Gear shifting speed regulation control method and system, gearbox controller, vehicle and medium

Abstract

The invention relates to a gear shifting speed regulation control method and system, a gearbox controller, a vehicle and a medium. The gear shifting speed regulation control method comprises the steps that under the condition that gear shifting of a vehicle reaches a motor speed regulation stage, current motor torque is sent to a motor controller so as to control the rotating speed change of a motor; acquiring the current rotating speed of the motor; determining a current rotating speed difference according to a difference value between the current rotating speed and a target rotating speed of the motor; new motor torque is determined according to the current rotating speed difference, and the new motor torque is used for being sent to the motor controller to control the rotating speed change of the motor. According to the invention, the rotating speed change can be responded in real time, the torque control of the TCU on the MCU is closed-loop control, the responsivity is high, and the torque speed regulation is fast; the rotating speed change is completely controllable, and even if the rotating speed change is large, speed regulation is not affected.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of vehicle control, in particular to a gear shifting speed control method and system, a transmission controller, a vehicle and a medium. BACKGROUND

[0002] Electric drive axle is used more and more in commercial vehicles, and the gear shifting control strategy of the electric drive axle has higher and higher requirements with the development of modern commercial vehicles. For the electric drive axle that needs to shift gears, speed regulation is an indispensable process for gear shifting.

[0003] The speed regulation logic of the related art is that the TCU (Transmission Control Unit) requires the MCU (Motor Controller) to switch the speed mode, and sends a target speed to the MCU, which regulates the speed by itself, and the TCU detects the target speed and then shifts gears. SUMMARY

[0004] The inventor found through research that the advantage of the gear shifting speed control strategy of the related art TCU requiring the MCU to switch the speed mode is that the TCU logic is simple and does not need to perform too much calculation. The gear shifting speed control strategy of the related art has a significant problem: the motor speed regulation response sensitivity is relatively low, the TCU controls the MCU as an open-loop control, and any disturbance in the speed regulation process will cause gear shifting speed regulation or speed regulation failure to top the teeth, and the speed regulation response is slow for working conditions with large speed changes.

[0005] In view of at least one of the above technical problems, the present disclosure provides a gear shifting speed control method and system, a transmission controller, a vehicle and a medium, which can respond to speed changes in real time, the TCU controls the torque of the MCU as a closed-loop control, the response is high, and the torque speed regulation is fast.

[0006] According to one aspect of the present disclosure, a gear shifting speed control method is provided, comprising: In the case that the vehicle gear shifting reaches the motor speed regulation stage, the current motor torque is sent to the motor controller to control the motor speed change; Obtain the current speed of the motor; Determine the current speed difference according to the difference between the current speed and the target speed of the motor; Determine a new motor torque according to the current speed difference, wherein the new motor torque is used to send to the motor controller to control the motor speed change.

[0007] In some embodiments of the present disclosure, the sending of the current motor torque to the motor controller to control the motor speed change comprises: Input the target speed into a predetermined mathematical model to determine the feedforward value and the feedforward value duration of the motor torque; sending the feedforward value and the feedforward value duration to a motor controller; controlling the motor torque to change from 0 to the feedforward value, and controlling the motor torque to maintain the feedforward value for the feedforward value duration to increase the motor speed.

[0008] In some embodiments of the present disclosure, the shift speed control method further comprises: collecting torque data of motor speed control during motor development; establishing a predetermined mathematical model of speed, torque and torque duration by polynomial fitting.

[0009] In some embodiments of the present disclosure, the determining a new motor torque according to the current speed difference comprises: after controlling the motor torque to maintain the feedforward value for the feedforward value duration, querying a correspondence table of speed difference and motor torque according to the current speed difference to determine the new motor torque.

[0010] In some embodiments of the present disclosure, the correspondence table is a correspondence table of speed difference, motor speed change rate and motor torque.

[0011] In some embodiments of the present disclosure, the shift speed control method further comprises: learning and calibrating the speed difference under different speeds to form the correspondence table.

[0012] In some embodiments of the present disclosure, the determining a new motor torque according to the current speed difference comprises: in the case that the current speed is greater than a predetermined intervention point speed equal to a predetermined proportion of the target speed, controlling the motor in a proportional integral speed regulation stage, and determining the new motor torque according to the current speed difference, a proportional gain and an integral gain.

