CN107606133A - The anxious accelerator releasing upshift delay control method of vehicle with automatic transmission based on fuzzy control theory - Google Patents
The anxious accelerator releasing upshift delay control method of vehicle with automatic transmission based on fuzzy control theory Download PDFInfo
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Abstract
The invention discloses a kind of anxious accelerator releasing upshift delay control method of vehicle with automatic transmission based on fuzzy control theory, the step such as its method includes signal acquisition, throttle slope calculates, the filtering of throttle slope, the upshift delay slope of anxious accelerator releasing calculates, the delay of the upshift of anxious accelerator releasing judges.The present invention calculates the upshift delay slope of anxious accelerator releasing with fuzzy control theory, judges whether to forbid upshift according to upshift delay slope, can more accurately react driver intention, makes driving more comfortable.
Description
Technical field
The present invention relates to transmission control field, more particularly to a kind of vehicle with automatic transmission based on fuzzy control theory
Anxious accelerator releasing upshift delay control method.
Background technology
Since double-clutch speed changer comes out, double-clutch speed changer is more and more ripe, particularly recent years, major automobile
Or speed changer components supplying commercial city is increasing the R＆D work of double-clutch speed changer.Double-clutch speed changer is different from general certainly
Dynamic speed changer, it is based on manual transmission and is different from automatic transmission, except possessing the flexibility of manual transmission and double
Outside the comfortableness of clutch speed changer, moreover it is possible to which unremitting power output is provided.Compared with traditional manual transmission, double clutches become
Fast device is using more convenient, because after all, it or a manual transmission have simply used the new skill of double-clutch speed changer
Art so that manual transmission possesses automatic performance, while substantially improves the fuel economy of automobile, and double-clutch speed changer compares hand
Dynamic shift of transmission more rapidly, it is smooth, power output is uninterrupted, it can bring driver just like drive racing car as impression.Separately
Outside, it eliminates torque break sense of the manual transmission in gearshift, makes driving sensitiveer.
In vehicle travel process, be possible to trigger upshift under driver's urgency accelerator releasing deceleration situations, but at this time from
From the point of view of driver comfort and driving security, driver it is expected that vehicle should not upshift.In general control method be exactly when
In the case that upshift request occurs in anxious accelerator releasing, the degree of anxious accelerator releasing is judged according to throttle slope to decide whether to forbid to rise
Gear, if throttle slope has been less than a threshold value, keep current driving gear；When throttle slope has been higher than another threshold value,
Upshift after then postponing a period of time.Because the calculating of throttle slope is very simple, throttle slope is exactly current throttle slope and last time
The difference of throttle slope, and the control method decides whether to forbid upshift only according to throttle slope, causes the control method
It is poor to adapt to the intention of driver, sometimes there is also situation about being disagreed with driver intention.
The content of the invention
The purpose of the present invention is the deficiency corresponding to prior art, there is provided a kind of automatic change based on fuzzy control theory
The anxious accelerator releasing upshift delay control method of fast device vehicle, it is oblique that it calculates the upshift delay of anxious accelerator releasing with fuzzy control theory
Rate, judge whether to forbid upshift according to upshift delay slope, can more accurately react driver intention, make driving more easypro
It is suitable.
