CN109505969A - The shift control and its method of vehicle - Google Patents
The shift control and its method of vehicle Download PDFInfo
- Publication number
- CN109505969A CN109505969A CN201710831516.4A CN201710831516A CN109505969A CN 109505969 A CN109505969 A CN 109505969A CN 201710831516 A CN201710831516 A CN 201710831516A CN 109505969 A CN109505969 A CN 109505969A
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- gear
- speed
- motor
- target
- torque
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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
- 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
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
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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
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
Abstract
The invention discloses a kind of gear-shifting control methods of vehicle, including: entire car controller sends gear shift request to transmission control unit, transmission control unit sends target torque to electric machine controller according to gear shift request, and after detecting the information that the torque unloading that electric machine controller is sent by entire car controller is completed, control gear-selecting and shifting executing mechanism plucks gear for neutral gear, when detecting that gear is located at neutral gear, transmission control unit calculating carries out motor to adjust the speed required rotating speed of target, rotating speed of target is to be determined according to current vehicle speed and current vehicle acceleration, when the rotating speed of target and actual speed of motor meet preset condition, transmission control unit controls gear-selecting and shifting executing mechanism and carries out gear shift, it can reduce synchronization discrepancy when gear shift in this way, so as to shorten synchronization time.
Description
Technical field
The invention belongs to technical field of vehicle, in particular to the shift control and its method of a kind of vehicle.
Background technique
With the development of automotive engineering, the control of the various aspects of power vehicle is more and more perfect, but there are still
Problem.Wherein, it in terms of the gearshift control of power vehicle, in related art, has been adjusted the speed since shift process is in neutral gear
Cheng Hou, motor are in free state, i.e., are freely rotated under the action of resistive torque, when synchronizer completion synchronization action needs
Between.If vehicle is under ramp or damped condition at this time, synchronous rotating speed of target is constantly in variation, and real electrical machinery
Revolving speed, which has dropped out speed regulation, can not follow rotating speed of target.For example, rotation speed change per second can achieve tens turns under bad working environments, and it is same
The synchronizing capacity for walking device is limited, will lead to that synchronization time is elongated or even synchronization failure.If retracting neutral gear to adjust the speed again, can repeat
Above procedure.Electric machine speed regulation and synchronization time are longer, and the time of power interruption is also longer, possibly even slip by slope on big slope
Phenomenon, gear shift is not smooth enough, and driving experience is poor.
Summary of the invention
The present invention proposes the shift control and its method of a kind of vehicle, can be improved gear shift ride comfort in this way.
The gear-shifting control method of vehicle according to a first embodiment of the present invention, this method comprises: entire car controller is to speed change
Device control unit sends gear shift request；The transmission control unit according to the gear shift request by the entire car controller to
Electric machine controller sends target torque, so that electric machine controller control motor carries out torque unloading；The transmission control
For unit after detecting the information that the torque unloading that electric machine controller is sent by entire car controller is completed, control selects gear shift to execute
The gear of speed changer is set to neutral gear by mechanism；When the transmission control unit detects that the gear of the speed changer is located at neutral gear
When, the transmission control unit, which is calculated, adjust the speed required rotating speed of target to the motor, according to the rotating speed of target
What current vehicle speed and current vehicle acceleration determined；When the rotating speed of target and actual speed of the motor meet preset condition,
The transmission control unit controls the gear-selecting and shifting executing mechanism and carries out gear shift.
The shift control of the vehicle of embodiment according to a second aspect of the present invention, comprising: the system comprises vehicle controls
Device, transmission control unit, electric machine controller and gear-selecting and shifting executing mechanism processed, the entire car controller are used for transmission control
Unit sends gear shift request；The transmission control unit is used to pass through the entire car controller to electricity according to the gear shift request
Machine controller sends target torque, so that electric machine controller control motor carries out torque unloading；The transmission control list
Member is also used to after detecting the information that the torque unloading that electric machine controller is sent by entire car controller is completed, and gear shift is selected in control
Executing agency plucks the gear of speed changer for neutral gear；When the transmission control unit detects that the gear of the speed changer is located at
When neutral gear, the transmission control unit, which is also used to calculate, to carry out the motor to adjust the speed required rotating speed of target, the target
Revolving speed is to be determined according to current vehicle speed and current vehicle acceleration；Meet in the rotating speed of target and actual speed of the motor pre-
If when condition, the transmission control unit is also used to control the gear-selecting and shifting executing mechanism and carries out gear shift.
The application in speed variator shift process by be added target velocity that current vehicle acceleration adjusts the speed gear shift into
Row compensation, revolving speed of the target velocity obtained in this way closer to gear shift under bad working environments when synchronous after variation, can subtract in this way
Synchronization discrepancy when small gear shift, so as to shorten synchronization time.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures
Obviously and it is readily appreciated that, in which:
Fig. 1 is the schematic flow chart of the gear-shifting control method of the vehicle of one embodiment of the invention.
