A method, device, medium, and program product for self-learning the shift drum angle of a dog-tooth synchronizer.

Abstract

This invention discloses a method, device, medium, and program product for self-learning the shift drum angle of a dog-tooth synchronizer. By controlling the shift drum to rotate in two opposite directions until it stops, a first stop position, a second stop position, and the actual rotation angle between them are obtained. Combined with the hardware travel angle of the shift drum rotating between different preset reference positions, a mapping relationship is established between the shift drum's rotational travel and the bottom dead center (BDC) and top dead center (TDC) variables in the software coordinate system. Since this mapping relationship is based on the actually measured stop position and actual rotation angle, rather than simply relying on theoretical design values, it effectively eliminates uncertainties caused by manufacturing tolerances, assembly deviations, long-term wear, and current tooth jamming. This allows the transmission control unit (TCU) to obtain accurate BDC and TDC software coordinate values ​​under any actual operating conditions.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a method, device, medium, and program product for self-learning the shift drum angle of a dog-tooth synchronizer. Background Technology

[0002] In the technological development of new energy vehicle transmission systems, achieving synchronized shifting speeds through active motor speed regulation has become a mainstream trend. To simplify the structure and reduce costs, the use of a dog-tooth synchronizer design that eliminates the synchronizing ring is gaining increasing attention. In this design, the rotation angle of the shift drum directly determines the displacement of the shift fork; therefore, the control unit must accurately obtain the actual rotational stroke of the shift drum. However, in practical applications, due to manufacturing tolerances, assembly deviations, and wear from long-term operation, the correspondence between the physical limit of the shift drum and the feedback value from the position sensor often exhibits uncertainty. This uncertainty directly affects the accuracy and reliability of shift control. Therefore, accurately obtaining the effective stroke of the shift drum is a problem that urgently needs to be solved. Summary of the Invention

[0003] This application provides a method, device, medium, and program product for self-learning the shift drum angle of a dog-tooth synchronizer. This solves the technical problem in the prior art where the lack of precise mapping between the physical limit of the shift drum and the feedback value of the position sensor makes it difficult to accurately determine the actual effective stroke of the shift drum, thus affecting the reliability of shift control. The application achieves accurate acquisition and dynamic correction of the actual effective stroke of the shift drum, thereby improving the accuracy and reliability of shift control.

[0004] In a first aspect, this application provides a self-learning method for the shift drum angle of a dog-tooth synchronizer, the method comprising: Control the shift drum to rotate in two opposite directions until the shift drum stops, thereby obtaining a first stop position, a second stop position, and the actual rotation angle between the first stop position and the second stop position; Obtain the hardware travel angle of the shift drum rotating between different preset reference positions; Based on the first stop position, the second stop position, the actual rotation angle, and each hardware travel angle, a mapping relationship is established between the rotation travel of the shift drum and the bottom dead center and top dead center variables of the software coordinate system.

[0005] Secondly, this application provides an electronic device, comprising: processor; Memory used to store the processor's executable instructions; The processor is configured to execute a self-learning method for the shift drum angle of a dog-tooth synchronizer as provided in the first aspect.

[0006] Thirdly, this application provides a non-transitory computer-readable storage medium, wherein when the instructions in the storage medium are executed by the processor of an electronic device, the electronic device is able to execute a self-learning method for the shift drum angle of a dog-tooth synchronizer as provided in the first aspect.

[0007] Fourthly, this application provides a computer program product, including computer instructions, which are executed by a processor to implement a self-learning method for the shift drum angle of a dog-tooth synchronizer as provided in the first aspect.

[0008] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: This embodiment controls the shift drum to rotate in two opposite directions until it stops, obtaining a first stop position, a second stop position, and the actual rotation angle between them. Combined with the hardware travel angle of the shift drum rotating between different preset reference positions, a mapping relationship is established between the shift drum's rotational travel and the bottom dead center (BDC) and top dead center (TDC) variables in the software coordinate system. Since this mapping relationship is based on the actually measured stop position and actual rotation angle, rather than simply relying on theoretical design values, it effectively eliminates uncertainties caused by manufacturing tolerances, assembly deviations, long-term wear, and current gear sticking. This allows the transmission control unit (TCU) to obtain accurate BDC and TDC software coordinate values ​​under any actual operating conditions. Based on this mapping relationship, the TCU can precisely control the shift drum to rotate to the target angle in subsequent shift control, avoiding problems such as incomplete shifting or motor overload and stalling caused by discrepancies between the software coordinate system and physical reality, thereby significantly improving the accuracy and reliability of shift control. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 A flowchart illustrating a self-learning method for the shift drum angle of a dog-tooth synchronizer provided in an embodiment of this application; Figure 2 A schematic diagram showing the distribution of different preset reference positions and the different travel distances between them, provided for embodiments of this application; Figure 3This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0011] This application provides a method, device, medium, and program product for self-learning the shift drum angle of a dog-tooth synchronizer. This solves the technical problem in the prior art where the lack of precise mapping between the physical limit of the shift drum and the feedback value of the position sensor makes it difficult to accurately determine the actual effective stroke of the shift drum, thus affecting the reliability of shift control. The application achieves accurate acquisition and dynamic correction of the actual effective stroke of the shift drum, thereby improving the accuracy and reliability of shift control.

