Hybrid transmission assembly one-dimensional dynamics system simulation method and device

Abstract

The application relates to the technical field of dynamics simulation, in particular to a hybrid power transmission assembly one-dimensional dynamics system simulation method and device, the method comprising the following steps: in response to a time step cycle instruction, an initial simulation model of a one-dimensional dynamics system of a hybrid power transmission assembly is acquired, the initial simulation model comprising a plurality of inertia discs and a transmission torque unit connecting adjacent inertia discs; a calculation task of the transmission torque unit is distributed to a corresponding thread execution unit, the transmission torque unit and the thread execution unit corresponding to each other, the thread execution unit being a GPU thread or a GPU thread bundle; a plurality of thread execution units are run in parallel to obtain transmission torques of the plurality of transmission torque units; and based on the initial simulation model and the transmission torques, state vectors of the inertia discs at a plurality of time points are obtained, one-dimensional dynamics system simulation is completed, and the simulation step length of the state vectors is a dynamic step length; the method improves the simulation efficiency of the one-dimensional dynamics system of the hybrid power transmission assembly.

Description

Technical Field

[0001] This application relates to the field of dynamics simulation technology, and in particular to a method and apparatus for simulating a one-dimensional dynamics system of a hybrid power transmission assembly. Background Technology

[0002] Hybrid electric vehicles (HEVs) represent a crucial development direction for new energy vehicles, and the smoothness and vibration / noise control of their powertrain systems directly impact the overall driving experience. In the powertrain of modern HEVs, the hybrid transmission assembly (HPE) comprises rotating components such as the engine crankshaft connecting rod system, flywheel, torsional damper, splines, multi-stage gear pairs, drive motor, and generator. These components are connected through spline clearance, gear backlash, clutches, and torsional dampers with nonlinear stiffness and damping characteristics. Commercial simulation software (typically using CPU (Central Processing Unit) serial calculations) is commonly employed to perform one-dimensional dynamic system simulations of the HPE.

[0003] However, the one-dimensional dynamic system simulation model of a hybrid power transmission assembly contains numerous nonlinear factors, which significantly limit the iteration step size (simulation step size) of the simulation calculation. Therefore, an extremely small simulation step size (e.g., on the order of microseconds) is required to ensure computational accuracy and convergence. Under the dual constraints of CPU serial computation and extremely small simulation step size, even a transient condition simulation task lasting only a few seconds will generate a massive amount of iterative computation, leading to a significant increase in overall simulation time and severely reducing the efficiency of simulation analysis, model iteration, and performance optimization of the hybrid power transmission assembly. Summary of the Invention

[0004] This application provides a one-dimensional dynamics system simulation method and apparatus for a hybrid power transmission assembly, in order to solve the technical problem of low efficiency in the one-dimensional dynamics system simulation of hybrid power transmission assemblies in related technologies.

[0005] This application provides a one-dimensional dynamics system simulation method for a hybrid power transmission assembly, the method comprising: In response to a time stepping cycle command, an initial simulation model of the one-dimensional dynamic system of the hybrid power transmission assembly is obtained. The initial simulation model includes multiple inertia disks and a torque transmission unit connecting adjacent inertia disks. The calculation tasks of the torque transmission unit are assigned to the corresponding thread execution units, and the torque transmission unit corresponds one-to-one with the thread execution units. The thread execution units are GPU threads or GPU thread bundles. Multiple thread execution units are run in parallel to obtain the transmission torque of multiple torque transmission units; Based on the initial simulation model and the transmitted torque, the state vectors of the inertia disk at multiple time points are obtained, and the simulation of the one-dimensional dynamic system is completed. The simulation step size of the state vector is the dynamic step size.

[0006] In one embodiment of this application, the method operates on the device side, and obtaining the initial simulation model of the one-dimensional dynamic system of the hybrid transmission assembly includes: The initial simulation model is obtained from the global memory of the device. The initial simulation model is copied from the host to the device. The initial simulation model is constructed and stored on the host. The construction process of the initial simulation model includes: The multiple rotating components in the hybrid power transmission assembly are respectively equivalent to the inertia disks, and the rotating components correspond one-to-one with the inertia disks. Adjacent inertia disks are connected through the torque transmission unit. Based on the inertia disk and the torque transmission unit, the motion equation of the one-dimensional dynamic system is constructed. The motion equation, the preset cylinder pressure curve set of the hybrid power transmission assembly, and the preset initial state vectors of each of the rotating components are all model parameters of the initial simulation model. The initial state vectors include the angular displacement vector and angular velocity vector of the rotating component at the preset initial moment.

[0007] In one embodiment of this application, the parallel execution of multiple thread execution units to obtain the transmission torque of multiple torque transmission units includes: During the operation of any of the thread execution units, the torque transmission unit corresponding to the thread execution unit is determined as the target unit, and the two inertia disks connected to the target unit are the first inertia disk and the second inertia disk; Obtain the first angular displacement vector and the first angular velocity vector of the first inertia disk at the current time, and the second angular displacement vector and the second angular velocity vector of the second inertia disk at the current time. If the current loop is the first loop of the time stepping loop, then the current time is the preset initial time. The relative displacement between the first inertia disk and the second inertia disk is obtained based on the first angular displacement vector and the second angular displacement vector. Based on the first angular velocity vector and the second angular velocity vector, the relative angular velocity between the first inertia disk and the second inertia disk is obtained; The transmission torque of the thread execution unit is obtained based on the relative displacement, the relative angular velocity, and the preset constitutive relation function.

[0008] In one embodiment of this application, obtaining the transmission torque of the thread execution unit based on the relative displacement, the relative angular velocity, and a preset constitutive relation function includes: The target stiffness corresponding to the relative displacement is obtained based on the relative displacement and the stiffness piecewise function in the constitutive relation function. Different ranges of relative displacement in the stiffness piecewise function correspond to different stiffness values. Based on the relative displacement and the damping piecewise function in the constitutive relation function, the target damping corresponding to the relative displacement is obtained, and different ranges of relative displacement in the damping piecewise function correspond to different damping values; If the absolute value of the relative displacement is less than a preset gap threshold, the stiffness torque is determined to be 0; if the absolute value of the relative displacement is greater than or equal to the gap threshold, the stiffness torque is determined to be the target stiffness. The product of the target damping and the relative angular velocity is determined as the damping torque, and the sum of the stiffness torque and the damping torque is the transmission torque.

[0009] In one embodiment of this application, after obtaining the transmission torque of the thread execution unit based on the relative displacement, the relative angular velocity, and a preset constitutive relation function, the method further includes: Based on the first angular displacement vector and the first cylinder pressure curve of the first inertia disk in the preset cylinder pressure curve set, the first instantaneous cylinder pressure of the first inertia disk at the current moment is obtained. The first cylinder pressure curve represents the mapping relationship between the angular displacement vector of the first inertia disk and the instantaneous cylinder pressure. Based on the second angular displacement vector and the second cylinder pressure curve of the second inertia disk in the cylinder pressure curve set, the second instantaneous cylinder pressure of the second inertia disk at the current moment is obtained. The second cylinder pressure curve represents the mapping relationship between the angular displacement vector of the second inertia disk and the instantaneous cylinder pressure. Based on the first instantaneous cylinder pressure, the first gas thrust torque of the first inertia disk is obtained; based on the second instantaneous cylinder pressure, the second gas thrust torque of the second inertia disk is obtained. Based on the first angular displacement vector and the first angular velocity vector, the first inertial torque of the first inertial disk is obtained; based on the second angular displacement vector and the second angular velocity vector, the second inertial torque of the second inertial disk is obtained. The sum of the first gas thrust torque and the first inertial torque is determined as the first excitation torque of the first inertial disk, and the sum of the second gas thrust torque and the second inertial torque is determined as the second excitation torque of the second inertial disk.