[0013] In some embodiments of the present disclosure, the determining a new motor torque according to the current speed difference comprises: after the current speed reaches a target speed interval for a predetermined time, starting shift, and before the shift shaft sleeve empty stroke is completed, controlling the motor in a proportional integral speed regulation stage, and determining the new motor torque according to the current speed difference, a proportional gain and an integral gain.

[0014] In some embodiments of the present disclosure, the shift speed control method further comprises: taking the new motor torque as the current motor torque; Repeat the steps of sending the current motor torque to the motor controller to control the change of motor speed, obtaining the current speed of the motor, determining the current speed difference based on the difference between the current speed and the target speed of the motor, determining the new motor torque based on the current speed difference, and using the new motor torque as the current motor torque, until the proportional-integral speed regulation stage ends.

[0015] According to another aspect of this disclosure, a transmission controller is provided, comprising: The torque sending module is configured to send the current motor torque to the motor controller when the vehicle shifts gears to the motor speed regulation stage, so as to control the change of motor speed. The speed acquisition module is configured to acquire the current speed of the motor; The speed difference determination module is configured to determine the current speed difference based on the difference between the current speed and the target speed of the motor; The torque determination module is configured to determine a new motor torque based on the current speed difference, wherein the new motor torque is sent to the motor controller to control the change of motor speed.

[0016] According to another aspect of this disclosure, a transmission controller is provided, comprising: Memory, used to store instructions; A processor is configured to execute the instructions, causing the transmission controller to implement the shift speed control method as described in any of the above embodiments.

[0017] According to another aspect of this disclosure, a shift speed control system is provided, including a gearbox controller as described in any of the above embodiments.

[0018] According to another aspect of this disclosure, a vehicle is provided, including a shift speed control system as described in any of the above embodiments.

[0019] According to another aspect of this disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions that, when executed by a processor, implement the gear shifting speed control method as described in any of the above embodiments.

[0020] According to another aspect of this disclosure, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, it implements the gear shifting speed control method as described in any of the above embodiments.

[0021] This disclosure can respond to speed changes in real time. The torque control of the TCU to the MCU is a closed-loop control with high responsiveness and fast torque speed regulation. Speed ​​changes are completely controllable, and even if the speed changes are large, it will not affect the speed regulation. Attached Figure Description

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description only represent some of the embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0023] Figure 1 The schematic diagram of some embodiments of the shift speed control method of the present disclosure.

[0024] Figure 2 The schematic diagram of some other embodiments of the shift speed control method of the present disclosure.

[0025] Figure 3 The schematic diagram of the speed control in torque mode in some embodiments of the present disclosure.

[0026] Figure 4 The schematic diagram of some embodiments of the gearbox controller of the present disclosure.

[0027] Figure 5 The structural schematic diagram of some other embodiments of the gearbox controller of the present disclosure.

[0028] Figure 6 The schematic diagram of some embodiments of the shift speed control system of the present disclosure. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some of the embodiments of the present disclosure, but not all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative, but not as any limitation on the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without any creative effort are within the scope of protection of the present disclosure.

[0030] Unless otherwise specified, the relative arrangement, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0031] Meanwhile, it should be understood that the sizes of the various parts shown in the drawings are not drawn in accordance with the actual proportional relationship for the convenience of description.

[0032] The technologies, methods and devices known to those skilled in the relevant art can not be discussed in detail, but should be considered as part of the authorized description under appropriate circumstances.

[0033] In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Thus, other examples of the exemplary embodiments can have different values.

[0034] It should be noted that like reference numerals and letters refer to like items throughout the drawings, and once an item is defined in one drawing, it need not be discussed further in subsequent drawings.

[0035] The inventor found through research that the related art speed regulation is the target speed of the MCU sent by the TCU, which is controlled by the MCU itself and belongs to open-loop control. The speed regulation accuracy is poor, and the speed regulation response is slow. When the speed changes dramatically, the open-loop control cannot meet the real-time response following the speed change.

[0036] In view of at least one of the above technical problems, the present disclosure provides a shift speed regulation control method and system, a gearbox controller, a vehicle and a medium. The present disclosure will be described below through specific embodiments.

[0037] Figure 1 The schematic diagram of some embodiments of the shift speed regulation control method of the present disclosure. Preferably, the present embodiment can be executed by the gearbox controller of the present disclosure or the vehicle of the present disclosure or the shift speed regulation control system of the present disclosure. As shown in Figure 1 , Figure 1 The method of the embodiment can include at least one of steps 0 to 4.