[0012] The technical solution of this application embodiment is to solve the above-mentioned technical problems, and the general idea is as follows: This embodiment controls the shift drum to rotate in two opposite directions until it stops, obtaining a first stop position, a second stop position, and the actual rotation angle between them. Combined with the hardware travel angle of the shift drum rotating between different preset reference positions, a mapping relationship is established between the shift drum's rotational travel and the bottom dead center (BDC) and top dead center (TDC) variables in the software coordinate system. Since this mapping relationship is based on the actually measured stop position and actual rotation angle, rather than simply relying on theoretical design values, it effectively eliminates uncertainties caused by manufacturing tolerances, assembly deviations, long-term wear, and current gear sticking. This allows the transmission control unit (TCU) to obtain accurate BDC and TDC software coordinate values ​​under any actual operating conditions. Based on this mapping relationship, the TCU can precisely control the shift drum to rotate to the target angle in subsequent shift control, avoiding problems such as incomplete shifting or motor overload and stalling caused by discrepancies between the software coordinate system and physical reality, thereby significantly improving the accuracy and reliability of shift control.

[0013] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0014] First, it should be clarified that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0015] This application provides a self-learning method for the shift drum angle of a dog-tooth synchronizer. The method includes steps S11-S13, which can be found in detail in the following reference. Figure 1 As shown.

[0016] Step S11: Control the shift drum to rotate in two opposite directions until the shift drum stops, and obtain the first stop position, the second stop position, and the actual rotation angle between the first stop position and the second stop position; Step S12: Obtain the hardware travel angle of the shift drum rotating between different preset reference positions; Step S13: Based on the first stop position, the second stop position, the actual rotation angle, and each hardware stroke angle, establish the mapping relationship between the rotation stroke of the shift drum and the bottom dead center variable and the top dead center variable of the software coordinate system.

[0017] The method for self-learning the shift drum angle of a dog-tooth synchronizer provided in this application embodiment can be executed by an electronic device with a processor and memory. Specifically, the electronic device can be a transmission control unit (TCU) or a vehicle control unit (VCU) on a vehicle.

[0018] In practical applications, the triggering conditions for this method can include various situations. For example, each time the vehicle is powered on and started, the random stopping position of the gears inside the transmission can cause the shift drum to stop at different positions due to "tooth-on-tooth" contact. Therefore, a self-learning process can be triggered to determine the current true mechanical zero point. Similarly, when fault symptoms such as excessively long shift times, abnormally increased shift motor current, or unreasonable position sensor feedback signals occur during gear shifting, the method can also be triggered to correct the boundary values ​​in the software coordinate system. Furthermore, when the vehicle's cumulative mileage or cumulative number of shifts reaches a preset threshold, a self-learning process can be triggered to compensate for angular drift caused by mechanical wear. In addition, after replacing the transmission control unit, shift motor, or position sensor, or after disassembling and repairing the transmission, it is usually necessary to issue a command through diagnostic equipment to forcibly trigger the execution of this method. By executing the embodiments of this application under the above conditions, the electronic equipment can promptly grasp the actual travel boundaries of the shift drum, thereby ensuring the accuracy and reliability of shift control.

[0019] Regarding step S11, the shift drum is controlled to rotate in two opposite directions until the shift drum stops, thereby obtaining the first stop position, the second stop position, and the actual rotation angle between the first stop position and the second stop position.

[0020] In this embodiment, the shift drum is first controlled to rotate in one direction until it stops due to reaching a mechanical limit or gear jamming, and this position is recorded as the first stopping position. Then, the shift drum is controlled to rotate in the opposite direction until it stops, and this position is recorded as the second stopping position. The angle traversed from the first stopping position to the second stopping position is calculated, and this angle is the actual rotation angle. Through this process of bidirectional rotation and recording the stopping position and actual rotation angle, the actual travel range of the shift drum in the current state can be obtained, providing a data foundation for subsequently establishing a mapping relationship with the software coordinate system.

[0021] Figure 2 This illustrates several key positions of the shift drum during its rotational stroke. Please refer to... Figure 2 Along the rotation direction of the shift drum, from left to right, are the following positions: bottom dead center (B), first gear tooth tip position (B), second gear tooth tip position (D), and top dead center (E). Bottom dead center (A) and top dead center (E) represent the two extreme positions the shift drum can reach mechanically, determined by the limiting structure on the housing. First gear tooth tip position (B) is the position where the shift drum is forced to stop when rotating towards bottom dead center due to tooth tipping at the engagement teeth of the first gear. Second gear tooth tip position (D) is the position where the shift drum is forced to stop when rotating towards top dead center due to tooth tipping at the engagement teeth of the second gear. These four positions constitute the main reference positions during the shift drum's rotational stroke, providing a reference for subsequently determining the actual stopping position.

[0022] Step S11 includes steps S111-S112.

[0023] Step S111: Control the shift drum to rotate in the first direction until the shift drum stops, and obtain the first stop position; the first direction is the lower dead center direction of the shift drum, and the first stop position is the lower dead center position of the shift drum or the position of the top tooth of the first gear. Step S112: Control the shift drum to rotate in the second direction until the shift drum stops, to obtain the second stop position and the actual rotation angle corresponding to the shift drum rotating from the first stop position to the second stop position. The first direction is opposite to the second direction; the second direction is the top dead center direction of the shift drum, and the second stop position is the top dead center position of the shift drum or the position of the second gear tooth tip.

[0024] In executing bidirectional rotation control, this embodiment first controls the shift drum to rotate in a first direction, which is the direction towards the lower dead center. During rotation, if the shift drum successfully reaches the lower dead center, it will be mechanically stopped at lower dead center position A, and this first stopping position is lower dead center position A. If, before reaching the lower dead center, rotation is obstructed due to the engaging teeth of the first gear abutting against each other, the shift drum will stop at a position where it cannot continue rotating, and this first stopping position is the first gear tooth tip position B. After obtaining the first stopping position, this embodiment then controls the shift drum to rotate in a second direction, which is opposite to the first direction, i.e., the direction towards the upper dead center. The shift drum rotates in the opposite direction from the first stopping position until it stops again. If it successfully reaches the upper dead center during rotation, the second stopping position is the upper dead center position E; if it stops before reaching the upper dead center due to the engaging teeth of the second gear abutting against each other, the second stopping position is the second gear tooth tip position D. Meanwhile, the angle traversed by the shift drum as it rotates from the first stop position to the second stop position is recorded as the actual rotation angle. Through the above process, the first stop position, the second stop position, and the actual rotation angle between them can be obtained. These data reflect the actual movable range of the shift drum under mechanical jamming or limiting action.