[0010] In one embodiment of this application, obtaining the state vector of the inertia disk at multiple time points based on the initial simulation model and the transmitted torque includes: Based on the transmitted torque, the first excitation torque, the first state vector of the first inertia disk at the current moment, and the preset motion equation of the one-dimensional dynamic system, the first angular acceleration vector of the first inertia disk at the current moment is obtained; the motion equation includes a first term, a second term, a third term, and an excitation torque term. The first term is configured as the product between the inertia matrix and the angular acceleration vector. The inertia matrix is ​​determined based on the inertia disk. The second term is configured as the product between the torsional damping matrix and the angular velocity vector. The third term is configured as the product between the torsional stiffness matrix and the angular displacement vector. The product between the torsional damping matrix and the angular velocity vector is equal to the damping torque. The product between the torsional stiffness matrix and the angular displacement vector is equal to the stiffness torque. The sum of the first term, the second term, and the third term is equal to the excitation torque term. Based on the transmitted torque, the second excitation torque, the second state vector of the second inertial disk at the current moment, and the motion equation of the one-dimensional dynamic system, the second angular acceleration vector of the second inertial disk at the current moment is obtained. If the current cycle is the first cycle of the time stepping cycle, then the first state vector is the preset initial state vector of the first inertial disk at the initial moment, and the second state vector is the preset initial state vector of the second inertial disk at the initial moment. Based on the first state vector, the first angular acceleration vector, and the simulation step size at the current moment, a new first state vector of the first inertia disk at the next time point is obtained. Based on the second state vector, the second angular acceleration vector, and the simulation step size at the current moment, a new second state vector of the second inertia disk is obtained at the next time point.

[0011] In one embodiment of this application, determining the simulation step size at the current moment includes: The equations of motion are transformed into a system of first-order ordinary differential equations, which are matrix equations. The matrix equations include a fourth, a fifth, and a sixth term. The fourth term is configured as the first derivative of the state vector matrix, which includes state vectors of multiple inertia disks. The fifth term is the product of the coefficient matrix and the state vector matrix. The sixth term is the excitation vector, which is determined based on the excitation torque and the inertia matrix. The difference between the sixth term and the fifth term is equal to the fourth term. Obtain the target state vector matrix at the current moment. If the current loop is the first loop of the time stepping loop, the target state vector matrix is ​​a preset initial state vector matrix, which includes the initial state vectors of multiple inertial disks at the initial moment. Based on the target state vector matrix, the damping torque, the stiffness torque, and the first-order ordinary differential equations, the trial step size is solved to obtain the trial step size. Based on the proposed trial step size, error estimation is performed to obtain the error estimate value; If the error estimate is greater than the preset tolerance threshold, the current update is determined to be invalid, and the current time is returned to re-solve the trial step size and error estimate until the new error estimate is less than or equal to the tolerance threshold. The invalidity of the current update indicates that the new state vector matrix of the inertia disk obtained based on the trial step size is invalid. If the error estimate is less than or equal to the tolerance threshold, the current update is determined to be valid, and the one-dimensional dynamic system simulation continues. The validity of the current update indicates that the new state vector matrix of the inertia disk obtained based on the trial step size is valid.

[0012] In one embodiment of this application, the step of solving for the trial step size based on the target state vector matrix, the damping torque, the stiffness torque, and the first-order ordinary differential equations to obtain the trial step size includes: The first-order ordinary differential equation system is simplified to obtain the objective equation, which includes the fourth term and the seventh term. The fourth term is the term to be solved, and the seventh term is configured as a function containing the time to be solved. The fourth term is equal to the seventh term. The value of the time to be determined is set to an arbitrary initial value; Based on the target state vector matrix, the damping torque, the stiffness torque, and the initial value of the time to be determined, the trial step size is calculated to obtain the trial step size.

[0013] In one embodiment of this application, the step of solving for the trial step size based on the target state vector matrix, the damping torque, the stiffness torque, and the initial value of the time to be determined, to obtain the trial step size, includes: The values ​​of the coefficient matrix are obtained based on the damping torque, the stiffness torque, and the inertia matrix. The value of the excitation vector is obtained based on the inertia matrix and the excitation torque of the multiple inertia disks. The product between the values ​​of the target state vector matrix and the coefficient matrix is ​​determined as the first quantity, the difference between the value of the excitation torque and the first quantity is the second quantity, and the norm of the second quantity is the third quantity. The maximum absolute value among multiple elements in the target state vector matrix is ​​determined as the fourth quantity, the larger value between the fourth quantity and the preset state threshold is determined as the fifth quantity, the p-th power of the tolerance threshold is the sixth quantity, the product of the fifth quantity, the sixth quantity, and the preset coefficient value is the seventh quantity, and the ratio between the third quantity and the seventh quantity is the eighth quantity, where 0 < p < 1. The difference between the current time and the initial value of the time to be determined is defined as the ninth quantity, and the reciprocal of the eighth quantity is defined as the tenth quantity. The minimum value between the ninth and tenth quantities is determined as the trial step size.

[0014] This application also provides a one-dimensional dynamics system simulation device for a hybrid power transmission assembly, the device comprising: The initial simulation model acquisition module is used to acquire the initial simulation model of the one-dimensional dynamic system of the hybrid transmission assembly in response to the time stepping cycle command. The initial simulation model includes multiple inertia disks and torque transmission units connecting adjacent inertia disks. The thread allocation module is used to allocate the calculation tasks of the torque transmission unit to the corresponding thread execution unit. The torque transmission unit corresponds one-to-one with the thread execution unit, and the thread execution unit is a GPU thread or a GPU thread bundle. A parallel execution module is used to run multiple thread execution units in parallel to obtain the transmission torque of multiple torque transmission units; The simulation module is used to obtain the state vector of the inertia disk at multiple time points based on the initial simulation model and the transmitted torque, and to complete the simulation of the one-dimensional dynamic system. The simulation step size of the state vector is the dynamic step size.

[0015] The beneficial effects of this application are as follows: The proposed method and apparatus for simulating the one-dimensional dynamics system of a hybrid power transmission assembly include: responding to a time-stepping loop command to obtain an initial simulation model of the one-dimensional dynamics system of the hybrid power transmission assembly, the initial simulation model including multiple inertia disks and torque transmission units connecting adjacent inertia disks; allocating the calculation tasks of the torque transmission units to corresponding thread execution units, with a one-to-one correspondence between the torque transmission units and the thread execution units being GPU threads or GPU thread bundles; running multiple thread execution units in parallel to obtain the transmission torque of multiple torque transmission units; and obtaining the state vectors of the inertia disks at multiple time points based on the initial simulation model and the transmission torque, thus completing the one-dimensional dynamics system simulation, wherein the simulation step size of the state vector is a dynamic step size. This method significantly improves the simulation efficiency of the one-dimensional dynamics system of the hybrid power transmission assembly, has low cost, and is highly feasible. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] In the attached diagram: Figure 1 This is a flowchart illustrating a one-dimensional dynamics system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. Figure 2 This is a schematic diagram of the process for constructing an initial simulation model in a one-dimensional dynamic system simulation method for a hybrid power transmission assembly provided in one embodiment of this application; Figure 3 This is a schematic diagram of the process for obtaining the transmitted torque in a one-dimensional dynamic system simulation method for a hybrid power transmission assembly provided in one embodiment of this application; Figure 4 This is a schematic diagram of the process for obtaining the excitation torque in a one-dimensional dynamic system simulation method for a hybrid power transmission assembly provided in one embodiment of this application; Figure 5 This is a flowchart illustrating the process of obtaining the state vector of the inertia disk at multiple time points in a one-dimensional dynamic system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. Figure 6 This is a flowchart illustrating the process of determining the simulation step size at the current moment in a one-dimensional dynamic system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. Figure 7 This is a schematic diagram of the structure of a one-dimensional dynamics system simulation device for a hybrid power transmission assembly provided in one embodiment of this application; Figure 8 This is a schematic diagram of the structure of a one-dimensional dynamics system simulation system for a hybrid power transmission assembly provided in one embodiment of this application; Figure 9 This is a schematic diagram of the structure of an electronic device provided in one embodiment of this application. Detailed Implementation

[0018] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0019] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of this application. The drawings only show the components related to this application and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0020] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the present application. However, it will be apparent to those skilled in the art that embodiments of the present application may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the present application.