Fig. 2 is the schematic flow chart of the gear-shifting control method of the vehicle of another embodiment of the present invention.
Fig. 3 be one embodiment of the invention different rotating speeds under motor resistive torque study and free state revolving speed fall song
Line.
Fig. 4 is the study schematic diagram of the rotary inertia of the motor of one embodiment of the invention.
Fig. 5 is the schematic block diagram of the shift control of the vehicle of one embodiment of the invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Below by the present invention will be described in detail with reference to the accompanying drawings and embodiments.
Fig. 1 is the schematic flow chart of the gear-shifting control method of the vehicle of one embodiment of the invention.
101, entire car controller sends gear shift request to transmission control unit.
102, transmission control unit sends target to electric machine controller by entire car controller according to the gear shift request
Torque, so that electric machine controller control motor carries out torque unloading.
103, transmission control unit is in the torque unloading completion for detecting that electric machine controller is sent by entire car controller
Information after, control gear-selecting and shifting executing mechanism and the gear of speed changer be set to neutral gear.
104, transmission control unit, which calculates, to carry out motor to adjust the speed required rotating speed of target, and rotating speed of target is according to current
What speed and current vehicle acceleration determined.
105, when the rotating speed of target and actual speed of motor meet preset condition, gear shift is selected in transmission control unit control
Executing agency carries out gear shift.
The application in speed variator shift process by be added target velocity that current vehicle acceleration adjusts the speed gear shift into
Row compensation, revolving speed of the target velocity obtained in this way closer to gear shift under bad working environments when synchronous after variation, can subtract in this way
Synchronization discrepancy when small gear shift, so as to shorten synchronization time.
Optionally, as an embodiment of the present invention, meet preset condition in the rotating speed of target of motor and actual speed
When, it includes: in the rotating speed of target of the motor and practical turn that transmission control unit control gear-selecting and shifting executing mechanism, which carries out gear shift,
When speed meets preset condition, transmission control unit control gear-selecting-shifting mechanism drives shift fork that synchronizer is moved to synchronization from neutral gear
Point is sent to the electric machine controller by entire car controller and stops speed-regulating instruction and torque unloading command, and detecting electricity
When the torque of machine is 0, control gear-selecting-shifting mechanism drives shift fork that synchronizer is continued to move to shift fork to target gear from synchronous point
Torque unloading request is cancelled, finally to complete gear shift in position.
The present invention controls shift fork in advance and enters synchronization, transmission control unit control choosing when speed regulation process closes to an end
Shift fork is moved to synchronous point in advance and nearby speed regulation is waited to complete by gear-shifting actuating mechanism, i.e., when speed regulation process closes to an end, in advance
It covers the idle stroke of one end distance first to reach near synchronous point, target revolution speed variation under bad working environments can be greatly reduced in this way
The fluctuation of bring synchronization discrepancy, further decreases synchronization discrepancy when gear shift, so as to shorten synchronization time.It is controlled again after torque unloading
Shift fork processed completes synchronous extension shelves process.
It is moved to all to be considered as within the scope of certain distance near synchronous point in the embodiment of the present application and is moved to synchronous point, allow to have
Certain error.
The synchronous process that synchronous rotational speed difference is eliminated indeed through moment of friction of synchronizer, is moved to the position of presynchronization
I.e. just taper-face contact starts to transmit the position of moment of friction, and the position of the presynchronization is synchronous point.
Optionally, as an embodiment of the present invention, rotating speed of target is the sum of initial target revolving speed and compensating rotational speed, institute
Stating compensating rotational speed is to be determined according to current vehicle acceleration and T, and T is that gear-selecting-shifting mechanism drives shift fork to move synchronizer from neutral gear
Move the time needed to synchronous point.
The rotating speed of target of motor is calculated in this way by compensating on the basis of initial target revolving speed in the embodiment of the present invention
Obtained rotating speed of target can be constantly in variation to avoid rotating speed of target, cause according to current rotating speed closer to actual speed
Carrying out speed regulation causes synchronization time long, or even the problem that can not be synchronized.Since neutral gear, speed changer is in neutral gear and just starts for speed regulation
Send speed regulation order, the compensating rotational speed being at this moment superimposed just start it is significant, and synchronous point after no longer need to compensate, so, count
Calculating the time T that compensating rotational speed uses is to terminate the counted time to synchronous point by synchronizer since neutral gear.
Optionally, as an embodiment of the present invention, initial target revolving speed is determined according to the following equation:Wherein, SmotorFor initial target revolving speed, V is current speed, and r is tire radius, RatioFor target
The overall ratio of gear.
Optionally, as an embodiment of the present invention, compensating rotational speed is determined according to the following equation:Wherein, T is the time that shift fork is moved to synchronous point from neutral gear, and r is tire radius,
RatioFor the overall ratio of target gear, A is current vehicle acceleration, AmFor the rotating speed acceleration of the motor.
