CN104442822B - Automatic gear shift control method of motor-transmission integrated drive system for electrical vehicle - Google Patents

Automatic gear shift control method of motor-transmission integrated drive system for electrical vehicle Download PDF

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Publication number
CN104442822B
CN104442822B CN201410733754.8A CN201410733754A CN104442822B CN 104442822 B CN104442822 B CN 104442822B CN 201410733754 A CN201410733754 A CN 201410733754A CN 104442822 B CN104442822 B CN 104442822B
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motor
gear
variator
actuating mechanism
shifting actuating
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CN104442822A (en
Inventor
张炳力
汤波
李存俊
刘牛
方亚洲
白志浩
吴鑫平
赵坤
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Hefei University of Technology
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Hefei University of Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/10—Change speed gearings
    • B60W2710/1005—Transmission ratio engaged

Abstract

The invention discloses an automatic gear shift control system and method of a motor-transmission integrated drive system for an electrical vehicle. The motor-transmission integrated drive system comprises a drive motor, a transmission, a motor controller and a gear shift execution mechanism, wherein the drive motor is directly connected with the transmission through a spline and controlled by the motor controller to output a torque to the transmission; the gear shift execution mechanism is used for finishing the gear shift operation of the transmission; the motor-transmission integrated drive system is characterized in that a vehicle controller is arranged for coordination control on the motor controller and the gear shift execution mechanism to realize automatic gear shift function of the motor-transmission integrated drive system; the vehicle controller and the motor-transmission integrated drive system form the automatic gear shift control system. According to the automatic gear shift control system, the automatic gear shift function of the motor-transmission integrated drive system can be realized and the gear shift quality of the motor-transmission integrated drive system can be improved.

Description

The self shifter control method of Motor for Electric Automobile-variator integrated driving system
Technical field
The invention belongs to electric vehicle engineering field, it is related to the self shifter control technology of electric automobile, particularly relates to A kind of self shifter control system of Motor for Electric Automobile-variator integrated driving system and method.
Background technology
Traditional AMT automobile cuts off the transmission of car load power in shift process by the separation of clutch, relies on synchronous ring Cunning rub and complete synchronizing process, realize gearshift.Motor of the prior art-variator integrated driving system be motor with Eliminate clutch between variator, be directly connected to by spline, have very big simplification in structure, reduce and produce into This, improve transmission efficiency.But it is for motor-variator integrated driving system, electric to driving during self shifter The coordination of machine, variator and gear shifting actuating mechanism controls extremely complex, easy generation noise and shift shock in shift process, The smooth gear shifting having a strong impact on vehicle and the comfortableness taken.And it is automatic in existing motor-variator integrated driving system In gearshift control technology, control system is numerous and diverse and functional defect face, less to the concrete control method research coordinating to control, especially It is to be difficult to realize motor is precisely controlled, in shift process, noise impact is big, and shift time is long, and shift quality is not high.
Content of the invention
The present invention is the weak point overcoming prior art to exist, and proposes a kind of Motor for Electric Automobile-variator integrated The self shifter control method of drive system, to enabling the automatic gear change function of motor-variator integrated driving system, and Improve the shift quality of Motor for Electric Automobile-variator integrated driving system.
The present invention is to solve technical problem to adopt the following technical scheme that：
A kind of feature of the self shifter control method of Motor for Electric Automobile of the present invention-variator integrated driving system is It is applied in the self shifter control system of Motor for Electric Automobile-variator integrated driving system, described electric automobile electricity consumption The composition of machine-variator integrated driving system includes：Motor, variator, electric machine controller and gear shifting actuating mechanism；Described Motor is directly connected to by spline with described variator, and motor output turns described in described motor controller controls To described variator, described gear shifting actuating mechanism is used for completing the gear shift operation of described variator square；
Setting carload controller, described entire car controller is coordinated to control described electric machine controller and described gearshift execution machine Structure, thus realize the automatic gear change function of described motor-variator integrated driving system；With described entire car controller and described electricity Electrical automobile motor-variator integrated driving system constitutes described self shifter control system.
