Motor control method for new energy automobile using linear actuator as clutch

Abstract

Disclosed is a motor control method for a new energy automobile using a linear actuator as a clutch. The Hall effect-based linear actuator acts as the clutch of the new energy automobile, and is used for a clutch connection between an engine of a hybrid or extended range electric automobile and a motor. The clutch is called a linear actuator clutch, and a push rod of the linear actuator is called a clutch push rod. Motor control of the linear actuator clutch is performed on the basis of the Hall effect. The method of the present invention provides a design in which a Hall effect-based linear actuator is used in a hybrid or extended range electric automobile as a clutch connecting an engine and a motor, thereby achieving the advantages of large thrust, high control precision, rapid startup and response, good control performance, etc., and can address numerous incompatibility problems caused by conventional clutches.

Description

A motor control method using a push rod motor as a clutch for new energy vehicles Technical Field

[0001] The present invention relates to a motor control method using a push rod motor as a clutch for a new energy vehicle. Specifically, the present invention relates to a method for controlling the motor based on the Hall effect, using the push rod motor as a clutch connecting the engine and the motor of a hybrid or extended-range pure electric vehicle. Background Art

[0002] In hybrid or extended-range electric vehicle systems, a clutch can be used to drive a mechanical structure for displacement, thereby separating and connecting the engine and motor, and further converting energy from the engine to the motor. Traditional clutches, including hydraulic clutches, pneumatic clutches, and mechanical clutches, suffer from weak thrust, poor control accuracy, and poor starting smoothness. Using a pushrod motor as a clutch for an automobile, as shown in Figure 1, offers advantages such as high thrust, high control accuracy, rapid starting and response, and good control. Therefore, hybrid or extended-range electric vehicles can solve a series of incompatibility issues associated with traditional clutches by using a Hall-effect-based pushrod motor as the clutch connecting the engine and motor.

[0003] In a Hall-effect-based pushrod motor system, the controller uses the pushrod motor's Hall signal and its phase difference to determine the pushrod's actual forward direction and current position. However, the control system for a Hall-effect-based pushrod motor as a vehicle clutch is more sophisticated and complex than that of a traditional vehicle clutch control system. As shown in Figure 2, the pushrod motor's basic configuration and specific parameters are far more complex than those of a traditional vehicle clutch. Furthermore, poor control methods can cause the Hall-effect-based pushrod motor to malfunction or even fail. Therefore, a control method for a Hall-effect-based pushrod motor as a clutch in new energy vehicles is needed to facilitate troubleshooting and ensure its normal operation.

[0004] Control signal description

[0005] Push rod motor control signal: a control signal requesting the clutch push rod to retract, extend or stop.

[0006] The clutch's current actual forward direction signal: Based on the waveform phase difference of the voltage pulse output by the Hall effect sensor of the clutch push rod, the actual running state of the current clutch push rod is judged, that is, whether the actual running direction of the current clutch push rod feedback is running in the engaging direction, running in the disengaging direction or stopped running.

[0007] Clutch Hall pulse count value: the voltage pulse count value output by the Hall effect sensor.

[0008] Clutch self-learning: When the actuator motor clutch is initially powered on, the position of the clutch actuator is unclear at this time, so the actuator motor clutch needs to perform clutch self-learning, that is, autonomously learn to the fully engaged position as the starting point of clutch control.

[0009] Clutch target operating direction request signal: The vehicle controller issues a control signal requesting the clutch push rod to retract, extend or stop based on a comprehensive judgment of the vehicle mode requirements (mainly including pure electric mode, extended-range mode and hybrid mode) and the fault status feedback of the clutch push rod.

[0010] Clutch actual running direction request signal: The actual running direction of the clutch push rod is obtained after comprehensive judgment based on the vehicle controller's control request for the clutch push rod, the clutch push rod's own fault status and the clutch self-learning requirements.

[0011] Clutch actual position status signal: used to determine the actual position and status of the current clutch push rod operation. The specific position status includes serious fault status, fully engaged position, fully disengaged position and intermediate position.

[0012] Clutch current position count value: used to further distinguish the detailed position information of the push rod motor clutch starting to disengage, starting to engage, intermediate position, about to be completely separated, and about to be completely engaged.

[0013] Clutch forward speed output signal: If the push rod motor clutch engages or disengages at too fast a speed and reaches the fully engaged or fully disengaged position, a large impact force will be generated, thereby accelerating the wear of the clutch push rod and shortening the clutch life. The clutch forward speed output signal is designed to avoid this situation. Summary of the Invention

[0014] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a motor control method using a push rod motor as a clutch for new energy vehicles. First, a new hybrid vehicle clutch is designed to overcome the problems of weak thrust, poor control accuracy, and poor starting smoothness existing in traditional vehicle clutches; then, a motor control method is designed for the clutch to ensure normal function and fault handling.

[0015] Technical solution: To achieve the above purpose, the technical solution adopted by the present invention is:

[0016] A motor control method using a push rod motor as a clutch for new energy vehicles, using a push rod motor based on the Hall effect as the clutch for new energy vehicles, for the clutch connection between the engine and the motor of a hybrid or extended-range pure electric vehicle. The clutch is called a push rod motor clutch, and the push rod of the push rod motor is called a clutch push rod; the push rod motor clutch performs motor control based on the Hall effect.

[0017] Specifically, the push rod motor includes six connecting wires serving as signal lines, which are respectively recorded as connecting wire a, connecting wire b, connecting wire c, connecting wire d, connecting wire e and connecting wire f; connecting wire a and connecting wire b are respectively connected to the Hall signal A and the Hall signal B, and the periodic law of the Hall signal A and the Hall signal B is used to distinguish whether the push rod motor is rotating forward or reverse, and at the same time, the number of cycles of the Hall signal A or the Hall signal B is used to judge the number of pulses when the push rod motor is running, and the stroke of the push rod motor is judged; connecting wire c and connecting wire d are respectively connected to the positive and negative poles of the push rod motor control signal, and the duty cycle of the PWM circuit is used to control the input voltage of connecting wire c and connecting wire d, thereby controlling the running direction and speed of the clutch push rod; connecting wire e and connecting wire f are respectively connected to the positive and negative poles of the push rod motor power supply signal, and whether the push rod motor is faulty is judged by the input voltage of connecting wire e and connecting wire f.

