] Understandably, since the stroke of the shift actuator is fixed, the number of steps, duration, and current required for the shift fork to complete one stroke or move from one fixed position to another are theoretically also fixed. Based on this, the positioning information, including the number of steps, duration, and current, generated by executing the first preset zero-position learning process can be used for zero-position learning of the shift actuator.

[0035] S110. Based on the location information, determine whether the initial zero-position learning was successful.

[0036] Specifically, the number of steps, duration, and current required for each execution of the shift fork to perform the same stroke are theoretically the same. Based on this, by comparing the deviations in the number of steps, duration, and current for each execution of the first preset zero-position learning process, it can be determined whether the initial zero-position learning was successful.

[0037] In a preferred embodiment, determining whether preliminary zero-position learning was successful based on the position information includes: Determine whether the differences in the position information generated by each execution of the first preset zero-position learning process meet the preset requirements; If the difference is determined to meet the preset requirements, the initial zero-point learning is considered successful.

[0038] Understandably, in order to improve zero-position learning efficiency and avoid wasting computing resources, it is preferable to first repeat the first preset zero-position learning process twice, and then compare the position information generated by the first and second preset zero-position learning processes. If the allowable deviation requirement is met, the initial zero-position learning is determined to be successful. However, if the position information generated by the first or second preset zero-position learning process deviates significantly from the position information generated by the other process due to obstacles or resistance, the motor is then controlled to drive the shift fork to perform a third preset zero-position learning process.

[0039] It should be noted that when the number of times the first preset zero-position learning process is executed reaches the preset limit (e.g., 3 times, 4 times, etc.), the control system will stop the zero-position learning process and return a positioning failure signal so that the user can handle the fault in a timely manner.

[0040] S120. After confirming the initial zero-position learning is successful, complete the precise zero-position learning by repeating the second preset zero-position learning process.

[0041] The second preset zero-position learning process includes: controlling the shift fork to move between the first positioning point and the second positioning point, and when the shift fork is about to reach the first positioning point and the second positioning point and meet the preset current requirements, reducing the speed of the shift fork to the preset speed within the first preset time period, and stopping the output after maintaining the preset speed for the second preset time period.

[0042] Specifically, when the shift fork reaches the first or second positioning point at the set speed, due to the mechanical stress characteristics, it will spring back, causing the position to shift and thus affecting the positioning accuracy.

[0043] Furthermore, when the shift fork is about to reach the first or second positioning point, the motor will stall, at which point the current will change, for example, suddenly increasing from 5A to 15A.

[0044] Based on this, in an optional embodiment, the preset current requirement includes: the current increase of the shift fork is greater than a preset current threshold.

[0045] Specifically, after successfully determining the initial zero-position learning, the control fork moves between the first and second positioning points. When the fork is about to reach either the first or second positioning point and meets the preset current requirement, the fork speed is reduced to a preset speed within a first preset time period, and the output stops after maintaining the preset speed for a second preset time period. In other words, by suddenly reducing the fork speed just before it reaches the first or second positioning point, the fork reaches the first or second positioning point at a lower speed, thus avoiding positional shifts caused by rebound and achieving precise positioning.

[0046] In some possible embodiments, with Figure 3 As shown, Stage 1 is the set speed, such as 500 r / min; Stage 3 is the speed before the shift fork stops moving, such as 10 r / min; and Stage 2 is the speed reduction stage. After successful initial zero-position learning, the control system first controls the motor to drive the shift fork to move at the speed of Stage 1. Then, upon detecting a sudden increase in current, it sends a control command to the motor, causing the shift fork speed to decrease from 500 r / min to 10 r / min over 10 ms, and maintain this speed for another 10 ms before stopping the output. This effectively balances the impact force of stalling, avoids position rebound, and achieves precise positioning.

[0047] Furthermore, by repeating the second preset zero-position learning process and comparing the data recorded during the current execution of the second preset zero-position learning process with the data recorded during the previous execution, parameters such as the preset speed and the first preset duration can be continuously adjusted to achieve precise control of the shift fork to stably reach the first or second positioning point, thereby ensuring the accuracy of positioning.

[0048] S130. Based on the zero-position data determined through precise zero-position learning, the shift actuator is controlled.

[0049] In this embodiment, the shifting actuator is initially learned at its zero position by controlling the movement of the shift fork after calculating the accumulated rotation angles of the motor rotor. Then, by introducing a positional deviation and momentarily reducing the speed of the shift fork just before it reaches the first or second positioning point, the impact of stalling is balanced, preventing the shift fork from rebounding. This achieves precise zero-position learning after the initial learning. Therefore, when controlling the shifting actuator based on the zero-position data determined through precise zero-position learning, not only is accurate shifting achieved, but the number of sensors and some mechanical positioning mechanisms is reduced, thereby lowering costs and improving maintainability.