[0038] In step 0, it is detected whether the vehicle shift reaches the motor speed regulation stage. In the case where the vehicle shift reaches the motor speed regulation stage, step 1 is executed.

[0039] In some embodiments of the present disclosure, the vehicle can be a commercial vehicle with an electric drive axle.

[0040] In some embodiments of the present disclosure, the vehicle can be a vehicle with an electric drive axle.

[0041] In some embodiments of the present disclosure, the vehicle can be an electric vehicle with an electric drive axle.

[0042] In some embodiments of the present disclosure, the vehicle shift can be the shift of the electric drive axle of the vehicle.

[0043] In some embodiments of the present disclosure, the shift can be simply divided into three stages of disengagement (pulling out), speed regulation and engagement, corresponding to different positions of the shift fork.

[0044] In step 1, the current motor torque is sent to the motor controller to control the motor speed change.

[0045] In some embodiments of the present disclosure, the present disclosure uses a torque mode TCU to control the MCU torque, and the speed regulation is divided into three parts: feedforward, adaptive, and PI (proportional integral) control.

[0046] In some embodiments of the present disclosure, step 1 can include at least one of steps 11 to 13.

[0047] In some embodiments of the present disclosure, at least one of steps 11 to 13 is a feedforward stage of the shift speed regulation control method of the present disclosure.

[0048] In step 11, the target speed is input into a predetermined mathematical model to determine a feedforward value of the motor torque and a feedforward value duration.

[0049] In step 12, the feedforward value and the feedforward value duration are sent to the motor controller.

[0050] In step 13, the motor torque is controlled to change from 0 to the feedforward value, and the motor torque is maintained at the feedforward value for the feedforward value duration to increase the motor speed.

[0051] The above embodiments of the present disclosure can immediately change the motor torque from 0 to the feedforward value and maintain it for a certain period of time. Since the motor is not under load during the speed regulation stage, the motor speed can be quickly increased, achieving rapid regulation of the shift speed.

[0052] In some embodiments of the present disclosure, the shift speed regulation control method can further include: during motor development, collecting torque data for motor speed regulation; and establishing a predetermined mathematical model of speed, torque, and torque duration by polynomial fitting.

[0053] In some embodiments of the present disclosure, the shift speed regulation control method can further include: through data collection of conventional speed mode regulation, theoretical calculation and testing under torque mode, and big data collection and learning, a reasonable feedforward value is obtained.

[0054] In some embodiments of the present disclosure, in the feedforward stage, the present disclosure performs step 1.

[0055] The above embodiments of the present disclosure calculate the feedforward value through data learning, which greatly accelerates the speed of speed regulation.

[0056] In step 2, the current speed of the motor is obtained.

[0057] In step 3, the current speed difference is determined according to the difference between the current speed and the target speed of the motor.

[0058] In step 4, a new motor torque is determined according to the current speed difference, wherein the new motor torque is used to send to the motor controller to control the motor speed change.

[0059] Figure 2 The schematic diagram of another embodiment of the shift speed control method of the present disclosure. Preferably, the embodiment can be executed by the gearbox controller of the present disclosure, the vehicle of the present disclosure or the shift speed control system of the present disclosure. The shift speed control method of the present disclosure can further comprise Figure 1 In addition to at least one of steps 0 to 4 of the embodiment, the shift speed control method of the present disclosure can further comprise Figure 2 In addition to at least one of steps 5 and 6 of the embodiment, the shift speed control method of the present disclosure can further comprise

[0060] In step 5, the new motor torque is used as the current motor torque.

[0061] In step 6, the steps of sending the current motor torque to the motor controller to control the motor speed change, obtaining the current speed of the motor, determining the current speed difference according to the difference between the current speed and the target speed of the motor, determining the new motor torque according to the current speed difference, and using the new motor torque as the current motor torque are repeated until the proportional integral speed regulation stage ends.

[0062] In some embodiments of the present disclosure, step 6 can comprise repeating the steps of Figure 1 Steps 1 to 4 of the embodiment and Figure 2 Step 5 of the embodiment until the proportional integral speed regulation stage ends.