[0025] It should be noted that in this embodiment, the first stopping position is the position where the shift drum stops rotating in the first direction (i.e., the lower dead center direction). It may be the lower dead center position A or the first gear tooth tip position B. Specifically, if the shift drum is not obstructed by the tooth tip during rotation, it will stop at the lower dead center position A under the action of mechanical limit; if the rotation is obstructed before reaching the lower dead center position A due to the tooth tip phenomenon of the engagement teeth of the first gear, the shift drum will stop at the obstructed position, which is the first gear tooth tip position B.

[0026] Correspondingly, the second stopping position is the position where the shift drum stops rotating in the second direction (i.e., the top dead center direction). It may be the top dead center position E or the position of the second gear tooth tip D. If the shift drum rotates in the opposite direction from the first stopping position without being obstructed by the tooth tip, it will stop at the top dead center position E under the action of mechanical limit. If, before reaching the top dead center position E, the rotation is obstructed due to the tooth tip phenomenon of the engagement teeth of the second gear, the shift drum will stop at the obstructed position, which is the position of the second gear tooth tip D.

[0027] Therefore, depending on the actual mechanical condition, there are four possible combinations of the first stop position and the second stop position: The first stop position is the bottom dead center position A and the second stop position is the top dead center position E; the first stop position is the bottom dead center position A and the second stop position is the 2nd gear tooth tip position D; the first stop position is the 1st gear tooth tip position B and the second stop position is the top dead center position E; and the first stop position is the 1st gear tooth tip position B and the second stop position is the 2nd gear tooth tip position D.

[0028] These four situations correspond to different jamming states that the shift drum may encounter in actual operation, providing a basis for subsequent determination of the stroke type to which the actual rotation angle belongs.

[0029] Regarding step S12, the hardware travel angle of the shift drum rotating between different preset reference positions is obtained.

[0030] In this embodiment, the bidirectional rotation and stop position recording of the shift drum performed in step S11 and the acquisition of the hardware travel angle performed in step S12 are not subject to a strict time sequence restriction. That is, step S11 can be executed first to obtain the first stop position, the second stop position, and the actual rotation angle, and then step S12 can be executed to obtain the various hardware travel angles; alternatively, step S12 can be executed first to obtain the hardware travel angles, and then step S11 can be executed to measure the actual rotation; or both can be executed in parallel. This is because step S11 is a real-time measurement based on the current mechanical state, while step S12 retrieves pre-stored fixed data from the electronic device's memory. The data sources for the two steps are different and independent of each other. Regardless of the execution order, it will not affect the accuracy of the subsequent mapping relationship established based on the actual rotation angle and the hardware travel angle.

[0031] The hardware travel angle refers to the theoretical angle value corresponding to the shift drum rotating between any two preset reference positions. This angle value is determined by the geometric dimensions and assembly relationship of the shift drum and its associated mechanical structures such as shift forks and gears. Specifically, hardware design factors such as the helix angle of the helical grooves on the surface of the shift drum, the movement trajectory of the shift fork pins in the grooves, and the tooth profile parameters of each gear collectively determine the theoretical angle corresponding to the shift drum rotating from one reference position to another. These reference positions include... Figure 2 The diagram shows the lower dead center position A, the first gear tooth tip position B, the second gear tooth tip position D, and the upper dead center position E, as well as the midpoint position C between the first gear tooth tip position and the second gear tooth tip position, which can be derived from the above positions.

[0032] Once the mechanical structure design of the shift drum is finalized and assembly is completed, the theoretical angle value between any two of the aforementioned reference positions is determined, for example... Figure 2 The angle values ​​θ1 to θ4, θA and θE shown are all fixed constants.

[0033] Step S12 involves the electronic device reading these pre-stored fixed angle values ​​from its non-volatile memory when angle self-learning is required.

[0034] In this embodiment of the application, the hardware travel angle that the electronic device needs to acquire at least includes: the first hardware travel angle between the bottom dead center position A and the position D of the second gear tooth (i.e., Figure 2 θ1), the second hardware travel angle between the bottom dead center position A and the top dead center position E (i.e., θ1), Figure 2 θ2), the third hardware stroke angle between the first gear tip position B and the second gear tip position D (i.e., θ2), and the third hardware stroke angle between them. Figure 2 θ3), and the fourth hardware travel angle between the first gear tip position B and the top dead center position E (i.e., θ3), and the fourth hardware travel angle between the first gear tip position B and the top dead center position E. Figure 2 In addition, the electronic device can also obtain the fifth hardware travel angle (i.e., θ4 in the middle) between the bottom dead center position A and the first gear tooth tip position B. Figure 2 θA in the text), and the sixth hardware travel angle between the second gear tip tooth position D and the top dead center position E (i.e. Figure 2 (θE in the above steps). Through the above steps, the electronic device obtains all the theoretical angle reference values ​​needed to subsequently determine the actual stopping position.

[0035] Regarding step S13, based on the first stop position, the second stop position, the actual rotation angle, and each hardware stroke angle, a mapping relationship is established between the rotation stroke of the shift drum and the bottom dead center and top dead center variables of the software coordinate system.

[0036] In this embodiment of the application, the core function of step S13 is to comprehensively compare and judge the first stop position, the second stop position and the actual rotation angle obtained by actual rotation measurement in step S11 with the various hardware travel angles obtained in step S12, so as to map the physical rotation travel of the shift drum to the software coordinate system. Specifically, it is to determine which physical position the bottom dead center variable and the top dead center variable in the software coordinate system should be assigned to.