Optionally, as an embodiment of the present invention, it is assumed that according to current motor revolving speed, motor rotary inertia, when
The rotating speed of target that resistive torque under front motor torque and current rotating speed determines is first motor revolving speed, according to current speed,
The rotating speed of target that overall ratio, tire radius, the current vehicle acceleration of target gear obtain is the second motor speed, described default
Condition is less than preset value for the difference of the first motor revolving speed and second motor speed.
Optionally, as an embodiment of the present invention, first motor revolving speed is determined according to the following equation:Wherein, ScFor current motor revolving speed, the rotary inertia of I motor, TcFor current motor torque, TR
For the resistive torque under current rotating speed, T is that gear-selecting-shifting mechanism drives shift fork that synchronizer is moved to what synchronous point needed from neutral gear
Time.
Optionally, as an embodiment of the present invention, the second motor speed is determined according to the following equation:
Wherein, A is current vehicle acceleration, and r is tire radius, Ratio
For the overall ratio of target gear, V is current speed, and T is that gear-selecting-shifting mechanism drives shift fork to be moved to synchronizer together from neutral gear
The time that beans-and bullets shooter needs.
Optionally, as an embodiment of the present invention, preset value is empirical value.
Optionally, as an embodiment of the present invention, the rotary inertia of the resistive torque under current rotating speed and motor by
It is same that the even acceleration of rotation angular acceleration, the motor of motor corresponds to torque, the motor even underdrive moment when rotating moment revolving speed
Torque is corresponded to when revolving speed to determine.
Optionally, as an embodiment of the present invention, the rotary inertia root of the resistive torque under current rotating speed and motor
It is determined according to following equation: TR=﹣ (T1+T2)/2, I=(T1-T2)/(2* β), wherein I is the rotary inertia of motor, TRIt is current
Resistive torque under revolving speed, β are the rotation angular acceleration of motor, T1It is corresponding when rotating moment revolving speed for the even acceleration of motor to turn round
Square, T2Torque is corresponded to when underdrive moment same rotating speed even for motor.
The gear-shifting control method of the application can be adapted for no clutch, synchronous with electric machine speed regulation realization by synchronizer
All vehicles of gear shift.
Below with reference to the gear-shifting control method of Fig. 2 to Fig. 4 the present invention will be described in detail one embodiment.
Fig. 2 is the schematic flow chart of the gear-shifting control method of the vehicle of another embodiment of the present invention.
201, entire car controller sends gear shift request to transmission control unit.
Entire car controller judges speed, when reaching gear shift speed point, sends gear shift request to transmission control unit.
202, gear shift request, the target torque for sending motor to entire car controller are transmission control unit based on the received
0 message.
Specifically, transmission control unit can send the message that the target torque of motor is 0 to entire car controller, with logical
Crossing entire car controller and electric machine controller makes motor carry out torque unloading.
203, entire car controller sends the message of the target torque 0 of motor to electric machine controller.
Entire car controller receives the message for the target torque 0 that transmission control unit is sent, and disappearing target torque 0
Breath is transmitted to electric machine controller, so that electric machine controller control motor carries out torque unloading.
204, electric machine controller receives the message that target torque is 0, and control motor carries out torque unloading, that is, motor control
It is 0 that device control motor, which exports the actual torque of motor,.
Specifically, the output of motor indication torque is 0, to carry out torque unloading.
205, it is 0 to entire car controller feedback actual torque after the completion of electric machine controller controls motor progress torque unloading
Message.
Specifically, the actual torque of electric machine controller detection motor, when the actual torque of motor is 0, electric machine controller
The message that the actual torque of motor is 0 is sent to entire car controller.
206, after entire car controller receives the message that the actual torque that electric machine controller is sent is 0, to transmission control list
Member forwards the message that the actual torque of the motor is 0.
207, after transmission control unit receives the message that the actual torque that entire car controller is sent is 0, control gear shift is held
The selector fork of row mechanism starts to move.
Specifically, transmission control unit control gear-selecting and shifting executing mechanism pluck neutral gear motor is needed to carry out torque unloading
After the completion, that is, the actual torque for needing motor is 0, is 0 in the actual torque for receiving the motor of step 206 entire car controller transmission
Message after, transmission control unit control gear-selecting and shifting executing mechanism selector fork start to move so that select gear shift execute machine
Structure carries out plucking neutral gear operation by shift fork and synchronizer.
208, neutral gear operation is plucked in gear-selecting and shifting executing mechanism execution, i.e. shift fork is mobile, gear switch to neutral gear.
209, transmission control unit can detecte the position of gear, calculate motor by current vehicle speed and target gear
Rotating speed of target.The rotating speed of target is rotating speed of target needed for carrying out gear shift speed regulation to motor.
