CN107023668A - Gear shifting control method, gearbox controller and automobile - Google Patents
Gear shifting control method, gearbox controller and automobile Download PDFInfo
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- CN107023668A CN107023668A CN201710271298.3A CN201710271298A CN107023668A CN 107023668 A CN107023668 A CN 107023668A CN 201710271298 A CN201710271298 A CN 201710271298A CN 107023668 A CN107023668 A CN 107023668A
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Classifications
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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
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/14—Inputs being a function of torque or torque demand
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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
- F16H61/04—Smoothing ratio shift
- F16H2061/0425—Bridging torque interruption
- F16H2061/0433—Bridging torque interruption by torque supply with an electric motor
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Abstract
The invention provides a gear shifting control method, a gearbox controller and an automobile, wherein the gear shifting control method comprises the following steps: acquiring gear shifting information of switching a current gear to a target gear; according to the gear shifting information, controlling the wheel side torque of the first shaft to be reduced from a first torque value to 0, and simultaneously controlling the wheel side torque of the second shaft to be increased by the first torque value; when the wheel-side torque of the first shaft is reduced to 0, controlling the gear shifting executing mechanism to shift back; and when the rotating speed of a first driving motor for driving the first shaft is matched with the current vehicle speed, controlling the gear shifting executing mechanism to shift, controlling the wheel-side torque of the first shaft to increase from 0 to a second torque value, and simultaneously controlling the wheel-side torque of the second shaft to reduce the second torque value. Therefore, when the gear is shifted, the wheel-side torque of the second shaft changes along with the increase and decrease of the wheel-side torque of the first shaft, the total output torque of the automobile is kept unchanged, the phenomenon that a driver feels torque interruption in the gear shifting process is avoided, the situations of impact, shaking and the like cannot occur when the automobile is shifted, and the riding comfort is improved.
Description
Technical field
The present invention relates to automobile technical field, a kind of shift control method, gearbox control and automobile are particularly related to.
Background technology
In order to pursue higher power performance and economic performance, collocation two keeps off AMT (Automated Manual
Transmission, electric-controlled mechanical automatic gear-box) gearbox 4 wheel driven automobile it is more and more universal.
Nowadays, a common problem, i.e., a notch speed of two grades gearboxes are faced with during these 4 wheel driven automobile gear shifts
Than, than differing larger, required shift time is long (it is generally necessary to 1 second or so) when causing to shift gears, shift time with two gear speed
Long to cause prolonged torque break, this brings influence to car steering and dynamic property.Prior art, is turned round to reduce
The problem of square is interrupted, is usually taken the behave for lowering shift time, i.e., by the way of the torsion time is turned round and increased to shortening motor drop, but
It is that will so cause change in torque speed, so as to cause serious gearshift pause and transition in rhythm or melody sense and shift shock sense, influence is relaxed by bus
Appropriateness.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of shift control method, gearbox control and automobile, to solve
The gearshift disruption certainly occurred in the prior art in shift process.
In a first aspect, the embodiment of the present invention provides a kind of shift control method, including：
Obtain the gearshift information that current shift switches to target gear；
According to the gearshift information, the wheel side moment of torsion of control first axle is reduced to 0 by the first torque value, while controlling the second axle
Wheel side moment of torsion increase by the first torque value；When the wheel side moment of torsion of the first axle is reduced to 0, control gear shifting actuating mechanism moves back shelves；
When driving the rotating speed of the first motor of the first axle to be matched with current vehicle speed, the gearshift is controlled to perform
Gear enters in mechanism, controls the wheel side moment of torsion of the first axle to increase to the second torque value by 0, while the wheel side of control second axle
Moment of torsion reduces the second torque value.
Wherein, it is described according to the gearshift information in the above method, the wheel side moment of torsion of first axle is controlled by the first torque value
0 is reduced to, while the step of controlling wheel side moment of torsion the first torque value of increase of the second axle, including：
According to the gearshift information, the first torque command is sent to the first electric machine controller, first torque command is used
0 is reduced in making the moment of torsion of first motor；
The first thermal compensation signal is sent to entire car controller, drives the moment of torsion increase the 3rd of the second motor of the second axle to turn round
Square value, first torque value is equal to the product of the 3rd torque value and the second axle speed ratio.
Wherein, in the above method, the wheel side moment of torsion of the control first axle increases to the second torque value by 0, simultaneously
The step of controlling wheel side moment of torsion the second torque value of reduction of second axle, including：
The target torque of first motor is obtained, and the second moment of torsion is sent to first electric machine controller and is referred to
Order, second torque command is used to make the moment of torsion of first motor increase to the target torque by 0；
The second thermal compensation signal is sent to the entire car controller, drives the moment of torsion reduction the 4th of second motor to turn round
Square value, second torque value is equal to the product of the 4th torque value and the second axle speed ratio.
Wherein, in the above method, it is described obtain first motor target torque the step of, including：
It is determined that the first axle speed ratio corresponding with target gear；
According to second torque value and the first axle speed ratio corresponding with target gear, first driving is obtained
The target torque of motor.
