CN104828094B - Control method, system and the vehicle of vehicle - Google Patents
Control method, system and the vehicle of vehicle Download PDFInfo
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- CN104828094B CN104828094B CN201410601702.5A CN201410601702A CN104828094B CN 104828094 B CN104828094 B CN 104828094B CN 201410601702 A CN201410601702 A CN 201410601702A CN 104828094 B CN104828094 B CN 104828094B
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- China
- Prior art keywords
- rotating speed
- torsion
- ftc
- old
- moment
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Classifications
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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
- B60W30/20—Reducing vibrations in the driveline
-
- 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
- B60W30/184—Preventing damage resulting from overload or excessive wear of the driveline
Abstract
The present invention proposes a kind of control system of vehicle, including：Acquisition module, for the rotating speed N of engine output end and the rotating speed N_FTC of transmission input for obtaining current sample period, and the rotating speed N_FTC_old of the rotating speed N_old of the engine output end in a upper sampling period and transmission input；Judge module, for comparing rotating speed N and rotating speed N_FTC, rotating speed N_old and rotating speed N_FTC_old；Control module, for when rotating speed N_old is less than or equal to rotating speed N_FTC_old and rotating speed N is more than rotating speed N_FTC, control engine demand moment of torsion to control engine demand moment of torsion to gradually rise up to target torque to preset limit moment of torsion within first scheduled time.The control system of vehicle according to embodiments of the present invention can effectively reduce the impact noise of engine power driving-chain, lifting riding comfort.The invention also provides a kind of control method of vehicle and vehicle.
Description
Technical field
The present invention relates to automobile technical field, the more particularly to a kind of control method of vehicle, system and vehicle.
Background technology
Engine power driving-chain is mainly realized by gear wheel-train.There will necessarily be gap in the design of gear,
As shown in figure 5, gap be present between two gears.In the transmittance process of power, if output torque is continuously a direction,
Then the engagement edge of train also will be same edge；During if power transmits, the direction of moment of torsion changes, then takes turns
The engagement edge of system can also change therewith, as shown in figure 5, becoming the right from the left side, or become the left side from the right, in tooth
During wheel train engagement edge changes, if change in torque is more violent, stronger impact noise can be produced,
Influence riding comfort.
The content of the invention
It is contemplated that at least solves one of above-mentioned technical problem.
Therefore, it is an object of the present invention to propose a kind of control system of vehicle.The control system can effectively drop
Impact noise, the lifting riding comfort of low engine power driving-chain.
It is another object of the present invention to propose a kind of vehicle.
Another object of the present invention is to propose a kind of control method of vehicle.
To achieve these goals, the embodiment of the first aspect of the present invention discloses a kind of control system of vehicle, institute
Stating vehicle includes engine, gearbox and fluid torque-converter, and the engine passes through the fluid torque-converter and the gearbox
It is connected, the system includes：Acquisition module, for the rotating speed N and gearbox of the engine output end for obtaining current sample period
The rotating speed N_FTC of input, and turn of the rotating speed N_old of the engine output end in a upper sampling period and transmission input
Fast N_FTC_old；Judge module, for the rotating speed N and rotating speed N_FTC, and rotating speed N_old and rotating speed N_FTC_
old；Control module, for the judge module judge the rotating speed N_old be less than or equal to the rotating speed N_FTC_old and
When the rotating speed N is more than the rotating speed N_FTC, engine demand moment of torsion is controlled to preset limit moment of torsion, and in the first pre- timing
In, control the engine demand moment of torsion to gradually rise up to target torque by the preset limit moment of torsion.
The control system of vehicle according to embodiments of the present invention, can be according to the current rotating speed and gearbox of engine output end
The size of the current rotating speed of input, and turn of the rotating speed of the engine output end in a upper sampling period and transmission input
The size of speed judges whether rotating speed occurs alternation, and when judging to occur alternation, engine demand moment of torsion is limited, and
Be gradually increased to target torque, in such manner, it is possible to effectively reduce driving engine chain in the course of the work because torque direction mutation and
Big noise is produced, lifts Consumer's Experience, and the service life of fluid torque-converter can be lifted to a certain extent.
