CN114183523A - DCT power gear-up self-adaptive control method - Google Patents

Abstract

The invention discloses a DCT power gear-up self-adaptive control method, which comprises the following steps: acquiring a transmission oil temperature threshold range; reading the torque compensation value of each torque interval stored in the TCU in real time; calculating the speed difference and the relative change rate of the rotating speed in real time; entering torque compensation self-adaptive control; in the power gear-up executing process, the size relation between the relative change rate of the rotating speed and the segment value of the rotating speed difference is judged in real time; otherwise, entering slow self-adaptive control; carrying out sectional processing on the slow adaptive torque compensation value; and (4) superposing the self-adaptive compensation torque value when calculating the target torque of the clutch. In the process of switching the power upshift torque, two self-adaptive control methods of high speed and low speed are used in different ranges of the rotating speed difference and the rotating speed relative change rate by calculating the rotating speed difference and the rotating speed relative change rate of the rotating speed of the engine and the rotating speed of the current operating input shaft. The invention can effectively reduce the problem of power up-shift and down-shift consistency caused by inaccurate PT self-adaptation.

Description

DCT power gear-up self-adaptive control method

Technical Field

The invention relates to the technical field of DCT (discrete cosine transformation) transmissions, in particular to a DCT power upshift self-adaptive control method.

Background

Dual clutch transmissions are widely used in the automotive market due to their power-uninterrupted character and high driving quality. In dual clutch transmission control, the accuracy of clutch control plays a critical role in overall vehicle ride quality.

At present, when the DCT performs power upshift torque switching, the target gear clutch combination target torque is mostly set as the percentage of the engine request or the actual torque, and the target combination torque is corrected to a certain extent in consideration of the environmental influences of temperature or plateaus and the like. However, when the vehicle is not adaptive to the PT or has low adaptive accuracy, there are different degrees of jerk in the same working condition, different periods of time in the same vehicle or different vehicles when power is upshifted, and the consistency of the gear shift quality is poor, which is easy to cause driver complaints.

Disclosure of Invention

The invention provides a DCT power upshift self-adaptive control method, which can effectively reduce the problem of power upshift pause and frustration consistency caused by inaccurate PT self-adaptation.

The DCT power upshift self-adaptive control method comprises the following steps of:

s1, acquiring a transmission oil temperature threshold range, an accelerator opening degree threshold range and a clutch control state and storing the acquired data in a TCU;

s2, the whole process of power upshift is executed, and the torque compensation value of each torque interval stored by the TCU is read in real time;

s3, calculating the rotating speed difference N in real time according to the following formula_errAnd rate of relative change of speed A_rel：

N_err＝N_eng-N_gear

A_rel＝dN_eng/dt-dN_gear/dt

In the formula, N_engIs the engine speed, N_gearFor the current operating gear corresponding to the input shaft speed, N_errdN is the difference in rotational speed_engdN is the rate of change of engine speed_gearDt is the rate of change of the speed of the input shaft at the current operating gear, A_relFor the relative rate of change of speed, use A₁、A₂、A₃……A_zA segment value representing the relative rate of change of the rotational speed;

s4, in the process of executing power upshift, if the following conditions are met, entering torque compensation adaptive control, and if the following conditions are not met, directly using a torque compensation value stored by a TCU;

(a) the real-time transmission oil temperature belongs to the range of the transmission oil temperature threshold;

(b) the real-time accelerator opening belongs to the range of an accelerator opening threshold value;

(c) differential rotational speed N_err≥N_xOr relative rate of change of speed A_rel≥A_zWherein N is used₁、N₂、N₃……N_xWatch (A)

A segment value indicating a difference in rotational speed;

(d) the clutch control state is in a torque switching state;

s5, judging the relative change rate A of the rotating speed in real time in the power gear-up executing process_relFractional value A from the difference in rotational speed₁If the relative change rate of the phase satisfies A_rel>A₁Under the condition, entering fast self-adaptive control; otherwise, entering slow self-adaptive control;

s6, adapting the torque compensation value T to the slow speed_sCarrying out segmentation processing, and calculating the arithmetic mean value of the torque compensation values in each torque section;

and S7, calculating the clutch target torque and superposing the self-adaptive compensation torque value.