The composition of described entire car controller includes：Self shifter module and coordinating control module；
The motoring condition information that described self shifter module obtains according to described entire car controller and pedal information are entered Row analysis, judges whether to reach gearshift condition；When meeting gearshift condition, from described coordinating control module respectively to described motor Controller and described gear shifting actuating mechanism send gearshift and coordinate control instruction；Described gearshift is coordinated control instruction and is included：Described drive The execution action command of the mode instruction of galvanic electricity machine and described gear shifting actuating mechanism；
Described electric machine controller controls described controlled motor to complete driving, unloading, synchronization according to described mode instruction and adds Carry operation；Described gear shifting actuating mechanism controls described variator to complete to pluck gear according to described execution action command, puts into gear and keep Execute operation.
Described self shifter control method is carried out as follows：
During step 1, running car driven travel, described entire car controller constantly gathers the state of running car Information and pedal information simultaneously pass to described self shifter module, and described self shifter module is believed according to described motoring condition Breath and pedal information are analyzed, and judge whether to reach gearshift condition；
Step 2, when meeting gearshift condition, described coordinating control module sends unloading mode to described electric machine controller and refers to Order；
Step 3, described electric machine controller control described motor to operate according to the unloading mode instruction being received and turn Under square pattern, now, described coordinating control module according to the torque rate of change of described motor constantly to described motor control Device sends unloading target torque signal, so that described motor completes unloading operation；
After step 4, described motor complete unloading operation, described in described motor controller controls, motor is by torque To under free schema, now, described coordinating control module sends to described gear shifting actuating mechanism plucks gear execution action to pattern switching Instruction, so that described gear shifting actuating mechanism completes to described variator to pluck gear operation；
After step 5, described variator complete to pluck gear operation, described coordinating control module sends same to described electric machine controller Step mode instructs；
Step 6, described electric machine controller control described motor by free module according to the synchronous mode instruction being received Formula is switched under rotating speed pattern, and now, described coordinating control module sends rotating speed of target signal to described motor, so that Obtain described motor and complete simultaneously operating；
After step 7, described motor complete simultaneously operating, described in described motor controller controls, motor is by rotating speed To under free schema, now, described coordinating control module sends, to described gear shifting actuating mechanism, execution action of putting into gear to pattern switching Instruction and execution force signal of putting into gear, so that described gear shifting actuating mechanism is complete to described variator under implementation capacity effect of putting into gear Become operation of putting into gear；
Step 8, described variator complete to put into gear after operating, and described coordinating control module sends to described electric machine controller and adds Carry mode instruction；
Step 9, described electric machine controller control described motor by free module according to the loading mode instruction being received Formula is switched under torque mode, and now, described coordinating control module is according to the torque rate of change of described motor constantly to institute State electric machine controller and send loaded targets dtc signal, so that described motor completes to load operation；
After step 10, described motor complete to load operation, described coordinating control module is to described gear shifting actuating mechanism Send holding execution action command so that described gear shifting actuating mechanism keeps original position constant, automobile driven travels, thus Realize the automatic gear change function of described Motor for Electric Automobile-variator integrated driving system.
The feature of self shifter control method of the present invention lies also in, the torque rate of change of described motor Obtained by formula (1)：
In formula (1)：TeTorque for described motor；T is unloading or load time；J be electric automobile whole etc. Effect rotary inertia；J is shock extent；R is the radius of electric automobile driving moment；igTransmission for described variator current shift Than；i0Gear ratio for main reducing gear.
The rotating speed of target signal of described motor is obtained by formula (2)：
In formula (2)：Rotating speed of target for described motor；N is the current rotating speed of described transmission output shaft；igmb Gear ratio for described variator target gear；igGear ratio for described variator current shift；n*For described motor Rotating speed correction.