The purpose of the present invention is realized using following proposal：A kind of vehicle with automatic transmission based on fuzzy control theory
Anxious accelerator releasing upshift delay feature control method, comprise the following steps：
1) signal acquisition：Transmission control unit is used to gather throttle, engine speed, service brake signal, speed letter in real time
Number and handle position signal；
2) throttle slope calculates：Transmission control unit takes differential to obtain throttle slope to throttle；
3) throttle slope filters：Transmission control unit is filtered to throttle slope, obtains filtered throttle slope
y；
4) the upshift delay slope of anxious accelerator releasing calculates：
41) transmission control unit obtains throttle x and filtered throttle slope y as input variable；
42) and by throttle x and filtered throttle slope y be correspondingly input to 4 membership function A (x), B (y), C (y),
D (y), respectively obtain 4 corresponding output valve Ax、By、Cy、Dy, wherein, A (x)=expression fuzzy set " large throttle " is subordinate to letter
Number, B (y)=expression fuzzy set " filtered throttle slope y is negative " membership function, C (y)=expression fuzzy set " filtering
Throttle slope y afterwards is positive " membership function, D (y)=expression fuzzy set " filtered throttle slope y is very negative "
Membership function；
43) by membership function A (x), B (y), C (y), D (y) 4 output valve Ax、By、Cy、Dy4 are input to obscure
Control rule, obtains the output valve i.e. upshift delay slope original value A of 4 fuzzy control rules1、A2、A3、A4, wherein, first
Individual fuzzy control rule is：Upshift delay slope original value A1For AxWith DyIn get the small value；Second fuzzy control rule be：Rise
Keep off delay slope original value A2For By；3rd fuzzy control rule be：Upshift delay slope original value A3For Cy；4th mould
Paste controls the rule to be：Upshift delay slope original value A4For 0；
44) by obtain 4 upshift delay slope original value A1、A2、A3、A4Essence is carried out according to following cumulative mean formula
Trueization handles the upshift delay slope finally needed, and cumulative mean formula is：
Wherein AiFor the upshift delay slope of i-th of fuzzy control rule output
Original value, KnjFor regular molecular coefficient, KdjFor regular denominator coefficients, KnjAnd KdjIt is the experiment (vehicle matching and calibration) on real vehicle
Obtain, onboard ceaselessly adjust KnjAnd KdjTo obtain the vehicle shift performance for making people most satisfied.
5) by the upshift delay slope that step 4) obtains compared with the first threshold of setting, Second Threshold, judgement is
It is no to forbid upshift：
51) when upshift delay slope is more than first threshold, upshift (holding gear) is forbidden, and set (setting) upshift to prolong
Slow timer value (being such as set as 200 milliseconds, be specifically set as how much being determined according to vehicle matching and calibration), return to step 1)；
Otherwise, step 52) is continued；
52) when upshift delay slope is less than or equal to first threshold and is more than or equal to Second Threshold, upshift is forbidden (to protect
Hold gear), and freeze upshift delay timer value, return to step 1)；Otherwise, step 53) is continued；
53) when upshift delay slope is less than Second Threshold, judge whether upshift delay timer value is 0, when upshift is prolonged
When slow timer value is 0, then upshift delay is exited, it is allowed to upshift；When upshift delay timer value is more than 0, then forbid upshift
(holding gear), upshift of gradually successively decreasing delay timer value, return to step 1).
Upshift delay timer value when upshift delay slope is less than Second Threshold just gradually successively decrease.Upshift delay is fixed
When device initial value be 0.The present invention first threshold, Second Threshold all in accordance with vehicle matching and calibration determine, it is so-called demarcation be exactly
First threshold is ceaselessly adjusted on car, Second Threshold obtains the vehicle shift performance for making people most satisfied.First threshold is to be used for
Driver's urgency accelerator releasing degree is identified, only anxious accelerator releasing can just trigger anxious accelerator releasing upshift delay feature, be necessary condition.By
During anxious accelerator releasing, throttle is become again to such a process of stable state, transient throttle from stable state to unstable state
Change is unstable, it is possible to the undesirable intention of driver occurs, and then influences vehicle performance.Second Threshold is to be used to sentence
It is disconnected to exit upshift delay, in the case of upshift delay slope is less than Second Threshold, allow upshift after postponing a period of time.Second threshold
Value is to exit the necessary condition of anxious accelerator releasing upshift delay feature, once anxious accelerator releasing is triggered it is necessary to when upshift delay is oblique
Rate, which is less than Second Threshold, can just exit upshift delay.And because a period of time is not postponed after anxious accelerator releasing, if driver dashes forward
So change one's intention, gearshift occurs again, by the way that the gearshift frequency can be reduced after postponing a period of time, improve speed changer and use the longevity
Life.The purpose of anxious accelerator releasing upshift delay feature is to reduce gearshift frequency, improves ride comfort, extends gearbox and uses the longevity
Life.