[0021] Please see Figure 1 , Figure 1 This is a flowchart illustrating a one-dimensional dynamics system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. The method operates on the device side, such as... Figure 1 As shown, the method includes: S110: In response to the time stepping cycle command, obtain the initial simulation model of the one-dimensional dynamic system of the hybrid transmission assembly. The initial simulation model includes multiple inertia disks and torque transmission units connecting adjacent inertia disks.

[0022] In some examples of this embodiment, the time stepping loop instruction can be triggered manually or automatically, such as being triggered automatically after a certain condition is met (such as reaching a timeout period, or detecting that the initial simulation model has been loaded).

[0023] In some examples of this embodiment, the hybrid transmission assembly includes rotating components such as an engine crankshaft connecting rod rotating mechanism, a flywheel, a torsional damper, a spline, a multi-stage gear pair, a drive motor, and a generator. These rotating components are connected by spline clearance, gear backlash, a clutch, and a torsional damper with nonlinear stiffness and damping characteristics. The one-dimensional dynamic system of the hybrid transmission assembly refers to a physical and mathematical model system that simplifies the complex hybrid transmission assembly into a system that primarily focuses on energy transfer and motion control along the single dimension of "axial rotation" (i.e., torsional degree of freedom). This system mainly focuses on angular displacement, angular velocity, angular acceleration, and torque.

[0024] In some examples of this embodiment, the inertia disk is a condensed inertia disk. Each rotating component of the hybrid power transmission assembly can be represented as a condensed inertia disk. For example, the engine crankshaft connecting rod rotation mechanism can be characterized according to its equivalent moment of inertia and the alternating torque generated by reciprocating inertial forces. Rotating components such as the flywheel, torsional damper, spline, multi-stage gear pair, drive motor, and generator can be assigned independent rotational degrees of freedom, and thus represented as corresponding condensed inertia disks. Furthermore, the connecting parts between rotating components can be represented as torque transmission units. Here, a condensed inertia disk refers to a continuous rotating component with distributed mass and elasticity, abstracted into an inelastic (infinitely rigid) "iron disk" possessing all rotational kinetic energy (inertia).

[0025] In some examples of this embodiment, the initial simulation model includes not only the inertia disk and the torque transmission unit, but also the equation of motion, the preset set of cylinder pressure curves of the hybrid power transmission assembly, and the preset initial state vectors of each rotating component, as well as other model parameters.

[0026] S120: Assigns the computational tasks of the torque transmission unit to the corresponding thread execution unit. The torque transmission unit and the thread execution unit are in one-to-one correspondence. The thread execution unit is a GPU (Graphics Processing Unit) thread or a GPU thread bundle.

[0027] Understandably, by decoupling the simulation task of the one-dimensional dynamic system of the hybrid transmission assembly into the calculation task of multiple torque transmission units, it is easier to realize the parallel operation of multiple GPU threads or thread bundles, thereby improving simulation efficiency.

[0028] S130: Runs multiple thread execution units in parallel to obtain the transmission torque of multiple torque transmission units.

[0029] Understandably, simulation efficiency can be greatly improved by running multiple thread execution units in parallel.

[0030] S140: Based on the initial simulation model and the transmitted torque, the state vectors of the inertia disk at multiple time points are obtained, and the simulation of the one-dimensional dynamic system is completed. The simulation step size of the state vector is the dynamic step size.

[0031] This embodiment, by employing the aforementioned parallel execution of multiple GPU threads or thread bundles, significantly improves the simulation efficiency of the one-dimensional dynamics system of the hybrid power transmission assembly. Experimental results show that for a high-performance hybrid power transmission assembly model containing more than 80 inertia disks and over 150 nonlinear connections (including multiple gaps), the simulation using this method achieves a speedup of approximately 200 times compared to CPU-based simulation. This reduces the original simulation time of 4 hours to less than 5 minutes, substantially improving simulation efficiency. Furthermore, this method is low-cost and highly feasible.

[0032] In addition, considering that the hybrid transmission assembly contains a large number of nonlinear factors, this embodiment adopts a dynamic simulation step size to perform system simulation, so as to better adapt to the nonlinear factors in the hybrid transmission assembly and improve the simulation accuracy.

[0033] In some embodiments, obtaining an initial simulation model of the one-dimensional dynamics system of the hybrid transmission assembly includes: The initial simulation model is obtained from the device's global memory. The initial simulation model is copied from the host to the device and is built and stored on the host.

[0034] Understandably, shifting tasks from the host to the device can effectively reduce the computational burden on the host and improve simulation efficiency.

[0035] Figure 2 This is a flowchart illustrating the process of constructing the initial simulation model in a one-dimensional dynamics system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. Please refer to [link / reference]. Figure 2 In some embodiments, the process of building the initial simulation model includes: S210: Multiple rotating components in the hybrid transmission assembly are respectively equivalent to inertia disks, with one rotating component corresponding to one inertia disk, and adjacent inertia disks are connected through a torque transmission unit.

[0036] S220: Based on the inertia disk and the torque transmission unit, the motion equation of the one-dimensional dynamic system is constructed. The motion equation, the preset set of cylinder pressure curves of the hybrid power transmission assembly, and the preset initial state vectors of each rotating component are all model parameters of the initial simulation model. The initial state vectors include the angular displacement vector and angular velocity vector of the rotating component at the preset initial time.

[0037] In some examples of this embodiment, the equation of motion, the preset set of cylinder pressure curves for the hybrid power transmission assembly, and the preset initial state vectors for each rotating component are all stored in the global memory of the host computer. During the one-dimensional dynamic system simulation of the hybrid power transmission assembly, the inertia disk, torque transmission unit, equation of motion, preset set of cylinder pressure curves for the hybrid power transmission assembly, and preset initial state vectors for each rotating component are all copied to the device computer. Both the host computer and the device computer can set corresponding variables and arrays to complete the storage of the above data.

[0038] Figure 3 This is a schematic diagram illustrating the process of obtaining the transmitted torque in a one-dimensional dynamics system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. Please refer to... Figure 3 In some embodiments, multiple thread execution units are run in parallel to obtain the transmitted torque of multiple torque transmission units, including: S310: During the operation of any thread execution unit, the torque transmission unit corresponding to the thread execution unit is determined as the target unit, and the two inertia disks connected to the target unit are the first inertia disk and the second inertia disk.

[0039] S320: Obtain the first angular displacement vector and the first angular velocity vector of the first inertia disk at the current time, and the second angular displacement vector and the second angular velocity vector of the second inertia disk at the current time. If the current loop is the first loop of the time stepping loop, then the current time is the preset initial time.

[0040] In some examples of this embodiment, if the current simulation process is at the first time point after the response time stepping loop instruction, then the current time is the preset initial time, the first angular displacement vector and the first angular velocity vector at the current time are the preset angular displacement vector and angular velocity vector of the first inertia disk at the initial time, and the second angular displacement vector and the second angular velocity vector at the current time are the preset angular displacement vector and angular velocity vector of the second inertia disk at the initial time.

[0041] If the current simulation is not at the first time point after the response time stepping cycle instruction, then the current time is the simulation time determined by the previous simulation. The first angular displacement vector and the first angular velocity vector at the current time are the calculated angular displacement vector and angular velocity vector of the first inertia disk at that simulation time, and the second angular displacement vector and the second angular velocity vector at the current time are the calculated angular displacement vector and angular velocity vector of the second inertia disk at that simulation time.

[0042] S330: Based on the first angular displacement vector and the second angular displacement vector, obtain the relative displacement between the first inertia disk and the second inertia disk.