[0050] In a preferred embodiment, controlling the shift fork to move to the first positioning point includes: Control the shift fork to move towards the first positioning point; Determine if the shift fork is stuck; When it is determined that the shift fork has stalled and the stall current has reached the preset minimum threshold, it is determined that the shift fork has moved to the first positioning point.

[0051] Specifically, by monitoring the stall current, it is possible to determine whether the shift fork has reached the first positioning point.

[0052] In a preferred embodiment, the shift actuator is controlled based on zero-position data determined through precise zero-position learning, including: Get location request command; In response to a position request command, the control fork is moved to the target position based on zero-position data.

[0053] Specifically, after precise zero-position learning, the control system acquires zero-position data. When a shift request is received, the control system generates a position requirement and a speed command based on the zero-position data, causing the motor to drive the shift fork to move to the target position, i.e., the position corresponding to the position requirement, thereby realizing the shift.

[0054] In a preferred embodiment, after the control fork moves to the target position, the method further includes: Obtain the actual values ​​of the shift fork's operating data, including: position, current, and duration; Retrieve the theoretical value of the running data when the shift fork is moved to the position indicated by the position requirement command; Based on the relationship between actual and theoretical values, determine whether the zero-point data is accurate.

[0055] Specifically, after setting the operating speed, the time and current required for the shift fork to move to the designated position are known quantities. Based on this, after controlling the shift fork to move to the target position, by determining whether the target position is within the range set based on the required position, whether the current is within the range set based on the theoretical value of the current corresponding to the required position, and whether the time is within the range set based on the theoretical value of the time required to move to the required position, self-diagnosis of the zero-position data determined after precise zero-position learning can be achieved, thereby ensuring the reliability of the control of the shift actuator.

[0056] Based on the above embodiments, determining whether the zero-point data is accurate based on the relationship between actual and theoretical values ​​includes: When the difference between the actual value and the theoretical value exceeds the preset range, the zero-point data is determined to be inaccurate, and zero-point learning is performed again. When the difference between the actual value and the theoretical value is within a preset range, the accuracy of the zero-point data is determined.

[0057] Specifically, when the difference between the actual value and the theoretical value exceeds a preset range, the zero-point data is determined to be inaccurate, and zero-point learning is performed again, thereby further ensuring accurate gear shifting.

[0058] Furthermore, when applying the control method for the shift actuator provided in this embodiment of the invention, the positioning efficiency can be controlled by adjusting the moving speed of the shift fork during zero-position learning, while the positioning accuracy can be controlled by adjusting the preset requirements that the differences between positioning information must meet. In other words, the control method for the shift actuator provided in this embodiment of the invention can provide users with adjustable response speed and accuracy.

[0059] The control method for the shift actuator provided in this invention begins zero-position learning after power-on, i.e., the shift mechanism motor rotates to drive the shift fork to move. When the initial zero position is reached, deviation correction is performed. After accurately determining the zero position, the zero position data information is returned to the control system. Then, the control system issues position demand and response speed commands to move the shift fork to any desired position. At the same time, self-diagnosis is performed, i.e., checking whether the position, current, and duration are within the set threshold range. If not, the position is repositioned, thereby achieving movement to any position and achieving the purpose of rapid and accurate shifting. It is simple and convenient, and has built-in diagnostic functions, which can meet the needs of various platforms and products.

[0060] The control system of a shift actuator provided by an embodiment of the present invention will be described below. The control system of the shift actuator described below can be considered as a modular architecture for implementing the control method of the shift actuator provided by an embodiment of the present invention; the following description can be referred to in conjunction with the above.