When vehicle is under the operating conditions such as ramp or braking, rotating speed of target is constantly in variation, real electrical machinery revolving speed
It has dropped out speed regulation and leads to not follow rotating speed of target.Rotation speed change per second can achieve tens turns under bad working environments, and synchronize
The synchronizing capacity of device is limited, may result in that synchronization time is elongated or even synchronization failure.If retracting neutral gear to adjust the speed again, can weigh
Multiple above procedure.Electric machine speed regulation and synchronization time are longer, and the time of power interruption is also longer, possibly even slip on big slope
Slope phenomenon, driving experience are very poor.
Rotating speed of target in the application can be the increase compensated rotating speed of target of variation tendency.Specifically, as one
Embodiment, transmission control unit can be calculated and variation tendency compensation are added according to current vehicle speed, current vehicle acceleration
Motor rotating speed of target.Compared to the existing motor speed being directly calculated according to current vehicle speed, the application is added according to vehicle
The rotating speed acceleration of the motor of acceleration calculation, it is pre- to be carried out according to rotating speed of target of the rotating speed acceleration of motor to motor
It surveys, the rotating speed of target obtained in this way joined the variation tendency compensation of revolving speed, and the target that can more accurately predict motor turns
Speed can be in variation in rotating speed of target in this way, can more accurately adjust the speed to motor, improve the synchronization energy of synchronizer
Power shortens synchronization time.
For example, one embodiment as the application, can determine in the following manner initial target revolving speed:
Wherein SmotorIt is current speed, r for initial target revolving speed (r/s), V (km/h)
For tire radius (m), RatioFor the overall ratio of target gear.
It, can according to the acceleration of current vehicle when motor enters shift process, is currently at neutral gear preparation electric machine speed regulation
To obtain the rotating speed acceleration of motor:
Wherein AmFor motor speed acceleration, A is vehicle acceleration (m/s2), r is tire radius (m),
RatioFor the overall ratio of target gear.
Assuming that shift fork is T seconds from the time that neutral gear is moved to synchronous point, then the compensating rotational speed of motor can be T*Am.Example
Such as, when T=80ms, the compensating rotational speed of motor is 0.08*Am。
In one embodiment of the application, the rotating speed of target of motor can for initial target revolving speed and compensating rotational speed it
With.That is, the rotating speed of target S of motor are as follows:
210, when the position of transmission control unit detection current gear is located at neutral gear, motor tune is sent to entire car controller
The rotating speed of target of speed order and motor.
211, after entire car controller receives the rotating speed of target of the electric machine speed regulation order that transmission control unit is sent and motor,
Calculate the target torque of motor in speed regulation process.
Specifically, entire car controller can calculate target torque according to the rotating speed of target and current motor revolving speed of motor, and
Target torque value is adjusted in real time by proportional-integral-differential PID controller closed loop, makes real electrical machinery revolving speed fast approaching target
Motor speed is without overshoot.
212, entire car controller sends to electric machine controller and calculates resulting target torque.
213, electric machine controller receives target torque, and responds to target torque.
Specifically, electric machine controller receives target torque, adjusts the torque of motor, makes real electrical machinery revolving speed fast approaching mesh
Motor speed is marked without overshoot.
214, rotating speed of target, actual speed and the current torque of transmission control unit monitoring motor judge whether to meet shelves
Position pre-hung condition.
When the rotating speed of target of motor and actual speed meet preset condition, it is believed that target gear meets pre-hung condition.It is no
Then, it is believed that be unsatisfactory for pre-hung condition.
In one embodiment of the application, finger can be estimated according to current motor revolving speed, current torque and motor inertia
Motor speed after periodically T seconds long, is set as first motor revolving speed for the motor speed that this method is predicted.For example, first
Motor speed can add the rotation speed change amount estimated for the revolving speed of current motor, the rotation speed change per second estimated can for T* β/
2π.Angular acceleration β can be obtained by following equation:Wherein I is the rotary inertia of motor, TcFor current motor
Torque, TRFor the resistive torque under current rotating speed.Wherein, the rotary inertia of motor and resistive torque can pass through the self-study of motor
Acquistion is arrived.
The step of specifically giving the factory motor characteristic self study of the application one embodiment below:
(1) it checks whether and meets following condition for study: parking brake pull-up, current neutral gear, speed 0, transmission state be normal,
Vehicle CAN communication is normal.
(2) start self study process, instrument shows corresponding text prompt.Transmission control unit is issued to entire car controller
Speed regulation request, revolving speed are steady state value, are stablized when motor actual speed in rotating speed of target ± 10 r/m, and record current motor is turned round
Square value.Change rotating speed of target value, repeats above procedure, the resistive torque value in motor different rotating speeds section out can be learnt.Such as Fig. 3
It is shown.
(3) order that maximum speed works is issued to motor, is 0 by the unloading of its torque when it reaches maximum speed, note
Record the curve data that its auto state falls to revolving speed 0.
The study of motor resistive torque and free state revolving speed fall curve under different rotating speeds as shown in Figure 3.It is horizontal in Fig. 3
Coordinate is the time, and the ordinate left side is motor speed, is drawn in Fig. 3 with heavy line, and the right is Motor torque, is used in Fig. 3 thin real
Line drawing goes out.