The beneficial technical effects of the invention are as follows: in the process of power upshift torque switching, two self-adaptive control methods of high speed and low speed are used in different ranges of the rotating speed difference and the rotating speed relative change rate by calculating the rotating speed difference and the rotating speed relative change rate of the rotating speed of the engine and the rotating speed of the current operation input shaft:

1. performing fast self-adaptive control, outputting a torque compensation value by using a rotating speed relative change rate and a calculated value of rotational inertia of a flywheel end of an engine, and superposing the torque compensation value and the calculated value of the rotational inertia of the flywheel end of the engine into target torque calculation in real time;

2. and slow self-adaptive control, namely performing torque compensation calculation and storing in sections in different rotating speed difference and rotating speed relative change rate ranges, and when the sum of the accumulated times of the counters corresponding to each torque section meets a certain condition, taking the torque compensation arithmetic average value as a compensation torque value to be output and superposing the compensation torque value to the target torque calculation. The invention can effectively reduce the problem of power up-shift and down-shift consistency caused by inaccurate PT self-adaptation.

Drawings

Fig. 1 is a general flow chart of the present invention.

FIG. 2 is a flow chart of the calculation of the slow adaptive torque compensation value based on different rotational speed differences and relative rates of change of the rotational speed according to the present invention.

FIG. 3 is a torque compensation value segmentation process flow diagram of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention are described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below by referring to the drawings are exemplary and intended to explain the present invention and are not to be construed as simply limiting the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention without making creative efforts, shall fall within the protection scope of the invention. Embodiments of the present invention are described in detail below with reference to the accompanying drawings:

in the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations and positional relationships based on those illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be considered as limiting the scope of the present invention.

As shown in fig. 1 to 3, the DCT power upshift adaptive control method includes the following steps:

s1, acquiring a transmission oil temperature threshold range, an accelerator opening degree threshold range and a clutch control state and storing the acquired data in a TCU; these data were obtained by whole vehicle experiments.

And S2, the power upshift is carried out, and the torque compensation value of each torque interval stored by the TCU is read in real time.

S3, calculating the rotating speed difference N in real time according to the following formula_errAnd rate of relative change of speed A_rel：

N_err＝N_eng-N_gear

A_rel＝dN_eng/dt-dN_gear/dt

In the formula, N_engIs the engine speed, N_gearFor the current operating gear corresponding to the input shaft speed, N_errdN is the difference in rotational speed_engdN is the rate of change of engine speed_gearDt is the rate of change of the speed of the input shaft at the current operating gear, A_relFor the relative rate of change of speed, use A₁、A₂、A₃……A_zA segment value representing the relative rate of change of the rotational speed;

relative rate of change of rotation A in S3_relThe segmentation value is obtained according to the following steps:

2-1) starting and accelerating the whole vehicle full accelerator, controlling the target gear clutch to be not combined by the TCU during power upshift torque switching, and calculating and recording the relative change rate A of the rotating speed in real time_relRepeating N times, wherein N is more than or equal to 10, calculating the average value of the N times of recorded data, and obtaining a segment value A of the rotating speed difference₁；

2-2) orderFractional value A of speed of change_zIs 0 at A_z-A₁The range is divided into (Z-1) parts on average, Z is more than or equal to 5, and A is obtained₂、A₃...A_z-1。

S4, in the process of executing power upshift, if the following conditions are met, entering torque compensation adaptive control, and if the following conditions are not met, directly using a torque compensation value stored by a TCU;

(a) the real-time transmission oil temperature belongs to the range of the transmission oil temperature threshold;

(b) the real-time accelerator opening belongs to the range of an accelerator opening threshold value;

(c) differential rotational speed N_err≥N_xOr relative rate of change of speed A_rel≥A_zWherein N is used₁、N₂、N₃……N_xA segmented value representing the difference in rotational speed,

(d) the clutch control state is in a torque switching state;

rotational speed difference N in S4_errThe segmentation value is obtained according to the following steps:

3-1) starting and accelerating the whole vehicle full accelerator, controlling the target gear clutch to be not combined by the TCU during power upshift torque switching, and controlling the relative change rate A of the rotating speed_relWhen the speed is equal to 0, calculating and recording the rotating speed difference N_errRepeating the operation for N times, wherein N is more than or equal to 5 times, and calculating the average value of the recorded data for N times to obtain N₁；

3-2) the whole vehicle normally runs in gear, and the rotating speed difference N is calculated and recorded_errRepeating the operation for N times, wherein N is more than or equal to 10, and calculating the average value of the recorded data for N times to obtain N_z，N_z≤30rpm；

3-3) in N_x-N₁In the range of X parts on average, X is not less than 5 to obtain N₁、N₂、N₃...N_x-1。