[0018] Specifically, connecting line a and connecting line b are connected to Hall signal A and Hall signal B respectively. When the push rod motor rotates forward, Hall signal A is faster than Hall signal B by a quarter of a cycle T. When the push rod motor rotates reversely, Hall signal A is slower than Hall signal B by a quarter of a cycle T. Arbitration of the clutch's current actual forward direction signal and arbitration of the clutch's Hall pulse count value are performed based on Hall signal A and Hall signal B.

[0019] The clutch's current actual forward direction signal is arbitrated based on the states of Hall effect signals A and B. Let Hall effect signal A of the current cycle be HallA, Hall effect signal A of the previous small cycle be Last_HallA, Hall effect signal B of the current cycle be HallB, and Hall effect signal B of the previous small cycle be Last_HallB:

[0020] ① When HallA is 1, Last_HallA is 0, HallB is 0, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is forward, and the push rod motor clutch forward direction is engaged, then the arbitration clutch current actual forward direction signal is engaged;

[0021] ② When HallA is 0, Last_HallA is 0, HallB is 1, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is reverse, and the push rod motor clutch forward direction is separation, then the arbitration clutch current actual forward direction signal is separation;

[0022] ③ When HallA is 0, Last_HallA is 0, HallB is 0, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is stop, and the push rod motor clutch forward direction is stop, then the arbitration clutch current actual forward direction signal is stop;

[0023] ③ In other cases, the current actual forward direction signal of the previous arbitration-completed clutch is inherited;

[0024] The clutch Hall pulse count value arbitration is based on the transition and status of Hall signal A and Hall signal B. The clutch target running direction request signal issued by the vehicle controller requesting engagement, separation or stop is equivalent to the push rod motor control signal requesting the clutch push rod to retract, extend or stop:

[0025] ① When the clutch target running direction request signal is a request to engage, and the clutch current actual forward direction signal is engaged, and HallA is 1 and Last_HallA is 0 (i.e., the transition edge from 0 to 1 of the Hall signal A), the clutch Hall pulse count value is reduced by 1;

[0026] ② When the clutch target running direction request signal is a request for separation, and the clutch current actual forward direction signal is separation, and HallB is 1 and Last_HallB is 0 (i.e., the transition edge from 0 to 1 of the Hall signal B), the clutch Hall pulse count value is increased by 1;

[0027] ③ In other cases, the clutch Hall pulse count value remains unchanged.

[0028] Specifically, connecting wire e and connecting wire f are connected to the positive and negative poles of the push rod motor power supply signal respectively, and the input voltage is DC12V; when the push rod motor is working normally, the input voltage of connecting wire e is 7V+~12V+, and the input voltage of connecting wire f is 0V; when the push rod motor has a short circuit, stall or open circuit fault, the input voltage of connecting wire e will change accordingly; the clutch fault state can be arbitrated according to the input voltage of connecting wire e and connecting wire f, and is divided into three arbitration priorities: high, medium and low:

[0029] Arbitration priority is high: ① When the input voltage of connection line e is 0V and the input voltage of connection line f is 0V, the push rod motor clutch has an open circuit or jam fault; ② When the input voltage of connection line e is 12V+ and the input voltage of connection line f is 12V+, the push rod motor clutch has a short circuit fault; ③ When the input voltage of connection line e is greater than 0V and less than 7V+ and the input voltage of connection line f is 0V, the push rod motor clutch has an insufficient power supply voltage fault; ④ When the input voltage of connection line f is greater than 0V or less than 12V+, the push rod motor clutch has an abnormal power supply voltage fault; When the push rod motor clutch has an open circuit, jam, short circuit, insufficient power supply voltage, or abnormal power supply voltage fault, the push rod motor clutch cannot work normally, and the arbitration clutch fault state is a serious fault;

[0030] In arbitration priority: When the input voltage of connection line e is 7V+~11V+ and the input voltage of connection line f is 0V, the push rod motor clutch can work normally and the maximum forward speed is limited. In this case, the push rod motor clutch has a speed limitation fault and the arbitration clutch fault state is a minor fault.

[0031] Arbitration priority is low: When the input voltage of connection line e is 11V+~12V+ and the input voltage of connection line f is 0V, the push rod motor clutch can work normally and the maximum forward speed is not restricted. The push rod motor clutch has no fault and the arbitration clutch fault state is no fault.

[0032] Specifically, when the push rod motor clutch is initially powered on, the position of the clutch push rod is unclear at this time, so the push rod motor clutch needs to perform clutch self-learning, that is, autonomously learn to the fully engaged position as the starting point of clutch control. Therefore, the clutch actual running direction request signal is arbitrated according to the clutch fault status, clutch self-learning requirements and the clutch target running direction request signal issued by the vehicle controller; it is divided into two arbitration priorities: high and medium:

[0033] High arbitration priority: When the clutch fault state arbitration is a serious fault, the arbitration clutch actual running direction request signal is a request to stop;

[0034] In the arbitration priority: ① When the clutch fault status arbitration is no fault or a minor fault, according to the clutch self-learning requirements, the arbitration clutch actual operating direction request signal is a request for engagement; ② When the clutch self-learning is completed, that is, the clutch actually operates to the fully engaged position, and the clutch actual position status signal arbitration is a fully engaged position state, then the clutch actual operating direction request signal begins to respond to the clutch target operating direction request signal issued by the vehicle controller, and the arbitration clutch actual operating direction request signal is the clutch target operating direction request signal.