Wherein, in the above method, by 0 the second torque value is increased in the wheel side moment of torsion of the control first axle, together
When control second axle wheel side moment of torsion reduce the second torque value after, in addition to：
Obtain the current torque of first motor；
Receive the target torque instruction for the first motor that the entire car controller is sent；
Judge whether the current torque of first motor matches target indicated in the target torque instruction
Moment of torsion；
If so, then sending gearshift end mark position.
Wherein, described when driving the rotating speed of the first motor of the first axle to be matched with current vehicle speed, control
The gear shifting actuating mechanism enters before the step of keeping off, and the above method also includes：
The rotating speed of target matched with target gear is obtained, and rotary speed instruction, the rotating speed are sent to the first electric machine controller
Instruct for making first motor adjust to the rotating speed of target.
Wherein, the first axle is one in front axle and rear axle, and second axle is another in front axle and rear axle.
Second aspect, the embodiment of the present invention provides a kind of gearbox control, including：
Acquisition module, the gearshift information of target gear is switched to for obtaining current shift；
First control module, for being dropped according to the wheel side moment of torsion of the gearshift information, control first axle by the first torque value
For 0, while controlling the wheel side moment of torsion of the second axle increases by the first torque value；When the wheel side moment of torsion of the first axle is reduced to 0, control
Gear shifting actuating mechanism moves back shelves；
Second control module, for being matched when the rotating speed for the first motor for driving the first axle with current vehicle speed
When, control the gear shifting actuating mechanism to enter gear, control the wheel side moment of torsion of the first axle to increase to the second torque value by 0, simultaneously
Controlling the wheel side moment of torsion of second axle reduces the second torque value.
The third aspect, the embodiment of the present invention provides a kind of automobile, it is characterised in that including entire car controller, gearbox control
Device processed, the first motor for driving first axle, the first electric machine controller, the second driving electricity for driving the second axle
Machine, the second electric machine controller and gear shifting actuating mechanism；Wherein, the entire car controller respectively with gearbox control, first
Electric machine controller and the connection of the second electric machine controller, the gearbox control are connected with the first electric machine controller；Wherein, it is described
Gearbox control is above-mentioned gearbox control.
Wherein, the first axle is one in front axle and rear axle, and second axle is another in front axle and rear axle.
In the embodiment of the present invention, shift control method, including：Obtain the gearshift letter that current shift switches to target gear
Breath；According to the gearshift information, the wheel side moment of torsion of control first axle is reduced to 0 by the first torque value, while controlling the wheel of the second axle
Side moment of torsion increases by the first torque value；When the wheel side moment of torsion of the first axle is reduced to 0, control gear shifting actuating mechanism moves back shelves；Work as drive
When the rotating speed for moving the first motor of the first axle is matched with current vehicle speed, the gear shifting actuating mechanism is controlled to enter gear, control
The wheel side moment of torsion for making the first axle increases to the second torque value by 0, while the wheel side moment of torsion reduction of control second axle the
Two torque values.So, in automobile gear shift, the wheel of the second axle is compensated in moment of torsion with the increasing drop of moment of torsion when taking turns of first axle,
Ensure that total output torque of automobile remains unchanged, so as to ensure that driver will not feel that moment of torsion has interruption in shift process
Situations such as phenomenon is not in impact, shake during automobile gear shift, driving and dynamic property are good, improve comfort level by bus.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed for description of the embodiment of the present invention
The accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention,
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 represents the schematic flow sheet of shift control method provided in an embodiment of the present invention；
Fig. 2 represents the torque compensation schematic diagram in the shift process that an example of the invention is provided；
Fig. 3 represents the schematic flow sheet for the rear axle gearshift that an example of the invention is provided；
The structural representation of Fig. 4 gearbox controls provided in an embodiment of the present invention；
Fig. 5 represents the structural representation of automobile provided in an embodiment of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
First embodiment
The embodiment of the present invention provides a kind of shift control method, applied to automobile, wherein, the automobile is 4 wheel driven automobile, tool
Body can be to be configured with two grades of AMT gearboxes on four-drive electric car or four-drive hybrid electric vehicle, the automobile.The automobile
In, first axle is by the first motor driving two grades of AMT gearboxes of collocation, and at least one being connected in the first axle
Wheel transmits moment of torsion.Wherein, the first motor is arranged in pairs or groups the concrete operations mode and the of two grades of AMT gearboxes driving first axles
Specific behaviour's mode of one axial wheel transmission moment of torsion can be achieved by the prior art, and the present invention is not specifically described.
Fig. 1 is referred to, it is illustrated that the schematic flow sheet of shift control method provided in an embodiment of the present invention, the gearshift
Control method may comprise steps of：
Step 101, the gearshift information that current shift switches to target gear is obtained.
Step 102, according to the gearshift information, the wheel side moment of torsion of control first axle is reduced to 0, same time control by the first torque value
Making the wheel side moment of torsion of the second axle increases by the first torque value；When the wheel side moment of torsion of the first axle is reduced to 0, control gearshift execution machine
Structure moves back shelves.