[0063] In some other embodiments of the present disclosure, step 6 can comprise repeating the steps of Figure 1 Steps 1 to 4 of the embodiment and Figure 2 Step 5 of the embodiment until the shift shaft sleeve empty stroke is completed.

[0064] The above-mentioned embodiments of the present disclosure use the speed regulation of the torque control of the MCU by the TCU. The TCU controls the speed change of the MCU by sending torque to the MCU. The feedback deviation is the difference between the speed and the set target speed, forming a closed-loop control.

[0065] The above-mentioned embodiments of the present disclosure can respond to speed changes in real time. The torque control of the MCU by the TCU is a closed-loop control, which has high response and fast torque speed regulation. The speed change is completely controllable, and even if the speed change is large, it will not affect the speed regulation.

[0066] Unlike the open-loop control of the MCU speed mode by the TCU of the related art, the above-mentioned embodiments of the present disclosure innovatively use the closed-loop control of the MCU torque mode, which increases the controllability of the speed regulation process and the sensitivity of the speed response.

[0067] In some embodiments of the present disclosure, Figure 1 In step 4 of the embodiment, the step of determining the new motor torque according to the current speed difference can include at least one of steps 41 to 43.

[0068] In step 41, after the motor torque is controlled at the feedforward value for the feedforward value duration, the feedforward control ends after the feedforward value duration ends, and enters the adaptive stage; according to the current speed difference, a corresponding relationship table of speed difference and motor torque is queried to determine the new motor torque.

[0069] After the torque of the motor immediately changes from 0 to the feedforward value and lasts for a certain time, the motor speed rapidly rises and then enters the adaptive table lookup stage. In the adaptive table lookup stage, the above-mentioned embodiments of the present disclosure can adjust the torque according to the difference between the current speed and the target speed. Usually, the torque rapidly decreases at this time, but it still remains positive. Therefore, the above-mentioned embodiments of the present disclosure can make the motor continue to accelerate.

[0070] In some embodiments of the present disclosure, the corresponding relationship table can be a corresponding relationship table of speed difference, motor speed change rate and motor torque.

[0071] In some embodiments of the present disclosure, the corresponding relationship table can be finely calibrated with X-axis as the speed difference of the motor and the target speed, Y as the motor speed change rate, and Z-axis as the motor torque.

[0072] In some other embodiments of the present disclosure, the corresponding relationship table can be calibrated with X-axis as the speed difference and Y-axis as the motor torque.

[0073] In some embodiments of the present disclosure, the gear shifting speed control method can further include learning and calibrating the speed difference under different speeds to form the corresponding relationship table.

[0074] The above-mentioned embodiments of the present disclosure propose an adaptive stage through data learning. The above-mentioned embodiments of the present disclosure calculate the adaptive table through data learning, which greatly accelerates the speed of speed regulation.

[0075] The above-mentioned embodiments of the present disclosure calculate the feedforward value and the adaptive table through data learning, which greatly accelerates the speed of speed regulation.

[0076] In some embodiments of the present disclosure, in the adaptive stage, the present disclosure repeatedly performs Figure 1 Steps 1 to 3, step 41 and Figure 2 Step 5 of the embodiment.

[0077] In step 42, in the case that the current rotating speed is greater than a predetermined intervention point rotating speed, the motor is controlled to be in a proportional integral speed regulation stage (PI control stage), and the new motor torque is determined according to the current rotating speed difference, a proportional gain and an integral gain, wherein the predetermined intervention point rotating speed is equal to a predetermined proportion of the target rotating speed.

[0078] In some embodiments of the present disclosure, step 42 can include defining a PI intervention point based on the target rotating speed, and when the rotating speed exceeds the intervention point, the torque is controlled by PI, the PI controls the rotating speed to be stable, and reduces the static error.

[0079] In some embodiments of the present disclosure, the PI control is fixed to be once per 10-50 ms, and the torque size is modified through the feedback rotating speed difference.

[0080] In some embodiments of the present disclosure, step 42 can include determining the new motor torque according to formula (1) in the proportional integral speed regulation stage.

[0081] u(t) = Kea(t) + Ki·∫e(t)dt (1) In formula (1), u(t) is the new motor torque; e(t) is the difference between the current rotating speed of the motor and the target rotating speed of the motor; Kp is the proportional gain, and Ki is the integral gain.