[0061] See Figure 4 ,Figure 4 This is a structural block diagram of a control system for a gear shifting actuator provided in an embodiment of the present invention. The system may include: The initial learning unit 10 is used to respond to the power-on signal of the vehicle, control the shift fork to move to the first positioning point, repeat the first preset zero-position learning process, and record the positioning information generated by executing the first preset zero-position learning process. The first preset zero-position learning process includes: controlling the shift fork to move from the first positioning point to the second positioning point, and from the second positioning point to the first positioning point, wherein the first positioning point and the second positioning point are the endpoints of the shift actuator near the highest gear and the lowest gear, respectively; the positioning information includes: number of steps, duration and current; Judgment unit 20 is used to determine whether the initial zero-position learning was successful based on the position information; The precise positioning unit 30 is used to complete the precise zero-position learning by repeating the second preset zero-position learning process after the initial zero-position learning is confirmed to be successful. The second preset zero-position learning process includes: controlling the shift fork to move between the first positioning point and the second positioning point, and when the shift fork is about to reach the first positioning point and the second positioning point and meet the preset current requirement, reducing the speed of the shift fork to the preset speed within the first preset time period, and stopping the output after maintaining the preset speed for the second preset time period. The execution unit 40 is used to control the shift actuator based on the zero-position data determined through precise zero-position learning.

[0062] Optional, initial learning unit 10, specifically used for: Control the shift fork to move towards the first positioning point; Determine if the shift fork is stuck; When it is determined that the shift fork has stalled and the stall current has reached the preset minimum threshold, it is determined that the shift fork has moved to the first positioning point.

[0063] Optionally, the judgment unit 20 is specifically used for: Determine whether the differences in the position information generated by each execution of the first preset zero-position learning process meet the preset requirements; If the difference is determined to meet the preset requirements, the initial zero-point learning is considered successful.

[0064] Optionally, the preset current requirement includes: the increase in current of the shift fork is greater than the preset current threshold.

[0065] Optionally, execution unit 40 is specifically used for: Get location request command; In response to a position request command, the control fork is moved to the target position based on zero-position data.

[0066] Optional, see Figure 5 , Figure 5 Is Figure 4 Based on the control system shown, another control system for the shift actuator is provided, such as... Figure 4 As shown, the control system of this shift actuator also includes: The self-diagnostic unit 50 is used to obtain the actual values ​​of the operating data of the shift fork, including position, current and duration; retrieve the theoretical values ​​of the operating data when the shift fork moves to the position indicated by the position demand command; and determine whether the zero-position data is accurate based on the relationship between the actual value and the theoretical value.

[0067] Optional, self-diagnostic unit 50, specifically used for: When the difference between the actual value and the theoretical value exceeds the preset range, the zero-point data is determined to be inaccurate, and zero-point learning is performed again. When the difference between the actual value and the theoretical value is within a preset range, the accuracy of the zero-point data is determined.

[0068] Optionally, this application embodiment also provides a vehicle, which includes a vehicle body and a control system for the shift actuator as described in the above embodiments.

[0069] Below, for reference Figure 6 The shift controller provided in this application embodiment can be described as follows: at least one processor 100, at least one communication interface 200, at least one memory 300 and at least one communication bus 400. In this embodiment of the invention, the number of processor 100, communication interface 200, memory 300, and communication bus 400 is at least one, and the processor 100, communication interface 200, and memory 300 communicate with each other through communication bus 400; obviously, Figure 6 The communication connections shown for the processor 100, communication interface 200, memory 300, and communication bus 400 are optional. Optionally, the communication interface 200 can be an interface of a communication module, such as the interface of a GSM module; the processor 100 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0070] The memory 300 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0071] Specifically, the processor 100 is used to execute the application program in the memory to implement the steps of the control method for the shift actuator described above.

[0072] The basic principles of this application have been described above with reference to specific embodiments. However, it should be noted that the advantages, benefits, and effects mentioned in this application are merely examples and not limitations, and should not be considered as essential features of each embodiment of this application. Furthermore, the specific details disclosed above are for illustrative and facilitative purposes only, and are not limitations. These details do not limit the application to the necessity of employing the aforementioned specific details for implementation.

[0073] The block diagrams of devices, apparatuses, devices, and systems involved in this application are merely illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, devices, and systems can be connected, arranged, and configured in any manner. Words such as “comprising,” “including,” “having,” etc., are open-ended terms meaning “including but not limited to,” and are used interchangeably with them. The terms “or” and “and” as used herein refer to the terms “and / or,” and are used interchangeably with them unless the context clearly indicates otherwise. The term “such as” as used herein refers to the phrase “such as but not limited to,” and is used interchangeably with it.

[0074] It should also be noted that in the apparatus, equipment, and methods of this application, the components or steps can be disassembled and / or recombined. These disassemblies and / or recombinations should be considered as equivalent solutions of this application.

[0075] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use this application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of this application. Therefore, this application is not intended to be limited to the aspects shown herein, but rather to be accorded the widest scope consistent with the principles and novel features disclosed herein.

[0076] It should be understood that the qualifiers “first,” “second,” “third,” “fourth,” “fifth,” and “sixth” used in the description of the embodiments of this application are only used to more clearly illustrate the technical solutions and are not intended to limit the scope of protection of this application.