[0037] In other words, since the first stop position may be the bottom dead center (B) or the first gear tooth tip position (B), and the second stop position may be the top dead center (E) or the second gear tooth tip position (D), there are multiple possibilities for the actual measured stop position combinations. Step S13 compares the actual rotation angle with each preset hardware travel angle to determine which case the current stop position combination belongs to, and then determines the value that the actual physical bottom dead center (B) position A should be assigned in the software coordinate system, and the value that the actual physical top dead center (T) position E should be assigned in the software coordinate system. Finally, the electronic device stores the above assignment results in non-volatile memory for subsequent use in the shift control process, thereby enabling the transmission control unit to control the rotation of the shift drum based on accurate software coordinate system boundary values.

[0038] In a simplified embodiment of this application, step S13 may not employ a multi-threshold determination method. Specifically, after obtaining the first stop position, the second stop position, and the actual rotation angle, the electronic device can directly calculate the software coordinate coefficient value corresponding to the actual lower stop position A based on the sensor feedback value corresponding to the first stop position and the fifth hardware travel angle θA between the lower stop position A and the first gear tooth tip position B; simultaneously, based on the sensor feedback value corresponding to the second stop position, the actual rotation angle, and the sixth hardware travel angle θE between the second gear tooth tip position D and the top stop position E, the software coordinate coefficient value corresponding to the actual top stop position E is calculated.

[0039] More specifically, if the first stop position is the first gear tooth tip position B, then the software coordinate value corresponding to the actual bottom dead center position A is equal to the sensor feedback value of the first stop position plus the increment value corresponding to θA; if the first stop position is the bottom dead center position A, then the software coordinate value corresponding to the actual bottom dead center position A is the sensor feedback value of the first stop position. Similarly, if the second stop position is the second gear tooth tip position D, then the software coordinate value corresponding to the actual top dead center position E is equal to the sensor feedback value of the second stop position plus the increment value corresponding to θE; if the second stop position is the top dead center position E, then the software coordinate value corresponding to the actual top dead center position E is the sensor feedback value of the second stop position.

[0040] In this simplified implementation, there is no need to compare the actual rotation angle with multiple hardware travel angles one by one. Instead, by utilizing the regions where the first and second stop positions are located, combined with the two fixed compensation angles θA and θE, the mapping values ​​of the actual physical bottom and top stops in the software coordinate system can be directly calculated. This method involves less computation, is more convenient to implement, and is suitable for electronic devices with high real-time requirements or limited processor resources.

[0041] In one specific example of the embodiments of this application, using Figure 2 The following examples illustrate the different positions shown. Assume that after the electronic device executes step S11, it measures the first stopping position as follows: Figure 2 The first gear tooth is at position B, and the second stop position is... Figure 2 In the second gear tooth tip position D, the actual rotation angle is 30°. Simultaneously, the electronic device reads from memory: the fifth hardware travel angle θA between the bottom dead center position A and the first gear tooth tip position B is 10°, and the sixth hardware travel angle θE between the second gear tooth tip position D and the top dead center position E is 8°. In this simplified implementation, the electronic device does not need to compare the actual rotation angle 30° with θ1 to θ4, but directly calculates based on the sensor feedback value at the first stop position B (e.g., the corresponding pulse width modulation signal duty cycle is 35%) and θA. Since the first stop position is the first gear tooth tip position B and not the actual bottom dead center A, the software coordinate coefficient value corresponding to the actual bottom dead center position A is equal to the sensor feedback value at the first stop position plus the increment value corresponding to θA, i.e., the signal increment corresponding to 35% + 10°. Similarly, since the second stop position is the second gear tooth tip position D and not the actual top dead center E, the software coordinate coefficient value corresponding to the actual top dead center position E is equal to the sensor feedback value at the second stop position plus the increment value corresponding to θE.

[0042] Through the above calculations, the electronic device directly obtains the mapping values ​​of the physical bottom dead center A and the physical top dead center E in the software coordinate system, without needing to determine which stroke condition (θ1 to θ4) the actual rotation angle belongs to. This example clearly demonstrates the calculation process of the simplified implementation method, which has fewer computational steps, is logically intuitive, and can effectively reduce the processor's computational load.

[0043] In addition to this implementation method, the present application also provides another implementation method, which specifically includes steps S21-S23.

[0044] Step S21: Determine the difference between each hardware travel angle and the actual rotation angle; Step S22: Based on the relationship between each difference and the preset allowable error threshold, determine whether the first stop position and the second stop position are the lower dead center position and the upper dead center position of the shift drum, and obtain the determination result; Step S23: Based on the first stop position, the second stop position, the determination result, the actual rotation angle, and each hardware stroke angle, establish the mapping relationship between the rotation stroke of the shift drum and the bottom dead center variable and the top dead center variable of the software coordinate system.

[0045] Regarding step S21, each hardware travel angle obtained in step S12 is subtracted from the actual rotation angle measured in step S11 to obtain the difference between each hardware travel angle and the actual rotation angle. The physical meaning of this difference is that it reflects the degree of deviation between the actual angle the shift drum can rotate under the current mechanical state and the theoretical angle it should rotate under a certain reference position combination. If a certain difference is small, it indicates that the actual rotation angle is close to the theoretical travel angle corresponding to that hardware travel angle, thus allowing for a preliminary determination that the current stop position combination matches the reference position combination corresponding to that hardware travel angle.