[0082] In some embodiments of the present disclosure, in the PI control stage (from the PI intervention point to the interval in which the current rotating speed reaches the target rotating speed), the present disclosure repeatedly performs Figure 1 Steps 1-3, step 42 and Figure 2 Step 5 of the embodiments.

[0083] The above embodiments of the present disclosure can make the shift speed regulation process stable, accurate and fast through PI control to adjust the rotating speed to the target rotating speed.

[0084] The above embodiments of the present disclosure propose that the torque control shift speed regulation is controlled through three stages of feedforward, self-adaptation and PI control.

[0085] In step 43, after the current rotating speed reaches the target rotating speed interval for a predetermined time, the shift is started, and before the empty stroke of the shift shaft sleeve is completed, the motor is controlled to be in the proportional integral speed regulation stage, and the new motor torque is determined according to the current rotating speed difference, the proportional gain and the integral gain.

[0086] In some embodiments of the present disclosure, the empty stroke refers to a stroke of the shift mechanism before the empty gear contacts the shift engagement position. Currently, most vehicles on the market have an empty stroke.

[0087] In some other embodiments of this disclosure, step 43 may include: after the actual speed reaches the target speed range for a certain period of time, shifting begins. Before the shifting bushing completes its idle travel, the motor remains in the PI speed regulation stage to prevent drastic speed changes caused by conditions such as braking or steep inclines and declines from causing excessive speed differences and shifting failure.

[0088] In some embodiments of this disclosure, during the PI control phase (from the current speed reaching the target speed range until the shift sleeve has completed its idle travel), this disclosure is repeatedly executed. Figure 1 Steps 1 to 3, step 43 and in the embodiment Figure 2 Step 5 of the embodiment.

[0089] The PI control in the above embodiments of this disclosure extends to the shift-in stage, thereby ensuring speed regulation stability under conditions of drastic speed changes such as emergency braking and increasing the success rate of gear shifting.

[0090] The embodiments disclosed above propose a three-step torque-mode speed regulation approach, consisting of feedforward, adaptive, and PI stage control.

[0091] Figure 3 This is a schematic diagram illustrating speed control using torque mode in some embodiments of this disclosure. Figure 3 As shown, Figure 3 The curve at the top center is the motor speed curve. Figure 3 The curve in the lower middle section is the motor torque curve.

[0092] The following is combined Figure 3 curves and Figure 1 and Figure 2 The gear shifting and speed adjustment method describes the complete speed adjustment process disclosed in this invention.

[0093] When shifting gears to the speed adjustment stage, use Figure 1 In step 1 of the embodiment, the motor torque immediately changes from 0 to a feedforward value and remains so for a certain period of time. At this time, the speed regulation phase is underway, and the motor is not under load, so the speed will inevitably increase rapidly. After the motor speed increases rapidly, it enters the adaptive lookup table phase, employing... Figure 1 Steps 1 to 3, step 41 and in the embodiment Figure 2 In step 5 of the embodiment, torque adjustment is performed based on the difference between the current speed and the target speed. Typically, the torque drops rapidly at this point, but remains positive, and the motor continues to accelerate. When the motor speed approaches the target value and passes the PI intervention point, [the following action is taken]... Figure 1 Steps 1 to 3, step 42 and in the embodiment Figure 2 In step 5 of the embodiment, the motor torque will be controlled according to PI. Once the actual motor speed reaches the target speed, the shifting phase can begin. There is a free travel period during the shifting process, and this free travel phase still requires... Figure 1 Steps 1 to 3, step 43 and in the embodimentFigure 2 The embodiment step carries out PI speed regulation, preventing the current speed from changing sharply due to braking and uphill and downhill working conditions. After the idle stroke is completed, the PI control torque speed regulation ends.

[0094] The above embodiment of the present disclosure proposes to control gear shifting speed regulation by torque mode of the motor. The above embodiment of the present disclosure can control gear shifting motor speed regulation by torque mode of the motor. Since the above embodiment of the present disclosure directly executes the physical characteristics of the end, the torque instruction directly controls the phase current through the current loop, and the single-stage closed-loop control delay is less than 0.5 ms, the above embodiment of the present disclosure responds faster, the speed regulation time is faster, and the speed regulation process becomes closed-loop control. The motor speed mode speed regulation of the related art belongs to black box control and is not under the management of the TCU, so the above embodiment of the present disclosure reduces uncontrollable factors compared with the related art. The control link complexity of the above embodiment of the present disclosure for controlling gear shifting speed regulation by torque mode of the motor is lower than the control link complexity of the related art for speed mode speed regulation.