S5, judging the relative change rate A of the rotating speed in real time in the power gear-up executing process_relFractional value A from the difference in rotational speed₁If the relative change rate of the rotation speed satisfies A_rel>A₁Under the condition, entering fast self-adaptive control; otherwise, entering slow self-adaptive control;

judging the relative change rate A of the rotating speed_relFractional value A of the rate of change in relation to the speed of rotation₁The process of the magnitude relationship of (1) is as follows:

5.1) calculating the quick self-adaptive torque compensation value T according to the following formula_f：

T_f＝J·A_rel

In the formula, J is the rotational inertia of the flywheel disc end of the engine, and the value can be obtained through the parameters of the whole vehicle; a. the_relIs the relative rate of change of the rotational speed, is a real-time calculated value, A_rel>A₁；

5.2) the following is slow self-adaptive control, dividing the relative change rate of the rotating speed into Z sections, dividing the rotating speed difference into X sections, calculating a torque compensation value, and recording the counting times of a counter;

5.2.1) relative rate of change of speed A_relSatisfies the condition A₂＜A_rel≤A₁：

1 at a speed difference satisfying N_err＞N₁When the torque compensation value is calculated as T_s11Recording the number of times K counted by the counter₁₁；

2 at a difference in rotational speed of N₂＜N_err≤N₁Under the condition, calculating the torque compensation value as T_s12Recording the number of times K counted by the counter₁₂；

By the way of analogy, the method can be used,

3 at a speed difference of N_err≤N_xCalculating the torque compensation value as T_s1xRecording the number of times K counted by the counter_1x；

5.2.2) relative rate of change of speed A_relSatisfies the condition A₃＜A_rel≤A₂：

1 at a speed difference satisfying N_err＞N₁When the torque compensation value is calculated as T_s21Recording the number of times K counted by the counter₂₁；

2 at a difference in rotational speed of N₂＜N_err≤N₁Under the condition, calculating the torque compensation value as T_s22Recording the number of times K counted by the counter₂₂；

By the way of analogy, the method can be used,

3 at a speed difference of N_err≤N_xCalculating the torque compensation value as T_s2xRecording the number of times K counted by the counter_2x；

5.2.3) according to 5.2.1), 5.2.2) and so on, at a relative rate of change of speed of rotation A_relSatisfies the condition A_z＜A_rel≤A_z-1:

1 at a speed difference satisfying N_err＞N₁When the torque compensation value is calculated as T_sz-11Recording the number of times K counted by the counter_z-11；

2 at a difference in rotational speed of N₂＜N_err≤N₁Under the condition, calculating the torque compensation value as T_sz-12Recording the number of times K counted by the counter_z-12；

By the way of analogy, the method can be used,

3 at a speed difference of N_err≤N_xCalculating the torque compensation value as T_sz-1xRecording the number of times K counted by the counter_z-1x；

5.2.4) relative rate of change of rotational speed A_relThe conditions are satisfied: a. the_rel≤A_z：

1 at a speed difference satisfying N_err＞N₁When the torque compensation value is calculated as T_sz1Recording the number of times K counted by the counter_z1；

2 at a difference in rotational speed of N₂＜N_err≤N₁Under the condition, calculating the torque compensation value as T_sz2Recording the number of times K counted by the counter_z2；

By the way of analogy, the method can be used,

3 at a speed difference of N_err≤N_xCalculating the torque compensation value as T_szx-1Recording the number of times K counted by the counter_zx-1；

5.2.5) calculating the slow adaptive torque compensation value T according to the following formula_s：

T_s＝T_sa+T_sn

In the formula, T_sFor slow adaptive torque compensation value, T_s＝T_s11、T_s12、T_s13...T_s1x...T_szx-1；T_saFor torque compensation values calculated on the basis of the relative rate of change of the speed of rotation, T_sa＝T_sa1、T_sa2、T_sa3...T_saz；T_snThe torque compensation value calculated based on the difference of the rotational speeds can be obtained by looking up a table of the corresponding relationship between the difference of the rotational speeds and the torque compensation value, T_sn＝T_sn1、T_sn2、T_sn3...T_snx；

In the formula, the following relationship exists:

1T_s11＝T_sa1+T_sn1；T_s12＝T_sa1+T_sn2；T_s13＝T_sa1+T_sn3；...；T_s1x＝T_sa1+T_snx

2T_s21＝T_sa2+T_sn1；T_s22＝T_sa2+T_sn2；T_s23＝T_sa2+T_sn3；...；T_s2x＝T_sa2+T_snx

......