In addition, the control system of vehicle according to the above embodiment of the present invention can also have technology additional as follows special
Sign：
In some instances, in addition to：Timer, the timer are used to control the engine in the control module
Start timing during demand torque to preset limit moment of torsion, the control module is additionally operable to reach the second pre- timing in the timer
Between when, the engine demand moment of torsion is controlled accordingly again according to the judged result of the judge module, wherein, institute
Stating for second scheduled time is more than or equal to first scheduled time.
In some instances, the control module was used within first scheduled time, according to predetermined torque gradient
The engine demand moment of torsion is controlled to rise to target torque by the preset limit moment of torsion.
In some instances, the control module be additionally operable to the judge module judge the rotating speed N_old be more than or
It is less than the rotating speed N_FTC equal to the rotating speed N_FTC_old and the rotating speed N, maintains the engine demand moment of torsion constant.
The embodiment of second aspect of the present invention discloses a kind of vehicle, including：The control of vehicle as described in above-mentioned embodiment
System processed.The vehicle can effectively reduce driving engine chain in the course of the work and produce and make an uproar greatly because torque direction is mutated
Sound, Consumer's Experience is lifted, and the service life of fluid torque-converter can be lifted.
The embodiment of third aspect present invention discloses a kind of control method of vehicle, and the vehicle includes engine, become
Fast case and fluid torque-converter, the engine are connected by the fluid torque-converter with the gearbox, methods described include with
Lower step：S1：The rotating speed N of engine output end and the rotating speed N_FTC of transmission input of current sample period are obtained, and
The rotating speed N_old of the engine output end in a upper sampling period and rotating speed N_FTC_old of transmission input；S2：Compare institute
State rotating speed N and rotating speed N_FTC, and rotating speed N_old and rotating speed N_FTC_old；S3：If the rotating speed N_old is less than or waited
It is more than the rotating speed N_FTC in the rotating speed N_FTC_old and the rotating speed N, then controls engine demand moment of torsion to limiting in advance
Moment of torsion processed, and within first scheduled time, control the engine demand moment of torsion to be gradually risen up to by the preset limit moment of torsion
Target torque.
The control method of vehicle according to embodiments of the present invention, can be according to the current rotating speed and gearbox of engine output end
The size of the current rotating speed of input, and turn of the rotating speed of the engine output end in a upper sampling period and transmission input
The size of speed judges whether rotating speed occurs alternation, and when judging to occur alternation, engine demand moment of torsion is limited, and
Be gradually increased to target torque, in such manner, it is possible to effectively reduce driving engine chain in the course of the work because torque direction mutation and
Big noise is produced, lifts Consumer's Experience, and the service life of fluid torque-converter can be lifted to a certain extent.
In addition, the control method of vehicle according to the above embodiment of the present invention can also have technology additional as follows special
Sign：
In some instances, after the engine demand moment of torsion to preset limit moment of torsion is controlled, in addition to：Start to count
When, and after postponing for second scheduled time, the step S1 is returned, wherein, second scheduled time is more than or equal to described
First scheduled time.
In some instances, it is described within first scheduled time, control the engine demand moment of torsion pre- to be limited by described
Moment of torsion processed gradually rises up to target torque, further comprises：
Within first scheduled time, the engine demand moment of torsion is controlled by described pre- according to predetermined torque gradient
Restriction moment of torsion rises to target torque.
In some instances, after the step S2, in addition to：If the rotating speed N_old is more than or equal to described
The rotating speed N_FTC_old and rotating speed N is less than the rotating speed N_FTC, then maintain the engine demand moment of torsion constant.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination accompanying drawings below to embodiment
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the connection relationship diagram of a kind of engine in vehicle, gearbox and fluid torque-converter；
Fig. 2 is the structured flowchart of the control system of vehicle according to an embodiment of the invention；
Fig. 3 is the rotating speed of the engine output end of the control system of vehicle according to an embodiment of the invention, gearbox
Relation schematic diagram between the rotating speed and engine demand moment of torsion of input；
Fig. 4 is the flow chart of the control method of vehicle according to an embodiment of the invention；And
Fig. 5 is the schematic diagram in the gap between two gears of engine power driving-chain.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than instruction or dark
Show that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, thus it is it is not intended that right
The limitation of the present invention.In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint are relative
Importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
The control method, system and vehicle of vehicle according to embodiments of the present invention are described below in conjunction with accompanying drawing.
Fig. 1 is the connection relationship diagram of a kind of engine in vehicle, gearbox and fluid torque-converter.Engine 1 passes through
Fluid torque-converter 2 is connected with gearbox 3.The working condition of fluid torque-converter 2 includes opening, sliding wear and locking.