The present invention step 1), be 2), 3), 4), 5) real time execution, in real time gather throttle and in real time calculation of throttle slope and
In real time to whether forbidding upshift to judge after the upshift delay slope of anxious accelerator releasing.
During anxious accelerator releasing, the variation tendency of upshift delay slope is from large to small, during anxious accelerator releasing, to rise
Upshift delay timer value is just set in the case that gear delay slope is bigger than first threshold.Only upshift feelings are triggered in anxious accelerator releasing
Under condition, just need to postpone a period of time.Because upshift condition is the necessary condition of the anxious accelerator releasing upshift delay of triggering, if not
Upshift, it is impossible to anxious accelerator releasing upshift delay feature is triggered, also just need not time delay.As long as trigger anxious accelerator releasing liter
Gear, in addition to following five kinds of situations referred to, it will postpone just to exit upshift delay for a period of time, it is allowed to upshift.
Transmission control unit is believed according to the engine rotational speed signal of collection, service brake signal, GES and handle position
Number judge whether the either case for occurring in following five kinds of situations, this five kinds of situations are：Handle position is not in forward gear, speed
(when speed is defined as speed than relatively low less than such as 10 kilometers/hour of a threshold value, this threshold value can be according to actual feelings than relatively low
Condition is configured), do not occur upshift (current vehicle speed be more than TCU internal processes setting speed, upshift will be triggered, according to
This is judged either with or without there is upshift), engine do not operate, step on brake, as long as five kinds more than occurring in all periods
During either case in situation, upshift delay is immediately exited from.
Transmission control unit includes signal acquisition module, the signal acquisition module be used to gathering in real time throttle signal,
Engine rotational speed signal, service brake signal, GES and handle position signal；
And throttle slope computing module, the throttle slope computing module are used to take throttle differential to obtain throttle slope
Signal；
And throttle slope filtration module, the throttle slope filtration module are used to be filtered throttle slope signal,
Obtain filtered throttle slope signal；
And the upshift delay slope computing module of anxious accelerator releasing, the upshift delay slope computing module of the anxious accelerator releasing
For calculating the upshift delay slope of anxious accelerator releasing, wherein, the upshift delay slope computing module of the anxious accelerator releasing is used to obtain
Throttle x and filtered throttle slope y are correspondingly input to 4 as input variable, and by throttle x and filtered throttle slope y
Individual membership function A (x), B (y), C (y), D (y), respectively obtain 4 corresponding output valve Ax、By、Cy、Dy, wherein, A (x)=
The membership function of fuzzy set " large throttle " is represented, B's (y)=expression fuzzy set " filtered throttle slope is negative " is subordinate to letter
Number, C (y)=expression fuzzy set " filtered throttle slope is positive " membership function, D (y)=expression fuzzy set is " after filtering
Throttle slope be very negative " membership function；And by membership function A (x), B (y), C (y), D (y) 4 output valves
Ax、By、Cy、DyIt is input in 4 fuzzy control rules, the output valve i.e. upshift delay slope for obtaining 4 fuzzy control rules is former
Initial value A1、A2、A3、A4, wherein, first fuzzy control rule is：Upshift delay slope original value A1For AxWith DyIn get the small value；
Second fuzzy control rule be：Upshift delay slope original value A2For By；3rd fuzzy control rule be：Upshift delay is oblique
Rate original value A3For Cy；4th fuzzy control rule be：Upshift delay slope original value A4For 0；Obtain 4 upshifts are prolonged
Slow slope original value A1、A2、A3、A4Precision is carried out according to following cumulative mean formula and handles the upshift that is finally needed prolonging
Slow slope, cumulative mean formula are：
Wherein AiFor the upshift delay slope of i-th of fuzzy control rule output
Original value, KnjFor regular molecular coefficient, KdjFor regular denominator coefficients；
And the upshift delay judge module of anxious accelerator releasing, the upshift delay judge module of the anxious accelerator releasing are used to rise
Compared with gear delay slope and the first threshold set, Second Threshold, judge whether to forbid upshift.