3T_sz1＝T_saz+T_sn1；T_sz2＝T_saz+T_sn2；T_sz3＝T_saz+T_sn3；...；T_szx-1＝T_saz+T_snx-1

5.2.6) calculating the torque compensation value T calculated based on the relative rate of change of the rotational speed according to the following formula_sa：

T_sa＝J·A_rel

In the formula, J is the rotational inertia of the flywheel disc end of the engine, and the value can be obtained through the parameters of the whole vehicle; a. the_relThe relative change rate of the rotating speed; in the formula, the following relationship exists:

1 when the condition is satisfied A₂＜A_rel≤A₁，T_sa＝T_sa1＝J·A₁；

2 in the state of satisfying A₃＜A_rel≤A₂Under the condition of T_sa＝T_sa2＝J·A₂；

......

3 is satisfying A_z＜A_rel≤A_z-1Under the condition of T_sa＝T_saz-1＝J·A_z-1；

4 in the state of satisfying A_rel≤A_zUnder the condition of T_sa＝T_saz＝J·A_z。

Correspondence T between differential rotational speed and torque compensation value_s11、T_s12...T_sz1...T_szx-1Obtained according to the following steps:

4-1) the whole vehicle normally runs in gear, and the TCU controls the torque of the clutch to ensure that the rotating speed difference N_err＝N₁Recording the torque value of the target gear clutch, repeating the process for N times, wherein N is more than or equal to 10 times, and solving the average value of the torque values for N times and recording the average value as T_s1；

4-2) the whole vehicle normally runs in gear, the TCU controls the torque of the clutch to ensure that the rotating speed difference N_err＝N₂Recording the torque value of the target gear clutch, repeating the process for N times, wherein N is more than or equal to 10 times, and solving the average value of the torque values for N times and recording the average value as T_s2；

4-3) according to formula T_s11＝T_s2-T_s1Calculating to obtain a torque difference T_s11Recording and storing T_s11And N₁The corresponding relationship of (a);

4-4) by the method described in 4-1) -4-3), T can be obtained_s12And N₁₂、T_s13And N₁₃，T_szxAnd N_xThe corresponding relationship of (1).

S6, adapting the torque compensation value T to the slow speed_sCarrying out segmentation processing, and calculating the arithmetic mean value of the torque compensation values in each torque section; the processing procedure in S6 is as follows:

6.1) from 0 to T_cRange, dividing the compensation torque into C sections to obtain the compensation torque value T₁、T₂、T₃……T_c；

6.1.1) when the torque compensation value T_sSatisfies the condition T_s≤T₁Sequentially compensating the torque by the value T_sAnd the counting times of the corresponding counter are stored in a memory B1, and the supplementary data are stored according to the storage sequenceThe torque compensation value is recorded as T_b11、T_b12、T_b13...T_b1nThe number of times counted by the counter is recorded as K_b11、K_b12、K_b13...K_b1n；

Calculating the slow speed self-adaptive torque compensation sum value T according to the following formula_b1sum：

T_b1sum＝T_b11+T_b12+T_b13+...+T_b1n

Calculating the sum K of the counts of the corresponding counters according to the following formula_b1sum:

K_b1sum＝K_b11+K_b12+K_b13+...+K_b1n

Calculating the arithmetic mean value T of the slow-speed adaptive torque compensation according to the following formula_b1avg：

T_b1avg＝T_b1sum/K_b1sum

6.1.2) when torque compensation value T_sSatisfies the condition T₁＜T_s≤T₂Sequentially compensating the torque by the value T_sAnd the counting times of the corresponding counter are stored in a memory B1, and the compensation torque value is recorded as T according to the storage sequence_b21、T_b22、T_b23...T_b2nThe number of times counted by the counter is recorded as K_b21、K_b22、K_b23...K_b2nObtaining the slow adaptive torque compensation summation value T according to the formula of 6.1.1)_b2sumAnd torque compensation arithmetic mean T_b2avg；

6.1.3) according to 6.1.1), 6.1.2) and so on, when the torque compensation value T is equal to_sSatisfies the condition T_c-1＜T_s≤T_cSequentially compensating the torque by the value T_sAnd the counting times of the corresponding counter are stored in a memory B1, and the compensation torque value is recorded as T according to the storage sequence_bc1、T_bc2、T_bc3...T_bcnThe number of times counted by the counter is recorded as K_bc1、K_bc2、K_bc3...K_bcnObtaining the slow adaptive torque compensation sum value T according to the formula of 6.1.1)_bcsumAnd slow adaptive torque compensation arithmetic meanMean value T_bcavg。