Described implementation capacity F of putting into gear is to be obtained by formula (3)：
In formula (3), m is the quality of described gear shifting actuating mechanism；S is described gear shifting actuating mechanism in stage of accelerated motion Move distance；L is the length of lock unit synchronization ring and combined cover increment angle；Δ n is the rotating speed of lock unit synchronization ring and combined cover Difference；F is resistance suffered by stage of accelerated motion for the described gear shifting actuating mechanism.
Compared with the prior art, beneficial effects of the present invention are embodied in：
1 the invention provides a kind of self shifter control system of Motor for Electric Automobile-variator integrated driving system And its method, coordinate to control plan by formulating the multistage of rational motor-variator integrated driving system self shifter process Slightly it is achieved that the automatic gear change function of motor-variator integrated driving system, and restrained effectively shift shock and noise, Reduce shift time, decrease automobile power loss, improve changing of Motor for Electric Automobile-variator integrated driving system Gear quality, thus the efficiency that improve drive system and the comfortableness taken.
2nd, the present invention is integrated with self shifter module and coordinating control module by the entire car controller of setting, not only simplifies Self shifter control system, and to motor in motor-variator integrated driving system, variator and gearshift execution The operations of mechanism have carried out the division of labor and have coordinated to control, and improve control system in existing self shifter control technology numerous and diverse not In place of foot, achieve the automatic gear change function of motor-variator integrated driving system well.
3rd, the present invention plucks gear rank by the self shifter process of motor-variator integrated driving system be divide into unloading Section, synchronous put into gear stage and loading traveling three phases, in the various stages, to motor, variator and gearshift execution machine Structure has carried out coordinating to control, and complicated control process is systematically split, improves self shifter control system Controllability and reliability.
4th, when motor of the present invention operates in unloading mode and loading mode, coordinating control module is according to motor Torque rate of change constantly sends unloading target torque signal to electric machine controller, controls the torque change of motor, well Inhibit the impact causing because of motor torque mutation, improve smooth gear shifting and shift quality.
5th, in the motor synchronization stage during self shifter for the present invention, coordinating control module is to motor Rotating speed of target carried out reasonable correction, decrease cause because automobile speed drastically changes rotating speed of target fluctuation, prevent hang Occur during gear asynchronous beating tooth phenomenon it is achieved that the smooth-going of gear shifting actuating mechanism is put into gear, thus improve shift quality.
6th, when operation is put into gear in gear shifting actuating mechanism execution, coordinating control module is made the present invention by controlling gearshift implementation capacity Gear shifting actuating mechanism completes to put into gear with the motion mode first accelerating to slow down afterwards, both shortens the time of putting into gear, and decreases automobile power Loss, turn avoid put into gear impact and the noise causing greatly because of execution Dipeptiven of putting into gear, thus improve shift quality.
Brief description
Fig. 1 is self shifter control system frame diagram of the present invention；
Fig. 2 is the multistage of self shifter process of the present invention to coordinate control realization flow chart.
Specific embodiment
As shown in figure 1, in a kind of self shifter control system of Motor for Electric Automobile-variator integrated driving system The composition of Motor for Electric Automobile-variator integrated driving system includes：Motor, variator, electric machine controller and gearshift Actuator；Eliminate clutch between motor and variator, be directly connected to by spline, and by motor controller controls To variator, gear shifting actuating mechanism is used for completing the gear shift operation of variator motor output torque.
On the basis of Motor for Electric Automobile-variator integrated driving system, carload controller is set, by car load Controller coordinate controlled motor controller and gear shifting actuating mechanism, thus realize the automatic of motor-variator integrated driving system Gearshift function；Self shifter control system is constituted with entire car controller and Motor for Electric Automobile-variator integrated driving system.
The composition of entire car controller includes：Self shifter module and coordinating control module；By to self shifter module and Coordinating control module is effectively integrated, and simplifies self shifter control system, has been advantageously implemented motor-variator integrated The automatic gear change function of drive system.