[0095] Figure 4 The above embodiment of the present disclosure proposes to control gear shifting speed regulation by torque mode of the motor. The above embodiment of the present disclosure can control gear shifting motor speed regulation by torque mode of the motor. Since the above embodiment of the present disclosure directly executes the physical characteristics of the end, the torque instruction directly controls the phase current through the current loop, and the single-stage closed-loop control delay is less than 0.5 ms, the above embodiment of the present disclosure responds faster, the speed regulation time is faster, and the speed regulation process becomes closed-loop control. The motor speed mode speed regulation of the related art belongs to black box control and is not under the management of the TCU, so the above embodiment of the present disclosure reduces uncontrollable factors compared with the related art. The control link complexity of the above embodiment of the present disclosure for controlling gear shifting speed regulation by torque mode of the motor is lower than the control link complexity of the related art for speed mode speed regulation. Figure 4 The above embodiment of the present disclosure proposes to control gear shifting speed regulation by torque mode of the motor. The above embodiment of the present disclosure can control gear shifting motor speed regulation by torque mode of the motor. Since the above embodiment of the present disclosure directly executes the physical characteristics of the end, the torque instruction directly controls the phase current through the current loop, and the single-stage closed-loop control delay is less than 0.5 ms, the above embodiment of the present disclosure responds faster, the speed regulation time is faster, and the speed regulation process becomes closed-loop control. The motor speed mode speed regulation of the related art belongs to black box control and is not under the management of the TCU, so the above embodiment of the present disclosure reduces uncontrollable factors compared with the related art. The control link complexity of the above embodiment of the present disclosure for controlling gear shifting speed regulation by torque mode of the motor is lower than the control link complexity of the related art for speed mode speed regulation.

[0096] The torque sending module 31 is configured to send the current motor torque to the motor controller to control the motor speed change when the vehicle gear shifting reaches the motor speed regulation stage.

[0097] In some embodiments of the present disclosure, the torque sending module 31 is configured to input the target speed into a predetermined mathematical model when the vehicle gear shifting reaches the motor speed regulation stage, determine a feedforward value and a feedforward value duration of the motor torque, send the feedforward value and the feedforward value duration to the motor controller, control the motor torque to change from 0 to the feedforward value, and control the motor torque to maintain the feedforward value for the feedforward value duration to improve the motor speed.

[0098] In some embodiments of the present disclosure, the torque sending module 31 can also be configured to collect torque data of motor speed regulation during motor development, and establish a predetermined mathematical model of speed, torque and torque duration by polynomial fitting.

[0099] The speed acquisition module 32 is configured to acquire the current speed of the motor.

[0100] The speed difference determination module 33 is configured to determine the current speed difference according to the difference between the current speed and the target speed of the motor.

[0101] The torque determination module 34 is configured to determine a new motor torque according to the current speed difference, wherein the new motor torque is used to send to the motor controller to control the motor speed change.

[0102] In some embodiments of the present disclosure, the transmission controller can be further configured to repeat the steps of sending the current motor torque to the motor controller to control the motor speed change, obtaining the current motor speed, determining the current speed difference according to the difference between the current motor speed and the target motor speed, determining the new motor torque according to the current speed difference, and taking the new motor torque as the current motor torque until the proportional-integral speed regulation phase ends.

[0103] In some embodiments of the present disclosure, the torque determination module 34, in the case of determining the new motor torque according to the current speed difference, can be configured to, after controlling the motor torque to maintain the feedforward value for the feedforward value duration, query a corresponding relationship table of speed difference and motor torque according to the current speed difference to determine the new motor torque.

[0104] In some embodiments of the present disclosure, the corresponding relationship table is a corresponding relationship table of speed difference, motor speed change rate and motor torque.

[0105] In some embodiments of the present disclosure, the torque determination module 34 can be further configured to learn and calibrate the speed difference under different speed conditions to form the corresponding relationship table.

[0106] In some other embodiments of the present disclosure, the torque determination module 34, in the case of determining the new motor torque according to the current speed difference, can be further configured to, in the case that the current speed is greater than a predetermined intervention point speed equal to a predetermined proportion of the target speed, control the motor to be in the proportional-integral speed regulation phase, and determine the new motor torque according to the current speed difference, a proportional gain and an integral gain.