Further comprising: 6.2) in order to prevent the compensation torque value from suddenly changing, the average value T of slow self-adaptive torque compensation is carried out on each torque section_avgLimiting the amplitude when T is satisfied_avg≤T_limOn condition, using slow adaptive torque to compensate for the mean value T_avgIf not, using the stored torque compensation value for the corresponding torque segment of the TCU, where T_avg＝T_b1avg、T_b2avg、T_b3avg...T_bcavg，T_limRepresenting the maximum torque compensation value.

Further comprising: 6.3) the accumulated storage times of each torque section memory is more than or equal to K_limTime, cumulative number of times total threshold K of counter_limAnd resetting the corresponding torque section memory, updating the torque compensation value of the corresponding torque section stored by the TCU at the same time, and if the condition is not met, using the torque compensation value of the corresponding torque section stored by the TCU.

Cumulative number sum threshold K of counter_limThe preparation method comprises the following steps:

6-1) order K_lim＝Y₁,Y₁Not less than 500, power up-shift working condition and fixed speed difference N_errAnd the relative rate of change of speed A_relCarrying out slow speed self-adaptation, and recording the slow speed self-adaptation torque compensation value T_y1；

6-2) repeating the step 6-1) N times, wherein N is more than or equal to 10, and obtaining a torque compensation value T_y2、T_y3、T_y4...T_yn；

6-3) calculating the arithmetic mean value T of the torque compensation_yavg＝(T_y1+T_y2+T_y3+...+T_yn) N; calculating a torque compensation mean square error value

6-4) judging whether the torque compensation mean square deviation value delta meets the precision delta belonging to { -K, + K }, K is less than or equal to 0.01, if yes, K_limValue of Y₁；

6-5) if the torque compensation mean square difference value accuracy does not meet the condition, Y₁Increase by 100, repeat cycle 6-1) And 6-4) until the torque compensation mean square deviation value delta meets the precision requirement.

And S7, calculating the clutch target torque and superposing the self-adaptive compensation torque value.

By the means, in the process of switching the power upshift torque, two self-adaptive control methods of high speed and low speed are used in different ranges of the rotating speed difference and the rotating speed relative change rate by calculating the rotating speed difference and the rotating speed relative change rate of the rotating speed of the engine and the rotating speed of the current operation input shaft. The invention can effectively reduce the problem of power up-shift and down-shift consistency caused by inaccurate PT self-adaptation.

Claims (9)

1. The DCT power upshift self-adaptive control method is characterized by comprising the following steps of:

   s1, acquiring a transmission oil temperature threshold range, an accelerator opening degree threshold range and a clutch control state and storing the acquired data in a TCU;

   s2, the whole process of power upshift is executed, and the torque compensation value of each torque interval stored by the TCU is read in real time;

   s3, calculating the rotating speed difference N in real time according to the following formula_errAnd rate of relative change of speed A_rel：

   N_err＝N_eng-N_gear

   A_rel＝dN_eng/dt-dN_gear/dt

   In the formula, N_engIs the engine speed, N_gearFor the current operating gear corresponding to the input shaft speed, N_errdN is the difference in rotational speed_engdN is the rate of change of engine speed_gearDt is the rate of change of the speed of the input shaft at the current operating gear, A_relFor the relative rate of change of speed, use A₁、A₂、A₃……A_zA segment value representing the relative rate of change of the rotational speed;

   s4, in the process of executing power upshift, if the following conditions are met, entering torque compensation adaptive control, and if the following conditions are not met, directly using a torque compensation value stored by a TCU;

   (a) the real-time transmission oil temperature belongs to the range of the transmission oil temperature threshold;

   (b) the real-time accelerator opening belongs to the range of an accelerator opening threshold value;

   (c) differential rotational speed N_err≥N_xOr relative rate of change of speed A_rel≥A_zWherein N is used₁、N₂、N₃……N_xA segmented value representing the difference in rotational speed,