The upshift delay judge module of the anxious accelerator releasing is used for upshift delay slope and the first threshold of setting, second
Threshold value is compared, and when upshift delay slope is more than first threshold, forbids upshift, and sets upshift delay timer value, when
When upshift delay slope is less than or equal to first threshold and is more than or equal to Second Threshold, forbid upshift, and freeze upshift delay
Timer value, when upshift delay slope is less than Second Threshold, if upshift delay timer value is more than 0, forbid upshift, and
Gradual upshift delay timer value of successively decreasing, if upshift delay timer value is 0, exit upshift delay, it is allowed to upshift.
The upshift delay judge module of the anxious accelerator releasing is used for engine speed, the pin gathered according to signal acquisition module
Brake signal, GES and handle position signal judge whether the either case for occurring in following five kinds of situations, this five kinds of feelings
Condition is：Handle position not forward gear, speed than it is relatively low, there is not upshift, engine and do not operate, step on brake, when going out
During either case in five kinds of situations more than now, upshift delay is immediately exited from.
Transmission control unit TCU respectively with control unit of engine ECU, anti-lock braking system ABS, electric handle controller
ESL is communicated, and control unit of engine ECU is used to transmit real-time throttle, engine speed and service brake signal by CAN
Give transmission control unit TCU；Anti-lock braking system ABS is used to real-time GES being transferred to transmission control by CAN
Unit TCU；Electric handle controller ESL is used to real-time handle position signal being transferred to transmission control unit by CAN
TCU。
The filtration module of throttle slope is filtered after obtaining filtering using single order low-pass wave filter to throttle slope
Throttle slope signal.
Present invention has the advantage that：Relatively conventional control theory, fuzzy control theory of the invention can more solve well
It is certainly complicated or be difficult to the system accurately described, influenceed by environmental factor, condition of road surface and vehicle dynamic characteristics, the anxious pine of driver
Throttle operating mode is very complicated, can not be with Traditional control theory come accurate description, and therefore, present invention employs fuzzy control theory to solve
Certainly anxious accelerator releasing upshift delay feature, to meet driver intention.The present invention calculates anxious accelerator releasing with fuzzy control theory
Upshift delay slope, judge whether to forbid upshift according to upshift delay slope, can more accurately react driver intention,
Make driving more comfortable.
Brief description of the drawings
Fig. 1 is the structural representation of the double-clutch speed changer control system of the present invention；
Fig. 2 is the high-level schematic functional block diagram of the present invention；
Fig. 3 is the flow chart that the anxious accelerator releasing upshift delay of the present invention judges；
Fig. 4 is the anxious accelerator releasing upshift delay control of the double-clutch speed changer vehicle based on fuzzy control theory of the present invention
The flow chart of method.
Embodiment
Referring to Fig. 1 to Fig. 4, a kind of anxious accelerator releasing upshift delay of double-clutch speed changer vehicle based on fuzzy control theory
Control method, comprise the following steps：
1) signal acquisition：Transmission control unit is used to gather throttle, engine speed, service brake signal, speed letter in real time
Number and handle position signal.Control unit of engine ECU passes through the throttle collected in real time, engine speed and service brake signal
CAN is transferred to transmission control unit TCU；The GES collected in real time is transferred to by anti-lock braking system ABS by CAN
TCU；Meanwhile electric handle controller ESL is by collect handle position signal is transferred to transmission control unit by CAN in real time
TCU。
2) throttle slope calculates：Transmission control unit takes differential to obtain throttle slope to throttle；
3) throttle slope filters：Transmission control unit is filtered to throttle slope, obtains filtered throttle slope
Y, the present embodiment transmission control unit TCU are filtered after obtaining filtering using single order low-pass wave filter to throttle slope
Throttle slope signal；
4) the upshift delay slope of anxious accelerator releasing is calculated by Fuzzy control system：
41) input variable is defined：The upshift delay slope Fuzzy control system of anxious accelerator releasing includes two input variables, this
Embodiment transmission control unit obtains throttle x and filtered throttle slope y as input variable.The present embodiment input variable
Throttle x span is 0~100 (corresponding gas pedal aperture 0~100%), input variable throttle slope y span
For -50~50 (corresponding gas pedal aperture slopes -50~50%).