[0043] In some examples of this embodiment, the difference between the first angular displacement vector and the second angular displacement vector can be determined as the relative displacement between the first inertia disk and the second inertia disk.

[0044] S340: Based on the first angular velocity vector and the second angular velocity vector, the relative angular velocity between the first inertia disk and the second inertia disk is obtained.

[0045] In some examples of this embodiment, the difference between the first angular velocity vector and the second angular velocity vector can be determined as the relative angular velocity between the first inertia disk and the second inertia disk.

[0046] S350: Based on relative displacement, relative angular velocity, and a preset constitutive relation function, the transmission torque of the thread execution unit is obtained.

[0047] Understandably, the above method makes it easier to obtain the transmission torque of the thread execution unit.

[0048] In some embodiments, the transmission torque of the thread execution unit is obtained based on relative displacement, relative angular velocity, and a preset constitutive relation function, including: S3501: Based on the relative displacement and the stiffness piecewise function in the constitutive relation function, the target stiffness corresponding to the relative displacement is obtained. Different ranges of relative displacement in the stiffness piecewise function correspond to different stiffness values.

[0049] In some examples of this embodiment, the piecewise stiffness function can be set according to the actual situation, such as dividing the range of relative displacement values ​​into three intervals, namely (- ,-A], (-A,A], and (A,+ A is a positive number and can be set according to the actual situation. (- , -A] and (A, + The stiffness values ​​corresponding to [] are all B, where B is a positive number and can be set according to actual conditions. The stiffness values ​​corresponding to (-A, A] are 0, etc.

[0050] S3502: Based on the relative displacement and the damping piecewise function in the constitutive relation function, the target damping corresponding to the relative displacement is obtained. Different ranges of relative displacement in the damping piecewise function correspond to different damping values.

[0051] In some examples of this embodiment, the damping piecewise function can be set according to the actual situation, such as dividing the range of relative displacement values ​​into three intervals, namely (- [, -H], (-H, H], and (H, + H is a positive number and can be set according to the actual situation. (- [H, -H] and (H, + The corresponding damping values ​​are all R, where R is a positive number and can be set according to the actual situation. The damping values ​​corresponding to (-H, H) are 0, etc.

[0052] In some examples of this embodiment, in order to reduce branch divergence, branchless programming can be used, such as using the built-in functions sign (sign function), min (minimum value), max (maximum value) in CUDA_MATH (a device-side mathematical function library) to set the above-mentioned stiffness piecewise function and damping piecewise function, avoiding conditional jumps.

[0053] S3503: If the absolute value of the relative displacement is less than the preset gap threshold, the stiffness torque is determined to be 0; if the absolute value of the relative displacement is greater than or equal to the gap threshold, the stiffness torque is determined to be the target stiffness.

[0054] In some examples of this embodiment, the gap threshold can be set according to the actual situation, such as 0.2°.

[0055] S3504: The product of the target damping and the relative angular velocity is determined as the damping torque, and the sum of the stiffness torque and the damping torque is the transmission torque.

[0056] Understandably, the above method facilitates the determination of the transmitted torque.

[0057] Figure 4 This is a schematic diagram illustrating the process of obtaining the excitation torque in a one-dimensional dynamic system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. Please refer to [link / reference]. Figure 4 In some embodiments, after obtaining the transmission torque of the thread execution unit based on relative displacement, relative angular velocity, and a preset constitutive function, the method further includes: S410: Based on the first angular displacement vector and the first cylinder pressure curve of the first inertia disk in the preset cylinder pressure curve set, the first instantaneous cylinder pressure of the first inertia disk at the current moment is obtained. The first cylinder pressure curve represents the mapping relationship between the angular displacement vector of the first inertia disk and the instantaneous cylinder pressure.

[0058] S420: Based on the second cylinder pressure curve of the second inertia disk in the second angular displacement vector and cylinder pressure curve set, the second instantaneous cylinder pressure of the second inertia disk at the current moment is obtained. The second cylinder pressure curve represents the mapping relationship between the angular displacement vector of the second inertia disk and the instantaneous cylinder pressure.

[0059] S430: Based on the first instantaneous cylinder pressure, the first gas thrust torque of the first inertia disk is obtained; based on the second instantaneous cylinder pressure, the second gas thrust torque of the second inertia disk is obtained.

[0060] In some examples of this embodiment, the product of the first instantaneous cylinder pressure and a preset piston area (the piston area in the engine crankshaft connecting rod mechanism) can be determined as the first gas pressure. The product of the first gas pressure, a preset crank radius, and a preset geometric torque conversion coefficient can be determined as the first gas thrust torque. Similarly, the product of the second instantaneous cylinder pressure and the piston area can be determined as the second gas pressure. The product of the second gas pressure, the crank radius, and the geometric torque conversion coefficient can be determined as the second gas thrust torque.

[0061] S440: Based on the first angular displacement vector and the first angular velocity vector, the first inertial torque of the first inertial disk is obtained; based on the second angular displacement vector and the second angular velocity vector, the second inertial torque of the second inertial disk is obtained.

[0062] In some examples of this embodiment, firstly, the cosine value of the first angular displacement vector can be determined as a first value. Twice the cosine value of the first angular displacement vector is determined as a second value, and the product of the second value and a preset crank-connecting rod ratio is determined as a third value. Secondly, the sum of the first and third values ​​is determined as a fourth value. The product of the fourth value, a preset crankshaft radius, and the square of the first angular velocity vector is determined as the piston acceleration. Then, the negative value of the product of the piston acceleration and a preset target mass (the mass of the piston and other reciprocating moving parts) is determined as the reciprocating inertial force. Finally, the reciprocating inertial force is projected as a first inertial torque on the crankshaft. Similarly, this method can be used to obtain the second inertial torque of the second inertial disk, which will not be elaborated here.

[0063] S450: The sum of the first gas thrust torque and the first inertial torque is determined as the first excitation torque of the first inertial disk, and the sum of the second gas thrust torque and the second inertial torque is determined as the second excitation torque of the second inertial disk.

[0064] Understandably, by adopting the above method, it is easy to obtain the excitation torque of each inertia disk, which facilitates subsequent simulation.

[0065] Figure 5 This is a flowchart illustrating the process of obtaining the state vector of the inertia disk at multiple time points in a one-dimensional dynamic system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. Please refer to [link / reference]. Figure 5 In some embodiments, based on the initial simulation model and the transmitted torque, the state vectors of the inertia disk at multiple time points are obtained, including: S510: Based on the transmission torque, the first excitation torque, the first state vector of the first inertia disk at the current moment, and the preset motion equation of the one-dimensional dynamic system, the first angular acceleration vector of the first inertia disk at the current moment is obtained; the motion equation includes a first term, a second term, a third term, and an excitation torque term. The first term is configured as the product between the inertia matrix and the angular acceleration vector. The inertia matrix is ​​determined based on the inertia disk. The second term is configured as the product between the torsional damping matrix and the angular velocity vector. The third term is configured as the product between the torsional stiffness matrix and the angular displacement vector. The product between the torsional damping matrix and the angular velocity vector is equal to the damping torque. The product between the torsional stiffness matrix and the angular displacement vector is equal to the stiffness torque. The sum of the first term, the second term, and the third term is equal to the excitation torque term.

[0066] In some examples of this embodiment, the mathematical expression of the motion equations of the one-dimensional dynamic system of the hybrid transmission assembly can be: (Equation 1) in, This represents the inertia matrix, which is a 2D matrix. Only the elements on the main diagonal are non-zero, and each non-zero element represents the rotational inertia of each inertia disk. Represents the angular acceleration vector. Represents the torsional damping matrix. Represents the angular displacement vector. Represents the angular velocity vector. Represents the torsional stiffness matrix. This represents the excitation torque term.

[0067] S520: Based on the transmission torque, the second excitation torque, the second state vector of the second inertial disk at the current moment, and the motion equation of the one-dimensional dynamic system, the second angular acceleration vector of the second inertial disk at the current moment is obtained. If the current cycle is the first cycle of the time stepping cycle, the first state vector is the preset initial state vector of the first inertial disk at the initial moment, and the second state vector is the preset initial state vector of the second inertial disk at the initial moment.