   (d) the clutch control state is in a torque switching state;

   s5, judging the relative change rate A of the rotating speed in real time in the power gear-up executing process_relFractional value A from the difference in rotational speed₁If the relative change rate of the rotation speed satisfies A_rel>A₁Under the condition, entering fast self-adaptive control; otherwise, entering slow self-adaptive control;

   s6, adapting the torque compensation value T to the slow speed_sCarrying out segmentation processing, and calculating the arithmetic mean value of the torque compensation values in each torque section;

   and S7, calculating the clutch target torque and superposing the self-adaptive compensation torque value.
2. 2. The DCT power upshift adaptive control method according to claim 1, wherein: relative rate of change of rotation A in S3_relThe segmentation value is obtained according to the following steps:

   2-1) starting and accelerating the whole vehicle full accelerator, controlling the target gear clutch to be not combined by the TCU during power upshift torque switching, and calculating and recording the relative change rate A of the rotating speed in real time_relRepeating N times, wherein N is more than or equal to 10, calculating the average value of the N times of recorded data, and obtaining a segment value A of the rotating speed difference₁；

   2-2) segmenting the value A of the speed of rotation relative to the rate of change_zIs 0 at A_z-A₁The range is divided into (Z-1) parts on average, Z is more than or equal to 5, and A is obtained₂、A₃...A_z-1。
3. 3. The DCT power upshift adaptive control method according to claim 1, wherein: rotational speed difference N in S4_errThe segment interval is divided into the following stepsThe method comprises the following steps:

   3-1) starting and accelerating the whole vehicle full accelerator, controlling the target gear clutch to be not combined by the TCU during power upshift torque switching, and controlling the relative change rate A of the rotating speed_relWhen the speed is equal to 0, calculating and recording the rotating speed difference N_errRepeating the operation for N times, wherein N is more than or equal to 5 times, and calculating the average value of the recorded data for N times to obtain N₁；

   3-2) the whole vehicle normally runs in gear, and the rotating speed difference N is calculated and recorded_errRepeating the operation for N times, wherein N is more than or equal to 10, and calculating the average value of the recorded data for N times to obtain N_z，N_z≤30rpm；

   3-3) in N_x-N₁In the range of X parts on average, X is not less than 5 to obtain N₁、N₂、N₃...N_x-1。
4. 4. The DCT power upshift adaptive control method according to claim 1, wherein: judging the relative change rate A of the rotating speed_relFractional value A of the rate of change in relation to the speed of rotation₁The process of the magnitude relationship of (1) is as follows:

   5.1) calculating the quick self-adaptive torque compensation value T according to the following formula_f：

   T_f＝J·A_rel

   In the formula, J is the rotational inertia of the flywheel disc end of the engine, and the value can be obtained through the parameters of the whole vehicle; a. the_relIs the relative rate of change of the rotational speed, is a real-time calculated value, A_rel>A₁；

   5.2) the following is slow self-adaptive control, dividing the relative change rate of the rotating speed into Z sections, dividing the rotating speed difference into X sections, calculating a torque compensation value, and recording the counting times of a counter;

   5.2.1) relative rate of change of speed A_relSatisfies the condition A₂＜A_rel≤A₁：

   Firstly, N is satisfied in the speed difference_err＞N₁When the torque compensation value is calculated as T_s11Recording the number of times K counted by the counter₁₁；

   ② when the difference of the rotating speed satisfies N₂＜N_err≤N₁Under the condition, meterCalculating the torque compensation value as T_s12Recording the number of times K counted by the counter₁₂；

   By the way of analogy, the method can be used,

   ③ satisfy N at the difference of rotation speed_err≤N_xCalculating the torque compensation value as T_s1xRecording the number of times K counted by the counter_1x；

   5.2.2) relative rate of change of speed A_relSatisfies the condition A₃＜A_rel≤A₂：

   Firstly, N is satisfied in the speed difference_err＞N₁When the torque compensation value is calculated as T_s21Recording the number of times K counted by the counter₂₁；

   ② when the difference of the rotating speed satisfies N₂＜N_err≤N₁Under the condition, calculating the torque compensation value as T_s22Recording the number of times K counted by the counter₂₂；

   By the way of analogy, the method can be used,

   ③ satisfy N at the difference of rotation speed_err≤N_xCalculating the torque compensation value as T_s2xRecording the number of times K counted by the counter_2x；

   5.2.3) according to 5.2.1), 5.2.2) and so on, at a relative rate of change of speed of rotation A_relSatisfies the condition A_z＜A_rel≤A_z-1:

   Firstly, N is satisfied in the speed difference_err＞N₁When the torque compensation value is calculated as T_sz-11Recording the number of times K counted by the counter_z-11；