[0035] Specifically, the actual clutch position state signal and the clutch current position count value are arbitrated based on the clutch actual running direction request signal, clutch fault status, and clutch Hall pulse count value. The clutch current position count value is used to further distinguish detailed position information such as the push rod motor clutch starting to disengage, starting to engage, intermediate position, about to be completely disengaged, and about to be completely engaged. The arbitration priority is divided into three levels: high, medium, and low:

[0036] High arbitration priority: When the clutch fault status arbitration is a serious fault, the arbitration clutch current position count value is reset to zero, and the arbitration clutch actual position status signal is a serious fault state; at the same time, after receiving feedback, the vehicle controller changes the clutch target running direction request signal, that is, from requesting to engage or requesting to disengage to requesting to stop;

[0037] In the arbitration priority: ① When the clutch fault status arbitration is no fault or a minor fault, the clutch actual running direction request signal arbitration is a request for engagement, and the clutch Hall pulse count value does not change within 1s, the push rod motor clutch runs to the fully engaged position, the arbitration clutch current position count value is cleared, and the arbitration clutch actual position state signal is a fully engaged position state; at the same time, after receiving feedback, the vehicle controller changes the clutch target running direction request signal, that is, from requesting engagement to requesting stop; ② When the clutch fault status arbitration is no fault or a minor fault, the clutch actual running direction request signal arbitration is a request for separation, and the clutch Hall pulse count value does not change within 1s, the push rod motor clutch runs to the fully separated position , the current position count value of the arbitration clutch is corrected to the maximum value Max, and the actual position state signal of the arbitration clutch is in the fully separated position state; at the same time, after receiving the feedback, the vehicle controller changes the clutch target running direction request signal, that is, changes from requesting separation to requesting stop; ③ When the clutch fault state arbitration is no fault or a minor fault, the actual running direction request signal of the clutch is arbitrated as requesting stop, then regardless of whether the clutch Hall pulse count value changes, the push rod motor clutch stops running, the current position count value of the arbitration clutch remains unchanged, and the actual position state signal of the arbitration clutch is in the stop position state; at the same time, after receiving the feedback, the vehicle controller changes the clutch target running direction request signal, that is, changes from requesting separation to requesting stop;

[0038] Low arbitration priority: When the clutch fault status arbitration is no fault or a minor fault, the clutch actual operating direction request signal arbitration is a request for engagement or separation, and the clutch Hall pulse count value is still changing continuously, the push rod motor clutch keeps running and has neither reached the fully engaged position nor the fully separated position. The arbitration clutch current position count value changes according to the change of the clutch Hall pulse count value, and the arbitration clutch actual position state signal is the intermediate position state; at the same time, after receiving feedback, the vehicle controller does not change the clutch target operating direction request signal.

[0039] Specifically, the clutch running direction control output signal arbitration is performed based on the clutch actual position state signal and the clutch actual running direction request signal, and is divided into three arbitration priorities: high, medium, and low:

[0040] High arbitration priority: When the arbitration of the clutch actual position status signal is a serious fault state, the arbitration clutch running direction control output signal is a request to stop, the input voltage of the connection line c becomes 0V, and the input voltage of the connection line d becomes 0V;

[0041] In arbitration priority: when the clutch actual position state signal arbitration is fully engaged position state, fully disengaged position state or stopped position state, the arbitration clutch running direction control output signal is request to stop, the input voltage of connection line c becomes 0V, and the input voltage of connection line d becomes 0V;

[0042] Arbitration priority is low: ① When the clutch actual position state signal arbitration is the middle position state, and the clutch actual running direction request signal is request to engage, the arbitration clutch running direction control output signal is request to engage, the input voltage of connection line c becomes 7V+~12V+, and the input voltage of connection line d becomes 0V; ② When the clutch actual position state signal arbitration is the middle position state, and the clutch actual running direction request signal is request to disengage, the arbitration clutch running direction control output signal is request to disengage, the input voltage of connection line c becomes 0V, and the input voltage of connection line d becomes 7V+~12V+.

[0043] Specifically, connecting wires c and d are connected to the positive and negative poles of the push rod motor control signal, respectively, and the input voltage range is 0 to 12V. When the clutch running direction control output signal arbitration is a request to engage or a request to disengage, the clutch forward speed output signal needs to be arbitrated. The clutch forward speed output signal arbitration is performed based on the clutch running direction control output signal, the clutch actual position state signal, and the clutch current position count value.

[0044] When the clutch operation direction control output signal arbitration is a request for engagement, the input voltage of the connection line c becomes 7V+~12V+, the input voltage of the connection line d becomes 0V, the push rod motor is controlled to rotate forward, the clutch push rod forward direction is retracted, and the push rod motor clutch forward direction is engaged; because the clutch push rod operation speed corresponding to the input voltage of the connection line c is 7V+~12V+ is different, the duty cycle signal is used to process the clutch push rod operation speed corresponding to the input voltage of the connection line c is 7V+~12V+;

[0045] When the clutch operation direction control output signal arbitration is a request for separation, the input voltage of the connection line c becomes 0V, the input voltage of the connection line d becomes 7V+~12V+, the push rod motor is controlled to reverse, the clutch push rod forward direction is extended, and the push rod motor clutch forward direction is separated; because the clutch push rod operation speed corresponding to the input voltage of the connection line d is 7V+~12V+ is different, the duty cycle signal is used to process the clutch push rod operation speed corresponding to the input voltage of the connection line d is 7V+~12V+;

[0046] When the clutch running direction control output signal arbitration is a request to stop, the input voltage of the connecting line c is 0V, and the input voltage of the connecting line d is 0V, the push rod motor stops rotating, the clutch push rod stops moving forward, and the push rod motor clutch forward direction is stop;

[0047] The duty cycle of the PWM circuit is used to represent the clutch forward speed output signal. According to the arbitration result of the clutch actual position state signal and the clutch current position count value, the duty cycle is given when the clutch starts to engage or disengage, and then gradually increases to 100%. After reaching the intermediate position, the duty cycle is controlled to gradually decrease, and when it is about to reach the fully engaged or fully disengaged position, the duty cycle output is controlled to decrease to the given duty cycle, and finally the duty cycle is controlled to 0 after reaching the fully engaged or fully disengaged position. Finally, during the clutch self-learning process, the forward speed and impact degree are comprehensively considered, and the self-learning duty cycle is set to run to the fully engaged position of the clutch.