(4) rotating speed of target accelerates (angular acceleration is set as β) to be even, and rotating speed of target becomes even after reaching maximum speed
Slow down (angular acceleration is set as-β).The study schematic diagram of the rotary inertia of motor as shown in Figure 4.Abscissa in Fig. 4
For the time, the ordinate left side is motor speed, is drawn in Fig. 4 with heavy line, the right is Motor torque, is drawn in Fig. 4 with fine line
Out.
(5) torque value under same rotating speed is corresponding in raising and lowering curve is recorded.And according to the corresponding torsion of unified revolving speed
Square value can calculate resistive torque and motor inertia under this revolving speed.
Accuracy is calculated to improve, the practical inertia for taking its average value as motor after can computing repeatedly repeatedly.
Calculation formula are as follows: (current torque+resistive torque)/motor inertia=angular acceleration.Take the rising point under same revolving speed
Two-spot linear function is established with drop point torque:
T1+TR=β * I；
T2+TR=﹣ β * I, wherein T1Torque, T are corresponded to when rotating moment revolving speed for the even acceleration of motor2For the even deceleration of motor
Torque is corresponded to when rotating moment same rotating speed, I is the rotary inertia of motor, and β is set as the angle of rotation of the even accelerator of motor
Acceleration ,-β are set as the rotation angular acceleration of the even moderating process of motor, TRFor the resistive torque under current rotating speed.
By above-mentioned calculation formula it can be concluded that TR=﹣ (T1+T2)/2, I=(T1-T2)/(2*β)。
In one embodiment of the application, self study is carried out by the characteristic to motor, obtains the rotary inertia of motor
With the resistive torque under different rotating speeds, in this way, can be estimated by the study of motor to the revolving speed trend of motor, Ke Yiti
The accuracy of high pre-hung, so as to preferably realize synchronization.
(6) it repeats to find multiple and different revolving speed points, calculates the corresponding multiple motor rotary inertias of different rotating speeds point, take it flat
Rotary inertia of the mean value as final motor.
It, can also be according to the speed of current vehicle and the pre- measured motor of the acceleration of vehicle in one embodiment of the application
Revolving speed after duration T seconds specified, the motor speed that this method is predicted are set as the second motor speed.That is, the second electricity
Machine revolving speed is the rotating speed of target S that step 209 is calculated.
In one embodiment of the application, preset condition can be small for the difference of first motor revolving speed and the second motor speed
In preset value, which, which can be, is empirically derived.Reach preset condition, that is, gear-selecting-shifting mechanism band after pre-hung can be made
When synchronizer is moved near synchronous point by dynamic shift fork from neutral gear, real electrical machinery revolving speed and target motor rotating speed difference are default at this
Within value, meet synchronous condition.
For example, preset duration T=80ms, when preset value is 0.3r/s, preset condition can be with are as follows:
Wherein, ScTo work as
Front motor revolving speed, the rotary inertia of I motor, TcFor current motor torque, TRFor resistive torque under initial target revolving speed, A is current
Vehicle acceleration, r are tire radius, RatioFor the overall ratio of target gear, V is current speed.
215, when step 214 judgement obtains meeting pre-hung condition, control gear-selecting-shifting mechanism drives transmission control unit
Shift fork starts to move.
Specifically, when meeting pre-hung shelves condition, the selector fork for starting to control gear-selecting-shifting mechanism is by synchronizer from neutral gear
It is moved near synchronous point.
The application by real time calculate Speed Process of DC Motor rotational speed difference, and by current motor torque, resistive torque and
The trend of the motor inertia anticipation motor speed of study obtains the rotating speed of target of motor, and closes to an end in Speed Process of DC Motor
When, the operation of pre-hung shelves is carried out in advance, i.e., control shift fork enters synchronization in advance, and the idle stroke for covering pre-determined distance in advance, which reaches, to be synchronized
Near point, target revolution speed variation bring synchronization discrepancy under bad working environments can be greatly reduced in this way and fluctuated.
Pre-determined distance is determined by the distance of shift fork bit positions to sync bit.The application can be by speed change to pre-determined distance
The mechanical structure of device determines, for example, pre-determined distance can be 3mm.
216, the control that the shift fork of gear-selecting and shifting executing mechanism receives transmission control unit starts mobile shift fork, starts to change
Shelves.
Specifically, the control that the shift fork of gear-selecting and shifting executing mechanism receives transmission control unit starts to move, and shift fork is mobile
It drives synchronizer to be moved to the position of target shift from synchronous point, starts gear shift.
217, when transmission control unit, which obtains target gear by step 214 judgement, meets pre-hung condition, to vehicle
Controller sends unloading torque command.
Specifically, transmission control unit sends to entire car controller when target gear meets pre-hung condition and stops unloading
Torque command is carried, i.e. notice entire car controller stops speed regulation, and keeping torque is 0.