   ② when the difference of the rotating speed satisfies N₂＜N_err≤N₁Under the condition, calculating the torque compensation value as T_sz-12Recording the number of times K counted by the counter_z-12；

   By the way of analogy, the method can be used,

   ③ satisfy N at the difference of rotation speed_err≤N_xCalculating the torque compensation value as T_sz-1xRecording the number of times K counted by the counter_z-1x；

   5.2.4) relative rate of change of rotational speed A_relThe conditions are satisfied: a. the_rel≤A_z：

   Firstly, N is satisfied in the speed difference_err＞N₁When the torque compensation value is calculated as T_sz1Recording the number of times K counted by the counter_z1；

   ② when the difference of the rotating speed satisfies N₂＜N_err≤N₁Under the condition, calculating the torque compensation value as T_sz2Recording the number of times K counted by the counter_z2；

   By the way of analogy, the method can be used,

   ③ satisfy N at the difference of rotation speed_err≤N_xCalculating the torque compensation value as T_szx-1Recording the number of times K counted by the counter_zx-1；

   5.2.5) calculating the slow adaptive torque compensation value T according to the following formula_s：

   T_s＝T_sa+T_sn

   In the formula, T_sFor slow adaptive torque compensation value, T_s＝T_s11、T_s12、T_s13...T_s1x...T_szx-1；T_saFor torque compensation values calculated on the basis of the relative rate of change of the speed of rotation, T_sa＝T_sa1、T_sa2、T_sa3...T_saz；T_snThe torque compensation value calculated based on the difference of the rotational speeds can be obtained by looking up a table of the corresponding relationship between the difference of the rotational speeds and the torque compensation value, T_sn＝T_sn1、T_sn2、T_sn3...T_snx；

   In the formula, the following relationship exists:

   ①T_s11＝T_sa1+T_sn1；T_s12＝T_sa1+T_sn2；T_s13＝T_sa1+T_sn3；...；T_s1x＝T_sa1+T_snx

   ②T_s21＝T_sa2+T_sn1；T_s22＝T_sa2+T_sn2；T_s23＝T_sa2+T_sn3；...；T_s2x＝T_sa2+T_snx

   ......

   ③T_sz1＝T_saz+T_sn1；T_sz2＝T_saz+T_sn2；T_sz3＝T_saz+T_sn3；...；T_szx-1＝T_saz+T_snx-1

   5.2.6) calculating the torque compensation value T calculated based on the relative rate of change of the rotational speed according to the following formula_sa：

   T_sa＝J·A_rel

   In the formula, J is the rotational inertia of the flywheel disc end of the engine, and the value can be obtained through the parameters of the whole vehicle; a. the_relThe relative change rate of the rotating speed; in the formula, the following relationship exists:

   when the condition is satisfied, A₂＜A_rel≤A₁，T_sa＝T_sa1＝J·A₁；

   ② satisfy A₃＜A_rel≤A₂Under the condition of T_sa＝T_sa2＝J·A₂；

   ......

   ③ satisfy A_z＜A_rel≤A_z-1Under the condition of T_sa＝T_saz-1＝J·A_z-1；

   Fourthly, satisfying A_rel≤A_zUnder the condition of T_sa＝T_saz＝J·A_z。
5. 5. The DCT power upshift adaptive control method according to claim 4, wherein: correspondence T between differential rotational speed and torque compensation value_s11、T_s12...T_sz1...T_szx-1Obtained according to the following steps:

   4-1) the whole vehicle normally runs in gear, and the TCU controls the torque of the clutch to ensure that the rotating speed difference N_err＝N₁Recording the torque value of the target gear clutch, repeating the process for N times, wherein N is more than or equal to 10 times, and solving the average value of the torque values for N times and recording the average value as T_s1；

   4-2) the whole vehicle normally runs in gear, the TCU controls the torque of the clutch to ensure that the rotating speed difference N_err＝N₂Recording the torque value of the target gear clutch, repeating the process for N times, wherein N is more than or equal to 10 times, and solving the average value of the torque values for N times and recording the average value as T_s2；

   4-3) according to formula T_s11＝T_s2-T_s1Calculating to obtain a torque difference T_s11Recording and storing T_s11And N₁The corresponding relationship of (a);

   4-4) by the method described in 4-1) -4-3), T can be obtained_s12And N₁₂、T_s13And N₁₃，T_szxAnd N_xThe corresponding relationship of (1).
6. 6. The DCT power upshift adaptive control method according to claim 1, wherein: the processing procedure in S6 is as follows:

   6.1) from 0 to T_cRange, dividing the compensation torque into C sections to obtain the compensation torque value T₁、T₂、T₃……T_c；

   6.1.1) when the torque compensation value T_sSatisfies the condition T_s≤T₁Sequentially compensating the torque by the value T_sAnd the counting times of the corresponding counter are stored in a memory B1, and the compensation torque value is recorded as T according to the storage sequence_b11、T_b12、T_b13...T_b1nThe number of times counted by the counter is recorded as K_b11、K_b12、K_b13...K_b1n；

   Calculating the slow speed self-adaptive torque compensation sum value T according to the following formula_b1sum：

   T_b1sum＝T_b11+T_b12+T_b13+...+T_b1n

   Calculating the sum K of the counts of the corresponding counters according to the following formula_b1sum:

   K_b1sum＝K_b11+K_b12+K_b13+...+K_b1n

   Calculating the arithmetic mean value T of the slow-speed adaptive torque compensation according to the following formula_b1avg：

   T_b1avg＝T_b1sum/K_b1sum

   6.1.2) when torque compensation value T_sSatisfies the condition T₁＜T_s≤T₂Sequentially compensating the torque by the value T_sAnd the number of counts of the counter is stored in the memory B1, according toStoring the sequence, and recording the compensation torque value as T_b21、T_b22、T_b23...T_b2nThe number of times counted by the counter is recorded as K_b21、K_b22、K_b23...K_b2nObtaining the slow adaptive torque compensation summation value T according to the formula of 6.1.1)_b2sumAnd torque compensation arithmetic mean T_b2avg；

   6.1.3) according to 6.1.1), 6.1.2) and so on, when the torque compensation value T is equal to_sSatisfies the condition T_c-1＜T_s≤T_cSequentially compensating the torque by the value T_sAnd the counting times of the corresponding counter are stored in a memory B1, and the compensation torque value is recorded as T according to the storage sequence_bc1、T_bc2、T_bc3...T_bcnThe number of times counted by the counter is recorded as K_bc1、K_bc2、K_bc3...K_bcnObtaining the slow adaptive torque compensation sum value T according to the formula of 6.1.1)_bcsumAnd slow adaptive torque compensation arithmetic mean T_bcavg。
7. 7. The DCT power upshift adaptive control method according to claim 6, wherein: further comprising:

   6.2) in order to prevent the compensation torque value from suddenly changing, the average value T of slow self-adaptive torque compensation is carried out on each torque section_avgLimiting the amplitude when T is satisfied_avg≤T_limOn condition, using slow adaptive torque to compensate for the mean value T_avgIf not, using the stored torque compensation value for the corresponding torque segment of the TCU, where T_avg＝T_b1avg、T_b2avg、T_b3avg...T_bcavg，T_limRepresenting the maximum torque compensation value.
8. 8. The DCT power upshift adaptive control method according to claim 7, wherein: further comprising:

   6.3) the accumulated storage times of each torque section memory is more than or equal to K_limTime, cumulative number of times total threshold K of counter_limResetting the corresponding torque segment memory while updating TCAnd if the condition is not met, the torque compensation value of the corresponding torque section stored by the TCU is used.
9. 9. The DCT power upshift adaptive control method according to claim 1, wherein: cumulative number sum threshold K of counter_limThe preparation method comprises the following steps:

   6-1) order K_lim＝Y₁,Y₁Not less than 500, power up-shift working condition and fixed speed difference N_errAnd the relative rate of change of speed A_relCarrying out slow speed self-adaptation, and recording the slow speed self-adaptation torque compensation value T_y1；

   6-2) repeating the step 6-1) N times, wherein N is more than or equal to 10, and obtaining a torque compensation value T_y2、T_y3、T_y4...T_yn；

   6-3) calculating the arithmetic mean value T of the torque compensation_yavg＝(T_y1+T_y2+T_y3+...+T_yn) N; calculating a torque compensation mean square error value

   

   6-4) judging whether the torque compensation mean square deviation value delta meets the precision delta belonging to { -K, + K }, K is less than or equal to 0.01, if yes, K_limValue of Y₁；

   6-5) if the torque compensation mean square difference value accuracy does not meet the condition, Y₁Increasing by 100, and repeating the steps from 6-1) to 6-4) until the torque compensation mean square deviation value delta meets the precision requirement.

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