42) membership function is determined：According to the practical experience of expert, it is determined that the upshift delay slope of anxious accelerator releasing is fuzzy
4 membership functions of control system.4 membership functions of the present embodiment are：The person in servitude of A (x)=expression fuzzy set " large throttle "
Membership fuction, B (y)=expression fuzzy set " filtered throttle slope y is negative " membership function, C (y)=expression fuzzy set
The membership function of " filtered throttle slope y is positive ", " filtered throttle slope y is very to D (y)=expression fuzzy set
It is negative " membership function.
Throttle is big, is a conceptual issues, varies with each individual, such as, some have argued that it 30% to 100% is throttle that throttle, which is,
Greatly, somebody thinks that throttle 50% to 100% is big for throttle, therefore can be determined according to vehicle demarcation.Filtered throttle is oblique
Rate is very negative to refer to very fast accelerator releasing pedal, that is, negative more of the value.
The present embodiment membership function A (x) span is 0-100 (because degree of membership value is 0-100%, still
TCU does not support floating-point operation, that is, does not support fractional arithmetic, therefore degree of membership is amplified into 100 times), A (x) the values such as institute of table 1
Show：
Table 1
The present embodiment membership function B (y) span is 0-100 (because degree of membership value is 0-100%, still
TCU does not support floating-point operation, that is, does not support fractional arithmetic, therefore degree of membership is amplified into 100 times), B (y) values such as following table
It is shown：
| y | -50 | -40 | -30 | -20 | -10 | 0 |
| B(y) | 100 | 60 | 40 | 20 | 10 | 0 |
Table 2
The present embodiment membership function C (y) span is 0-100 (because degree of membership value is 0-100%, still
TCU does not support floating-point operation, that is, does not support fractional arithmetic, therefore degree of membership is amplified into 100 times), C (y) values such as following table
It is shown：
| y | 0 | 10 | 20 | 30 | 40 | 50 |
| C(y) | 0 | 0 | 30 | 100 | 100 | 100 |
Table 3
The present embodiment membership function D (y) span is 0-100 (because degree of membership value is 0-100%, still
TCU does not support floating-point operation, that is, does not support fractional arithmetic, therefore degree of membership is amplified into 100 times), D (y) values such as following table
It is shown：
| y | -50 | -40 | -30 | -20 | -10 | 0 |
| D(y) | 100 | 100 | 100 | 50 | 10 | 0 |
Table 4
A (x), B (y), C (y), D (y) values are objectively demarcated to determine according to the drivability of matching.Table 1,2,3,4
In parameter be only one embodiment, matching and calibration can be all carried out on vehicle.
Throttle x and filtered throttle slope y are correspondingly input to 4 membership function A (x), B (y), C (y), D (y),
Respectively obtain 4 corresponding output valve Ax、By、Cy、Dy.Assuming that throttle is 75, throttle slope y=-10, according to above-mentioned degree of membership
Function A (x) tables look-up to obtain Ax=92.5, throttle x are located between A (x) axles point 60 and point 80, point 60 corresponding 70, put 80 correspondences
100, then A can be obtained according to linear interpolation method between 2 pointsx=70+ (75-60)/(80-60) * (100-70)=
92.5.By, Cy, Dy calculating are similar with the above method, obtain Ax=92.5, By=10, Cy=0, Dy=10.
The present invention is when TCU runs internal processes, according to Ax、By、Cy、Dy(such as 10 in the least at regular intervals for sequencing
Second) calculate an Ax、By、Cy、Dy, that is to say, that 10 milliseconds will be Ax、By、Cy、DyCalculate once.