Wherein, the motoring condition information that self shifter module obtains according to entire car controller (includes speed v, speed change Gear P, N, D, R that device is currently located) and pedal information (inclusion accelerator pedal aperture α1Information and brake pedal aperture α2) enter Row analysis, using automobile speed v and accelerator pedal aperture α1Inquiry electric automobile gearshift rule table judges whether to reach gearshift bar Part；When meeting gearshift condition, gearshift is sent to electric machine controller and gear shifting actuating mechanism respectively from coordinating control module and coordinates Control instruction；Gearshift is coordinated control instruction and is included：The mode instruction Mode of motor, the execution action of gear shifting actuating mechanism refer to Make MT.
The mode instruction Mode of the motor that electric machine controller sends according to tuning controller controls motor to complete Drive, unload, synchronization and loading operate；The execution action of the gear shifting actuating mechanism that gear actuator sends according to tuning controller Command MTVariator is controlled to complete to pluck gear, put into gear and keep executing operation.
As shown in Fig. 2 a kind of self shifter control method of Motor for Electric Automobile-variator integrated driving system, it is Carry out as follows：
During step 1, running car driven travel, during self shifter control system operates in self shifter Loading travel phase, entire car controller constantly gathers the status information of running car and pedal information and passes to self shifter Module, self shifter module is analyzed according to motoring condition information and pedal information, is stepped on using automobile speed v and acceleration Plate aperture α1Inquiry electric automobile gearshift rule table judges whether to reach gearshift condition；
Step 2, when meeting gearshift condition, self shifter control system is entered by the loading travel phase of self shifter process Enter unloading and pluck the gear stage, now, coordinating control module sends unloading mode command M ode=- of motor to electric machine controller 1 (drive pattern is 0, and unloading mode is -1, and loading mode is 1, and synchronous mode is 2)；
Step 3, electric machine controller control motor to operate according to unloading mode command M ode=-1 being received and turn Under square pattern, now, coordinating control module is according to the torque rate of change of motorConstantly send unloading to electric machine controller Target torque signal Te1 *, by coordinating control module, the torque change of motor during unloading is controlled, is effectively prevented The impact causing because of motor torque mutation, so that motor completes unloading operation；
Wherein, the torque rate of change of motorObtained by formula (1)：
In formula (1)：TeFor the torque of motor, t be discharge time, J be electric automobile whole equivalent moment of inertia, J is shock extent, using national standard j≤17.64m s-3, r be electric automobile driving moment radius, in the present embodiment drive Radius r=0.27m, i of wheelgFor the gear ratio of variator current shift, in the present embodiment, variator one keeps off gear ratio ig1= 2.362, two gear gear ratio ig2=1.464, i0For the gear ratio of main reducing gear, in the present embodiment, the gear ratio i of main reducing gear0 =4.323；
After step 4, motor complete unloading operation, motor controller controls motor is switched to certainly by torque mode By under pattern, now, coordinating control module sends to gear shifting actuating mechanism plucks gear execution action command MT=-1 (keeps execution dynamic As 0, pluck and keep off execution action for -1, execution action of putting into gear is 1) so that gear shifting actuating mechanism completes to pluck gear to variator Operation；
After step 5, variator complete to pluck gear operation, self shifter control system plucks gear rank by the unloading of self shifter process Section enters synchronization and puts into gear the stage, and now, coordinating control module sends synchronous mode command M ode=2 to electric machine controller；
Step 6, electric machine controller control motor by free schema according to synchronous mode command M ode=2 being received It is switched under rotating speed pattern, now, coordinating control module sends rotating speed of target signal to motorBy coordinating to control mould The rotating speed of target to motor for the blockRationally revised, reduced the rotating speed of target ripple causing because automobile speed drastically changes Dynamic so that motor completes simultaneously operating, prevent from occurring during putting into gear asynchronous beat tooth phenomenon, be advantageously implemented The smooth-going of gear shifting actuating mechanism is put into gear；
Wherein, the rotating speed of target signal of motor is obtained by formula (2)：
In formula (2)：Rotating speed of target for motor；N is the current rotating speed of transmission output shaft；igmbFor variator The gear ratio of target gear；igGear ratio for variator current shift；n*Rotating speed correction for motor；