[0048] Beneficial effects: The motor control method using a push rod motor as a clutch for new energy vehicles provided by the present invention can design hybrid or extended-range pure electric vehicles by using a push rod motor based on the Hall effect as a clutch connecting the engine and the motor. It has the advantages of large thrust, high control accuracy, rapid starting and response, and good control effect, and can solve a series of incompatibility problems caused by traditional clutches. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] FIG1 is a schematic diagram of the structure of the push rod motor used in the method of the present invention; in the figure: 1-installation distance; 2-stroke; 3-motor line / signal line; 4-waterproof cable connector; 5-aluminum alloy tube; 6-metal sealing end cap; 7-galvanized nickel connector; 8-stainless steel inner tube

[0050] FIG2 is a basic configuration information table of the push rod motor shown in FIG1;

[0051] FIG3 is a waveform diagram of the Hall signal output of the push rod motor shown in FIG1 ;

[0052] FIG4 is a control flow chart of the push rod motor clutch in the present invention;

[0053] FIG5 is a schematic diagram of the signal trend of the push rod motor clutch in the present invention;

[0054] FIG6 is a diagram showing the relationship between the PWM duty cycle and the voltage of the connecting line c when the push rod motor is engaged and disengaged in the present invention;

[0055] FIG7 is a diagram showing the relationship between the PWM duty cycle and the voltage of the connecting line d when the push rod motor is engaged or disengaged in the present invention. DETAILED DESCRIPTION

[0056] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] A motor control method using a push rod motor as a clutch for new energy vehicles, employing a push rod motor based on the Hall effect as a clutch for new energy vehicles, is disclosed. The method utilizes a push rod motor based on the Hall effect as a clutch for connecting the engine and motor of hybrid or extended-range electric vehicles. This clutch is referred to as a push rod motor clutch, and the push rod of the push rod motor is referred to as a clutch push rod. The push rod motor clutch controls the motor based on the Hall effect. The Hall effect is a phenomenon caused by the interaction between the corresponding electric and magnetic fields of charged particles. In engineering, a Hall effect sensor based on the Hall effect is used to convert a changing magnetic field into a changing output voltage, i.e., an output voltage pulse and waveform. The clutch push rod in this case measures displacement by counting the output voltage pulses of the Hall effect sensor, and uses the waveform phase difference to identify the push rod's direction of travel.

[0058] The push rod motor used in this case includes six connecting wires serving as signal lines, which are respectively denoted as connecting wire a, connecting wire b, connecting wire c, connecting wire d, connecting wire e, and connecting wire f; the wiring method is shown in Table 1.

[0059] Table 1 Push rod motor connection line description

[0060] Connecting wires a and b connect Hall signal A and Hall signal B, respectively. As shown in Figure 3, when the push rod motor rotates forward, Hall signal A is faster than Hall signal B by a quarter of a cycle T, and a quarter of a cycle T is set as a small cycle t (the same below). When the push rod motor rotates reversely, Hall signal A is slower than Hall signal B by a quarter of a cycle T. The periodicity of Hall signal A and Hall signal B is used to distinguish whether the push rod motor is rotating forward or reverse. At the same time, the number of cycles of Hall signal A or Hall signal B is used to determine the number of pulses when the push rod motor is running, thereby determining the stroke of the push rod motor.

[0061] Connecting wire c and connecting wire d are respectively connected to the positive and negative poles of the push rod motor control signal, and the input voltage range is 0~12V; when the input voltage of connecting wire c is 7V+~12V+ and the input voltage of connecting wire d is 0V, the push rod motor is controlled to rotate forward, the clutch push rod forward direction is retracted, and the push rod motor clutch forward direction is engaged; when the input voltage of connecting wire c is 0V and the input voltage of connecting wire d is 7V+~12V+, the push rod motor is controlled to reverse, the clutch push rod forward direction is extended, and the push rod motor clutch forward direction is separated; when the input voltage of connecting wire c is 0V and the input voltage of connecting wire d is 0V, the push rod motor stops rotating, the clutch push rod stops moving, and the push rod motor clutch forward direction is stopped; therefore, the input voltage of connecting wire c and connecting wire d can be controlled by the duty cycle of the PWM circuit, thereby controlling the running direction and speed of the clutch push rod.

[0062] Connecting wire e and connecting wire f are respectively connected to the positive and negative poles of the push rod motor power supply signal. According to Figure 2, the input voltage is DC12V. When the push rod motor is working normally, the input voltage of connecting wire e is 7V+~12V+, and the input voltage of connecting wire f is 0V. When the push rod motor has a short circuit, stall or open circuit fault, the input voltage of connecting wire e will change accordingly. Whether the push rod motor has a fault can be judged by the input voltage of connecting wire e and connecting wire f.

[0063] The following describes the signal arbitration strategy for the push rod motor clutch based on four parts: input signal processing, clutch fault state determination, clutch control strategy processing, and output signal processing.

[0064] Part 1: Input Signal Processing

[0065] 1.1 Clutch current actual forward direction signal arbitration

[0066] As shown in Figure 3, let the Hall signal A of the current cycle be HallA, the Hall signal A of the previous small cycle be Last_HallA, the Hall signal B of the current cycle be HallB, and the Hall signal B of the previous small cycle be Last_HallB: ① When HallA is 1, Last_HallA is 0, HallB is 0, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is forward and the push rod motor clutch forward direction is engaged, then the current actual forward direction signal of the arbitration clutch is engaged; ② When HallA is 0, Last_HallA is 0, HallB is 0, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is forward and the push rod motor clutch forward direction is engaged, then the current actual forward direction signal of the arbitration clutch is engaged; When allA is 0, HallB is 1, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is reverse, and the push rod motor clutch forward direction is separation, then the arbitration clutch current actual forward direction signal is separation; ③ When HallA is 0, Last_HallA is 0, HallB is 0, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is stop, and the push rod motor clutch forward direction is stop, then the arbitration clutch current actual forward direction signal is stop; ③ In other cases, the current actual forward direction signal of the previous clutch that has completed arbitration is inherited.

[0067] 1.2 Clutch Hall Pulse Count Arbitration

[0068] Assume that the clutch target running direction request signal issued by the vehicle controller requesting engagement, separation or stop is equivalent to the push rod motor control signal requesting the clutch push rod to retract, extend or stop: ① When the clutch target running direction request signal is a request for engagement, and the current actual forward direction signal of the clutch is engagement, and HallA is 1 and Last_HallA is 0 (that is, the 0 to 1 transition edge of the Hall signal A), the clutch Hall pulse count value is reduced by 1; ② When the clutch target running direction request signal is a request for separation, and the current actual forward direction signal of the clutch is separation, and HallB is 1 and Last_HallB is 0 (that is, the 0 to 1 transition edge of the Hall signal B), the clutch Hall pulse count value is increased by 1; ③ In other cases, the clutch Hall pulse count value remains unchanged.

