CN109780197A - A kind of shift motor speed by PID driving method of AMT speed changer - Google Patents
A kind of shift motor speed by PID driving method of AMT speed changer Download PDFInfo
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- CN109780197A CN109780197A CN201910081252.4A CN201910081252A CN109780197A CN 109780197 A CN109780197 A CN 109780197A CN 201910081252 A CN201910081252 A CN 201910081252A CN 109780197 A CN109780197 A CN 109780197A
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Abstract
The invention discloses a kind of shift motor speed by PID driving method of AMT speed changer, TCU is calculated shift motor by shift motor speed by PID according to gear shift sensing device and drives PWM, controls shift motor by harness, completes shift process；Method includes the following steps: step 1, TCU acquire the position where shift by gearshift position sensor；Step 2, TCU issue shift target position according to demand；Step 3 tables look-up to obtain shift speed target value；Step 4 calculates current shift speed value according to shift physical location；The PWM calculating of step 5, driving motor speed of shifting gears.By adopting the above technical scheme, accurate control of the TCU by shift driving method to shift motor, greatly improves the ride comfort and low noise performance when the shift of automobile, while protecting gearshift and synchronous ring of gear box.
Description
Technical field
The invention belongs to the technical fields of car transmissions.More particularly to a kind of shift motor speed of AMT speed changer
PID driving method.
Background technique
With the development of Electronic Control Technology in Modern Automobiles, electronic control unit is answered in all multisystems of vehicle
With.
In the transmission system of vehicle, electric control mechanical type automatic speed variator (AMT) is simple with its structure, manufacturing cost is low,
The advantages that transmission efficiency is high has occupied one seat in automatic transmission rapidly in the market.In electric control mechanical type automatic speed variator
In key technology, the research and development of electronic control unit and design relation are most important group in AMT technology to the entire performance of AMT
At part.
In TCU, a good shift motor driving method can guarantee quick, steady and low noise in shift process
Completion is put into gear.But in the prior art, there are no a maturation, perfect schemes to reach such requirement.
Summary of the invention
The present invention provides a kind of shift motor speed by PID driving method of AMT speed changer, automatic the purpose is to improve automobile
The completion performance of shift requires quickly, steady and low noise to complete to put into gear.
To achieve the goals above, the technical scheme adopted by the invention is as follows:
The shift motor speed by PID driving method of AMT speed changer of the invention, TCU pass through shift according to gear shift sensing device
Shift motor driving PWM is calculated in motor speed PID, controls shift motor by harness, completes shift process；
Method includes the following steps:
Step 1, TCU acquire the position where shift by gearshift position sensor；
Step 2, TCU issue shift target position according to demand；
Step 3 tables look-up to obtain shift speed target value；
Step 4 calculates current shift speed value according to shift physical location；
The PWM calculating of step 5, driving motor speed of shifting gears.
In the step 1, carry out bringing calculating by normalization drive range；TCU study is mounted on gearbox
Then gearshift position sensor is read digital value and is returned according to bound by the shift high-low limit positional value of upper AMT mechanism
Drive range amount shf_pos_act is calculated in one change, and range is 0~1:
Wherein, v_shf_max and v_shf_min is shift high-low limit positional value respectively；Shf_bas is gear position sensing
Device reads digital value.
In the step 2, TCU issues shift target position shf_pos_tar according to demand, numerical value is respectively 0,
0.5 and 1.
In the step 3, shift speed target value is to be tabled look-up by gear and shift deviation, but looked into
Table needs switch respectively according to 3 shift target positions, and shift deviation is shf_pos_dif, and value range is -1~1
Between:
Shf_pos_dif=shf_pos_tar-shf_pos_act
It wherein, is that in place, shift speed target value should be 0 at this time when shf_pos_dif is 0；Shf_pos_dif is negative
It is the shift speed target value put into gear to 0 direction, at this time when value should be negative value；Shf_pos_dif is to 0 when being positive value
Direction is put into gear, and shift speed target value at this time should be positive value.
Shift speed target value is that normalized value is then changed as standard as needed to complete from 0 to 1 in 200ms divided by the time
Gear speed target value should be (1-0)/0.2s=5, and the target speed value of each position is adjusted as benchmark, can be according to mesh
Mark velocity amplitude integral, which is drawn, obtains a drive range curve, it is ensured that in some position slow-downs or increases speed.
Shift speed target value shf_n_req, in the range of -10~10:
Shf_n_req=map (shf_pos_dif, gr_amt)
Wherein, gr_amt is target gear.
In the step 4, current shift speed value is calculated according to shift physical location, since driving needs fastly
Speed reaction, therefore a shift speed value shf_n_pos is calculated in 2ms:
Shf_n_pos=(shf_pos_act-shf_pos_act_old) * 500
In the step 5, the calculating of PWM uses speed by PID mode, i.e. shift target speed value subtracts shift
Velocity amplitude is inputted as the deviation of PID, and the PWM output that speed by PID calculates is tired plus I for P calculated values (kp_shf_pwm)
Value added (ki_shf_pwm) is obtained plus position basis power (base_shf_pwm):
Shf_pwm=kp_shf_pwm+ki_shf_pwm+base_shf_pwm
Wherein, P calculated value kp_shf_pwm are calculated as follows:
Kp_shf_pwm=kp* (shf_n_req-shf_n_pos)
Wherein, kp is P term coefficient, tables look-up to obtain by shift speed target value；
I accumulated value ki_shf_pwm are calculated:
Ki_shf_pwm=∫ ki* (shf_n_req-shf_n_pos) dt
Wherein, ki is I term coefficient, tables look-up to obtain by shift speed target value；
Position basis power is to table look-up to obtain by shift physical location shf_pos_act.