After step 7, motor complete simultaneously operating, motor controller controls motor is by rotating speed pattern switching to certainly By under pattern, now, coordinating control module sends the execution action command M that puts into gear to gear shifting actuating mechanismT=1 and put into gear implementation capacity Signal F, so that gear shifting actuating mechanism completes operation of putting into gear under implementation capacity F effect of putting into gear to variator；
In order to shorten the time of putting into gear, decrease automobile power loss, it is to avoid because of putting into gear that execution Dipeptiven of putting into gear causes greatly Impact and noise, coordinating control module is rationally controlled so as to after first to accelerate to implementation capacity F of putting into gear of gear shifting actuating mechanism The motion mode slowing down completes operation of putting into gear to variator；
In stage of accelerated motion, gear shifting actuating mechanism initial motion speed is 0, there is relationship below：
F-f=ma1(3)
In formula (3) and (4)：F is the implementation capacity of putting into gear of gear shifting actuating mechanism, f for resistance, m suffered by gear shifting actuating mechanism is The quality of gear shifting actuating mechanism, a1It is the move distance of boost phase, v for the acceleration of stage of accelerated motion, smaxHold for gearshift The maximum movement speed of row mechanism；
In the retarded motion stage, final movement velocity v of gear shifting actuating mechanismendFormula (5) should be met：
In formula (5)：L is the length of lock unit synchronization ring and combined cover increment angle, Z is the synchronous ring number of teeth, Δ n is lock unit , there is relationship below in synchronous ring and the speed discrepancy of combined cover：
F=ma2(6)
In formula (6) and (7)：a2Acceleration for the retarded motion stage；
By formula (3)-(7), the size that can try to achieve implementation capacity F of putting into gear is：
Step 8, variator complete to put into gear after operation, and self shifter control system is put into gear rank by the synchronization of self shifter process Section enters and loads travel phase, and now, coordinating control module sends loading mode command M ode=1 to electric machine controller；
Step 9, electric machine controller control motor by free schema according to loading mode command M ode=1 being received It is switched under torque mode, now, coordinating control module is according to the torque rate of change of motorConstantly to described motor control Device processed sends loaded targets dtc signal Te2 *, by coordinating control module, the torque change of motor when loading is controlled System, suppresses the impact causing because of motor torque mutation, effectively so that motor completes to load operation；
After step 10, motor complete to load operation, coordinating control module sends holding execution to gear shifting actuating mechanism Action command MT=0 so that gear shifting actuating mechanism keeps original position constant, and automobile driven travels, thus realizing electronic vapour The automatic gear change function of automobile motor-variator integrated driving system.

Claims (4)

1. a kind of self shifter control method of Motor for Electric Automobile-variator integrated driving system, is characterized in that being applied to In the self shifter control system of Motor for Electric Automobile-variator integrated driving system, described Motor for Electric Automobile-speed change The composition of device integrated driving system includes：Motor, variator, electric machine controller and gear shifting actuating mechanism；Described motor It is directly connected to by spline with described variator, and motor output torque is extremely described described in described motor controller controls Variator, described gear shifting actuating mechanism is used for completing the gear shift operation of described variator；
Setting carload controller, described entire car controller is coordinated to control described electric machine controller and described gear shifting actuating mechanism, Thus realizing the automatic gear change function of described motor-variator integrated driving system；With described entire car controller and described electronic Automobile motor-variator integrated driving system constitutes described self shifter control system；
The composition of described entire car controller includes：Self shifter module and coordinating control module；
Motoring condition information that described self shifter module obtains according to described entire car controller and pedal information are carried out point Analysis, judges whether to reach gearshift condition；When meeting gearshift condition, from described coordinating control module respectively to described motor control Device and described gear shifting actuating mechanism send gearshift and coordinate control instruction；Described gearshift is coordinated control instruction and is included：Described driving electricity The execution action command of the mode instruction of machine and described gear shifting actuating mechanism；
Described electric machine controller controls motor to complete driving, unloading, synchronization according to described mode instruction and loads operation；Institute Stating gear shifting actuating mechanism controls described variator to complete to pluck gear, put into gear and keep executing operation according to described execution action command；