In vehicle travel process, when fluid torque-converter 2 is in sliding wear state, the rotating speed N and liquid of engine output end
The rotating speed N_FTC (i.e. the rotating speed N_FTC of transmission input) of power torque-converters 2 will be no longer equal.If now N<N_FTC, hair
Motivation will be in dragging state, under dragging state, if stepped on the throttle, occur that N is increased up N again>N_FTC's is normal
Torque output state.
In engine speed from N<N_FTC to N>During N_FTC, if engine output torque continues to increase, and
Appropriate control is not carried out, then during alternation occurs for rotating speed, because the change of torque direction, driving-chain on driving-chain
Engagement edge change therewith, so as to can produce compared with thump noise.
Based on above-mentioned analysis, embodiment of the invention discloses that a kind of can effectively reduce rushing for engine power driving-chain
Hit noise, lifted riding comfort vehicle control system.As shown in Fig. 2 vehicle according to an embodiment of the invention
Control system 200, including：Acquisition module 210, judge module 220 and control module 230.
Wherein, acquisition device 210 is used for the rotating speed N for obtaining the engine output end of current sample period and gearbox input
The rotating speed N_FTC at end, and the rotating speed N_ of the rotating speed N_old of the engine output end in a upper sampling period and transmission input
FTC_old.Judge module 220 is used to compare rotating speed N and rotating speed N_FTC, and rotating speed N_old and rotating speed N_FTC_old.Control
Module 230 is used to judge that rotating speed N_old is less than or equal to rotating speed N_FTC_old and rotating speed N is more than rotating speed N_ in judge module 220
During FTC, control engine demand moment of torsion controls engine demand moment of torsion to preset limit moment of torsion, and within first scheduled time
Target torque is gradually risen up to by preset limit moment of torsion.
It is understood that first scheduled time was, for example, several seconds, preset limit moment of torsion is a relatively small torsion
Square, it is less than the torque value of target torque.First scheduled time and preset limit moment of torsion can be according to vehicle and engines
Actual conditions use different values.
The control system of vehicle according to embodiments of the present invention, can be according to the current rotating speed and gearbox of engine output end
The size of the current rotating speed of input, and turn of the rotating speed of the engine output end in a upper sampling period and transmission input
The size of speed judges whether rotating speed occurs alternation, and when judging to occur alternation, engine demand moment of torsion is limited, and
Be gradually increased to target torque, in such manner, it is possible to effectively reduce driving engine chain in the course of the work because torque direction mutation and
Big noise is produced, lifts Consumer's Experience, and the service life of fluid torque-converter can be lifted to a certain extent.
As a specific example, as shown in figure 3, being defined as follows：Engine demand moment of torsion is Trq_req, is currently adopted
The rotating speed N (i.e. the current rotating speed of engine is N) of the engine output end in sample cycle, the engine output end in a upper sampling period
Rotating speed is N_old, and the current rotating speed of fluid torque-converter is N_FTC (the i.e. rotating speed N_ of the transmission input of current sample period
FTC), the rotating speed of the fluid torque-converter in a upper sampling period is N_FTC_old, and (i.e. engine limits moment of torsion to preset limit moment of torsion
For Trq_lim).
Control module is as follows to the control process of the demand torque of engine：
1：For N and N_FTC in the case of of not intersecting, row constraint is not entered to Trq_req.Such as work as N_old<N_
FTC_old and N<N_FTC or N_old>N_FTC_old and N>N_FTC situation.
2：If N_old<=N_FTC_old and N>N_FTC, then control Trq_req=Trq_lim.Work as engine demand
Moment of torsion is reset as after Trq_lim, is required according to the actual motion of engine, and engine demand moment of torsion will progressively be adjusted to real
Border demand torque Trq_req (i.e. target torque), this process required time are designated as T_r (i.e. the first preset time).In this process
In, it is necessary to which the increase gradient to moment of torsion limits, it is ensured that driving it is steady.The gradient is defined as Trq_grad.That is,
Control module 230 is turned round within first scheduled time according to predetermined torque gradient control engine demand moment of torsion by preset limit
Square rises to target torque.Wherein, the size of the gradient can be adjusted according to actual conditions, as long as being able to ensure that driving
It is steady.So, noise can be further reduced, improves the service life of fluid torque-converter, lifts riding comfort.