[0046] For example, see Figure 2 Assume that the actual rotation angle obtained by the electronic device after executing step S11 is 30°, and the first hardware travel angle θ1 (the theoretical angle between the bottom dead center position A and the second gear tooth tip position D) read from the memory is 32°, the second hardware travel angle θ2 (the theoretical angle between the bottom dead center position A and the top dead center position E) is 50°, the third hardware travel angle θ3 (the theoretical angle between the first gear tooth tip position B and the second gear tooth tip position D) is 30°, and the fourth hardware travel angle θ4 (the theoretical angle between the first gear tooth tip position B and the top dead center position E) is 48°. Then the electronic device calculates the differences as follows: the difference between θ1 and the actual rotation angle is 2°, the difference between θ2 and the actual rotation angle is 20°, the difference between θ3 and the actual rotation angle is 0°, and the difference between θ4 and the actual rotation angle is 18°. The magnitude of these differences will be used as the basis for subsequent judgments.

[0047] Regarding step S22, the differences calculated in step S21 are compared with the preset allowable error threshold, and the first stop position is determined as the lower stop position A and the second stop position is determined as the upper stop position E based on the comparison results.

[0048] See Figure 2 The preset allowable error threshold is a pre-calibrated angle value used to tolerate minor deviations caused by measurement errors and mechanical tolerances. When a certain difference is less than this threshold, it is considered that the actual rotation angle and the hardware stroke angle are equal within the allowable error range, thus determining that the current stop position combination corresponds to the situation represented by the hardware stroke angle.

[0049] Specifically, if the first difference between the first hardware travel angle θ1 and the actual rotation angle is less than the preset allowable error threshold, it indicates that the actual rotation angle is consistent with the theoretical travel from the bottom dead center position A to the 2nd gear tooth tip position D. In this case, the first stop position is determined to be the bottom dead center position A, and the second stop position is not the top dead center position E (i.e., the 2nd gear tooth tip position D). Figure 2 Itinerary 1 in the program.

[0050] If the second difference between the second hardware travel angle θ2 and the actual rotation angle is less than the preset allowable error threshold, it indicates that the actual rotation angle is consistent with the theoretical travel from the lower dead center position A to the upper dead center position E. In this case, the first stop position is determined to be the lower dead center position A, and the second stop position is determined to be the upper dead center position E. Figure 2 Itinerary 2 in the middle.

[0051] If the third difference between the third hardware travel angle θ3 and the actual rotation angle is less than the preset allowable error threshold, it indicates that the actual rotation angle is consistent with the theoretical travel from the first gear tooth tip position B to the second gear tooth tip position D. In this case, it is determined that the first stop position is not the bottom dead center position A (i.e., the first gear tooth tip position B) and the second stop position is not the top dead center position E (i.e., the second gear tooth tip position D). Figure 2 Itinerary 3 in the middle.

[0052] If the fourth difference between the fourth hardware travel angle θ4 and the actual rotation angle is less than the preset allowable error threshold, it indicates that the actual rotation angle is consistent with the theoretical travel from the first gear tooth tip position B to the top dead center position E. In this case, the first stop position is determined not to be the bottom dead center position A (i.e., the first gear tooth tip position B), and the second stop position is determined to be the top dead center position E. Figure 2 Itinerary 4 in the middle.

[0053] Continuing the previous example, assuming the preset allowable error threshold is 3°, since the difference between θ1 and the actual rotation angle is 2° (less than 3°), the difference between θ3 and the actual rotation angle is 0° (less than 3°), and the differences between θ2 and θ4 are 20° and 18° respectively (both greater than 3°), the determination result of step S22 is: simultaneously satisfying the condition that the first difference is less than the threshold and the third difference is less than the threshold. This means that the current stop position combination may correspond to either stroke 1 or stroke 3. In this case, in this embodiment, step S22 can be determined according to a preset priority order, or the determination result can be temporarily stored and passed to step S23 for further processing. If all differences are greater than or equal to the preset allowable error threshold, it indicates that the actual rotation angle does not match any theoretical stroke. The electronic device generates a hardware fault warning message and sends it to the fault warning device to display the hardware fault warning message, prompting the operator to check whether there are any abnormalities in the mechanical components of the gearbox.

[0054] Regarding step S23, based on the determination result obtained in step S22, and in combination with the first stop position, the second stop position, the actual rotation angle, and the various hardware travel angles, determine the values ​​that the bottom dead center variable and the top dead center variable in the software coordinate system should be assigned.

[0055] See Figure 2In this embodiment, the hardware travel angles also include a fifth hardware travel angle θA between the bottom dead center position A and the first gear tooth tip position B, and a sixth hardware travel angle θE between the second gear tooth tip position D and the top dead center position E. The specific method of assigning these values ​​differs depending on the different determination results.

[0056] In the first combination scenario, when the determination result is that the first stop position is the bottom dead center (BDC) position A and the second stop position is the top dead center (TDC) position E, it indicates that the shift drum is not obstructed by the gear teeth during bidirectional rotation, and the actual rotation angle is equal to the second hardware travel angle θ2 between the BDC position A and the TDC position E. In this case, the first stop position is itself the true physical BDC position A, and the second stop position is itself the true physical TDC position E. Therefore, the electronic device directly assigns the sensor feedback value corresponding to the first stop position to the BDC variable in the software coordinate system and the sensor feedback value corresponding to the second stop position to the TDC variable in the software coordinate system, without performing any compensation calculations.