Here, according to the gearshift information got, control the wheel side moment of torsion drop of first axle to turn round, make the wheel side moment of torsion of first axle
0 is reduced to by the first current torque value, so that automobile switches to neutral by current shift；Turned round on the wheel side of first axle
While square drop is turned round, controlling the wheel side moment of torsion of the second axle increases by the first torque value, that is, controlling the wheel side moment of torsion of the second axle should mend
Repay the reduced value of the wheel side moment of torsion of first axle so that while the wheel side moment of torsion of first axle is reduced, total output torque of automobile
Remain unchanged, it is ensured that the shelves that move back of first axle operate the phenomenon that will not occur torque break.
Step 103, when driving the rotating speed of the first motor of the first axle to be matched with current vehicle speed, control is described
Gear shifting actuating mechanism enters gear, controls the wheel side moment of torsion of the first axle to increase to the second torque value by 0, while control described second
The wheel side moment of torsion of axle reduces the second torque value.
Here, after control gear shifting actuating mechanism enters gear, control the wheel side moment of torsion of first axle to increase and turn round, it is increased to by 0
Second torque value, reaches the wheel side moment of torsion of the first axle needed for target gear, meanwhile, control the wheel side moment of torsion drop of the second axle to turn round the
Two torque values, with the value added for the wheel side moment of torsion for compensating first axle so that total output torque of automobile remains unchanged, it is ensured that first
The shelves that enter of axle operate the phenomenon that will not occur torque break.
Wherein, it is further to avoid torque break problem, gradient is turned round in the increasing when increasing of the wheel side moment of torsion of the second axle is turned round should be with
Drop when the wheel side moment of torsion drop of first axle is turned round turns round gradient and keeps synchronous；The drop when drop of the wheel side moment of torsion of second axle is turned round turns round gradient should
It is synchronous that gradient holding is turned round with the increasing that the wheel side moment of torsion of first axle increases when turning round.Referring to Fig. 2, in one example, it is assumed that after first axle is
Axle, the second axle is front axle, and wherein front axle wheel side moment of torsion is the 60% of the total output torque of automobile, and rear axle wheel side moment of torsion is that automobile is always defeated
Go out the 40% of moment of torsion, as seen from Figure 2, in shift process, moment of torsion (is write a Chinese character in simplified form in the solid line in Fig. 2, Fig. 2 when rear axle wheel side
For reared torque) in when dropping the torsion stage, front axle wheel side moment of torsion (front axle moment of torsion is abbreviated as in the dotted line in Fig. 2, Fig. 2) correspondence is entered
Row, which increases, to be turned round, and both change in torque gradients are identical (for example, 20N moments of torsion drop per 10ms in rear axle, then front axle increases 20N moments of torsion per 10ms),
And keep the total output torque of automobile constant；In move back gear, speed governing and enter to keep off the stage when, rear axle wheel side moment of torsion is reduced to 0, now
Front axle wheel side moment of torsion increases to the 100% of the total output torque of automobile；When rear axle wheel side moment of torsion, which is in, increases the torsion stage, front axle wheel side
Moment of torsion correspondence carries out drop torsion, and both change in torque gradients are identical, and (for example, rear axle increases 20N moments of torsion per 10ms, then front axle is per 10ms
Reduce 20N moments of torsion), and keep the total output torque of automobile constant.
In above-described embodiment, when automobile first axle is shifted gears, the second axle wheel in wheel of the moment of torsion according to first axle moment of torsion
Increasing drop compensate, it is ensured that total output torque of automobile remains unchanged, so as to ensure driver in shift process not
It can feel that moment of torsion has disruption, situations such as be not in impact, shake during automobile gear shift, driving and dynamic property are good, carry
Comfort level is by bus risen.
Wherein, because the wheel side moment of torsion of each axle is obtained by the moment of torsion transmission of the motor of respective shaft, i.e. the
The increasing drop of the wheel side moment of torsion of one axle is reached by the increasing drop of the moment of torsion for the first motor for driving first axle, the second axle
The increasing drop of wheel side moment of torsion is by driving the increasing drop of the moment of torsion of the second motor of the second axle to reach.
Therefore, in some embodiments of the present invention, the above method, in step 102, according to the gearshift information, control
The wheel side moment of torsion of first axle is reduced to 0 by the first torque value, while controlling the wheel side moment of torsion of the second axle increases the step of the first torque value
Suddenly, it may comprise steps of：
According to the gearshift information, the first torque command is sent to the first electric machine controller, first torque command is used
0 is reduced in making the moment of torsion of first motor；
The first thermal compensation signal is sent to entire car controller, drives the moment of torsion increase the 3rd of the second motor of the second axle to turn round
Square value, first torque value is equal to the product of the 3rd torque value and the second axle speed ratio.
In above-mentioned steps, according to gearshift information, send first to the first electric machine controller of the first motor of control and turn round
Square is instructed so that it is 0 that first the first motor of motor controller controls drop, which is turned round, so that the wheel side moment of torsion of first axle is by the
One torque value is reduced to 0；At the same time, the first compensation is sent to entire car controller (Vehicle Control Unit, VCU) to believe
Number so that the second electric machine controller of entire car controller to the second motor of control sends corresponding torque command, makes second
The moment of torsion of motor increases by the 3rd torque value, so that the wheel side moment of torsion of the second axle can increase by the first torque value, here,
Increase needed for the second motor can be obtained by corresponding reduction formula, based on the second axle speed ratio and the first torque value
The 3rd torque value.