[0068] S530: Based on the first state vector, the first angular acceleration vector, and the simulation step size at the current moment, obtain the new first state vector of the first inertia disk at the next time point.

[0069] S540: Based on the second state vector, the second angular acceleration vector, and the simulation step size at the current moment, obtain the new second state vector of the second inertia disk at the next time point.

[0070] Understandably, by adopting the above method, one-dimensional dynamic system simulation of the hybrid transmission assembly can be completed relatively well.

[0071] Figure 6 This is a flowchart illustrating the process of determining the simulation step size at the current moment in a one-dimensional dynamics system simulation method for a hybrid power transmission assembly provided in one embodiment of this application. Please refer to [link / reference]. Figure 6 In some embodiments, determining the simulation step size at the current moment includes: S610: Transform the equations of motion into a system of first-order ordinary differential equations. The system of first-order ordinary differential equations is in the form of a matrix equation. The matrix equation includes a fourth, fifth, and sixth term. The fourth term is configured as the first derivative of the state vector matrix, which includes the state vectors of multiple inertia disks. The fifth term is the product between the coefficient matrix and the state vector matrix. The sixth term is the excitation vector, which is determined based on the excitation torque and the inertia matrix. The difference between the sixth and fifth terms is equal to the fourth term.

[0072] In some examples of this embodiment, Equation 1 can be simplified by fusing both sides of Equation 1 with J. -1 Multiply, and define C1=J -1 C, K1 = J -1 K, T ext1 =J -1 T ext ,get: (Equation 2) And because (Equation 3) It represents the first derivative of the angular displacement vector.

[0073] Combining equations 2 and 3, we can obtain: (Equation 4) in, This represents a unit diagonal matrix.

[0074] Simplifying Equation 4, we obtain a system of first-order ordinary differential equations, whose mathematical expression is as follows: (Equation 5) in, = , represents the state vector matrix, = , representing the coefficient matrix, = , which represents the excitation vector.

[0075] As can be seen from Equation 5 above, there is no temporal order among the rotating components during the solution process, which has good parallelism and is suitable for parallel acceleration using GPU.

[0076] S620: Obtain the target state vector matrix at the current moment. If the current loop is the first loop of the time stepping loop, the target state vector matrix is ​​a preset initial state vector matrix. The initial state vector matrix includes the initial state vectors of multiple inertial disks (i.e., rotating components) at the initial moment.

[0077] S630: Based on the target state vector matrix, damping torque, stiffness torque, and first-order ordinary differential equations, the trial step size is solved to obtain the trial step size.

[0078] S640: Based on the trial step size, perform error estimation to obtain the error estimate value.

[0079] S650: If the error estimate is greater than the preset tolerance threshold, the current update is determined to be invalid, and the current time is returned to re-solve the trial step size and estimate the error until the new error estimate is less than or equal to the tolerance threshold. The invalidity of the current update indicates that the new state vector matrix of the inertia disk obtained based on the trial step size is invalid.

[0080] In some examples of this embodiment, the tolerance threshold can be set according to the actual situation, such as 0.001.

[0081] S660: If the error estimate is less than or equal to the tolerance threshold, the current update is determined to be valid, and the one-dimensional dynamic system simulation continues. The validity of the current update indicates that the new state vector matrix of the inertia disk obtained based on the trial step size is valid.

[0082] Understandably, by adopting the above method, a simulation step size with high accuracy can be obtained, avoiding the problems of easy divergence and difficult convergence caused by the strong nonlinearity of the coefficient matrix and the difference in magnitude between each element.

[0083] In some embodiments, the trial step size is obtained by solving for the trial step size based on the target state vector matrix, damping torque, stiffness torque, and a system of first-order ordinary differential equations, including: S6301: Simplify the first-order ordinary differential equation system to obtain the objective equation, which includes the fourth and seventh terms. The fourth term is the term to be solved, and the seventh term is configured as a function containing the time to be solved. The fourth term is equal to the seventh term.

[0084] In some examples of this embodiment, by further simplifying Equation 5 above, we can obtain: (Equation 6) in, = , represents the first derivative of the state vector matrix. This represents an N×1 column vector matrix consisting of N state vectors to be determined. This indicates the seventh item. This indicates the preset initial time. Indicates the moment when something is pending.

[0085] exist hour, ,in, express The state vector matrix at time t.

[0086] S6302: Determine the value of the time to be determined as an arbitrary initial value.

[0087] In some examples of this embodiment, let dt = t1 - t. Given that the value of the time to be determined is set to an arbitrary initial value, dt is known. Based on this, substituting dt into Equation 6 above, we obtain the result at this time. (Right now ), and at this time (Right now ).Will Defined as ,Will Defined as .

[0088] S6303: Based on the target state vector matrix, damping torque, stiffness torque, and initial value at the time to be determined, the trial step size is calculated to obtain the trial step size.

[0089] Understandably, by adopting the above method, it is easier to obtain the trial step size.

[0090] In some embodiments, the trial step size is obtained by solving for the trial step size based on the target state vector matrix, damping torque, stiffness torque, and initial value at the time to be determined, including: S63031: Based on the damping torque, stiffness torque, and inertia matrix, the values ​​of the coefficient matrix are obtained.

[0091] S63032: Based on the inertia matrix and the excitation torque of multiple inertia disks, the value of the excitation vector is obtained.

[0092] S63033: The product between the values ​​of the target state vector matrix and the coefficient matrix is ​​determined as the first quantity, the difference between the value of the excitation torque and the first quantity is the second quantity, and the norm of the second quantity is the third quantity.

[0093] S63034: The maximum absolute value among multiple elements in the target state vector matrix is ​​determined as the fourth quantity, the larger value between the fourth quantity and the preset state threshold is determined as the fifth quantity, the p-th power of the tolerance threshold is the sixth quantity, the product of the fifth quantity, the sixth quantity, and the preset coefficient value is the seventh quantity, and the ratio between the third quantity and the seventh quantity is the eighth quantity, 0 < p < 1.

[0094] In some examples of this embodiment, the mathematical expression of the eighth quantity can be: (Equation 7) in, Indicates the eighth quantity. express norm, This indicates finding the maximum value. This represents the state threshold (which can be set according to the actual situation, such as 0.001, etc.). Indicates will Each element in the table is compared with a state threshold to obtain the state threshold and... The maximum value among multiple elements. This represents the preset coefficient value (which can be set according to actual conditions, such as 0.8, etc.), r t This represents the tolerance threshold. p can be 1 / 3, etc. " indicates a multiplication sign.

[0095] S63035: The difference between the initial value of the current time and the time to be determined is determined as the ninth quantity, and the reciprocal of the eighth quantity is the tenth quantity.

[0096] S63036: Determine the minimum value between the ninth and tenth quantities as the trial step size.

[0097] In some examples of this embodiment, the mathematical expression for the trial step size can be: (Equation 8) in, Indicates the trial step size. This indicates that the minimum value is being sought.

[0098] Understandably, by adopting the above method, it is easy to obtain the trial step size and ensure the convergence of the system solution, avoiding divergence problems caused by excessively large step sizes.

[0099] In some embodiments, error estimation is performed based on the trial step size to obtain an error estimate, including: S6401: The sum of half the trial step size and the current time is determined as the first intermediate step size. Half of the product of the second quantity and the trial step size is the first intermediate state vector matrix. The new state vector matrix of the inertia disk obtained based on the trial step size is the trial state vector matrix. The sum of the first intermediate state vector matrix and the trial state vector matrix is ​​the second intermediate state vector matrix. Substitute the first intermediate step size and the second intermediate state vector matrix into the objective equation to obtain the first intermediate solution of the term to be solved.