Described self shifter control method is to carry out as follows：
Step 1：During automobile normal running, described entire car controller constantly gathers status information and the pedal letter of running car Cease and pass to described self shifter module, described self shifter module is according to described motoring condition information and pedal information It is analyzed, judge whether to reach gearshift condition；
Step 2：When meeting gearshift condition, described coordinating control module sends unloading mode instruction to described electric machine controller；
Step 3：Described electric machine controller controls described motor to operate in torque mould according to the unloading mode instruction being received Under formula, now, described coordinating control module is constantly sent out to described electric machine controller according to the torque rate of change of described motor Go out to unload target torque signal, so that described motor completes unloading operation；
Step 4：After described motor completes unloading operation, described in described motor controller controls, motor is by torque mode It is switched under free schema, now, described coordinating control module sends to described gear shifting actuating mechanism plucks gear execution action command, So that described gear shifting actuating mechanism completes to described variator to pluck gear operation；
Step 5：After described variator completes to pluck gear operation, described coordinating control module sends synchronous mould to described electric machine controller Formula instructs；
Step 6：Described electric machine controller controls described motor to be cut by free schema according to the synchronous mode instruction being received Change under rotating speed pattern, now, described coordinating control module sends rotating speed of target signal to described motor, so that institute State motor and complete simultaneously operating；
Step 7：After described motor completes simultaneously operating, described in described motor controller controls, motor is by rotating speed pattern It is switched under free schema, now, described coordinating control module sends, to described gear shifting actuating mechanism, execution action command of putting into gear With execution force signal of putting into gear so that described gear shifting actuating mechanism completes to described variator to hang under implementation capacity effect of putting into gear Gear operation；
Step 8：Described variator completes to put into gear after operating, and described coordinating control module sends loading mould to described electric machine controller Formula instructs；
Step 9：Described electric machine controller controls described motor to be cut by free schema according to the loading mode instruction being received Change under torque mode, now, described coordinating control module is according to the torque rate of change of described motor constantly to described electricity Machine controller sends loaded targets dtc signal, so that described motor completes to load operation；
Step 10：After described motor completes to load operation, described coordinating control module sends to described gear shifting actuating mechanism Keep execution action command so that described gear shifting actuating mechanism keeps original position constant, automobile driven travels, thus realizing The automatic gear change function of described Motor for Electric Automobile-variator integrated driving system.
2. self shifter control method according to claim 1, is characterized in that, the torque rate of change of described motorObtained by formula (1)：
dT e d t = J j ri g i 0 - - - ( 1 )
In formula (1)：TeTorque for described motor；T is unloading or load time；J is the Equivalent Rotational of electric automobile whole Inertia；J is shock extent；R is the radius of electric automobile driving moment；igGear ratio for described variator current shift；i0Based on The gear ratio of decelerator.
3. self shifter control method according to claim 1, is characterized in that the rotating speed of target signal of described motor Obtained by formula (2)：
n e * = ni g m b i g ± n * - - - ( 2 )
In formula (2)：Rotating speed of target for described motor；N is the current rotating speed of described transmission output shaft；igmbFor institute State the gear ratio of variator target gear；igGear ratio for described variator current shift；n*Rotating speed for described motor Correction.
4. self shifter control method according to claim 1, is characterized in that, described implementation capacity F of putting into gear is to be obtained by formula (3) ?：
F = m 2 s ( 60 l Z Δ n ) 2 + ( 2 - l s ) f - - - ( 3 )
In formula (3), Z represents the number of teeth of synchronous ring, and m is the quality of described gear shifting actuating mechanism；S exists for described gear shifting actuating mechanism The move distance of stage of accelerated motion；L is the length of lock unit synchronization ring and combined cover increment angle；Δ n is lock unit synchronization ring Speed discrepancy with combined cover；F is resistance suffered by stage of accelerated motion for the described gear shifting actuating mechanism.
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