[0069] Part 2: Determination of clutch fault status

[0070] 2.1 Principle Description

[0071] Since the input voltage of connecting line e and connecting line f is the power supply voltage of the push rod motor clutch, the maximum input voltage of connecting line c and connecting line d is determined by the input voltage of connecting line e and connecting line f; it can be seen from Figures 6 and 7 that the maximum input voltage of connecting line c and connecting line d determines the maximum forward speed of the push rod motor clutch, so the maximum forward speed of the push rod motor clutch is affected by the input voltage of connecting line e and connecting line f; in addition, when the push rod motor clutch has faults such as short circuit, jam or open circuit, the input voltage of connecting line e and connecting line f will also change accordingly, so the clutch fault state can be arbitrated according to the input voltage of connecting line e and connecting line f.

[0072] 2.2 Arbitration Strategy Description

[0073] The arbitration priority is high: ① When the input voltage of the connecting line e is 0V and the input voltage of the connecting line f is 0V, the push rod motor clutch has an open circuit or jam fault; ② When the input voltage of the connecting line e is 12V+ and the input voltage of the connecting line f is 12V+, the push rod motor clutch has a short circuit fault; ③ When the input voltage of the connecting line e is greater than 0V and less than 7V+ and the input voltage of the connecting line f is 0V, the push rod motor clutch has an insufficient power supply voltage fault; ④ When the input voltage of the connecting line f is greater than 0V or less than 12V+, the push rod motor clutch has an abnormal power supply voltage fault; When the push rod motor clutch has an open circuit, jam, short circuit, insufficient power supply voltage, or abnormal power supply voltage fault, the push rod motor clutch cannot work normally, and the arbitration clutch fault state is a serious fault.

[0074] In arbitration priority: when the input voltage of connection line e is 7V+~11V+ and the input voltage of connection line f is 0V, the push rod motor clutch can work normally and the maximum forward speed is limited. Then the push rod motor clutch has a speed limitation fault and the arbitration clutch fault state is a minor fault.

[0075] Arbitration priority is low: When the input voltage of connection line e is 11V+~12V+ and the input voltage of connection line f is 0V, the push rod motor clutch can work normally and the maximum forward speed is not restricted. The push rod motor clutch has no fault and the arbitration clutch fault state is no fault.

[0076] Part 3: Clutch control strategy processing

[0077] 3.1 Clutch actual running direction request signal arbitration

[0078] 3.1.1 Principle Description

[0079] When the push rod motor clutch is initially powered on, the position of the clutch push rod is unclear at this time, so the push rod motor clutch needs to perform clutch self-learning, that is, autonomously learn to the fully engaged position as the starting point of clutch control. Therefore, the clutch actual running direction request signal is arbitrated according to the clutch fault status, clutch self-learning requirements and the clutch target running direction request signal issued by the vehicle controller.

[0080] 3.1.2 Arbitration Strategy Description:

[0081] High arbitration priority: When the clutch fault status arbitration is a serious fault, the arbitration clutch actual running direction request signal is a request to stop.

[0082] In the arbitration priority: ① When the clutch fault status arbitration is no fault or a minor fault, according to the clutch self-learning requirements, the arbitration clutch actual operating direction request signal is a request for engagement; ② When the clutch self-learning is completed, that is, the clutch actually operates to the fully engaged position, and the clutch actual position status signal arbitration is a fully engaged position state, then the clutch actual operating direction request signal begins to respond to the clutch target operating direction request signal issued by the vehicle controller, and the arbitration clutch actual operating direction request signal is the clutch target operating direction request signal.

[0083] 3.2 Arbitration of clutch current position count value and clutch actual position status signal

[0084] 3.2.1 Principle Description

[0085] Set the clutch push rod to be fully retracted as the push rod motor clutch fully engaged position, and the clutch push rod to be fully extended as the push rod motor clutch fully disengaged position; as shown in Figure 3, the clutch push rod will repeatedly appear the Hall signal A jump edge from 0 to 1 during the retraction process, so the clutch Hall pulse count value will continue to change and continue to decrease by 1; when the clutch push rod is fully retracted, due to the built-in upper limit switch, the upper limit switch will immediately cut off the power supply, thereby making the Hall signal A jump edge from 0 to 1 disappear, and the clutch Hall pulse count value will no longer change; the clutch push rod will repeatedly appear the Hall signal B jump edge from 0 to 1 during the extension process, so the clutch push rod will be fully retracted. The Hall pulse count value will continue to change and increase by 1. When the clutch push rod is fully extended, the built-in lower limit switch will immediately cut off the power supply, thereby causing the transition edge of the Hall signal B from 0 to 1 to disappear, and the clutch Hall pulse count value will no longer change. Therefore, the clutch actual position state signal and the clutch current position count value can be arbitrated according to the clutch actual running direction request signal, clutch fault status and clutch Hall pulse count value. The clutch current position count value is used to further distinguish detailed position information such as the push rod motor clutch starting to separate, starting to engage, intermediate position, about to be completely separated, and about to be completely engaged.

[0086] 3.2.2 Arbitration Strategy Description

[0087] High arbitration priority: When the clutch fault status arbitration is a serious fault, the arbitration clutch current position count value is cleared to zero, and the arbitration clutch actual position status signal is a serious fault state; at the same time, after receiving feedback, the vehicle controller changes the clutch target running direction request signal, that is, changes from requesting to engage or requesting to disengage to requesting to stop.