[0077] The above description has been given for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of this application to the forms disclosed herein. Although numerous exemplary aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, alterations, additions, and sub-combinations thereof.

Claims

1. A control method for a gear shifting actuator, characterized in that, include: In response to the vehicle's power-on signal, after the control fork moves to the first positioning point, the first preset zero-position learning process is repeated, and the positioning information generated by executing the first preset zero-position learning process is recorded. The first preset zero-position learning process includes: controlling the shift fork to move from the first positioning point to the second positioning point, and from the second positioning point to the first positioning point, wherein the first positioning point and the second positioning point are the endpoints of the shift actuator near the highest gear and the lowest gear, respectively; the positioning information includes: number of steps, duration and current. Based on the positioning information, determine whether the initial zero-position learning was successful; After confirming the success of the initial zero-position learning, the precise zero-position learning is completed by repeating the second preset zero-position learning process. The second preset zero-position learning process includes: controlling the shift fork to move between the first positioning point and the second positioning point, and when the shift fork is about to reach the first positioning point and the second positioning point and meet the preset current requirement, reducing the speed of the shift fork to a preset speed within a first preset time period, and stopping the output after maintaining the preset speed for a second preset time period; The shift actuator is controlled based on the zero-position data determined through the precise zero-position learning.

2. The method according to claim 1, characterized in that, The control fork moves to the first positioning point, including: Control the shift fork to move towards the first positioning point; Determine whether the shift fork is stalled; When it is determined that the shift fork has stalled and the stall current reaches a preset minimum threshold, it is determined that the shift fork has moved to the first positioning point.

3. The method according to claim 1, characterized in that, The step of determining whether the initial zero-position learning was successful based on the location information includes: Determine whether the differences between the position information generated in each execution of the first preset zero-position learning process meet preset requirements; If the difference is determined to meet the preset requirements, then the initial zero-position learning is considered successful.

4. The method according to claim 1, characterized in that, The preset current requirement includes: the current increase of the shift fork is greater than the preset current threshold.

5. The method according to claim 1, characterized in that, The control of the shift actuator based on the zero-position data determined through the precise zero-position learning includes: Get location request command; In response to the position request command, the fork is controlled to move to the target position based on the zero-position data.

6. The method according to claim 5, characterized in that, After controlling the fork to move to the target position, the method further includes: Obtain the actual values ​​of the operating data of the shift fork, the operating data including: position, current and duration; The theoretical value of the operating data is retrieved when the shift fork moves to the position indicated by the position requirement command. Based on the relationship between the actual value and the theoretical value, determine whether the zero-position data is accurate.

7. The method according to claim 6, characterized in that, Determining the accuracy of the zero-digit data based on the relationship between the actual value and the theoretical value includes: When the difference between the actual value and the theoretical value exceeds a preset range, the zero-point data is determined to be inaccurate, and zero-point learning is performed again. When the difference between the actual value and the theoretical value is within the preset range, the zero-position data is determined to be accurate.

8. A control system for a gear shifting actuator, characterized in that, include: The initial learning unit is used to respond to the vehicle's power-on signal, control the shift fork to move to the first positioning point, repeat the first preset zero-position learning process, and record the positioning information generated by executing the first preset zero-position learning process. The first preset zero-position learning process includes: controlling the shift fork to move from the first positioning point to the second positioning point, and from the second positioning point to the first positioning point, wherein the first positioning point and the second positioning point are the endpoints of the shift actuator near the highest gear and the lowest gear, respectively; the positioning information includes: number of steps, duration and current. The judgment unit is used to determine whether the initial zero-position learning was successful based on the positioning information. The precise positioning unit is used to complete the precise zero-position learning by repeating the second preset zero-position learning process after confirming that the initial zero-position learning is successful. The second preset zero-position learning process includes: controlling the shift fork to move between the first positioning point and the second positioning point, and when the shift fork is about to reach the first positioning point and the second positioning point and meet the preset current requirement, reducing the speed of the shift fork to a preset speed within a first preset time period, and stopping the output after maintaining the preset speed for a second preset time period; An execution unit is used to control the shifting actuator based on the zero-position data determined through the precise zero-position learning.

9. A vehicle, characterized in that, The control system includes the vehicle body and the shift actuator as described in claim 8.

10. A shift controller, characterized in that, The shift controller includes: processor; Memory used to store the processor's executable instructions; The processor is configured to perform the method described in any one of claims 1 to 6.

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