In addition, in one embodiment, in the above method, step 103, controlling the wheel side moment of torsion of the first axle by 0 increase
To the second torque value, while the step of wheel side moment of torsion of control second axle reduces the second torque value, can include following step
Suddenly：
The target torque of first motor is obtained, and the second moment of torsion is sent to first electric machine controller and is referred to
Order, second torque command is used to make the moment of torsion of first motor increase to the target torque by 0；
The second thermal compensation signal is sent to the entire car controller, drives the moment of torsion reduction the 4th of second motor to turn round
Square value, second torque value is equal to the product of the 4th torque value and the second axle speed ratio.
In above-mentioned steps, the target torque that exports needed for by obtaining the first motor, and to the first electric machine controller
The second torque command is sent, first the first motor of motor controller controls is increased by 0 and turns round to target torque, so that the
The wheel side moment of torsion of one axle increases to the second torque value by 0；At the same time, the second thermal compensation signal is sent to entire car controller so that whole
Second electric machine controller of vehicle controller to the second motor of control sends corresponding torque command, makes the second motor
Moment of torsion reduces the 4th torque value, so that the wheel side moment of torsion of the second axle can reduce the first torque value, here it is possible to by right
The reduction formula answered, based on the second axle speed ratio and the second torque value, obtains the 4th moment of torsion of reduction needed for the second motor
Value.
Wherein, in one embodiment, in the above method, the step of the target torque for obtaining first motor
Suddenly, it may comprise steps of：
It is determined that the first axle speed ratio corresponding with target gear；
According to second torque value and the first axle speed ratio corresponding with target gear, first driving is obtained
The target torque of motor.
In the step, the first axle speed ratio corresponding with target gear is determined according to target gear, first axle is then based on
The second torque value and the first axle speed ratio corresponding with target gear reached needed for wheel side moment of torsion, it is public by corresponding conversion
Formula, the torque value of the target torque of the first motor=second/the first axle speed ratio corresponding with target gear, obtains first and drives
The target torque of motor.
In the embodiment of the present invention, in the shift process of first axle, the first electric machine controller is not by entire car controller
Command operating, therefore, there is the phenomenon of moment of torsion mutation after terminating to avoid shifting gears, therefore, to assure that the first driving after gearshift
The moment of torsion of motor is consistent with the target torque instruction that entire car controller is issued.
Therefore, in one embodiment, in the above method, step 104, the control first axle wheel side moment of torsion by
0 increases to the second torque value, while after wheel side moment of torsion the second torque value of reduction of control second axle, in addition to following step
Suddenly：
Obtain the current torque of first motor；
Receive the target torque instruction for the first motor that the entire car controller is sent；
Judge whether the current torque of first motor matches target indicated in the target torque instruction
Moment of torsion；
If so, then sending gearshift end mark position.
In above-mentioned steps, after the wheel side moment of torsion increase of first axle is completed, the current torque of the first motor is obtained, and
Indicated target torque is compared in the target torque instruction sent with entire car controller, judges whether both match, if
It is, then it represents that shift gears successfully to send a gearshift end mark position, terminates gearshift；If it is not, above-mentioned steps are then repeated, until
Untill both match.
Wherein, in one embodiment, in a step 102, when the first motor for driving the first axle rotating speed with
When current vehicle speed is matched, the gear shifting actuating mechanism is controlled to enter before the step of keeping off, the above method can also comprise the following steps：
The rotating speed of target matched with target gear is obtained, and rotary speed instruction, the rotating speed are sent to the first electric machine controller
Instruct for making first motor adjust to the rotating speed of target.
Here, the rotating speed of target matched with gear is obtained, and rotary speed instruction is sent to the first electric machine controller, with to first
Motor carries out adjustment of rotational speed, reaches gearshift required.
In addition, for the consideration of practical operation scene and traffic safety, in one embodiment, the above method can also be wrapped
Include：Get brake signal or accelerator pedal unclamps signal；Signal is unclamped according to brake signal or accelerator pedal, terminates this
Secondary gearshift control.
In addition, in certain embodiments, the first axle is one in front axle and rear axle, second axle be front axle and
Another in rear axle.
In one example, first axle is front axle, and the second axle is rear axle, and current shift is 1 gear, and target gear is 2 gears, 1
During gear, front axle Motor torque (moment of torsion of the first motor) is 50N, and now preceding axle speed ratio is 10, then front axle wheel side moment of torsion is
50*10=500N, rear axle Motor torque (moment of torsion of the second motor) is 50N, and rear axle speed ratio is 10, and rear axle wheel side moment of torsion is
50*10=500N, total output torque of automobile is 1000N.The gearshift information that front axle is switched to 2 gears by 1 gear is got, before control
Spindle motor moment of torsion is turned round to 0 by 50N drops, so that it is 0 that moment of torsion drop in front axle wheel side, which is turned round, and front axle Motor torque correspondence is increased by 50 to be turned round extremely
100N, front axle wheel side moment of torsion increases to 100*10=1000N, now, and control gear shifting actuating mechanism moves back shelves；The rotating speed of current spindle motor
When being matched with current vehicle speed, control gear shifting actuating mechanism enters gear to 2 gears, and control front axle wheel side moment of torsion, which increases, turns round 500N, now front axle
Speed is than being 5, and rear axle speed is than constant, then the target torque of preceding spindle motor is 500/5=100N, and control front axle Motor torque is increased by 0
Turn round to 100N, while it is 500/10=50N to control rear axle Motor torque correspondence to be turned round by 100N drops.