[0107] In some other embodiments of the present disclosure, the torque determination module 34, in the case of determining the new motor torque according to the current speed difference, can be further configured to, after the current speed reaches the target speed interval for a predetermined time, start gear shifting, and before the shift shaft sleeve dead stroke is completed, control the motor to be in the proportional-integral speed regulation phase, and determine the new motor torque according to the current speed difference, a proportional gain and an integral gain.

[0108] In some embodiments of the present disclosure, the transmission controller of the present disclosure can be configured to perform the gear shifting speed regulation control method as described in any of the above embodiments.

[0109] Figure 5A structural schematic diagram of another embodiment of the gearbox controller of the present disclosure. As shown in Figure 5 The gearbox controller of the present disclosure includes a memory 41 and a processor 42.

[0110] The memory 41 is configured to store instructions, and the processor 42 is coupled to the memory 41, and the processor 42 is configured to execute the shift speed control method according to the instructions stored in the memory.

[0111] As shown in Figure 5 The gearbox controller further includes a communication interface 43 for information exchange with other devices. Meanwhile, the gearbox controller further includes a bus 44, and the processor 42, the communication interface 43, and the memory 41 complete communication with each other through the bus 44.

[0112] The memory 41 can include a high-speed RAM memory, and can further include a non-volatile memory, such as at least one disk memory. The memory 41 can also be a memory array. The memory 41 can also be divided into blocks, and the blocks can be combined into a virtual volume according to certain rules.

[0113] In addition, the processor 42 can be a central processing unit CPU, or can be an application specific integrated circuit ASIC, or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0114] Figure 6 A schematic diagram of some embodiments of the shift speed control system of the present disclosure. As shown in Figure 6 The shift speed control system of the present disclosure can include a gearbox controller 51, a motor controller 52, and a motor 53.

[0115] The gearbox controller 51 is configured to, in the case that the vehicle shift reaches the motor speed regulation stage, send a motor torque to the motor controller 52 to control the motor speed change; acquire a current motor speed; determine a current speed difference according to a difference between the current speed and a target motor speed; and determine a new motor torque according to the current speed difference, wherein the new motor torque is used to send to the motor controller to control the motor speed change.

[0116] In some embodiments of the present disclosure, the gearbox controller 51 can be implemented as Figure 4 or Figure 5 the gearbox controller of the embodiments.

[0117] The motor controller 52 is configured to input the motor torque input by the gearbox controller 51 into the motor to control the motor speed change; acquire a current motor speed, and send the current motor speed to the gearbox controller 51.

[0118] According to another aspect of the present disclosure, a vehicle is provided, comprising the shift speed control system according to any one of the above embodiments.

[0119] In some embodiments of the present disclosure, the vehicle can be a commercial vehicle with an electric drive axle.

[0120] In some embodiments of the present disclosure, the vehicle can be a vehicle with an electric drive axle.

[0121] In some embodiments of the present disclosure, the vehicle can be an electric vehicle with an electric drive axle.

[0122] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, wherein the computer program, when executed by a processor, implements the shift speed control method according to any one of the above embodiments.

[0123] According to another aspect of the present disclosure, a computer readable storage medium is provided, wherein the computer readable storage medium stores computer instructions, and the instructions, when executed by a processor, implement the shift speed control method according to any one of the above embodiments.

[0124] In some embodiments of the present disclosure, the computer readable storage medium can be a non-transitory computer readable storage medium.

[0125] Those skilled in the art will appreciate that embodiments of the present disclosure can be provided as methods, apparatus, or computer program products. Accordingly, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure can take the form of a computer program product on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code thereon for execution by the computer.

[0126] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions, which are executed via the processor of the computer or other programmable data processing apparatus, generate a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The flow or multiple flows and / or blocks Figure 1 The apparatus for implementing the functions specified in the flow or multiple flows and / or blocks

[0127] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flow Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flow Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0129] The gearbox controller, the torque sending module, the rotational speed obtaining module, the rotational speed difference determining module and the torque determining module described above can be implemented as a general purpose processor, a programmable logic controller (PLC), a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any appropriate combination thereof, for performing the functions described herein.

[0130] The present disclosure has been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0131] Those of ordinary skill in the art can understand that all or part of the steps of the above-mentioned embodiments can be completed by hardware, or by a program instructing relevant hardware, and the program can be stored in a non-transitory computer-readable storage medium, such as a read-only memory, a magnetic disk or an optical disk.