43) fuzzy logic judges：According to the practical experience of expert, with reference to the accelerator pedal operation of driver, according to above-mentioned 4
Individual membership function, the present invention devise 4 fuzzy control rules to calculate the upshift delay slope of anxious accelerator releasing, this 4 rule
Then distinguish as follows：
First fuzzy control rule be：If throttle is big and filtered throttle slope is very negative, upshift delay is oblique
Rate original value is low, upshift delay slope original value A1For AxWith DyIn get the small value, calculation formula：Lifting gear delay slope is original
Value A1=min (Ax, Dy)；Second fuzzy control rule be：If filtered throttle slope is negative, upshift delay is oblique
Rate original value is high, upshift delay slope original value A2For By；3rd fuzzy control rule be：If filtered throttle is oblique
Rate is positive, then upshift delay slope original value is high, upshift delay slope original value A3For Cy；4th fuzzy control rule
For：Upshift delay slope original value is balances, upshift delay slope original value A4For 0.
By membership function A (x), B (y), C (y), D (y) 4 output valve Ax、By、Cy、DyIt is input to 4 fuzzy controls
Rule, obtain the output valve i.e. upshift delay slope original value A of 4 fuzzy control rules1、A2、A3、A4。
44) defuzzification：The output for judging to obtain to fuzzy logic according to following cumulative mean formula is carried out at precision
Manage the upshift delay slope finally needed.By obtain 4 upshift delay slope original value A1、A2、A3、A4According to as follows
Cumulative mean formula carries out precision and handles the upshift delay slope finally needed, and cumulative mean formula is：
Wherein AiFor the upshift delay slope of i-th of fuzzy control rule output
Original value, KnjFor regular molecular coefficient, KdjFor regular denominator coefficients.KnjAnd KdjTest and obtain on real vehicle.To above-mentioned public affairs
Formula is deployed to obtain,
5) by the upshift delay slope that step 4) obtains compared with the first threshold of setting, Second Threshold, according to liter
Delay slope is kept off to judge whether to forbid upshift：
51) when upshift delay slope is more than first threshold, forbid upshift (holding gear), and upshift delay timing is set
Device value, return to step 1)；Otherwise, step 52) is continued；
52) when upshift delay slope is less than or equal to first threshold and is more than or equal to Second Threshold, upshift is forbidden (to protect
Hold gear), and freeze upshift delay timer value, return to step 1)；Otherwise, step 53) is continued；
53) when upshift delay slope is less than Second Threshold, judge whether upshift delay timer value is 0, when upshift is prolonged
When slow timer value is 0, then upshift delay is exited, it is allowed to upshift；When upshift delay timer value is more than 0, then forbid upshift
(holding gear), upshift of gradually successively decreasing delay timer value.
Transmission control unit is believed according to the engine rotational speed signal of collection, service brake signal, GES and handle position
Number judge whether the either case for occurring in following five kinds of situations, this five kinds of situations are：Handle position is not in forward gear, speed
Than it is relatively low, there is not upshift, engine and do not operate, step on brake, more than occur during either case in five kinds of situations,
Immediately exit from upshift delay.
Referring to Fig. 2, the anxious accelerator releasing of the implementation double-clutch speed changer vehicle of the present invention based on fuzzy control theory
The computer program installation and operation of the control method of upshift delay feature is in transmission control unit TCU.Implement institute of the present invention
The meter of the control method of the upshift delay feature of the anxious accelerator releasing for the double-clutch speed changer vehicle based on fuzzy control theory stated
The functional module construction of calculation machine program is by signal acquisition module, throttle slope computing module, throttle slope filtration module, anxious pine tar
The upshift delay slope of door calculates and the upshift of anxious accelerator releasing delay judge module composition.
The signal acquisition module is used to gather throttle signal, engine rotational speed signal, service brake signal, GES in real time
With handle position signal.Referring to Fig. 1, control unit of engine ECU is by real-time throttle signal, engine rotational speed signal and service brake
Signal is transferred to transmission control unit TCU by CAN；Real-time GES is transferred to by anti-lock braking system ABS by CAN
TCU；Meanwhile real-time handle position signal is transferred to TCU by electric handle controller ESL by CAN.Transmission control unit
TCU passes through anxious pine tar according to real time engine tach signal, throttle signal, service brake signal, GES, handle position signal
The computational methods of the upshift delay slope of door obtain upshift delay slope.Transmission control unit TCU passes through CAN and engine
The data frame between data frame, transmission control unit TCU and anti-lock braking system ABS between control unit ECU, speed changer control
Data frame between unit TCU processed and electric handle control unit ESL, obtain real time engine rotating speed, throttle, service brake, speed
With handle position signal.
