CN114183523B - DCT power gear-up self-adaptive control method - Google Patents
DCT power gear-up self-adaptive control method Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/04—Smoothing ratio shift
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
- F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
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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
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 gear-up self-adaptive control method comprises 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 obtained ranges in a TCU (transmission control unit);
s2, the whole process of power upshifting is executed, and torque compensation values of all torque intervals stored in the TCU are read in real time;
s3, calculating the rotating speed difference N in real time according to the following formula err And 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 eng Is the engine speed, N gear For the current operating gear corresponding to the input shaft speed, N err dN is the difference in rotational speed eng dN is the rate of change of engine speed gear Dt is the rate of change of the speed of the input shaft at the current operating gear, A rel For the relative rate of change of speed, use A 1 、A 2 、A 3 ……A z A segment value representing the relative rate of change of the rotational speed;
s4, in the power upshift execution process, 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 in a TCU (transmission control unit);
(a) The real-time transmission oil temperature belongs to a transmission oil temperature threshold range;
(b) The real-time accelerator opening belongs to the range of an accelerator opening threshold value;
(c) Differential rotational speed N err ≥N x Or relative rate of change of speed A rel ≥A z Wherein N is used 1 、N 2 、N 3 ……N x Watch (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 rel Fractional value A from the difference in rotational speed 1 If the relative change rate of the phase satisfies A rel >A 1 Under the condition, entering fast self-adaptive control; otherwise, entering slow self-adaptive control;
s6, for the slow speed self-adaptive torque compensation value T s Carrying out segmentation processing, and calculating the arithmetic mean value of the torque compensation values in each torque section;
and S7, superposing the self-adaptive compensation torque value when calculating the target torque of the clutch.
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 the relative change rate of the rotating speed and a calculated value of the rotational inertia of the flywheel end of the engine, and superposing the torque compensation value to the calculation of the target torque in real time;
2. and (3) slow speed self-adaptive control, performing torque compensation calculation and segmented storage in different rotating speed difference and rotating speed relative change rate ranges, and when the sum of the accumulated times of the counter corresponding to each torque segment 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.
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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 "central," "longitudinal," "lateral," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the scope of the 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 obtained ranges in a TCU (transmission control unit); these data were obtained by whole vehicle experiments.
And S2, the power upshifting is carried out in the whole process, and the torque compensation value of each torque interval stored in the TCU is read in real time.
S3, calculating the rotating speed difference N in real time according to the following formula err And 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 eng Is the engine speed, N gear For the current operating gear corresponding to the input shaft speed, N err dN is the difference in rotational speed eng dN is the rate of change of engine speed gear Dt is the rate of change of the speed of the input shaft at the current operating gear, A rel For the relative rate of change of speed, use A 1 、A 2 、A 3 ……A z A segment value representing the relative rate of change of the rotational speed;
relative rate of change of rotation A in S3 rel The 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 rel Repeating for N times, wherein N is more than or equal to 10, calculating the average value of N times of recorded data to obtain a segment value A of the rotating speed difference 1 ；
2-2) fraction A of the rate of change of the rotational speed z At a =0 z -A 1 The range is divided into (Z-1) parts on average, Z is more than or equal to 5, and A is obtained 2 、A 3 ...A z-1 。
S4, in the power upshift execution process, 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 in a TCU (transmission control unit);
(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) Difference in rotational speed N err ≥N x Or relative rate of change of speed A rel ≥A z Wherein N is used 1 、N 2 、N 3 ……N x A segmented value representing the difference in rotational speed,
(d) The clutch control state is in a torque switching state;
difference in rotational speed N in S4 err The 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 rel When the speed is equal to 0, calculating and recording the rotating speed difference N err Repeating 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 N 1 ；