3：If N_old>=N_FTC_old and N<N_FTC, then Trq_req remain unchanged.Sentence in judge module 220
Disconnected rotating speed N_old is more than or equal to rotating speed N_FTC_old and rotating speed N is less than rotating speed N_FTC, maintains engine demand moment of torsion not
Become.
In one embodiment of the invention, to prevent signal interference, one time delay of definable, it is designated as T_delay
(i.e. to second scheduled time), starts timing when condition 2 meets, if be not delayed to T_delay, during delay
Forbid carrying out secondary assignment decision to demand torque Trq_req.Such as：The system of the embodiment of the present invention includes timer
(not shown), timer when control module 230 controls engine demand moment of torsion to preset limit moment of torsion based on starting
When, control module 230 is when timer reaches second scheduled time (i.e. T_delay), again according to the judgement of judge module 220
As a result engine demand moment of torsion is controlled accordingly, wherein, it is predetermined that second scheduled time was more than or equal to above-mentioned first
Time.
The control system of vehicle according to embodiments of the present invention, it can effectively reduce driving engine chain in the course of the work
Big noise is produced because torque direction is mutated, lifts Consumer's Experience, and the service life of fluid torque-converter can be lifted.
Further, embodiment of the invention discloses that a kind of vehicle, including：The control of vehicle as described in above-mentioned embodiment
System processed.The vehicle can effectively reduce driving engine chain in the course of the work and produce and make an uproar greatly because torque direction is mutated
Sound, Consumer's Experience is lifted, and the service life of fluid torque-converter can be lifted.
In addition, vehicle according to embodiments of the present invention other compositions and effect for those of ordinary skill in the art and
Speech is all known, in order to reduce redundancy, is not repeated.
As shown in figure 4, the invention also discloses a kind of control method of vehicle, comprise the following steps：
Step S401：Obtain the rotating speed N of engine output end and the rotating speed N_ of transmission input of current sample period
FTC, and the rotating speed N_FTC_old of the rotating speed N_old of the engine output end in a upper sampling period and transmission input；
Step S402：Compare rotating speed N and rotating speed N_FTC, and rotating speed N_old and rotating speed N_FTC_old；
Step S403：If rotating speed N_old is less than or equal to rotating speed N_FTC_old and rotating speed N is more than rotating speed N_FTC,
Engine demand moment of torsion is controlled to preset limit moment of torsion, and within first scheduled time, control engine demand moment of torsion is by presetting
Limitation moment of torsion gradually rises up to target torque.Specifically include：Within first scheduled time, hair is controlled according to predetermined torque gradient
Motivation demand torque rises to target torque by preset limit moment of torsion.
In one embodiment of the invention, after engine demand moment of torsion to preset limit moment of torsion is controlled, in addition to：
Start timing, and after postponing for second scheduled time, return to the step S401, wherein, second scheduled time was more than or equal to
First scheduled time.
In one embodiment of the invention, after step S402, in addition to：If rotating speed N_old is more than or equal to
Rotating speed N_FTC_old and rotating speed N is less than rotating speed N_FTC, then maintain engine demand moment of torsion constant.
The control method of vehicle according to embodiments of the present invention, can be according to the current rotating speed and gearbox of engine output end
The size of the current rotating speed of input, and turn of the rotating speed of the engine output end in a upper sampling period and transmission input
The size of speed judges whether rotating speed occurs alternation, and when judging to occur alternation, engine demand moment of torsion is limited, and
Be gradually increased to target torque, in such manner, it is possible to effectively reduce driving engine chain in the course of the work because torque direction mutation and
Big noise is produced, lifts Consumer's Experience, and the service life of fluid torque-converter can be lifted to a certain extent.
It should be noted that the specific implementation of the method for the embodiment of the present invention and the specific implementation of components of system as directed
It is similar, the description of components of system as directed is specifically referred to, here for redundancy is reduced, is not repeated.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.Moreover, specific features, structure, material or the feature of description
It can be combined in an appropriate manner in any one or more embodiments or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is by claim and its equivalent limits.