Throttle slope computing module, the throttle slope computing module are used to take throttle differential to obtain throttle slope letter
Number.Filtration module, the filtration module are used to be filtered throttle slope signal, obtain filtered throttle slope signal.
The present embodiment transmission control unit TCU is filtered to obtain filtered using single order low-pass wave filter to throttle slope
Throttle slope signal.
The upshift delay slope computing module of anxious accelerator releasing, the upshift delay slope computing module of the anxious accelerator releasing are used for
The upshift delay slope of anxious accelerator releasing is calculated based on fuzzy control theory, wherein, the upshift delay slope of the anxious accelerator releasing calculates
Module is used to obtain throttle x and filtered throttle slope y as input variable, and by throttle x and filtered throttle slope y
It is corresponding to be input to 4 membership function A (x), B (y), C (y), D (y), respectively obtain 4 corresponding output valve Ax、By、Cy、Dy,
Wherein, the membership function of A (x)=expression fuzzy set " large throttle ", " filtered throttle slope is negative to B (y)=expression fuzzy set
" membership function, C (y)=expression fuzzy set " filtered throttle slope is positive " membership function, D (y)=expression mould
The membership function of paste collection " filtered throttle slope is very negative "；And by membership function A (x), B (y), C (y), D (y)
4 output valve Ax、By、Cy、Dy4 fuzzy control rules are input to, obtain the output valve i.e. upshift of 4 fuzzy control rules
Delay slope original value A1、A2、A3、A4, wherein, first fuzzy control rule is：Upshift delay slope original value A1For AxWith
DyIn get the small value；Second fuzzy control rule be：Upshift delay slope original value A2For By；3rd fuzzy control rule be：
Upshift delay slope original value A3For Cy；4th fuzzy control rule be：Upshift delay slope original value A4For 0；By what is obtained
4 upshift delay slope original value A1、A2、A3、A4Precision is carried out according to following cumulative mean formula and handles finally to be needed
Upshift delay slope, cumulative mean formula is：
Wherein AiFor the upshift delay slope of i-th of fuzzy control rule output
Original value, KnjFor regular molecular coefficient, KdjFor regular denominator coefficients.
The upshift delay judge module of anxious accelerator releasing, the upshift delay judge module of the anxious accelerator releasing are used to prolong upshift
Slow slope judges whether to forbid upshift compared with the first threshold of setting, Second Threshold.
The upshift delay judge module of the anxious accelerator releasing is used for upshift delay slope and the first threshold of setting, second
Threshold value is compared, and when upshift delay slope is more than first threshold, forbids upshift, and sets upshift delay timer value, when
When upshift delay slope is less than or equal to first threshold and is more than or equal to Second Threshold, forbid upshift, and freeze upshift delay
Timer value, when upshift delay slope is less than Second Threshold, if upshift delay timer value is more than 0, forbid upshift, and
Gradual upshift delay timer value of successively decreasing, if upshift delay timer value is 0, exit upshift delay, it is allowed to upshift.
The engine speed that the upshift delay judge module of the anxious accelerator releasing is used to be gathered according to signal acquisition module is believed
Number, service brake signal, GES and handle position signal judge whether the either case that occurs in following five kinds of situations, this five
Kind of situation is：Handle position not forward gear, speed than it is relatively low, there is not upshift, engine and do not operate, step on brake,
When the either case in more than appearance five kinds of situations, upshift delay is immediately exited from.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, it is clear that those skilled in the art
Member can carry out various changes and modification without departing from the spirit and scope of the present invention to the present invention.So, if the present invention
These modifications and variations belong within the scope of the claims in the present invention and its equivalent technologies, then the present invention is also intended to include these
Including change and modification.