3-2) the whole vehicle normally runs in gear, and the rotating speed difference N is calculated and recorded err Repeating 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 -N 1 In the range of X parts on average, X is not less than 5 to obtain N 1 、N 2 、N 3 ...N x-1 。
S5, judging the relative change rate A of the rotating speed in real time in the power gear-up executing process rel Fractional value A from the difference in rotational speed 1 If the relative change rate of the rotation speed satisfies A rel >A 1 Under the condition, entering fast self-adaptive control; otherwise, entering slow self-adaptive control;
judging the relative change rate A of the rotating speed rel Fractional value A of the rate of change in relation to the speed of rotation 1 The process of the magnitude relationship of (1) is as follows:
5.1 Calculate the fast adaptive torque compensation value T according to the following equation 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 rel Is the relative rate of change of the rotational speed, is a real-time calculated value, A rel >A 1 ；
5.2 The relative change rate of the rotating speed is divided into Z sections, the rotating speed difference is divided into X sections, a torque compensation value is calculated, and the counting times of a counter are recorded;
5.2.1 At a relative rate of change of speed A rel Satisfies the condition A 2 ＜A rel ≤A 1 ：
1 at a difference in rotational speed satisfying N err ＞N 1 When the torque compensation value is calculated as T s11 Recording the number of times K counted by the counter 11 ；
2 at a difference in rotational speed of N 2 ＜N err ≤N 1 Under the condition, calculating the torque compensation value as T s12 Recording the number of times K counted by the counter 12 ；
By the way of analogy, the method can be used,
3 at a speed difference of N err ≤N x Calculating the torque compensation value as T s1x Recording the number of times K counted by the counter 1x ；
5.2.2 At a relative rate of change of speed A rel Satisfies the condition A 3 ＜A rel ≤A 2 ：
1 at a speed difference satisfying N err ＞N 1 When the torque compensation value is calculated as T s21 Recording the number of times K counted by the counter 21 ；
2 at a difference in rotational speed of N 2 ＜N err ≤N 1 Under the condition, calculating the torque compensation value as T s22 Recording the number of times K counted by the counter 22 ；
By the same way, the operation is carried out,
3 at a speed difference of N err ≤N x Calculating the torque compensation value as T s2x Recording 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 A rel Satisfies the condition A z ＜A rel ≤A z-1 :
1 at a speed difference satisfying N err ＞N 1 While calculating the torque compensation value as T sz-11 Recording the number of times K counted by the counter z-11 ；
2 at a difference in rotational speed of N 2 ＜N err ≤N 1 Under the condition, calculating the torque compensation value as T sz-12 Count number of counterNumber K z-12 ；
By the way of analogy, the method can be used,
3 at a speed difference of N err ≤N x Calculating the torque compensation value as T sz-1x Recording the number of times K counted by the counter z-1x ；
5.2.4 Relative rate of change of rotation A rel The conditions are satisfied: a. The rel ≤A z ：
1 at a speed difference satisfying N err ＞N 1 When the torque compensation value is calculated as T sz1 Recording the number of times K counted by the counter z1 ；
2 at a difference in rotational speed of N 2 ＜N err ≤N 1 Under the condition, calculating the torque compensation value as T sz2 Recording 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 x Calculating the torque compensation value as T szx-1 Recording the number of times K counted by the counter zx-1 ；
5.2.5 Calculate the slow adaptive torque compensation value T according to the following formula s ：
T s ＝T sa +T sn
In the formula, T s For slow adaptive torque compensation values, T s ＝T s11 、T s12 、T s13 ...T s1x ...T szx-1 ；T sa For torque compensation values calculated on the basis of the relative rate of change of the rotational speed, T sa ＝T sa1 、T sa2 、T sa3 ...T saz ；T sn The 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 A torque compensation value T calculated based on a relative rate of change of the rotational speed is calculated according to the following equation 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 rel The relative change rate of the rotating speed; in the formula, the following relationship exists:
1 when the condition is satisfied A 2 ＜A rel ≤A 1 ，T sa ＝T sa1 ＝J·A 1 ；
2 is in the state of satisfying A 3 ＜A rel ≤A 2 Under the condition of T sa ＝T sa2 ＝J·A 2 ；
......
3 is satisfying A z ＜A rel ≤A z-1 Under the condition of T sa ＝T saz-1 ＝J·A z-1 ；
4 in the state of satisfying A rel ≤A z Under 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-1 Obtained 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 ＝N 1 Recording 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 calculating the average value of the torque values of the N timesIs marked 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 ＝N 2 Recording 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 s1 Calculating to obtain a torque difference T s11 Recording and storing T s11 And N 1 The corresponding relationship of (a);
4-4) by the method described in 4-1) -4-3), T can be obtained s12 And N 12 、T s13 And N 13 ，T szx And N x The corresponding relationship of (1).