Claims (9)
1. a kind of control system of vehicle, the vehicle includes engine, gearbox and fluid torque-converter, and the engine passes through
The fluid torque-converter is connected with the gearbox, it is characterised in that the system includes：
Acquisition module, for the rotating speed N of engine output end and the rotating speed N_ of transmission input for obtaining current sample period
FTC, and the rotating speed N_FTC_old of the rotating speed N_old of the engine output end in a upper sampling period and transmission input；
Judge module, for the rotating speed N and rotating speed N_FTC, and rotating speed N_old and rotating speed N_FTC_old；
Control module, for the judge module judge the rotating speed N_old be less than or equal to the rotating speed N_FTC_old and
When the rotating speed N is more than the rotating speed N_FTC, engine demand moment of torsion is controlled to preset limit moment of torsion, and in the first pre- timing
In, control the engine demand moment of torsion to gradually rise up to target torque by the preset limit moment of torsion.
2. the control system of vehicle according to claim 1, it is characterised in that also include：
Timer, the timer are used for when the control module controls the engine demand moment of torsion to preset limit moment of torsion
Start timing, the control module is additionally operable to when the timer reached for second scheduled time, again according to the judgement mould
The judged result of block is controlled the engine demand moment of torsion accordingly, wherein, second scheduled time is more than or waited
In first scheduled time.
3. the control system of vehicle according to claim 1, it is characterised in that the control module is used for described first
In the scheduled time, the engine demand moment of torsion is controlled to rise to mesh by the preset limit moment of torsion according to predetermined torque gradient
Mark moment of torsion.
4. the control system of the vehicle according to claim any one of 1-3, it is characterised in that the control module is additionally operable to
Judge that the rotating speed N_old is more than or equal to the rotating speed N_FTC_old and the rotating speed N is less than described in the judge module
Rotating speed N_FTC, maintain the engine demand moment of torsion constant.
A kind of 5. vehicle, it is characterised in that including：The control system of vehicle as described in claim any one of 1-4.
6. a kind of control method of vehicle, the vehicle includes engine, gearbox and fluid torque-converter, and the engine passes through
The fluid torque-converter is connected with the gearbox, it is characterised in that the described method comprises the following steps：
S1：Obtain the rotating speed N of engine output end and the rotating speed N_FTC, Yi Jishang of transmission input of current sample period
The rotating speed N_old of the engine output end in the one sampling period and rotating speed N_FTC_old of transmission input；
S2：Compare the rotating speed N and rotating speed N_FTC, and rotating speed N_old and rotating speed N_FTC_old；
S3：If the rotating speed N_old is less than or equal to the rotating speed N_FTC_old and the rotating speed N is more than the rotating speed N_
FTC, then engine demand moment of torsion is controlled to control the engine demand to preset limit moment of torsion, and within first scheduled time
Moment of torsion gradually rises up to target torque by the preset limit moment of torsion.
7. the control method of vehicle according to claim 6, it is characterised in that controlling the engine demand moment of torsion extremely
After preset limit moment of torsion, in addition to：Start timing, and after postponing for second scheduled time, return to the step S1, wherein,
Second scheduled time is more than or equal to first scheduled time.
8. the control method of vehicle according to claim 6, it is characterised in that within first scheduled time, control
The engine demand moment of torsion gradually rises up to target torque by the preset limit moment of torsion, further comprises：
Within first scheduled time, the engine demand moment of torsion is controlled pre- to be limited by described according to predetermined torque gradient
Moment of torsion processed rises to target torque.
9. the control method of the vehicle according to claim any one of 6-8, it is characterised in that after the step S2,
Also include：
If the rotating speed N_old is more than or equal to the rotating speed N_FTC_old and the rotating speed N is less than the rotating speed N_FTC,
Then maintain the engine demand moment of torsion constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410601702.5A CN104828094B (en) | 2014-10-31 | 2014-10-31 | Control method, system and the vehicle of vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410601702.5A CN104828094B (en) | 2014-10-31 | 2014-10-31 | Control method, system and the vehicle of vehicle |
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| Publication Number | Publication Date |
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| CN104828094A CN104828094A (en) | 2015-08-12 |
| CN104828094B true CN104828094B (en) | 2018-01-19 |
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ID=53806395
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106799975A (en) * | 2017-01-22 | 2017-06-06 | 北京新能源汽车股份有限公司 | A kind of control method of operator demand's moment of torsion, device and electric automobile |
| CN109139738B (en) * | 2017-06-19 | 2020-08-28 | 上海汽车集团股份有限公司 | Clutch control method and device |
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