218, entire car controller receives the unloading torque command that transmission control unit is sent, and sends electricity to electric machine controller
The message of the target torque 0 of machine.
219, electric machine controller receives the message for the target torque 0 that entire car controller is sent, and control motor stops speed regulation, and
Torque unloading is carried out, the torque of motor is reduced to 0.
220, electric machine controller is after the completion of the torque to motor unloads, to the reality of entire car controller feedback motor
The message that torque is 0.
221, entire car controller receive electric machine controller send motor actual torque be 0 message after, to speed changer control
The message that the actual torque of the unit forwards motor processed is 0.
222, after transmission control unit receives the message that the actual torque of the motor of entire car controller transmission is 0, control
The shift fork of gear-selecting and shifting executing mechanism processed continues to move to.
223, gear-selecting and shifting executing mechanism receives the control of transmission control unit, and control shift fork is continued to move to, continued to execute
It puts into gear.
Specifically, transmission control unit control gear-selecting-shifting mechanism drives shift fork to continue to be moved to from synchronous point by synchronizer
The position of target gear.
224, transmission control unit detects the position of current gear.
225, when transmission control unit detects that the gear positions of speed changer at the position of new target gear, have become
Fast device control unit can be sent to entire car controller cancels torque unloading request, i.e. cancellation request Motor torque output 0.
Specifically, transmission control unit exits gearshift control, is controlled by entire car controller according to throttle or brake signal
The torque of motor processed exports, and entire gearshift procedure is completed.
The label of present specification partial process view does not have strict sequence simultaneously, for example, step 214 can be with
It is carried out after step 209, i.e., judges whether that meet pre-hung condition is calculated in transmission control unit according to rotating speed of target
It can be carried out after rotating speed of target, it is not necessary to until step 213 is completed.Step 215 and step 216 can be adjusted the speed in step 213
Progress when closing to an end can enter gear shift in advance in this way, i.e., control shift fork enters synchronization in advance, cover a distance in advance
Idle stroke can reduce target revolution speed variation bring synchronization discrepancy under bad working environments and fluctuate to reach near synchronous point.
Fig. 5 is the schematic block diagram of the shift control of the vehicle of one embodiment of the invention.The gear shift of the vehicle of Fig. 5
Control system includes electric machine controller 11, entire car controller 12, transmission control unit 13, gear-selecting and shifting executing mechanism 14.
Entire car controller 12 is used to send gear shift request to transmission control unit 13.
Transmission control unit 13 is used to send mesh to electric machine controller 11 by entire car controller 12 according to gear shift request
Torque is marked, so that electric machine controller 11 controls motor and carries out torque unloading.
Transmission control unit 13 is also used in the torque for detecting that electric machine controller 11 is sent by entire car controller 12
After unloading the information completed, control gear-selecting and shifting executing mechanism 14 plucks current gear for neutral gear.
When transmission control unit 13 detects that gear is located at neutral gear, transmission control unit 13 is also used to calculate to electricity
Machine carries out adjusting the speed required rotating speed of target, and rotating speed of target is to be determined according to current vehicle speed and current vehicle acceleration.
When the rotating speed of target and actual speed of motor meet preset condition, transmission control unit 13 is also used to control choosing
Gear-shifting actuating mechanism 14 carries out gear shift.
The application in speed variator shift process by be added target velocity that current vehicle acceleration adjusts the speed gear shift into
Row compensation, revolving speed of the target velocity obtained in this way closer to gear shift under bad working environments when synchronous after variation, can subtract in this way
Synchronization discrepancy when small gear shift, so as to shorten synchronization time.
Optionally, as an embodiment of the present invention, shift control further includes shift fork and synchronizer, speed changer control
Unit processed is specifically used for when the rotating speed of target and actual speed of motor meet preset condition, and control gear-selecting-shifting mechanism drives shift fork
Synchronizer is moved to synchronous point from neutral gear, stopping speed-regulating instruction being sent to electric machine controller by entire car controller and torque unloads
Instruction is carried, and when the torque for detecting motor is 0, control gear-selecting-shifting mechanism drives shift fork to continue to move from synchronous point by synchronizer
It moves to the position of target gear, then cancels torque unloading request, to complete gear shift.
Optionally, as an embodiment of the present invention, rotating speed of target is the sum of initial target revolving speed and compensating rotational speed, is mended
Repaying revolving speed is to be determined according to current vehicle acceleration and T, and T is that gear-selecting-shifting mechanism drives shift fork to be moved to synchronizer from neutral gear
The time that synchronous point needs.
Optionally, as an embodiment of the present invention, initial target revolving speed is determined according to the following equation:Wherein, SmotorFor initial target revolving speed, V is current speed, and r is tire radius, RatioFor target
The overall ratio of gear.
Optionally, as an embodiment of the present invention, compensating rotational speed is determined according to the following equation:Wherein, r is tire radius, RatioFor the overall ratio of target gear, A is current
Vehicle acceleration, AmFor the rotating speed acceleration of motor.