In one example, first axle is rear axle, and the second axle is front axle, and the first electric machine controller is rear electric machine controller
(Rear motor control unit, RMCU), the second electric machine controller is front motor controller (Front motor
Control unit, FMCU), executive agent is gearbox control (the Transmission control of two grades of AMT gearboxes
Unit, TCU).Wherein, in the example, entire car controller possesses following functions：Calculating vehicle driving torque, (automobile always exports torsion
Square), calculate front axle driving torque (front axle wheel is in moment of torsion) and rear axle driving torque (moment of torsion during rear axle wheel), before gearshift starts with
After gearshift terminates, the target torque that antero posterior axis target torque is sent according to entire car controller is performed, and only front axle is held in gearshift
The target torque instruction that row entire car controller is sent；Front motor controller possesses following functions：To the output torque of preceding spindle motor
It is controlled with rotating speed；Electric machine controller possesses following functions afterwards：Output torque and rotating speed to rear spindle motor are controlled；Become
Fast case controller possesses following functions：Shifting points are determined, the shift process of two grades of AMT gearboxes, control gearshift execution machine is controlled
Structure, which is realized, to move back shelves and enters gear, and the target torque of rear axle motor is calculated in shift process, rear axle motor is calculated in shift process
Rotating speed of target, according to vehicle speed sensor calculate speed.
Fig. 3 is referred to, in the example, the idiographic flow of rear axle gearshift is as follows：
Step 1, TCU sends gearshift flag bit.After TCU gets gearshift information, transmission gearshift mark flag bit to VCU,
FMCU and RMCU, prepares so that it carries out gearshift.
Step 2, torsion process drops：It (is first here to send torque control model flag bit and target torque instruction to RMCU
Torque command).Here, RMCU is instructed according to TCU and controlled after torque control model flag bit and target torque instruction is received
Spindle motor drop is turned round to 0 after control；In the step, TCU simultaneously sends the first thermal compensation signal to VCU, make VCU send FMCU,
RMCU target torques are instructed so that FMCU is according to spindle motor output order moment of torsion before VCU instruction controls, before VCU will be controlled here
The drop torsion variable gradient of variable gradient and reared torque when rear axle wheel (i.e. moment of torsion) is turned round in the increasing of axle moment of torsion (i.e. front axle wheel is in moment of torsion)
It is identical.Wherein, during being somebody's turn to do, although VCU is sent to the instruction of the target torques of RMCU mono-, but RMCU will not perform VCU and be sent instructions.
Step 3, whether judge rear axle Motor torque is 0.Here, spindle motor drop will be anti-in real time during turning round after RMCU controls
Currently practical moment of torsion is presented to TCU, whether spindle motor reaches that drop is turned round and require after judging in order to TCU.Wherein, when judged result is yes
When, step 4 is continued executing with, the step is otherwise repeated.
Step 4, a grade process is moved back：Control gear shifting actuating mechanism moves back shelves.In the step, after rear axle Motor torque is down to 0,
TCU control gear shifting actuating mechanisms move back shelves to neutral.
Step 5, speed regulation process：Send RMCU.Here, TCU will send RMCU rotating speed control mode marks according to target gear
Will position and the rotating speed of target instruction matched with target gear, make RMCU instruct controlled motor rotating speed according to TCU；Now, VCU will be controlled
Reared torque processed is all compensated to front axle.
Step 6, judge whether motor speed matches with current vehicle speed.Here, the motor of spindle motor turns after RMCU controls
By the currently practical rotating speed of Real-time Feedback to TCU when fast, whether the motor speed of spindle motor reaches requirement after judging in order to TCU.
When judged result when being, to continue executing with step 7, step 5 is otherwise re-executed, speed regulation process is performed.
Step 7, gear process is entered：Gear shifting actuating mechanism is controlled to enter gear.Here, TCU is it is determined that motor speed and current vehicle speed
After matching, gear is switched to target gear by control gear shifting actuating mechanism.
Step 8, torsion process is increased：It (is the second torsion here to send RMCU torque control models flag bit and target torque instruction
Square is instructed).In the step, RMCU increases according to spindle motor after TCU instruction control controls to be turned round until reaching target torque；TCU is simultaneously
Second thermal compensation signal is sent to VCU, VCU is sent the instruction of FMCU, RMCU target torque so that FMCU is instructed according to VCU and controlled
Preceding spindle motor output order moment of torsion is made, VCU will control the drop of front axle moment of torsion to turn round the increasing distortion of variable gradient and reared torque here
Change gradient identical.
Step 8, judge whether rear axle Motor torque sends out the instruction of RMCU target torques unanimously with VCU.Here, RMCU is controlled
By the currently practical moment of torsion of Real-time Feedback to TCU during spindle motor increasing is turned round afterwards.When judged result when being, to continue executing with step 9,
Otherwise the step is repeated.