[0057] In the second combination scenario, when the determination result is that the first stopping position is the bottom dead center (BDC) position A and the second stopping position is not the top dead center (TDC) position E (i.e., the position of the second gear tooth tip D), it indicates that the shift drum is not obstructed when rotating towards the BDC direction, but stops prematurely when rotating towards the TDC direction due to the second gear tooth tip. In this case, the actual BDC position A is the first stopping position itself. Therefore, the assignment method for the BDC variable is the same as in the first combination scenario, directly assigning the sensor feedback value of the first stopping position to the BDC variable. However, since the second stopping position is the second gear tooth tip D rather than the actual TDC position E, and the actual TDC position E is located ahead of the second stopping position continuing to rotate in the second direction, compensation is needed based on the sixth hardware travel angle θE between the second gear tooth tip D and the TDC position E. Specifically, the electronic device adds the incremental value corresponding to θE to the sensor feedback value corresponding to the second stopping position as the value of the TDC variable in the software coordinate system. See also Figure 2 This combination corresponds to the case where the actual rotation angle is equal to the first hardware travel angle θ1 between the bottom dead center position A and the top tooth position D of the second gear.

[0058] The third combination scenario: When the determination result is that the first stop position is not the bottom dead center position A (i.e., the first gear tooth tip position B) and the second stop position is not the top dead center position E (i.e., the second gear tooth tip position D), it indicates that the rotation of the shift drum in both directions stops prematurely due to the tooth tipping. In this case, the actual bottom dead center position A is located ahead of the first stop position continuing to rotate in the first direction, and the actual top dead center position E is located ahead of the second stop position continuing to rotate in the second direction. Therefore, the electronic device needs to simultaneously compensate for the bottom dead center and top dead center variables. For the bottom dead center variable, a mapping is performed based on the fifth hardware travel angle θA between the bottom dead center position A and the first gear tooth tip position B, and the first stop position. That is, the sensor feedback value of the first stop position is added to the incremental value corresponding to θA, which is used as the value of the bottom dead center variable in the software coordinate system. For the top dead center variable, a mapping is performed based on the sixth hardware travel angle θE between the second gear tooth tip position D and the top dead center position E, and the second stop position. Specifically, the sensor feedback value at the second stop position is added to the increment corresponding to θE, and this is used as the value of the top dead center variable in the software coordinate system. (See also...) Figure 2 This combination corresponds to the case where the actual rotation angle is equal to the third hardware travel angle θ3 between the position B of the first gear tooth and the position D of the second gear tooth.

[0059] Furthermore, for the combination where the first stop position is not the bottom dead center position A (i.e., the first gear tooth tip position B) and the second stop position is the top dead center position E, the processing method in this embodiment is as follows: the bottom dead center variable is compensated and assigned a value based on θA and the first stop position, that is, the sensor feedback value at the first stop position is added to the incremental value corresponding to θA; the top dead center variable is directly assigned a value using the sensor feedback value at the second stop position. This combination corresponds to the case where the actual rotation angle is equal to the fourth hardware travel angle θ4 between the first gear tooth tip position B and the top dead center position E.

[0060] Through the above-mentioned differentiated assignment processing for different combinations, step S23 can accurately establish the mapping relationship between the physical stroke of the shift drum and the lower dead center and upper dead center variables in the software coordinate system under various tooth tip jamming conditions.

[0061] In a specific example of an embodiment of this application, using Figure 2 The locations shown are explained.

[0062] Assuming the electronic device measures an actual rotation angle of 30° after executing step S11, and reads the following from the memory after executing step S12: the first hardware travel angle θ1 (the theoretical angle between the bottom dead center position A and the top tooth position D of the 2nd gear) is 32°, the second hardware travel angle θ2 (the theoretical angle between the bottom dead center position A and the top dead center position E) is 50°, the third hardware travel angle θ3 (the theoretical angle between the top tooth position B of the 1st gear and the top tooth position D of the 2nd gear) is 30°, the fourth hardware travel angle θ4 (the theoretical angle between the top tooth position B of the 1st gear and the top dead center position E) is 48°, the fifth hardware travel angle θA (the theoretical angle between the bottom dead center position A and the top tooth position B of the 1st gear) is 10°, the sixth hardware travel angle θE (the theoretical angle between the top tooth position D of the 2nd gear and the top dead center position E) is 8°, and the preset allowable error threshold is 3°.

[0063] In step S21, the electronic device calculates the difference between each hardware travel angle and the actual rotation angle: The difference between θ1 and the actual rotation angle is |32°-30°|=2°; The difference between θ2 and the actual rotation angle is |50°-30°|=20°; The difference between θ3 and the actual rotation angle is |30°-30°|=0°; The difference between θ4 and the actual rotation angle is |48°-30°|=18°.

[0064] In step S22, the electronic device compares each of the above differences with a preset allowable error threshold of 3° to obtain a judgment result: The first difference of 2° is less than 3°, the third difference of 0° is less than 3°, while the second difference of 20° and the fourth difference of 18° are both greater than 3°. Therefore, it is determined that the actual rotation angle matches the theoretical strokes corresponding to θ1 and θ3.

[0065] Since the difference of θ3 (0°) is closer to zero than the difference of θ1 (2°), the electronic device determines that the current stop position combination belongs to stroke 3 according to the preset priority rules (e.g., prioritizing the matching item with the smallest difference). That is, the first stop position is the first gear tooth top position B, the second stop position is the second gear tooth top position D, and the first stop position is not the bottom dead center position A, nor is the second stop position the top dead center position E.

[0066] In step S23, the electronic device establishes a mapping relationship based on the above determination results. Assume the sensor feedback value corresponding to the first stop position (i.e., the position B of the first gear tooth tip) is converted to an angle value of -10°, and the sensor feedback value corresponding to the second stop position (i.e., the position D of the second gear tooth tip) is converted to an angle value of 20°. Since the first stop position is not the bottom dead center position A, the electronic device adds the increment value (10°) corresponding to θA to the sensor feedback value of the first stop position, i.e., -10° + 10° = 0°, and assigns the sensor signal value corresponding to 0° to the bottom dead center variable in the software coordinate system. This 0° corresponds to the actual physical bottom dead center position A. Since the second stop position is not the top dead center position E, the electronic device adds the increment value (8°) corresponding to θE to the sensor feedback value of the second stop position, i.e., 20° + 8° = 28°, and assigns the sensor signal value corresponding to 28° to the top dead center variable in the software coordinate system. This 28° corresponds to the actual physical top dead center position E. Thus, the electronic device has successfully mapped the physical bottom dead center (BDC) A and the physical top dead center (TDC) E to the BDC and TDC variables in the software coordinate system, respectively. Subsequent gear shifting control can then perform precise angle control based on this mapping relationship. It should be noted that the above values ​​are merely illustrative examples for understanding the embodiments of this application and do not constitute any limitation on the scope of protection of the embodiments of this application.