[0132] The description of the present disclosure is given for the purpose of illustration and description, and is not exhaustive or limiting to the present disclosure. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are chosen and described in order to best explain the principles of the present disclosure and its practical application, and to enable others skilled in the art to understand the present disclosure in order to design various embodiments with various modifications for specific use cases.

Claims

1. A shift speed control method, comprising: sending a current motor torque to a motor controller to control a motor speed change in a case where a vehicle shift reaches a motor speed control phase; obtaining a current motor speed of the motor; determining a current speed difference according to a difference between the current motor speed and a target motor speed of the motor; determining a new motor torque according to the current speed difference, wherein the new motor torque is used to be sent to the motor controller to control the motor speed change.

2. The shift speed control method according to claim 1, wherein The sending of the current motor torque to the motor controller to control the motor speed change comprises: inputting the target motor speed into a predetermined mathematical model to determine a feedforward value of the motor torque and a feedforward value duration; sending the feedforward value and the feedforward value duration to the motor controller; controlling the motor torque to change from 0 to the feedforward value, and controlling the motor torque to maintain the feedforward value for the feedforward value duration to increase the motor speed.

3. The shift speed control method of claim 2, further comprising: collecting torque data of the shift speed control of the motor in a development process of the motor; establishing a predetermined mathematical model of the speed, torque and torque duration by polynomial fitting.

4. The shift speed control method according to claim 2 or 3, wherein The determining of the new motor torque according to the current speed difference comprises: after the controlling of the motor torque to maintain the feedforward value for the feedforward value duration, querying a corresponding relationship table of the speed difference and the motor torque according to the current speed difference to determine the new motor torque.

5. The shift speed control method according to claim 4, wherein The corresponding relationship table is a corresponding relationship table of the speed difference, a motor speed change rate and the motor torque.

6. The shift speed control method of claim 4, further comprising: learning and calibrating the speed difference under different speeds to form the corresponding relationship table.

7. The shift speed control method according to claim 2 or 3, wherein The determining of the new motor torque according to the current speed difference comprises: in a case where the current speed is greater than a predetermined intervention point speed, controlling the motor to be in a proportional integral speed control phase, and determining the new motor torque according to the current speed difference, a proportional gain and an integral gain, wherein the predetermined intervention point speed is equal to a predetermined proportion of the target speed.

8. The shift speed control method according to claim 2 or 3, wherein The determining of the new motor torque according to the current speed difference comprises: after the current speed reaches a target speed interval for a predetermined time, starting a shift, and before a shift shaft sleeve empty stroke is completed, controlling the motor to be in the proportional integral speed control phase, and determining the new motor torque according to the current speed difference, the proportional gain and the integral gain.

9. The shift speed control method of any one of claims 1 to 3, further comprising: taking the new motor torque as the current motor torque; repeating the steps of sending the current motor torque to the motor controller to control the motor speed change, obtaining the current motor speed of the motor, determining the current speed difference according to the difference between the current motor speed and the target motor speed of the motor, determining the new motor torque according to the current speed difference, and taking the new motor torque as the current motor torque until the proportional integral speed control phase ends.

10. A gearbox controller, comprising: The torque sending module is configured to send the current motor torque to the motor controller to control the motor speed change when the vehicle shift reaches the motor speed regulation stage. The speed obtaining module is configured to obtain the current speed of the motor. The speed difference determining module is configured to determine a current speed difference according to a difference between the current speed and a target speed of the motor. The torque determining module is configured to determine a new motor torque according to the current speed difference, wherein the new motor torque is used to be sent to the motor controller to control the motor speed change.

11. A gearbox controller, comprising: a memory for storing instructions; a processor for executing the instructions to enable the gearbox controller to implement the shift speed regulation control method according to any one of claims 1-9.

12. A shift speed regulation control system comprising the gearbox controller according to claim 10 or 11.

13. A vehicle comprising the shift speed regulation control system according to claim 12.

14. A computer readable storage medium, wherein, The computer readable storage medium stores computer instructions, which, when executed by a processor, implement the shift speed regulation control method according to any one of claims 1-9.

15. A computer program product comprising a computer program, wherein, The computer program, when executed by a processor, implements the shift speed regulation control method according to any one of claims 1-9.

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