[0088] In the arbitration priority: ① When the clutch fault status arbitration is no fault or a minor fault, the clutch actual running direction request signal arbitration is a request for engagement, and the clutch Hall pulse count value does not change within 1s, the push rod motor clutch runs to the fully engaged position, the arbitration clutch current position count value is cleared, and the arbitration clutch actual position state signal is a fully engaged position state; at the same time, after receiving feedback, the vehicle controller changes the clutch target running direction request signal, that is, from requesting engagement to requesting stop; ② When the clutch fault status arbitration is no fault or a minor fault, the clutch actual running direction request signal arbitration is a request for separation, and the clutch Hall pulse count value does not change within 1s, the push rod motor clutch runs to the fully separated position , the current position count value of the arbitration clutch is corrected to the maximum value Max, and the actual position status signal of the arbitration clutch is in the fully separated position state; at the same time, after the vehicle controller receives the feedback, it changes the clutch target running direction request signal, that is, changes from requesting separation to requesting stop; ③ When the clutch fault status arbitration is no fault or a minor fault, the actual running direction request signal of the clutch is arbitrated as requesting stop, then regardless of whether the clutch Hall pulse count value changes, the push rod motor clutch stops running, the current position count value of the arbitration clutch remains unchanged, and the actual position status signal of the arbitration clutch is in the stop position state; at the same time, after the vehicle controller receives the feedback, it changes the clutch target running direction request signal, that is, changes from requesting separation to requesting stop.

[0089] Low arbitration priority: When the clutch fault status arbitration is no fault or a minor fault, the clutch actual operating direction request signal arbitration is a request for engagement or separation, and the clutch Hall pulse count value is still changing continuously, the push rod motor clutch keeps running and has neither reached the fully engaged position nor the fully separated position. The arbitration clutch current position count value changes according to the change of the clutch Hall pulse count value, and the arbitration clutch actual position state signal is the intermediate position state; at the same time, after receiving feedback, the vehicle controller does not change the clutch target operating direction request signal.

[0090] Part 4: Output Signal Processing

[0091] 4.1 Clutch running direction control output signal arbitration

[0092] 4.1.1 Principle Description

[0093] Connecting wires c and d are connected to the positive and negative poles of the push rod motor control signal, respectively, and have an input voltage range of 0 to 12V. When the input voltage of connecting wire c is 7V+ to 12V+ and the input voltage of connecting wire d is 0V, the push rod motor is controlled to rotate forward, the clutch push rod is retracted, and the push rod motor clutch forward direction is engaged. When the input voltage of connecting wire c is 0V and the input voltage of connecting wire d is 7V+ to 12V+, the push rod motor is controlled to rotate backward, the clutch push rod is extended, and the push rod motor clutch forward direction is disengaged. When the input voltage of connecting wire c is 0V and the input voltage of connecting wire d is 0V, the push rod motor stops rotating, the clutch push rod stops advancing, and the push rod motor clutch forward direction is stopped. Therefore, the clutch operation direction control output signal can be arbitrated based on the clutch actual position state signal and the clutch actual operation direction request signal.

[0094] 4.1.2 Arbitration Strategy Description

[0095] High arbitration priority: When the clutch actual position status signal arbitration is a serious fault state, the arbitration clutch running direction control output signal is a request to stop, the input voltage of the connection line c becomes 0V, and the input voltage of the connection line d becomes 0V.

[0096] In arbitration priority: when the clutch actual position state signal arbitration is fully engaged position state, fully disengaged position state or stopped position state, the arbitration clutch operation direction control output signal is request to stop, the input voltage of connection line c becomes 0V, and the input voltage of connection line d becomes 0V.

[0097] Arbitration priority is low: ① When the clutch actual position state signal arbitration is the middle position state, and the clutch actual running direction request signal is request to engage, the arbitration clutch running direction control output signal is request to engage, the input voltage of connection line c becomes 7V+~12V+, and the input voltage of connection line d becomes 0V; ② When the clutch actual position state signal arbitration is the middle position state, and the clutch actual running direction request signal is request to disengage, the arbitration clutch running direction control output signal is request to disengage, the input voltage of connection line c becomes 0V, and the input voltage of connection line d becomes 7V+~12V+.

[0098] 4.2 Clutch forward speed output signal arbitration

[0099] If the push rod motor clutch engages or disengages at too fast a speed and reaches the fully engaged or fully disengaged position, a large impact force will be generated, thereby accelerating the wear of the clutch push rod and reducing the life of the clutch. The clutch forward speed output signal is designed to avoid this situation; when the clutch running direction control output signal arbitration is a request for engagement or a request for disengagement, the clutch forward speed output signal needs to be arbitrated, and the clutch forward speed output signal arbitration is performed based on the clutch running direction control output signal, the clutch actual position status signal and the clutch current position count value.

[0100] When the clutch operation direction control output signal arbitration is a request for engagement, the input voltage of the connecting line c becomes 7V+~12V+, and the input voltage of the connecting line d becomes 0V; since the clutch push rod operating speed corresponding to the input voltage of the connecting line c is different when it is 7V+~12V+, the clutch push rod operating speed corresponding to the input voltage of the connecting line c is 7V+~12V+ is processed by the duty cycle signal; when the clutch operation direction control output signal arbitration is a request for separation, the input voltage of the connecting line c becomes 0V, and the input voltage of the connecting line d becomes 7V+~12V+; since the clutch push rod operating speed corresponding to the input voltage of the connecting line d is different when it is 7V+~12V+, the clutch push rod operating speed corresponding to the input voltage of the connecting line d is 7V+~12V+ is processed by the duty cycle signal.

[0101] The duty cycle of the PWM circuit is used to represent the clutch forward speed output signal. The relationship between the duty cycle and the clutch control direction, the input voltage of the connection line c, and the connection line d is shown in Figures 6 and 7. According to the arbitration result of the clutch actual position state signal and the clutch current position count value, the duty cycle is given to 10% when the clutch starts to engage or disengage, and then gradually increases to 100%. After reaching the intermediate position, the duty cycle is controlled to gradually decrease, and when it is about to reach the fully engaged or fully disengaged position, the duty cycle output is controlled to decrease to 10%, and finally the duty cycle is controlled to 0 after reaching the fully engaged or fully disengaged position. Finally, during the clutch self-learning process, the forward speed and impact degree are comprehensively considered, and the duty cycle is set to maintain 60% until the clutch is fully engaged.

[0102] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form, and any technical solutions obtained by equivalent replacement or equivalent transformation fall within the scope of protection of the present invention.

Claims

1. A motor control method using a push rod motor as a clutch for a new energy vehicle, characterized by: A push rod motor based on the Hall effect is used as a clutch for new energy vehicles, used for the clutch connection between the engine and the motor of hybrid or extended-range electric vehicles. This clutch is called a push rod motor clutch, and the push rod of the push rod motor is called a clutch push rod. The push rod motor clutch performs motor control based on the Hall effect.