S6, for the slow speed self-adaptive torque compensation value T s Carrying 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 In 0 to T c Range, dividing the compensation torque into C sections to obtain the compensation torque value T 1 、T 2 、T 3 ……T c ；
6.1.1 When the torque compensation value T is reached s Satisfies the condition T s ≤T 1 Sequentially compensating the torque by the value T s And storing the counting times of the corresponding counter into a memory B1, and recording the compensation torque value as T according to the storage sequence b11 、T b12 、T b13 ...T b1n The 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
The total count K of the corresponding counter is calculated according to the following formula b1sum :
K b1sum ＝K b11 +K b12 +K b13 +...+K b1n
Calculating the slow adaptive torque compensation according to the following formulaArithmetic mean value T b1avg ：
T b1avg ＝T b1sum /K b1sum
6.1.2 When the torque compensation value T is reached s Satisfies the condition T 1 ＜T s ≤T 2 Sequentially compensating the torque by the value T s And storing the counting times of the corresponding counter into a memory B1, and recording the compensation torque value as T according to the storage sequence b21 、T b22 、T b23 ...T b2n The number of times counted by the counter is recorded as K b21 、K b22 、K b23 ...K b2n Obtaining the slow adaptive torque compensation summation value T according to the formula of 6.1.1) b2sum And torque compensation arithmetic mean T b2avg ；
6.1.3 According to 6.1.1), 6.1.2), when the torque compensation value T is equal to s Satisfies the condition T c-1 ＜T s ≤T c Sequentially compensating the torque by the value T s And storing the counting times of the corresponding counter into a memory B1, and recording the compensation torque value as T according to the storage sequence bc1 、T bc2 、T bc3 ...T bcn The number of times counted by the counter is recorded as K bc1 、K bc2 、K bc3 ...K bcn Obtaining the slow adaptive torque compensation sum value T according to the formula of 6.1.1) bcsum And slow adaptive torque compensation arithmetic mean value T bcavg 。
Further comprising: 6.2 To prevent abrupt changes in the compensation torque value, the average value T of the slow adaptive torque compensation is applied to each torque segment avg Limiting the amplitude when T is satisfied avg ≤T lim On condition, using slow adaptive torque to compensate for the mean value T avg If not, the TCU is used to store a torque compensation value for the corresponding torque segment, where T avg ＝T b1avg 、T b2avg 、T b3avg ...T bcavg ，T lim Representing the maximum torque compensation value.
Further comprising: 6.3 ) the accumulated number of times of storage in the memory for each torque segment is equal to or greater than K lim Time, cumulative number of times total threshold K of counter lim The corresponding torque section memory is cleared,and meanwhile, updating the torque compensation value of the corresponding torque section stored by the TCU, 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 lim The preparation method comprises the following steps:
6-1) order K lim ＝Y 1 ,Y 1 Not less than 500, power up-shift working condition and fixed speed difference N err And the relative rate of change A of the rotation speed rel Carrying out slow speed self-adaptation, and recording the slow speed self-adaptation torque compensation value T y1 ；
6-2) repeating the step 6-1) for 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 lim Value of Y 1 ；
6-5) if the torque compensation mean square difference value accuracy does not meet the condition, Y 1 Increasing 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.
And S7, superposing the self-adaptive compensation torque value when calculating the target torque of the clutch.
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)
- 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 obtained ranges in a TCU (transmission control unit);s2, the whole process of power upshifting is executed, and torque compensation values of all torque intervals stored in the TCU are read in real time;s3, calculating the rotating speed difference N in real time according to the following formula err And rate of relative change of speed A rel ：N err ＝N eng -N gearA rel ＝dN eng /dt-dN gear /dtIn the formula, N eng Is the engine speed, N gear For the current operating gear corresponding to the input shaft speed, N err dN is the difference in rotational speed eng dN is the rate of change of engine speed gear Dt is the rate of change of the speed of the input shaft at the current operating gear, A rel For the relative rate of change of speed, use A 1 、A 2 、A 3 ……A z A segment value representing the relative rate of change of the rotational speed;s4, in the power upshift execution process, 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 in a TCU (transmission control unit);(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 x Or relative rate of change of speed A rel ≥A z Wherein N is used 1 、N 2 、N 3 ……N x A 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 rel Fractional value A from the difference in rotational speed 1 If the relative change rate of the rotation speed satisfies A rel >A 1 Under the condition, entering fast self-adaptive control; otherwise enter slowSelf-adaptive speed control;s6, for the slow speed self-adaptive torque compensation value T s Carrying out segmentation processing, and calculating the arithmetic mean value of the torque compensation values in each torque section;and S7, superposing the self-adaptive compensation torque value when calculating the target torque of the clutch.