Optionally, as an embodiment of the present invention, it is assumed that according to current motor revolving speed, motor rotary inertia, when
The rotating speed of target that resistive torque under front motor torque and current rotating speed determines is first motor revolving speed, according to current speed,
The rotating speed of target that overall ratio, tire radius, the current vehicle acceleration of target gear obtain is the second motor speed, preset condition
It is less than preset value for the difference of first motor revolving speed and the second motor speed.
Optionally, as an embodiment of the present invention, first motor revolving speed is determined according to the following equation:Wherein, ScFor current motor revolving speed, the rotary inertia of I motor, TcFor current motor torque, TR
For the resistive torque under current rotating speed, T is that gear-selecting-shifting mechanism drives the shift fork that the synchronizer is moved to synchronization from neutral gear
The time that point needs.
Optionally, as an embodiment of the present invention, the second motor speed is determined according to the following equation:
Wherein, A is current vehicle acceleration, and r is tire radius, Ratio
For the overall ratio of target gear, V is current speed, T be the gear-selecting-shifting mechanism drive the shift fork by the synchronizer from
Neutral gear is moved to the time of synchronous point needs.
Optionally, as an embodiment of the present invention, preset value is empirical value.
Optionally, as an embodiment of the present invention, the rotary inertia of the resistive torque under current rotating speed and motor by
It is same that the even acceleration of rotation angular acceleration, the motor of motor corresponds to torque, the motor even underdrive moment when rotating moment revolving speed
Torque is corresponded to when revolving speed to determine.
Optionally, as an embodiment of the present invention, the rotary inertia root of the resistive torque under current rotating speed and motor
It is determined according to following equation: TR=﹣ (T1+T2)/2, I=(T1-T2)/(2* β), wherein I is the rotary inertia of motor, TRIt is current
Resistive torque under revolving speed, β are the angular acceleration of motor, T1Torque, T are corresponded to when rotating moment revolving speed for the even acceleration of motor2For
Torque is corresponded to when the even underdrive moment same rotating speed of motor.
Each building block can execute in Fig. 1 to Fig. 4 corresponding method process in the shift control of the vehicle of Fig. 5
Step, to avoid repeating, then this no longer narration in detail.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (16)
1. a kind of gear-shifting control method of vehicle characterized by comprising
Entire car controller sends gear shift request to transmission control unit；
The transmission control unit sends target to electric machine controller by the entire car controller according to the gear shift request
Torque, so that electric machine controller control motor carries out torque unloading；
The transmission control unit is in the letter for detecting that the torque unloading that electric machine controller is sent by entire car controller is completed
After breath, gear-selecting and shifting executing mechanism is controlled by transmission gear and is set to neutral gear；
The transmission control unit, which is calculated, adjust the speed required rotating speed of target to the motor, according to the rotating speed of target
What current vehicle speed and current vehicle acceleration determined；
When the rotating speed of target and actual speed of the motor meet preset condition, the transmission control unit controls the choosing
Gear-shifting actuating mechanism carries out gear shift.
2. the gear-shifting control method of vehicle according to claim 1, which is characterized in that the target in the motor turns
When speed and actual speed meet preset condition, the transmission control unit controls the gear-selecting and shifting executing mechanism and carries out gear shift packet
It includes:
When the rotating speed of target and actual speed of the motor meet preset condition, the transmission control unit controls the choosing
Shift mechanism drives shift fork that synchronizer is moved to synchronous point from neutral gear；
The transmission control unit, which is sent by the entire car controller to the electric machine controller, stops speed-regulating instruction and torsion
Square unloading command, and when the torque for detecting motor is 0, it controls the gear-selecting-shifting mechanism and drives the shift fork by the synchronization
Device is moved to the position of target gear from the synchronous point；
The transmission control unit cancels torque unloading request, to complete gear shift.
3. the gear-shifting control method of vehicle according to claim 2, which is characterized in that the rotating speed of target is initial target
The sum of revolving speed and compensating rotational speed, wherein the initial target speed is to be determined according to current vehicle speed, and the compensating rotational speed is root
It is determined according to the current vehicle acceleration and T, T is that the gear-selecting-shifting mechanism drives the shift fork by the synchronizer from neutral gear
It is moved to the time of synchronous point needs.
4. the gear-shifting control method of vehicle according to claim 3, which is characterized in that the initial target revolving speed is under
Column formula determines:Wherein, SmotorFor initial target revolving speed, V is current speed, and r is tire radius,
RatioFor the overall ratio of target gear.
5. the gear-shifting control method of vehicle according to claim 3 or 4, which is characterized in that the compensating rotational speed is under
Column formula determines:Wherein, r is tire radius, RatioFor total speed of target gear
Than A is current vehicle acceleration, AmFor the rotating speed acceleration of the motor.