2. The motor control method using a push rod motor as a clutch for a new energy vehicle according to claim 1 is characterized in that: The push rod motor includes six connecting wires as signal lines, which are respectively recorded as connecting wire a, connecting wire b, connecting wire c, connecting wire d, connecting wire e and connecting wire f; connecting wire a and connecting wire b are respectively connected to Hall electric signal A and Hall electric signal B, and the periodicity of Hall electric signal A and Hall electric signal B is used to distinguish whether the push rod motor is rotating forward or reverse. At the same time, the number of cycles of Hall electric signal A or Hall electric signal B is used to judge the number of pulses when the push rod motor is running, and the stroke of the push rod motor is judged; Connecting wire c and connecting wire d are respectively connected to the positive and negative poles of the push rod motor control signal. The input voltage of connecting wire c and connecting wire d is controlled by the duty cycle of the PWM circuit, thereby controlling the running direction and speed of the clutch push rod; connecting wire e and connecting wire f are respectively connected to the positive and negative poles of the push rod motor power supply signal. Whether the push rod motor is faulty is determined by the input voltage of connecting wire e and connecting wire f.

3. The motor control method using a push rod motor as a clutch for a new energy vehicle according to claim 1 is characterized in that: Connecting wires a and b connect Hall signal A and Hall signal B respectively. When the push rod motor rotates forward, Hall signal A is faster than Hall signal B by a quarter of a cycle T. When the push rod motor rotates reversely, Hall signal A is slower than Hall signal B by a quarter of a cycle T. Based on the Hall effect signal A and the Hall effect signal B, arbitration is performed on the clutch's current actual forward direction signal and the clutch's Hall effect pulse count value; The clutch's current actual forward direction signal is arbitrated based on the states of Hall effect signals A and B. Let Hall effect signal A of the current cycle be HallA, Hall effect signal A of the previous small cycle be Last_HallA, Hall effect signal B of the current cycle be HallB, and Hall effect signal B of the previous small cycle be Last_HallB: ① When HallA is 1, Last_HallA is 0, HallB is 0, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is forward, and the push rod motor clutch forward direction is engaged, then the arbitration clutch current actual forward direction signal is engaged; ② When HallA is 0, Last_HallA is 0, HallB is 1, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is reverse, and the push rod motor clutch forward direction is separation, then the arbitration clutch current actual forward direction signal is separation; ③ When HallA is 0, Last_HallA is 0, HallB is 0, and Last_HallB is 0, it is judged that the push rod motor clutch running direction is stop, and the push rod motor clutch forward direction is stop, then the arbitration clutch current actual forward direction signal is stop; ③ In other cases, the current actual forward direction signal of the previous arbitration-completed clutch is inherited; The clutch Hall pulse count value arbitration is based on the jump and state of Hall signal A and Hall signal B; ① When the clutch target running direction request signal is a request to engage, and the clutch current actual forward direction signal is engaged, and HallA is 1 and Last_HallA is 0, the clutch Hall pulse count value is reduced by 1; ② When the clutch target running direction request signal is request separation, and the clutch current actual forward direction signal is separation, and HallB is 1 and Last_HallB is 0, the clutch Hall pulse count value is increased by 1; ③ In other cases, the clutch Hall pulse count value remains unchanged.

4. The motor control method using a push rod motor as a clutch for a new energy vehicle according to claim 1, characterized in that: Connecting wires e and f are connected to the positive and negative poles of the push rod motor power supply signal respectively, and the input voltage is DC12V. When the push rod motor is working normally, the input voltage of connecting wire e is 7V+~12V+, and the input voltage of connecting wire f is 0V. When the push rod motor fails, the input voltage of connecting wire e will change accordingly. The clutch fault state is arbitrated based on the input voltages of connecting wires e and f, and is divided into three arbitration priorities: high, medium, and low: Arbitration priority is high: ① When the input voltage of connection line e is 0V and the input voltage of connection line f is 0V, the push rod motor clutch has an open circuit or jam fault; ② When the input voltage of connection line e is 12V+ and the input voltage of connection line f is 12V+, the push rod motor clutch has a short circuit fault; ③ When the input voltage of connection line e is greater than 0V and less than 7V+ and the input voltage of connection line f is 0V, the push rod motor clutch has an insufficient power supply voltage fault; ④ When the input voltage of connection line f is greater than 0V or less than 12V+, the push rod motor clutch has an abnormal power supply voltage fault; When the push rod motor clutch has an open circuit, jam, short circuit, insufficient power supply voltage, or abnormal power supply voltage fault, the push rod motor clutch cannot work normally, and the arbitration clutch fault state is a serious fault; In arbitration priority: When the input voltage of connection line e is 7V+~11V+ and the input voltage of connection line f is 0V, the push rod motor clutch can work normally and the maximum forward speed is limited. In this case, the push rod motor clutch has a speed limitation fault and the arbitration clutch fault state is a minor fault. Arbitration priority is low: When the input voltage of connection line e is 11V+~12V+ and the input voltage of connection line f is 0V, the push rod motor clutch can work normally and the maximum forward speed is not restricted. The push rod motor clutch has no fault and the arbitration clutch fault state is no fault.

5. The motor control method using a push rod motor as a clutch for a new energy vehicle according to claim 1, characterized in that: The clutch actual running direction request signal is arbitrated based on the clutch fault status, clutch self-learning requirements, and the clutch target running direction request signal issued by the vehicle controller; it is divided into two arbitration priorities: high and medium: High arbitration priority: When the clutch fault state arbitration is a serious fault, the arbitration clutch actual running direction request signal is a request to stop; In the arbitration priority: ① When the clutch fault status arbitration is no fault or a minor fault, according to the clutch self-learning requirements, the arbitration clutch actual operating direction request signal is a request for engagement; ② When the clutch self-learning is completed, that is, the clutch actually operates to the fully engaged position, and the clutch actual position status signal arbitration is a fully engaged position state, then the clutch actual operating direction request signal begins to respond to the clutch target operating direction request signal issued by the vehicle controller, and the arbitration clutch actual operating direction request signal is the clutch target operating direction request signal.