- 2. The DCT power upshift adaptive control method according to claim 1, wherein: relative rate of change of rotation A in S3 rel The 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 rel Repeating 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 difference 1 ；2-2) segmenting the value A of the speed of rotation relative to the rate of change z At A =0 z -A 1 The range is divided into (Z-1) parts on average, Z is more than or equal to 5, and A is obtained 2 、A 3 ...A z-1 。
- 3. The DCT power upshift adaptive control method according to claim 1, wherein: speed difference N in S4 err The segment interval 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 rel When the speed is equal to 0, calculating and recording the rotating speed difference N err Repeating 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 N 1 ；3-2) the whole vehicle normally runs in gear, and the rotating speed difference N is calculated and recorded err Repeating 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 -N 1 In the range of X parts on average, X is not less than 5 to obtain N 1 、N 2 、N 3 ...N x-1 。
- 4. The DCT power upshift adaptive control method according to claim 1, wherein: judging the relative change rate A of the rotating speed rel Fractional value A of the rate of change in relation to the speed of rotation 1 The process of the magnitude relationship of (1) is as follows:5.1 Calculate the fast adaptive torque compensation value T according to the following equation f ：T f ＝J·A relIn 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 rel Is the relative rate of change of the rotational speed, is a real-time calculated value, A rel >A 1 ；5.2 The relative change rate of the rotating speed is divided into Z sections, the rotating speed difference is divided into X sections, a torque compensation value is calculated, and the counting times of a counter are recorded;5.2.1 At a relative rate of change of speed A rel Satisfies the condition A 2 ＜A rel ≤A 1 ：(1) At a speed difference satisfying N err ＞N 1 When the torque compensation value is calculated as T s11 Recording the number of times K counted by the counter 11 ；(2) At a speed difference satisfying N 2 ＜N err ≤N 1 Under the condition, calculating the torque compensation value as T s12 Recording the number of times K counted by the counter 12 ；By the same way, the operation is carried out,(3) at a speed difference satisfying N err ≤N x Calculating the torque compensation value as T s1x Recording the number of times K counted by the counter 1x ；5.2.2 At a relative rate of change of speed A rel Satisfies the condition A 3 ＜A rel ≤A 2 ：(1) At a speed difference satisfying N err ＞N 1 While calculating the torque compensation value as T s21 Recording the number of times K counted by the counter 21 ；(2) At a difference in rotational speed satisfying N 2 ＜N err ≤N 1 Under the condition ofCalculating the torque compensation value as T s22 Recording the number of times K counted by the counter 22 ；By the way of analogy, the method can be used,(3) at a speed difference satisfying N err ≤N x Calculating the torque compensation value as T s2x Recording 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 A rel Satisfies the condition A z ＜A rel ≤A z-1 :(1) At a speed difference satisfying N err ＞N 1 When the torque compensation value is calculated as T sz-11 Recording the number of times K counted by the counter z-11 ；(2) At a difference in rotational speed satisfying N 2 ＜N err ≤N 1 Under the condition, calculating the torque compensation value as T sz-12 Recording 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 satisfying N err ≤N x Calculating the torque compensation value as T sz-1x Recording the number of times K counted by the counter z-1x ；5.2.4 Relative rate of change of rotation A rel The conditions are satisfied: a. The rel ≤A z ：(1) At a speed difference satisfying N err ＞N 1 When the torque compensation value is calculated as T sz1 Recording the number of times K counted by the counter z1 ；(2) At a difference in rotational speed satisfying N 2 ＜N err ≤N 1 Under the condition, calculating the torque compensation value as T sz2 Recording the number of times K counted by the counter z2 ；By the same way, the operation is carried out,(3) at a difference in rotational speed satisfying N err ≤N x Calculating the torque compensation value as T szx-1 Recording the number of times K counted by the counter zx-1 ；5.2.5 Calculate the slow adaptive torque compensation value T according to the following formula s ：T s ＝T sa +T snIn the formula, T s For slow adaptive torque compensation value, T s ＝T s11 、T s12 、T s13 ...T s1x ...T szx-1 ；T sa For 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 sn The 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 snx②T 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-15.2.6 A torque compensation value T calculated based on the relative rate of change of the rotational speed is calculated according to the following equation sa ：T sa ＝J·A relIn 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 rel The relative change rate of the rotating speed; in the formula, the following relationship exists:(1) when the condition is satisfied A 2 ＜A rel ≤A 1 ，T sa ＝T sa1 ＝J·A 1 ；(2) Under the condition of satisfying A 3 ＜A rel ≤A 2 Under the condition of T sa ＝T sa2 ＝J·A 2 ；......(3) Under the condition of satisfying A z ＜A rel ≤A z-1 Under the condition of T sa ＝T saz-1 ＝J·A z-1 ；(4) In the presence of a rel ≤A z Under the condition of T sa ＝T saz ＝J·A z 。
- 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-1 Obtained 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 ＝N 1 Recording 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 ＝N 2 Recording 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 s1 Calculating to obtain a torque difference T s11 Recording and storing T s11 And N 1 The corresponding relationship of (a);4-4) by the method described in 4-1) -4-3), T can be obtained s12 And N 12 、T s13 And N 13 ，T szx And N x The corresponding relationship of (1).