[0067] In summary, this embodiment of the application obtains a first stop position, a second stop position, and the actual rotation angle between them by controlling the shift drum to rotate in two opposite directions until it stops. Combined with the hardware stroke angle of the shift drum rotating between different preset reference positions, a mapping relationship is established between the rotation stroke of the shift drum and the bottom dead center (BDC) and top dead center (TDC) variables in the software coordinate system. Since this mapping relationship is based on the actually measured stop position and actual rotation angle, rather than simply relying on theoretical design values, it effectively eliminates uncertainties caused by manufacturing tolerances, assembly deviations, long-term wear, and current gear sticking. This allows the transmission control unit (TCU) to obtain accurate BDC and TDC software coordinate values ​​under any actual operating conditions. Based on this mapping relationship, the TCU can accurately control the shift drum to rotate to the target angle in subsequent shift control, avoiding problems such as incomplete shifting or motor overload and stalling caused by discrepancies between the software coordinate system and physical reality, thereby significantly improving the accuracy and reliability of shift control.

[0068] Furthermore, this embodiment of the application sets the first direction as the bottom dead center direction and the second direction as the top dead center direction, and clarifies that the first stop position may be the bottom dead center position or the first gear tooth tip position, and the second stop position may be the top dead center position or the second gear tooth tip position, which can comprehensively cover various tooth tip jamming situations that the shift drum may encounter in actual operation. On this basis, by comparing the actual rotation angle with the first hardware travel angle between the bottom dead center position and the second gear tooth tip position, the second hardware travel angle between the bottom dead center position and the top dead center position, the third hardware travel angle between the first gear tooth tip position and the second gear tooth tip position, and the fourth hardware travel angle between the first gear tooth tip position and the top dead center position, and determining the reference position type to which the first stop position and the second stop position belong based on the relationship between each difference and the preset allowable error threshold, the travel situation to which the current tooth tip jamming belongs can be accurately identified, providing an accurate judgment basis for the establishment of subsequent mapping relationships.

[0069] When establishing the mapping relationship, based on different judgment results, the first stop position and / or the second stop position are compensated accordingly based on the fifth hardware travel angle between the bottom dead center position and the first gear tooth tip position, and the sixth hardware travel angle between the second gear tooth tip position and the top dead center position. This allows for accurate calculation of the mapping values ​​of the actual physical bottom dead center position and the actual physical top dead center position in the software coordinate system under any combination of tooth tip jamming. This processing method ensures that regardless of the position of the shift drum due to tooth tip jamming, the electronic equipment can deduce the software coordinate value corresponding to the actual physical limit through a fixed compensation angle. This avoids the problem of needing multiple complex judgment logics due to different stop positions, and has the advantages of simple implementation and strong applicability. Simultaneously, when all differences are greater than or equal to the preset allowable error threshold, the electronic equipment generates and sends hardware fault warning information, which can promptly remind the operator of mechanical abnormalities in the transmission, facilitating early detection and troubleshooting, and improving the maintainability and safety of the system.

[0070] Based on the same inventive concept, the embodiments of this application provide, as follows: Figure 3 An electronic device shown includes: Processor 31; Memory 32 is used to store executable instructions of the processor 31; The processor 31 is configured to execute a self-learning method for the shift drum angle of a dog-tooth synchronizer as described above.

[0071] Based on the same inventive concept, embodiments of this application provide a non-transitory computer-readable storage medium, which, when the instructions in the storage medium are executed by the processor of an electronic device, enables the electronic device to execute a self-learning method for the shift drum angle of a dog-tooth synchronizer as described above.

[0072] Based on the same inventive concept, embodiments of this application provide a computer program product, including computer instructions, which are executed by a processor to implement a self-learning method for the shift drum angle of a dog-tooth synchronizer as described above.

[0073] Since the electronic device described in this embodiment is an electronic device used to implement the information processing method in the embodiments of this application, those skilled in the art can understand the specific implementation methods and various variations of the electronic device in this embodiment based on the information processing method described in the embodiments of this application. Therefore, how the electronic device implements the method in the embodiments of this application will not be described in detail here. Any electronic device used by those skilled in the art to implement the information processing method in the embodiments of this application falls within the scope of protection of this application.

[0074] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations 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, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0079] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A self-learning method for the shift drum angle of a dog-tooth synchronizer, characterized in that, The method includes: Control the shift drum to rotate in two opposite directions until the shift drum stops, thereby obtaining a first stop position, a second stop position, and the actual rotation angle between the first stop position and the second stop position; Obtain the hardware travel angle of the shift drum rotating between different preset reference positions; Based on the first stop position, the second stop position, the actual rotation angle, and each hardware travel angle, a mapping relationship is established between the rotation travel of the shift drum and the bottom dead center and top dead center variables of the software coordinate system.

2. The self-learning method for the shift drum angle of a dog-tooth synchronizer as described in claim 1, characterized in that, Different preset reference positions include the bottom dead center position of the shift drum, the top tooth position of the 1st gear, the top tooth position of the 2nd gear, and the top dead center position.