Step 9, gearshift end mark position is sent.Here, target torque is sent out in the current torque matching VCU of rear spindle motor
In instruction after indicated target torque, gearshift end mark is sent, gearshift terminates.
Shift control method provided in an embodiment of the present invention, in automobile gear shift, the wheel side moment of torsion of the second axle is according to first
The increasing drop of the wheel side moment of torsion of axle is compensated, it is ensured that total output torque of automobile remains unchanged, so as to ensure that driver exists
It will not feel that moment of torsion has disruption in shift process, situations such as be not in impact, shake during automobile gear shift, driving and dynamic
Power is good, improves comfort level by bus.
Second embodiment
Fig. 4 is referred to, it is illustrated that the structural representation of gearbox control provided in an embodiment of the present invention, the present invention
Embodiment provides a kind of gearbox control 400, including：Acquisition module 410, the first control module 420 and the second control mould
Block 430.
Acquisition module 410, the gearshift information of target gear is switched to for obtaining current shift；
First control module 420, for according to the gearshift information, controlling the wheel side moment of torsion of first axle by the first torque value
0 is reduced to, while controlling the wheel side moment of torsion of the second axle increases by the first torque value；When the wheel side moment of torsion of the first axle is reduced to 0, control
Gear shifting actuating mechanism processed moves back shelves；
Second control module 430, for the rotating speed when the first motor for driving the first axle and current vehicle speed
Timing, controls the gear shifting actuating mechanism to enter gear, controls the wheel side moment of torsion of the first axle to increase to the second torque value by 0, together
When control the wheel side moment of torsion of second axle to reduce the second torque value.
Wherein, in one embodiment, the first control module 420, can include：First control unit and the second control are single
Member.
First control unit, for according to the gearshift information, the first torque command, institute to be sent to the first electric machine controller
Stating the first torque command is used to make the moment of torsion of first motor be reduced to 0；
Second control unit, for sending the first thermal compensation signal, the second driving electricity of the second axle of driving to entire car controller
The moment of torsion of machine increases by the 3rd torque value, and first torque value is equal to the product of the 3rd torque value and the second axle speed ratio.
Wherein, in one embodiment, the second control module 430, can include：3rd control unit and the 4th control are single
Member.
3rd control unit, the target torque for obtaining first motor, and to first motor control
Device sends the second torque command, and second torque command is described for making the moment of torsion of first motor be increased to by 0
Target torque；
4th control unit, for sending the second thermal compensation signal to the entire car controller, drives the second driving electricity
The moment of torsion of machine reduces the 4th torque value, and second torque value is equal to the product of the 4th torque value and the second axle speed ratio.
Wherein, in one embodiment, the 3rd control unit, can include：Determination subelement and acquisition subelement.
Determination subelement, for determining the first axle speed ratio corresponding with target gear；
Subelement is obtained, for according to second torque value and the first axle speed ratio corresponding with target gear,
Obtain the target torque of first motor.
Wherein, in one embodiment, the second control module 430, in addition to：Acquiring unit, receiving unit and judgement are single
Member.
Acquiring unit, the current torque for obtaining first motor；
Receiving unit, the target torque instruction for receiving the first motor that the entire car controller is sent；
Judging unit, for judging whether the current torque of first motor is matched in the target torque instruction
Indicated target torque；
If so, then sending gearshift end mark position.
Wherein, in one embodiment, above-mentioned gearbox control can also include：3rd control module.
3rd control module, sends for obtaining the rotating speed of target matched with target gear, and to the first electric machine controller
Rotary speed instruction, the rotary speed instruction is used to make first motor adjust to the rotating speed of target.
Wherein, in one embodiment, above-mentioned gearbox control can also include：Processing module.
Processing module, signal is unclamped for getting brake signal or accelerator pedal；According to brake signal or acceleration
Pedal unclamps signal, terminates this gearshift control.
Wherein, in one embodiment, the first axle is one in front axle and rear axle, and second axle is front axle with after
Another in axle.
In addition, referring to Fig. 5, it is illustrated that the structural representation of automobile provided in an embodiment of the present invention, and the present invention is real
Apply example and a kind of automobile 500 be also provided, including entire car controller 510, gearbox control 520, for drive first axle first
Motor 530, the first electric machine controller 540, the second motor 550, the second electric machine controller for driving the second axle
560 and gear shifting actuating mechanism 570；Wherein, the entire car controller 510 respectively with gearbox control 520, the first motor control
The electric machine controller 560 of device 540 and second processed is connected, and the gearbox control 520 is connected with the first electric machine controller 540；Its
In, the gearbox control 520 is above-mentioned gearbox control.
Wherein, entire car controller 510 passes through CAN (Controller Area Network, controller local area network) bus
It is connected respectively with gearbox control 520, the first electric machine controller 540 and the second electric machine controller 560, gearbox control
520 are connected by CAN with the first electric machine controller 540.
Wherein, the first axle is one in front axle and rear axle, and second axle is another in front axle and rear axle.