- 6. The DCT power upshift adaptive control method according to claim 1, wherein: the processing procedure in S6 is as follows:6.1 In 0 to T c Range, dividing the compensation torque into C sections to obtain the compensation torque value T 1 、T 2 、T 3 ……T c ；6.1.1 When torque compensation value T s Satisfies the condition T s ≤T 1 Sequentially compensating the torque by the value T s And storing the counting times of the corresponding counter into a memory B1, and recording the compensation torque value as T according to the storage sequence b11 、T b12 、T b13 ...T b1n The number of times counted by the counter is recorded as K b11 、K b12 、K b13 ...K b1n ；Calculating the slow speed adaptive torque compensation sum value T according to the following formula b1sum ：T b1sum ＝T b11 +T b12 +T b13 +...+T b1nCalculating 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 b1nCalculating the arithmetic mean value T of the slow-speed adaptive torque compensation according to the following formula b1avg ：T b1avg ＝T b1sum /K b1sum6.1.2 When the torque compensation value T is reached s Satisfies the condition T 1 ＜T s ≤T 2 Sequentially compensating the torque by the value T s And storing the counting times of the corresponding counter into a memory B1, and recording the compensation torque value as T according to the storage sequence b21 、T b22 、T b23 ...T b2n The number of times counted by the counter is recorded as K b21 、K b22 、K b23 ...K b2n Obtaining the slow adaptive torque compensation sum value T according to the formula 6.1.1) b2sum And torque compensation arithmetic mean T b2avg ；6.1.3 According to 6.1.1), 6.1.2), when the torque compensation value T is equal to s Satisfies the condition T c-1 ＜T s ≤T c Sequentially compensating the torque by the value T s And storing the counting times of the corresponding counter into a memory B1, and recording the compensation torque value as T according to the storage sequence bc1 、T bc2 、T bc3 ...T bcn Counting a counterThe number of times is recorded as K bc1 、K bc2 、K bc3 ...K bcn Obtaining the slow adaptive torque compensation sum value T according to the formula of 6.1.1) bcsum And slow adaptive torque compensation arithmetic mean T bcavg 。
- 7. The DCT power upshift adaptive control method according to claim 6, wherein: further comprising:6.2 To prevent abrupt changes in the compensated torque value, the average value T of the slow adaptive torque compensation is applied to each torque segment avg Limiting the amplitude when T is satisfied avg ≤T lim On condition, using slow adaptive torque to compensate for the mean value T avg If not, the TCU is used to store a torque compensation value for the corresponding torque segment, where T avg ＝T b1avg 、T b2avg 、T b3avg ...T bcavg ，T lim Representing the maximum torque compensation value.
- 8. The DCT power upshift adaptive control method according to claim 7, wherein: further comprising:6.3 ) the accumulated number of times of storage in the memory for each torque segment is equal to or greater than K lim Time, cumulative number of times total threshold K of counter lim And 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.
- 9. The DCT power upshift adaptive control method according to claim 1, wherein: cumulative number sum threshold K of counter lim The preparation method comprises the following steps:6-1) order K lim ＝Y 1 ,Y 1 Not less than 500, power up-shift working condition and fixed speed difference N err And the relative rate of change of speed A rel Carrying 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 lim Value of Y 1 ；6-5) if the torque compensation mean square difference value accuracy does not meet the condition, Y 1 Increasing 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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