[0100] In some examples of this embodiment, when the current loop is the first loop of a time-stepping loop, the mathematical expression of the first intermediate solution can be: (Equation 9) in, This represents the first intermediate solution.

[0101] S6402: The sum of three-quarters of the trial step size and the current time step is determined as the second intermediate step size. Three-quarters of the product of the first intermediate solution and the trial step size is the third intermediate state vector matrix. The sum of the third intermediate state vector matrix and the trial state vector matrix is ​​the fourth intermediate state vector matrix. Substitute the second intermediate step size and the fourth intermediate state vector matrix into the objective equation to obtain the second intermediate solution of the term to be solved.

[0102] In some examples of this embodiment, when the current loop is the first loop of a time-stepping loop, the mathematical expression of the second intermediate solution can be: (Equation 10) in, This represents the second intermediate solution.

[0103] S6403: The sum of the trial step size and the current time step is determined as the third intermediate step size. Two-ninths of the product between the trial step size and the second quantity is the fifth intermediate state vector matrix. Three-ninths of the product between the trial step size and the first intermediate solution is the sixth intermediate state vector matrix. Four-ninths of the product between the trial step size and the second intermediate solution is the seventh intermediate state vector matrix. The sum of the trial state vector matrix, the fifth intermediate state vector matrix, the sixth intermediate state vector matrix, and the seventh intermediate state vector matrix is ​​the eighth intermediate state vector matrix. Substituting the third intermediate step size and the eighth intermediate state vector matrix into the objective equation, the third intermediate solution is obtained.

[0104] In some examples of this embodiment, when the current loop is the first loop of a time-stepping loop, the mathematical expression of the third intermediate solution can be: (Equation 11) in, This represents the third intermediate solution.

[0105] S6404: Based on the target state vector matrix, the first intermediate solution, the second intermediate solution, and the third intermediate solution, perform error estimation to obtain the error estimate value.

[0106] Understandably, by using the above method, it is easier to obtain the error estimate.

[0107] In some embodiments, error estimation is performed based on the target state vector matrix, the first intermediate solution, the second intermediate solution, and the third intermediate solution to obtain an error estimate value, including: S64041: The negative number of five seventy-twoths of the second quantity is determined as the first value, one-twelfth of the first intermediate solution is the second value, one-ninth of the second intermediate solution is the third value, the negative number of one-eighth of the third intermediate solution is the fourth value, the sum of the first, second, third, and fourth values ​​is the fifth value, and the norm of the fifth value is the sixth value.

[0108] S64042: The maximum value among multiple elements in the trial state vector matrix and multiple elements in the eighth intermediate state vector matrix is ​​determined as the seventh value, the maximum value between the seventh value and the preset first limit value is the eighth value, and the ratio between the sixth value and the eighth value is the ninth value; the product between the ninth value and the trial step size is determined as the error estimate.

[0109] In some examples of this embodiment, the following definitions are made: .

[0110] In some examples of this embodiment, the mathematical expression of the error estimate can be: (Equation 12) in, This represents the error estimate. This indicates the first limit value, such as 1 / 2, 1 / 3, etc.

[0111] Understandably, by using the above method, a highly accurate error estimate can be obtained.

[0112] In some embodiments, the trial step size is recalculated, including: S6501: The ratio between the error estimate and the tolerance threshold is determined as the tenth value, the p-th power of the tenth value is the eleventh value, the product of the eleventh value and the preset coefficient value is the twelfth value, and the maximum value between the twelfth value and the preset second limit value is the thirteenth value.

[0113] S6502: Determine the new trial step size as the product of the trial step size and the thirteenth value.

[0114] In some examples of this embodiment, the mathematical expression for the new trial step size can be: (Equation 13) in, This indicates a new trial step size. This indicates the second limit value, such as 0.5.

[0115] Understandably, by adopting the above method, the trial step size can be shortened and simulation failure can be avoided.

[0116] In some embodiments, the one-dimensional dynamic system simulation continues, including: S6601: In the process of obtaining a valid new state vector matrix, if the error estimate has never exceeded the tolerance threshold, the minimum of the twelfth value and the preset third limit value is determined as the fourteenth value, the second limit value is less than the third limit value, the product of the fourteenth value and the trial step size is the fifteenth value, the difference between the initial value of the time to be determined and the current time is the sixteenth value, the difference between the sixteenth value and the trial step size is the seventeenth value, and the minimum of the fifteenth value and the seventeenth value is the trial step size for the next time.

[0117] In some examples of this embodiment, for cases where the error estimate has never exceeded the tolerance threshold, the mathematical expression for obtaining the trial step size at the next moment can be: (Equation 14) in, Indicates the tentative step size for the next moment. This indicates the third limit value, such as 5, etc. Indicates the current moment.

[0118] Understandably, by adopting the above method, the trial step size at the next moment can be increased while ensuring the accuracy of the simulation, which helps to improve the simulation efficiency.

[0119] S6602: If the error estimate exceeds the tolerance threshold, the minimum value between the trial step size and the seventeenth value will be determined as the trial step size for the next time step.

[0120] In some examples of this embodiment, for cases where the error estimate exceeds the tolerance threshold, the mathematical expression for obtaining the trial step size at the next moment can be: (Equation 15) Understandably, adopting the above methods can help improve the accuracy of the simulation process.

[0121] S6603: Perform one-dimensional dynamic system simulation based on the trial step size of the next time step.

[0122] In some embodiments, after obtaining the transmission torque of the thread execution unit based on relative displacement, relative angular velocity, and a preset constitutive relation function, the method further includes: In the device's global memory, a net torque array memory location is allocated for each inertia disk. This allows each GPU thread and GPU thread bundle to add the calculated transmission torque to the corresponding net torque array memory location through atomic superposition. Alternatively, the device's shared memory can be used to accumulate the transmission torque of the same inertia disk obtained by the CPU thread or GPU thread bundle within the GPU thread block, resulting in a local torque accumulation value. Once the accumulation is complete, the GPU thread block adds the local torque accumulation value to the corresponding net torque array memory location.

[0123] Understandably, adopting the above method can help improve simulation efficiency. Furthermore, by utilizing shared memory on the device side to accumulate the transmitted torque of the same inertia disk obtained by the CPU thread or GPU thread bundle within the GPU thread block, a local torque accumulation value is obtained. After the accumulation is completed, the GPU thread block adds the local torque accumulation value to the corresponding net torque array memory location, which can help reduce atomic conflicts.

[0124] In some embodiments, during simulation, if one inertia disk (let's call it the first inertia disk) is connected to multiple other inertia disks (let's call it the second inertia disk), then the state vector and other data of the first inertia disk will be accessed multiple times. To improve access efficiency, the state vector and other data of the first inertia disk (the parts that need to be accessed multiple times) can be stored in the shared memory on the device, thereby improving access speed and efficiency. Furthermore, external excitation torque lookup tables (such as the change of engine combustion torque with crankshaft angle) can be stored in texture memory or constant memory, utilizing caching to accelerate random access.

[0125] In some embodiments, when it is necessary to simulate different combinations of parameters (such as different gap sizes and stiffness values) at the same time, multiple streams can be used to execute multiple independent simulation instances concurrently to significantly improve GPU utilization.

[0126] The one-dimensional dynamic system simulation method for the hybrid power transmission assembly described in the above embodiments can be deployed using a general-purpose GPU computing card, eliminating the need for expensive dedicated hardware simulators and balancing simulation accuracy, speed, and cost. Furthermore, the above-described one-dimensional dynamic system simulation method for the hybrid power transmission assembly has strong generalization capabilities and is also applicable to solving the temperature field of 1D (one-dimensional) dynamic systems.