Gearbox control and automobile provided in an embodiment of the present invention, in automobile gear shift, the wheel side moment of torsion of the second axle
Compensated according to the increasing of the wheel side moment of torsion of first axle drop, it is ensured that total output torque of automobile remains unchanged, so as to ensure
Driver will not feel that moment of torsion has disruption in shift process, be not in during automobile gear shift impact, shake situations such as, drive
Sailing property and dynamic property are good, improve comfort level by bus.
For foregoing embodiment of the method, in order to be briefly described, therefore it is all expressed as to a series of combination of actions, still
Those skilled in the art should know that the present invention is not limited by described sequence of movement, because according to the present invention, it is some
Step can be carried out sequentially or simultaneously using other.Secondly, those skilled in the art should also know, described in the specification
Embodiment belong to preferred embodiment, involved action is not necessarily essential to the invention.
It should be noted that in inventive embodiments, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.
The unit illustrated as separating component can be or may not be it is physically separate, it is aobvious as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized using in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Understood based on such, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are to cause a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each of the invention embodiment methods described.
And foregoing storage medium includes：USB flash disk, mobile hard disk, ROM, RAM, magnetic disc or CD etc. are various can be with store program codes
Medium.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of shift control method, it is characterised in that including：
Obtain the gearshift information that current shift switches to target gear；
According to the gearshift information, the wheel side moment of torsion of control first axle is reduced to 0 by the first torque value, while controlling the wheel of the second axle
Side moment of torsion increases by the first torque value；When the wheel side moment of torsion of the first axle is reduced to 0, control gear shifting actuating mechanism moves back shelves；
When driving the rotating speed of the first motor of the first axle to be matched with current vehicle speed, the gear shifting actuating mechanism is controlled
Enter gear, control the wheel side moment of torsion of the first axle to increase to the second torque value by 0, while the wheel side moment of torsion of control second axle
Reduce the second torque value.
2. according to the method described in claim 1, it is characterised in that described according to the gearshift information, control the wheel of first axle
Side moment of torsion is reduced to 0 by the first torque value, while the step of controlling wheel side moment of torsion the first torque value of increase of the second axle, including：
According to the gearshift information, the first torque command is sent to the first electric machine controller, first torque command is used to make
The moment of torsion of first motor is reduced to 0；
The first thermal compensation signal is sent to entire car controller, driving the moment of torsion of the second motor of the second axle increases by the 3rd moment of torsion
Value, first torque value is equal to the product of the 3rd torque value and the second axle speed ratio.
3. method according to claim 2, it is characterised in that the wheel side moment of torsion of the control first axle is by 0 increase
To the second torque value, while the step of controlling wheel side moment of torsion the second torque value of reduction of second axle, including：
The target torque of first motor is obtained, and the second torque command, institute are sent to first electric machine controller
Stating the second torque command is used to make the moment of torsion of first motor increase to the target torque by 0；
The second thermal compensation signal is sent to the entire car controller, driving the moment of torsion of second motor reduces the 4th moment of torsion
Value, second torque value is equal to the product of the 4th torque value and the second axle speed ratio.
4. method according to claim 3, it is characterised in that the target torque of acquisition first motor
Step, including：
It is determined that the first axle speed ratio corresponding with target gear；
According to second torque value and the first axle speed ratio corresponding with target gear, first motor is obtained
Target torque.
5. method according to claim 3, it is characterised in that increased in the wheel side moment of torsion of the control first axle by 0
The second torque value is added to, while after wheel side moment of torsion the second torque value of reduction of control second axle, in addition to：
Obtain the current torque of first motor；
Receive the target torque instruction for the first motor that the entire car controller is sent；
Judge whether the current torque of first motor matches target torque indicated in the target torque instruction；
If so, then sending gearshift end mark position.
6. according to the method described in claim 1, it is characterised in that described when the first motor for driving the first axle
Rotating speed when being matched with current vehicle speed, control the gear shifting actuating mechanism to enter before the step of keeping off, methods described also includes：
The rotating speed of target matched with target gear is obtained, and rotary speed instruction, the rotary speed instruction are sent to the first electric machine controller
For making first motor adjust to the rotating speed of target.
7. according to the method described in claim 1, the first axle is one in front axle and rear axle, second axle is front axle
With another in rear axle.
8. a kind of gearbox control, it is characterised in that including：
Acquisition module, the gearshift information of target gear is switched to for obtaining current shift；
First control module, for being reduced to 0 by the first torque value according to the wheel side moment of torsion of the gearshift information, control first axle,
Controlling the wheel side moment of torsion of the second axle simultaneously increases by the first torque value；When the wheel side moment of torsion of the first axle is reduced to 0, control gearshift
Shelves move back in executing agency；
Second control module, for when driving the rotating speed of the first motor of the first axle to be matched with current vehicle speed, controlling
Make the gear shifting actuating mechanism and enter gear, control the wheel side moment of torsion of the first axle to increase to the second torque value by 0, while controlling institute
Stating the wheel side moment of torsion of the second axle reduces the second torque value.
9. a kind of automobile, it is characterised in that including entire car controller, gearbox control, for driving the first of first axle to drive
Dynamic motor, the first electric machine controller, the second motor for driving the second axle, the second electric machine controller and gearshift are performed
Mechanism；Wherein, the entire car controller connects with gearbox control, the first electric machine controller and the second electric machine controller respectively
Connect, the gearbox control is connected with the first electric machine controller；Wherein, the gearbox control is such as claim 8 institute
The gearbox control stated.