6. the gear-shifting control method of vehicle according to claim 1, which is characterized in that assuming that according to current motor revolving speed,
Rotary inertia, current motor torque and the rotating speed of target of the resistive torque determination under current rotating speed of motor are that first motor turns
Speed, the rotating speed of target obtained according to current speed, the overall ratio of target gear, tire radius, current vehicle acceleration are the
Two motor speeds, the preset condition are less than preset value for the difference of the first motor revolving speed and second motor speed.
7. the gear-shifting control method of vehicle according to claim 6, which is characterized in that the first motor revolving speed is under
Column formula determines:Wherein, ScFor current motor revolving speed, the rotary inertia of I motor, TcTo work as
Front motor torque, TRFor the resistive torque under current rotating speed, T is that the gear-selecting-shifting mechanism drives the shift fork by the synchronizer
The time that synchronous point needs is moved to from neutral gear.
8. the gear-shifting control method of vehicle according to claim 6, which is characterized in that second motor speed is under
Column formula determines:
Wherein, A is current vehicle acceleration, and r is tire radius, RatioFor mesh
Mark the overall ratio of gear, V is current speed, and T is that the gear-selecting-shifting mechanism drives the shift fork by the synchronizer from neutral gear
It is moved to the time of synchronous point needs.
9. the gear-shifting control method of vehicle according to claim 6, which is characterized in that the preset value is empirical value.
10. the gear-shifting control method of vehicle according to claim 6 or 7, which is characterized in that the resistance under the current rotating speed
The rotary inertia of power torque and motor is corresponding when rotating moment revolving speed by the even acceleration of rotation angular acceleration, motor of motor to be turned round
Torque is corresponded to when the even underdrive moment same rotating speed of square, motor to determine.
11. the gear-shifting control method of vehicle according to claim 10, which is characterized in that the resistance under the current rotating speed
The rotary inertia of torque and motor is determined according to the following equation:
TR=﹣ (T1+T2)/2,
I=(T1-T2)/(2* β), wherein I is the rotary inertia of motor, TRFor the resistive torque under current rotating speed, β is motor
Rotate angular acceleration, T1Torque, T are corresponded to when rotating moment revolving speed for the even acceleration of motor2It is same for the motor even underdrive moment
Torque is corresponded to when revolving speed.
12. a kind of shift control of vehicle, which is characterized in that the system comprises entire car controllers, transmission control list
Member, electric machine controller and gear-selecting and shifting executing mechanism,
The entire car controller is used to send gear shift request to transmission control unit；
The transmission control unit is used to be sent by the entire car controller to electric machine controller according to the gear shift request
Target torque, so that electric machine controller control motor carries out torque unloading；
The transmission control unit is also used to detecting that electric machine controller unloaded by the torque that entire car controller is sent
At information after, control gear-selecting and shifting executing mechanism and the gear of speed changer be set to neutral gear；
When the transmission control unit detects that the gear of the speed changer is located at neutral gear, the transmission control unit is also
The motor is carried out to adjust the speed required rotating speed of target for calculating, the rotating speed of target is according to current vehicle speed and current vehicle
What acceleration determined；
When the rotating speed of target and actual speed of the motor meet preset condition, the transmission control unit is also used to control
The gear-selecting and shifting executing mechanism carries out gear shift.
13. the shift control of vehicle according to claim 12, which is characterized in that the shift control also wraps
Shift fork and synchronizer are included, the transmission control unit is specifically used for meeting in the rotating speed of target and actual speed of the motor pre-
If when condition, control gear-selecting-shifting mechanism drives shift fork that synchronizer is moved to synchronous point from neutral gear, pass through the entire car controller
It is sent to the electric machine controller and stops speed-regulating instruction and torque unloading command, and when the torque for detecting motor is 0, control
The gear-selecting-shifting mechanism drives the shift fork that the synchronizer is continuously moved to the position of target gear from the synchronous point, then
Cancel torque unloading request, to complete gear shift.
14. the shift control of vehicle according to claim 13, which is characterized in that the rotating speed of target is initial mesh
The sum of revolving speed and compensating rotational speed are marked, the compensating rotational speed is to determine according to the current vehicle acceleration and T, and T is the choosing
Shift mechanism drives the shift fork that the synchronizer is moved to the time that synchronous point needs from neutral gear.
15. the shift control of vehicle according to claim 12, which is characterized in that assuming that being turned according to current motor
The rotating speed of target that resistive torque under speed, the rotary inertia of motor, current motor torque and current rotating speed determines is first motor
Revolving speed is according to the rotating speed of target that current speed, the overall ratio of target gear, tire radius, current vehicle acceleration obtain
Second motor speed, the preset condition are less than preset value for the difference of the first motor revolving speed and second motor speed.
16. the shift control of vehicle according to claim 15, which is characterized in that the resistance under the current rotating speed
The rotary inertia of torque and motor by motor rotation angular acceleration, motor even acceleration rotation moment revolving speed when correspond to torque,
Torque is corresponded to when the even underdrive moment same rotating speed of motor to determine.
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