[0127] Figure 7 This is a schematic diagram of the structure of a one-dimensional dynamics system simulation device for a hybrid power transmission assembly provided in one embodiment of this application. Please refer to... Figure 7 This embodiment also provides a one-dimensional dynamics system simulation device for a hybrid power transmission assembly. The device is located at the equipment end and includes: The initial simulation model acquisition module 710 is used to acquire the initial simulation model of the one-dimensional dynamic system of the hybrid transmission assembly in response to the time stepping cycle command. The initial simulation model includes multiple inertia disks and torque transmission units connecting adjacent inertia disks. The thread allocation module 720 is used to allocate the calculation tasks of the torque transmission unit to the corresponding thread execution unit. The torque transmission unit and the thread execution unit correspond one-to-one. The thread execution unit is a GPU thread or a GPU thread bundle. The parallel execution module 730 is used to run multiple thread execution units in parallel to obtain the transmission torque of multiple torque transmission units; The simulation module 740 is used to obtain the state vectors of the inertia disk at multiple time points based on the initial simulation model and the transmitted torque, thus completing the one-dimensional dynamic system simulation. The simulation step size of the state vector is a dynamic step size. The initial simulation model acquisition module 710, the thread allocation module 720, the parallel operation module 730, and the simulation module 740 are connected. The one-dimensional dynamic system simulation device for the hybrid power transmission assembly in this embodiment achieves the technical effects of the method in the above embodiments, which will not be elaborated further here.

[0128] It should be noted that the one-dimensional dynamics system simulation method and device for hybrid power transmission assembly provided in the above embodiments belong to the same concept. The specific operation methods of each module have been described in detail in the method embodiments and will not be repeated here. In practical applications, the one-dimensional dynamics system simulation device for hybrid power transmission assembly provided in the above embodiments can allocate the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above. This is not a limitation here.

[0129] This embodiment also provides a GPU device, characterized in that the GPU device includes a one-dimensional dynamics system simulation device for a hybrid power transmission assembly as described above.

[0130] This embodiment also provides a host computer for receiving and storing an initial simulation model, which is copied to the global memory of the CPU device as described above, so that the CPU device can perform one-dimensional dynamic system simulation of the hybrid power transmission assembly.

[0131] Figure 8 This is a schematic diagram of the one-dimensional dynamics system simulation system of the hybrid power transmission assembly provided in one embodiment of this application. Please refer to... Figure 8 This embodiment also provides a one-dimensional dynamics system simulation system for a hybrid power transmission assembly, the system comprising: The GPU device 810 described above, and the host 820 described above, wherein the CPU device 810 is connected to the host 820.

[0132] Figure 9 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 9 As shown, the electronic device may include: a processor 910, a communication interface 920, a memory 930, and a communication bus 940. The processor 910, communication interface 920, and memory 930 communicate with each other via the communication bus 940. The processor 910 can call logical instructions in the memory 930 to execute a one-dimensional dynamics system simulation method for the hybrid power transmission assembly. This method includes: in response to a time-stepping loop instruction, obtaining an initial simulation model of the one-dimensional dynamics system of the hybrid power transmission assembly. The initial simulation model includes multiple inertia disks and torque transmission units connecting adjacent inertia disks; allocating the calculation tasks of the torque transmission units to corresponding thread execution units, with a one-to-one correspondence between the torque transmission units and the thread execution units, which are GPU threads or GPU thread bundles; running multiple thread execution units in parallel to obtain the transmission torque of multiple torque transmission units; and obtaining the state vectors of the inertia disks at multiple time points based on the initial simulation model and the transmission torque, thus completing the one-dimensional dynamics system simulation. The simulation step size of the state vector is a dynamic step size.

[0133] Furthermore, the logical instructions in the aforementioned memory 930 can be implemented in the form of software functional units. When sold or used as independent products, these software functional units can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0134] In another aspect, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the one-dimensional dynamics system simulation method for the hybrid power transmission assembly provided by the above methods. The method includes: in response to a time-stepping loop instruction, obtaining an initial simulation model of the one-dimensional dynamics system of the hybrid power transmission assembly, the initial simulation model including multiple inertia disks and torque transmission units connecting adjacent inertia disks; allocating the calculation tasks of the torque transmission units to corresponding thread execution units, with a one-to-one correspondence between the torque transmission units and the thread execution units, the thread execution units being GPU threads or GPU thread bundles; running multiple thread execution units in parallel to obtain the transmission torque of multiple torque transmission units; and obtaining the state vectors of the inertia disks at multiple time points based on the initial simulation model and the transmission torque, thereby completing the one-dimensional dynamics system simulation, wherein the simulation step size of the state vector is a dynamic step size.

[0135] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0136] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0137] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A one-dimensional dynamic system simulation method for a hybrid power transmission assembly, characterized in that, The method includes: In response to a time stepping cycle command, an initial simulation model of the one-dimensional dynamic system of the hybrid power transmission assembly is obtained. The initial simulation model includes multiple inertia disks and a torque transmission unit connecting adjacent inertia disks. The calculation tasks of the torque transmission unit are assigned to the corresponding thread execution units, and the torque transmission unit corresponds one-to-one with the thread execution units. The thread execution units are GPU threads or GPU thread bundles. Multiple thread execution units are run in parallel to obtain the transmission torque of multiple torque transmission units; Based on the initial simulation model and the transmitted torque, the state vectors of the inertia disk at multiple time points are obtained, and the simulation of the one-dimensional dynamic system is completed. The simulation step size of the state vector is the dynamic step size.

2. The one-dimensional dynamic system simulation method for a hybrid power transmission assembly according to claim 1, characterized in that, The method operates on the device side, and obtaining the initial simulation model of the one-dimensional dynamic system of the hybrid transmission assembly includes: The initial simulation model is obtained from the global memory of the device. The initial simulation model is copied from the host to the device. The initial simulation model is constructed and stored on the host. The construction process of the initial simulation model includes: The multiple rotating components in the hybrid power transmission assembly are respectively equivalent to the inertia disks, and the rotating components correspond one-to-one with the inertia disks. Adjacent inertia disks are connected through the torque transmission unit. Based on the inertia disk and the torque transmission unit, the motion equation of the one-dimensional dynamic system is constructed. The motion equation, the preset set of cylinder pressure curves of the hybrid power transmission assembly, and the preset initial state vectors of each of the rotating components are all model parameters of the initial simulation model. The initial state vectors include the angular displacement vector and angular velocity vector of the rotating component at the preset initial moment.

3. The one-dimensional dynamics system simulation method for a hybrid transmission assembly according to claim 1, characterized in that, The parallel execution of multiple thread execution units to obtain the transmission torque of multiple torque transmission units includes: During the operation of any of the thread execution units, the torque transmission unit corresponding to the thread execution unit is determined as the target unit, and the two inertia disks connected to the target unit are the first inertia disk and the second inertia disk; Obtain the first angular displacement vector and the first angular velocity vector of the first inertia disk at the current time, and the second angular displacement vector and the second angular velocity vector of the second inertia disk at the current time. If the current loop is the first loop of the time stepping loop, then the current time is the preset initial time. The relative displacement between the first inertia disk and the second inertia disk is obtained based on the first angular displacement vector and the second angular displacement vector. Based on the first angular velocity vector and the second angular velocity vector, the relative angular velocity between the first inertia disk and the second inertia disk is obtained; The transmission torque of the thread execution unit is obtained based on the relative displacement, the relative angular velocity, and the preset constitutive relation function.

4. The one-dimensional dynamic system simulation method for a hybrid power transmission assembly according to claim 3, characterized in that, The step of obtaining the transmission torque of the thread execution unit based on the relative displacement, the relative angular velocity, and a preset constitutive function includes: Based on the relative displacement and the piecewise stiffness function in the constitutive relation function, the target stiffness corresponding to the relative displacement is obtained. Different ranges of relative displacement values ​​in the piecewise stiffness function correspond to different stiffness values. Based on the relative displacement and the damping piecewise function in the constitutive relation function, the target damping corresponding to the relative displacement is obtained, and different ranges of relative displacement in the damping piecewise function correspond to different damping values; If the absolute value of the relative displacement is less than the preset gap threshold, the stiffness torque is determined to be 0; if the absolute value of the relative displacement is greater than or equal to the gap threshold, the stiffness torque is determined to be the target stiffness. The product of the target damping and the relative angular velocity is determined as the damping torque, and the sum of the stiffness torque and the damping torque is the transmission torque.