10. automobile according to claim 9, it is characterised in that the first axle is one in front axle and rear axle, described
Second axle is another in front axle and rear axle.
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| CN201710271298.3A CN107023668A (en) | 2017-04-24 | 2017-04-24 | Gear shifting control method, gearbox controller and automobile |
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|---|---|---|---|
| CN201710271298.3A CN107023668A (en) | 2017-04-24 | 2017-04-24 | Gear shifting control method, gearbox controller and automobile |
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| CN201710271298.3A Pending CN107023668A (en) | 2017-04-24 | 2017-04-24 | Gear shifting control method, gearbox controller and automobile |
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| CN107524796A (en) * | 2017-08-21 | 2017-12-29 | 合肥力正新能源科技有限公司 | Gear shifting processing method for electric automobile |
| CN109780181A (en) * | 2017-11-14 | 2019-05-21 | 吉利汽车研究院（宁波）有限公司 | Gear-shifting control method and device, storage medium and continuous change system based on dual input shaft transmission |
| CN111251897A (en) * | 2018-11-30 | 2020-06-09 | 比亚迪股份有限公司 | Electric automobile, control method and control device thereof, and electronic equipment |
| CN111409610A (en) * | 2020-04-17 | 2020-07-14 | 江西江铃集团新能源汽车有限公司 | Automatic emergency braking method and system for electric automobile |
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| CN113635779A (en) * | 2021-08-12 | 2021-11-12 | 东风柳州汽车有限公司 | Electric vehicle drive control method, vehicle control unit and electric vehicle |
| CN113803460A (en) * | 2021-09-14 | 2021-12-17 | 东风汽车集团股份有限公司 | Front-rear axle two-gear shifting control method for electric four-wheel drive automobile |
| CN113864446A (en) * | 2021-10-20 | 2021-12-31 | 安徽江淮汽车集团股份有限公司 | Gear shifting control method and device of pure electric transmission and pure electric vehicle |
| CN114382880A (en) * | 2022-02-07 | 2022-04-22 | 吉林大学 | Unpowered interruption gear shifting control method for electric automobile with front shaft and rear shaft independently driven |
| CN114704622A (en) * | 2022-03-23 | 2022-07-05 | 中联重科股份有限公司 | Method for controlling gear shifting, drive controller and electric vehicle |
| CN114754137A (en) * | 2022-04-28 | 2022-07-15 | 一汽解放汽车有限公司 | Upshift control method, automobile and computer readable storage medium |
| CN115750772A (en) * | 2022-11-15 | 2023-03-07 | 长城汽车股份有限公司 | Gear shifting torque compensation method and device for four-wheel drive vehicle, vehicle and storage medium |
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| CN107524796A (en) * | 2017-08-21 | 2017-12-29 | 合肥力正新能源科技有限公司 | Gear shifting processing method for electric automobile |
| CN109780181A (en) * | 2017-11-14 | 2019-05-21 | 吉利汽车研究院（宁波）有限公司 | Gear-shifting control method and device, storage medium and continuous change system based on dual input shaft transmission |
| CN111251897A (en) * | 2018-11-30 | 2020-06-09 | 比亚迪股份有限公司 | Electric automobile, control method and control device thereof, and electronic equipment |
| CN112576742A (en) * | 2019-09-27 | 2021-03-30 | 比亚迪股份有限公司 | Gear shifting control method and device, storage medium and vehicle |
| CN111409610A (en) * | 2020-04-17 | 2020-07-14 | 江西江铃集团新能源汽车有限公司 | Automatic emergency braking method and system for electric automobile |
| CN113635779B (en) * | 2021-08-12 | 2023-07-07 | 东风柳州汽车有限公司 | Electric vehicle driving control method, whole vehicle controller and electric vehicle |
| CN113635779A (en) * | 2021-08-12 | 2021-11-12 | 东风柳州汽车有限公司 | Electric vehicle drive control method, vehicle control unit and electric vehicle |
| CN113803460A (en) * | 2021-09-14 | 2021-12-17 | 东风汽车集团股份有限公司 | Front-rear axle two-gear shifting control method for electric four-wheel drive automobile |
| CN113864446A (en) * | 2021-10-20 | 2021-12-31 | 安徽江淮汽车集团股份有限公司 | Gear shifting control method and device of pure electric transmission and pure electric vehicle |
| CN114382880A (en) * | 2022-02-07 | 2022-04-22 | 吉林大学 | Unpowered interruption gear shifting control method for electric automobile with front shaft and rear shaft independently driven |
| CN114704622A (en) * | 2022-03-23 | 2022-07-05 | 中联重科股份有限公司 | Method for controlling gear shifting, drive controller and electric vehicle |
| CN114754137A (en) * | 2022-04-28 | 2022-07-15 | 一汽解放汽车有限公司 | Upshift control method, automobile and computer readable storage medium |
| CN114754137B (en) * | 2022-04-28 | 2024-01-12 | 一汽解放汽车有限公司 | Upshift control method, automobile and computer readable storage medium |
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Application publication date: 20170808 |