Claims (4)
1. a kind of anxious accelerator releasing upshift delay control method of vehicle with automatic transmission based on fuzzy control theory, its feature exist
In comprising the following steps：
1) signal acquisition：Transmission control unit be used in real time gather throttle, engine speed, service brake signal, GES and
Handle position signal；
2) throttle slope calculates：Transmission control unit takes differential to obtain throttle slope to throttle；
3) throttle slope filters：Transmission control unit is filtered to throttle slope, obtains filtered throttle slope y；
4) the upshift delay slope of anxious accelerator releasing calculates：
41) transmission control unit obtains throttle x and filtered throttle slope y as input variable；
42) 4 membership function A (x), B (y), C (y), D correspondingly and by throttle x and filtered throttle slope y are input to
(y) 4 corresponding output valve A, are respectively obtainedx、By、Cy、Dy, wherein, A (x)=expression fuzzy set " large throttle " is subordinate to letter
Number, B (y)=expression fuzzy set " filtered throttle slope y is negative " membership function, C (y)=expression fuzzy set " filtering
Throttle slope y afterwards is positive " membership function, D (y)=expression fuzzy set " filtered throttle slope y is very negative "
Membership function；
43) by membership function A (x), B (y), C (y), D (y) 4 output valve Ax、By、Cy、DyIt is input to 4 fuzzy control rule
Then, the output valve i.e. upshift delay slope original value A of 4 fuzzy control rules is respectively obtained1、A2、A3、A4, wherein, first
Fuzzy control rule is：Upshift delay slope original value A1For AxWith DyIn get the small value；Second fuzzy control rule be：Upshift
Delay slope original value A2For By；3rd fuzzy control rule be：Upshift delay slope original value A3For Cy；4th fuzzy
The rule is controlled to be：Upshift delay slope original value A4For 0；
44) by obtain 4 upshift delay slope original value A1、A2、A3、A4Carried out according to following cumulative mean formula at precision
The upshift delay slope finally needed is managed, cumulative mean formula is：
Wherein AiUpshift delay slope for i-th of fuzzy control rule output is original
Value, KnjFor regular molecular coefficient, KdjFor regular denominator coefficients；
5) the upshift delay slope that step 4) obtains is judged whether to prohibit compared with the first threshold of setting, Second Threshold
Only upshift：
51) when upshift delay slope is more than first threshold, forbid upshift, and upshift delay timer value, return to step are set
1)；Otherwise, step 52) is continued；
52) when upshift delay slope is less than or equal to first threshold and is more than or equal to Second Threshold, upshift is forbidden, and freeze
Upshift delay timer value, return to step 1)；Otherwise, step 53) is continued；
53) when upshift delay slope is less than Second Threshold, judge whether upshift delay timer value is 0, when upshift delay is fixed
When device value when being 0, then exit upshift delay, it is allowed to upshift；When upshift delay timer value is more than 0, then forbid upshift, gradually
Upshift of successively decreasing delay timer value, return to step 1).
2. according to the method for claim 1, it is characterised in that：Transmission control unit according to the engine speed of collection,
Service brake signal, GES and handle position signal judge whether the either case for occurring in following five kinds of situations, this five kinds
Situation is：Handle position not forward gear, speed than it is relatively low, there is not upshift, engine and do not operate, step on brake, when
When there is the either case in five kinds of situations above, upshift delay is immediately exited from.
3. according to the method for claim 1, it is characterised in that：Transmission control unit utilizes single order low-pass wave filter
Throttle slope is filtered to obtain filtered throttle slope signal.
4. according to the method for claim 1, it is characterised in that：Transmission control unit TCU controls single with engine respectively
First ECU, anti-lock braking system ABS, electric handle controller ESL are communicated, and control unit of engine ECU is used for will be oily in real time
Door, engine speed and service brake signal are transferred to transmission control unit TCU by CAN；Anti-lock braking system ABS is used for will be real-time
GES transmission control unit TCU is transferred to by CAN；Electric handle controller ESL is used for real-time handle position
Confidence number is transferred to transmission control unit TCU by CAN.
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