5. The one-dimensional dynamic system simulation method for a hybrid power transmission assembly according to claim 3 or 4, characterized in that, After obtaining the transmission torque of the thread execution unit based on the relative displacement, the relative angular velocity, and a preset constitutive relation function, the method further includes: Based on the first angular displacement vector and the first cylinder pressure curve of the first inertia disk in the preset cylinder pressure curve set, the first instantaneous cylinder pressure of the first inertia disk at the current moment is obtained. The first cylinder pressure curve represents the mapping relationship between the angular displacement vector of the first inertia disk and the instantaneous cylinder pressure. Based on the second angular displacement vector and the second cylinder pressure curve of the second inertia disk in the cylinder pressure curve set, the second instantaneous cylinder pressure of the second inertia disk at the current moment is obtained. The second cylinder pressure curve represents the mapping relationship between the angular displacement vector of the second inertia disk and the instantaneous cylinder pressure. Based on the first instantaneous cylinder pressure, the first gas thrust torque of the first inertia disk is obtained; based on the second instantaneous cylinder pressure, the second gas thrust torque of the second inertia disk is obtained. Based on the first angular displacement vector and the first angular velocity vector, the first inertial torque of the first inertial disk is obtained; based on the second angular displacement vector and the second angular velocity vector, the second inertial torque of the second inertial disk is obtained. The sum of the first gas thrust torque and the first inertial torque is determined as the first excitation torque of the first inertial disk, and the sum of the second gas thrust torque and the second inertial torque is determined as the second excitation torque of the second inertial disk.

6. The one-dimensional dynamics system simulation method for a hybrid power transmission assembly according to claim 5, characterized in that, The process of obtaining the state vectors of the inertia disk at multiple time points based on the initial simulation model and the transmitted torque includes: Based on the transmitted torque, the first excitation torque, the first state vector of the first inertia disk at the current moment, and the preset motion equation of the one-dimensional dynamic system, the first angular acceleration vector of the first inertia disk at the current moment is obtained; the motion equation includes a first term, a second term, a third term, and an excitation torque term. The first term is configured as the product between the inertia matrix and the angular acceleration vector. The inertia matrix is ​​determined based on the inertia disk. The second term is configured as the product between the torsional damping matrix and the angular velocity vector. The third term is configured as the product between the torsional stiffness matrix and the angular displacement vector. The product between the torsional damping matrix and the angular velocity vector is equal to the damping torque. The product between the torsional stiffness matrix and the angular displacement vector is equal to the stiffness torque. The sum of the first term, the second term, and the third term is equal to the excitation torque term. Based on the transmitted torque, the second excitation torque, the second state vector of the second inertial disk at the current moment, and the motion equation of the one-dimensional dynamic system, the second angular acceleration vector of the second inertial disk at the current moment is obtained. If the current cycle is the first cycle of the time stepping cycle, then the first state vector is the preset initial state vector of the first inertial disk at the initial moment, and the second state vector is the preset initial state vector of the second inertial disk at the initial moment. Based on the first state vector, the first angular acceleration vector, and the simulation step size at the current moment, a new first state vector of the first inertia disk at the next time point is obtained. Based on the second state vector, the second angular acceleration vector, and the simulation step size at the current moment, a new second state vector of the second inertia disk is obtained at the next time point.

7. The one-dimensional dynamics system simulation method for a hybrid power transmission assembly according to claim 6, characterized in that, The determination of the simulation step size at the current moment includes: The equations of motion are transformed into a system of first-order ordinary differential equations, which are matrix equations. The matrix equations include a fourth, a fifth, and a sixth term. The fourth term is configured as the first derivative of the state vector matrix, which includes state vectors of multiple inertia disks. The fifth term is the product of the coefficient matrix and the state vector matrix. The sixth term is the excitation vector, which is determined based on the excitation torque and the inertia matrix. The difference between the sixth term and the fifth term is equal to the fourth term. Obtain the target state vector matrix at the current moment. If the current loop is the first loop of the time stepping loop, the target state vector matrix is ​​a preset initial state vector matrix, which includes the initial state vectors of multiple inertial disks at the initial moment. Based on the target state vector matrix, the damping torque, the stiffness torque, and the first-order ordinary differential equations, the trial step size is solved to obtain the trial step size. Based on the proposed trial step size, error estimation is performed to obtain the error estimate value; If the error estimate is greater than the preset tolerance threshold, the current update is determined to be invalid, and the current time is returned to re-solve the trial step size and error estimate until the new error estimate is less than or equal to the tolerance threshold. The invalidity of the current update indicates that the new state vector matrix of the inertia disk obtained based on the trial step size is invalid. If the error estimate is less than or equal to the tolerance threshold, the current update is determined to be valid, and the one-dimensional dynamic system simulation continues. The validity of the current update indicates that the new state vector matrix of the inertia disk obtained based on the trial step size is valid.

8. The one-dimensional dynamic system simulation method for a hybrid power transmission assembly according to claim 7, characterized in that, The step of solving for the trial step size based on the target state vector matrix, the damping torque, the stiffness torque, and the first-order ordinary differential equations to obtain the trial step size includes: The first-order ordinary differential equation system is simplified to obtain the objective equation, which includes the fourth term and the seventh term. The fourth term is the term to be solved, and the seventh term is configured as a function containing the time to be solved. The fourth term is equal to the seventh term. The value of the time to be determined is set to an arbitrary initial value; Based on the target state vector matrix, the damping torque, the stiffness torque, and the initial value of the time to be determined, the trial step size is calculated to obtain the trial step size.

9. The one-dimensional dynamics system simulation method for a hybrid power transmission assembly according to claim 8, characterized in that, The step of solving for the trial step size based on the target state vector matrix, the damping torque, the stiffness torque, and the initial value at the time to be determined, to obtain the trial step size, includes: The values ​​of the coefficient matrix are obtained based on the damping torque, the stiffness torque, and the inertia matrix. The value of the excitation vector is obtained based on the inertia matrix and the excitation torque of the multiple inertia disks. The product between the values ​​of the target state vector matrix and the coefficient matrix is ​​determined as the first quantity, the difference between the value of the excitation torque and the first quantity is the second quantity, and the norm of the second quantity is the third quantity. The maximum absolute value among multiple elements in the target state vector matrix is ​​determined as the fourth quantity, the larger value between the fourth quantity and the preset state threshold is determined as the fifth quantity, the p-th power of the tolerance threshold is the sixth quantity, the product of the fifth quantity, the sixth quantity, and the preset coefficient value is the seventh quantity, and the ratio between the third quantity and the seventh quantity is the eighth quantity, where 0 < p < 1. The difference between the current time and the initial value of the time to be determined is defined as the ninth quantity, and the reciprocal of the eighth quantity is defined as the tenth quantity. The minimum value between the ninth and tenth quantities is determined as the trial step size.

10. A one-dimensional dynamics system simulation device for a hybrid power transmission assembly, characterized in that, The device includes: The initial simulation model acquisition module is used to acquire the initial simulation model of the one-dimensional dynamic system of the hybrid transmission assembly in response to the time stepping cycle command. The initial simulation model includes multiple inertia disks and torque transmission units connecting adjacent inertia disks. The thread allocation module is used to allocate the calculation tasks of the torque transmission unit to the corresponding thread execution unit. The torque transmission unit corresponds one-to-one with the thread execution unit, and the thread execution unit is a GPU thread or a GPU thread bundle. A parallel execution module is used to run multiple thread execution units in parallel to obtain the transmission torque of multiple torque transmission units; The simulation module is used to obtain the state vector of the inertia disk at multiple time points based on the initial simulation model and the transmitted torque, and to complete the simulation of the one-dimensional dynamic system. The simulation step size of the state vector is the dynamic step size.

Images