3. The method for self-learning the shift drum angle of a dog-tooth synchronizer as described in claim 2, characterized in that, Controlling the shift drum to rotate in two opposite directions until the shift drum stops, obtaining a first stop position, a second stop position, and the actual rotation angle between the first stop position and the second stop position, including: Control the shift drum to rotate in the first direction until the shift drum stops, and obtain the first stop position; the first direction is the lower dead center direction of the shift drum, and the first stop position is the lower dead center position of the shift drum or the position of the first gear tooth tip; The shift drum is controlled to rotate in the second direction until it stops, thus obtaining the second stop position and the actual rotation angle of the shift drum from the first stop position to the second stop position. The first direction is opposite to the second direction. The second direction is the top dead center direction of the shift drum, and the second stop position is the top dead center position of the shift drum or the position of the second gear tooth tip.

4. The self-learning method for the shift drum angle of a dog-tooth synchronizer as described in claim 2, characterized in that, Based on the first stop position, the second stop position, the actual rotation angle, and each hardware travel angle, a mapping relationship is established between the rotation travel of the shift drum and the bottom dead center and top dead center variables of the software coordinate system, including: Determine the difference between each hardware travel angle and the actual rotation angle; Based on the relationship between each difference and the preset allowable error threshold, it is determined whether the first stop position and the second stop position are the lower dead center position and the upper dead center position of the shift drum, and a judgment result is obtained. Based on the first stop position, the second stop position, the determination result, the actual rotation angle, and each hardware travel angle, a mapping relationship is established between the rotation travel of the shift drum and the bottom dead center and top dead center variables of the software coordinate system.

5. The self-learning method for the shift drum angle of a dog-tooth synchronizer as described in claim 4, characterized in that, The hardware travel angle between different preset reference positions includes the first hardware travel angle between the bottom dead center position and the 2nd gear tooth tip position, the second hardware travel angle between the bottom dead center position and the top dead center position, the third hardware travel angle between the 1st gear tooth tip position and the 2nd gear tooth tip position, and the fourth hardware travel angle between the 1st gear tooth tip position and the top dead center position. Based on the relationship between each difference and a preset allowable error threshold, it is determined whether the first stop position and the second stop position are the lower dead center position and the upper dead center position of the shift drum, respectively, to obtain a determination result, including: If the first difference between the first hardware travel angle and the actual rotation angle is less than the preset allowable error threshold, then the first stopping position is determined to be the lower dead center position of the shift drum, and the second stopping position is not the upper dead center position of the shift drum. If the second difference between the second hardware travel angle and the actual rotation angle is less than the preset allowable error threshold, then the first stop position is determined to be the lower dead center position of the shift drum, and the second stop position is the upper dead center position of the shift drum. If the third difference between the third hardware stroke angle and the actual rotation angle is less than the preset allowable error threshold, then it is determined that the first stop position is not the lower dead center position of the shift drum, and the second stop position is not the upper dead center position of the shift drum. If the fourth difference between the fourth hardware travel angle and the actual rotation angle is less than the preset allowable error threshold, then the first stop position is determined to be the lower dead center position of the shift drum, and the second stop position is the upper dead center position of the shift drum.

6. The method for self-learning the shift drum angle of a dog-tooth synchronizer as described in claim 5, characterized in that, The hardware travel angle between different preset reference positions also includes a fifth hardware travel angle between the bottom dead center position and the first gear tooth tip position, and a sixth hardware travel angle between the second gear tooth tip position and the top dead center position. Based on the first stop position, the second stop position, the determination result, the actual rotation angle, and each hardware travel angle, a mapping relationship is established between the rotation travel of the shift drum and the bottom dead center and top dead center variables of the software coordinate system, including: If the determination result includes the first stop position not being the lower dead center position of the shift drum, then based on the fifth hardware travel angle and the first stop position, a mapping relationship is established between the lower dead center position of the shift drum and the lower dead center variable of the software coordinate system. If the determination result includes the first stopping position being the lower dead center position of the shift drum, and the second stopping position not being the upper dead center position of the shift drum, then based on the sixth hardware travel angle, the second stopping position, and the actual rotation angle, a mapping relationship is established between the upper dead center position of the shift drum and the upper dead center variable of the software coordinate system. If the determination result includes the first stop position not being the bottom dead center position of the shift drum, and the second stop position not being the top dead center position of the shift drum, then based on the fifth hardware travel angle and the first stop position, a mapping relationship is established between the bottom dead center position of the shift drum and the bottom dead center variable of the software coordinate system; based on the fifth hardware travel angle, the first stop position, the sixth hardware travel angle, the second stop position, and the actual rotation angle, a mapping relationship is established between the top dead center position of the shift drum and the top dead center variable of the software coordinate system.

7. The self-learning method for the shift drum angle of a dog-tooth synchronizer as described in claim 5, characterized in that, Based on the relationship between each difference and a preset allowable error threshold, the determination of whether the first stop position and the second stop position are the lower dead center position and the upper dead center position of the shift drum is obtained, and the determination result is obtained, which also includes: If all differences are greater than or equal to the preset allowable error threshold, a hardware fault prompt message is generated and sent to the fault prompt device to display the hardware fault prompt message.

8. An electronic device, characterized in that, include: processor; Memory used to store the processor's executable instructions; The processor is configured to execute a self-learning method for the shift drum angle of a dog-tooth synchronizer as described in any one of claims 1 to 7.

9. A non-transitory computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the electronic device, the electronic device is able to execute a method for self-learning the shift drum angle of a dog-tooth synchronizer as described in any one of claims 1 to 7.

10. A computer program product, characterized in that, Includes computer instructions, which are executed by a processor to implement a self-learning method for the shift drum angle of a dog-tooth synchronizer as described in any one of claims 1 to 7.

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