6. The motor control method using a push rod motor as a clutch for a new energy vehicle according to claim 1, characterized in that: The clutch actual position state signal and the clutch current position count value are arbitrated based on the clutch actual running direction request signal, clutch fault status and clutch Hall pulse count value; there are three arbitration priorities: high, medium and low: High arbitration priority: When the clutch fault status arbitration is a serious fault, the arbitration clutch current position count value is reset to zero, and the arbitration clutch actual position status signal is a serious fault state; at the same time, after receiving feedback, the vehicle controller changes the clutch target running direction request signal, that is, from requesting to engage or requesting to disengage to requesting to stop; In arbitration priority: ① When the clutch fault status arbitration is no fault or a minor fault, the clutch actual running direction request signal arbitration is a request to engage, and the clutch Hall pulse count value does not change within 1s, the push rod motor clutch runs to the fully engaged position, the arbitration clutch current position count value is reset to zero, and the arbitration clutch actual position state signal is a fully engaged position state; at the same time, after receiving feedback, the vehicle controller changes the clutch target running direction request signal, that is, changes from a request to engage to a request to stop; ② When the clutch fault status arbitration is no fault or a minor fault, the clutch actual running direction request signal arbitration is a request for separation, and the clutch Hall pulse count value does not change within 1s, the push rod motor clutch runs to the fully separated position, the arbitration clutch current position count value is corrected to the maximum value Max, and the arbitration clutch actual position state signal is a fully separated position state; at the same time, after receiving feedback, the vehicle controller changes the clutch target running direction request signal, that is, changes from a request for separation to a request for stop; ③ When the clutch fault state arbitration is no fault or slight fault, and the clutch actual running direction request signal arbitration is request to stop, then regardless of whether the clutch Hall pulse count value changes, the push rod motor clutch stops running, the arbitration clutch current position count value remains unchanged, and the arbitration clutch actual position state signal is the stop position state; At the same time, after receiving the feedback, the vehicle controller changes the clutch target running direction request signal, that is, changes the request to separate to the request to stop; Low arbitration priority: When the clutch fault status arbitration is no fault or a minor fault, the clutch actual running direction request signal arbitration is a request for engagement or separation, and the clutch Hall pulse count value is still changing, the push rod motor clutch keeps running and has neither reached the fully engaged position nor the fully separated position. The arbitration clutch current position count value changes according to the change of the clutch Hall pulse count value, and the arbitration clutch actual position state signal is the intermediate position state; At the same time, after receiving the feedback, the vehicle controller does not change the clutch target running direction request signal.

7. The motor control method using a push rod motor as a clutch for a new energy vehicle according to claim 1, characterized in that: The clutch running direction control output signal arbitration is performed based on the clutch actual position status signal and the clutch actual running direction request signal, and is divided into three arbitration priorities: high, medium, and low: High arbitration priority: When the arbitration of the clutch actual position status signal is a serious fault state, the arbitration clutch running direction control output signal is a request to stop, the input voltage of the connection line c becomes 0V, and the input voltage of the connection line d becomes 0V; In arbitration priority: when the clutch actual position state signal arbitration is fully engaged position state, fully disengaged position state or stopped position state, the arbitration clutch running direction control output signal is request to stop, the input voltage of connection line c becomes 0V, and the input voltage of connection line d becomes 0V; Arbitration priority is low: ① When the clutch actual position state signal arbitration is the middle position state, and the clutch actual running direction request signal is request to engage, the arbitration clutch running direction control output signal is request to engage, the input voltage of connection line c becomes 7V+~12V+, and the input voltage of connection line d becomes 0V; ② When the clutch actual position state signal arbitration is the middle position state, and the clutch actual running direction request signal is request to disengage, the arbitration clutch running direction control output signal is request to disengage, the input voltage of connection line c becomes 0V, and the input voltage of connection line d becomes 7V+~12V+.

8. The motor control method using a push rod motor as a clutch for a new energy vehicle according to claim 1, characterized in that: Connecting wires c and d are connected to the positive and negative poles of the push rod motor control signal respectively, and the input voltage range is 0-12V. When the clutch running direction control output signal arbitration is a request to engage or a request to disengage, the clutch forward speed output signal needs to be arbitrated. The clutch forward speed output signal arbitration is performed based on the clutch running direction control output signal, the clutch actual position status signal, and the clutch current position count value. When the clutch operation direction control output signal arbitration is a request for engagement, the input voltage of the connection line c becomes 7V+~12V+, the input voltage of the connection line d becomes 0V, the push rod motor is controlled to rotate forward, the clutch push rod forward direction is retracted, and the push rod motor clutch forward direction is engaged; because the clutch push rod operation speed corresponding to the input voltage of the connection line c is 7V+~12V+ is different, the duty cycle signal is used to process the clutch push rod operation speed corresponding to the input voltage of the connection line c is 7V+~12V+; When the clutch operation direction control output signal arbitration is a request for separation, the input voltage of the connection line c becomes 0V, the input voltage of the connection line d becomes 7V+~12V+, the push rod motor is controlled to reverse, the clutch push rod forward direction is extended, and the push rod motor clutch forward direction is separated; because the clutch push rod operation speed corresponding to the input voltage of the connection line d is 7V+~12V+ is different, the duty cycle signal is used to process the clutch push rod operation speed corresponding to the input voltage of the connection line d is 7V+~12V+; When the clutch running direction control output signal arbitration is a request to stop, the input voltage of the connecting line c is 0V, and the input voltage of the connecting line d is 0V, the push rod motor stops rotating, the clutch push rod stops moving forward, and the push rod motor clutch forward direction is stop; The duty cycle of the PWM circuit is used to represent the clutch forward speed output signal. According to the arbitration result of the clutch actual position state signal and the clutch current position count value, the duty cycle is given when the clutch starts to engage or disengage, and then gradually increases to 100%. After reaching the intermediate position, the duty cycle is controlled to gradually decrease, and when it is about to reach the fully engaged or fully disengaged position, the duty cycle output is controlled to decrease to the given duty cycle, and finally the duty cycle is controlled to 0 after reaching the fully engaged or fully disengaged position. Finally, during the clutch self-learning process, the forward speed and impact degree are comprehensively considered, and the self-learning duty cycle is set to run to the fully engaged position of the clutch.

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