The PWM output that the speed by PID calculates is timing, and forward driving is driven in the reverse direction when being negative.
By adopting the above technical scheme, TCU is by accurate control of the driving method to shift motor of shifting gears, greatly by the present invention
The ride comfort and low noise performance when the shift of automobile are improved, while protecting gearshift and synchronous ring of gear box.
Detailed description of the invention
Content shown in attached drawing is briefly described as follows:
Fig. 1 is that Fig. 1 of the invention is that shift target speed value integral is depicted as drive range curve；
Fig. 2 is the speed by PID binding site power control strategy figure that shift driving of the invention uses；
Fig. 3 be the coefficient table that an axis revolving speed and rotating speed of target absolute value of the difference are looked into only be adapted to 0 and to 1 schematic diagram；
Fig. 4 is the coefficient table looked by throttle and speed and the schematic diagram for correcting all 3 speed；
Fig. 5 is modular structure schematic diagram of the invention；
Fig. 6 be shift driving PID in be also added into the schematic diagram tabled look-up according to target gear and drive range.
Specific embodiment
Below against attached drawing, by the description of the embodiment, making to a specific embodiment of the invention further details of
Illustrate, to help those skilled in the art to have more complete, accurate and deep reason to inventive concept of the invention, technical solution
Solution.
As shown in Figures 1 to 6, the present invention is a kind of shift motor speed by PID driving method of AMT speed changer.Automatically controlled machine
Tool formula automatic transmission is on the basis of conventional manual transmission, and by installing transmission control unit (TCU) additional, AMT is executed
Mechanism (including clutch actuating mechanism and shift-selecting and changing actuating mechanism), the composition such as sensor and harness.
In view of the defects and deficiencies of the prior art, the present invention intends to provide a kind of AMT mechanism shift motor speed
PID driving method greatlys improve the completion performance of vehicle automatic gear shifting.
In order to solve the problems, such as of the existing technology and overcome its defect, realizes and quickly, steady and low noise complete to hang
The goal of the invention of gear, the technical scheme adopted by the invention is as follows:
As shown in Figures 1 to 6, the shift motor speed by PID driving method of AMT speed changer of the invention, TCU is according to shift
Sensor is calculated shift motor by shift motor speed by PID and drives PWM, controls shift motor by harness, completes to change
Gear process.
The software that the present invention uses is the Simulink modeling and simulating of MATLAB, and code compilation uses
Codewarrior。
Method includes the following steps:
Step 1, TCU acquire the position where shift by gearshift position sensor；
Step 2, TCU issue shift target position according to demand；
Step 3 tables look-up to obtain shift speed target value；
Step 4 calculates current shift speed value according to shift physical location；
The PWM calculating of step 5, driving motor speed of shifting gears.
In TCU system, the digital quantity that gearshift position sensor collects intuitively cannot embody drive range and carry out
Calculate, it is therefore desirable to be converted into can quantized value calculated；
In the entire control process of TCU, shift motor speed by PID drive control, which represents, controls the precise speed of motor,
It due to being the repacking on mechanical gearbox, needs to be handled in some specific positions when putting into gear, such as synchronous ring contacts position
Set, position and intermediate neutral gear position etc., these positions need to control speed and slow down to achieve the effect that without impact, noise reduction in place,
Guarantee that entirely puts into gear is rapidly completed simultaneously.
Driving method of the invention is shift motor position sensor signal of the TCU by acquisition AMT mechanism, to mechanism
Shift motor progress accurately control in place, complete to put into gear process with quickly shock-free.TCU is according to gear shift sensing device by changing
Motor speed PID driving method is kept off, shift motor driving PWM is calculated, shift motor is controlled by harness, completion was shifted gears
Journey.
Specifically:
1, the position where shift is acquired by gearshift position sensor:
In TCU system, the digital quantity that gearshift position sensor collects intuitively cannot embody drive range and carry out
Calculate, it is therefore desirable to be converted into can quantized value calculated.
In the step 1, carry out bringing calculating by normalization drive range；TCU study is mounted on gearbox
Then gearshift position sensor is read digital value and is returned according to bound by the shift high-low limit positional value of upper AMT mechanism
Drive range amount shf_pos_act is calculated in one change, and range is 0~1:
Wherein, v_shf_max and v_shf_min is shift high-low limit positional value respectively；Shf_bas is gear position sensing
Device reads digital value.
2, shift target position:
The gear shift mechanism of AMT has 3 shift target positions, respectively 1,0 and middle position, in gear respectively 1 and 0
Position is middle position when neutral gear, and the shift process of TCU is respectively to pluck neutral gear, gear selecting, put into gear, and corresponding shift target position is respectively
Shift to middle position, gear selecting in place, shift to 0 or 1.
In the step 2, TCU issues shift target position shf_pos_tar according to demand, numerical value is respectively 0,
0.5 and 1.
3, it tables look-up to obtain shift speed target value:
In the step 3, shift speed target value is to be tabled look-up by gear and shift deviation, but looked into
Table needs switch respectively according to 3 shift target positions, and shift deviation is shf_pos_dif, and value range is -1~1
Between:
Shf_pos_dif=shf_pos_tar-shf_pos_act
Wherein:
Shf_pos_dif is that in place, shift speed target value should be 0 at this time when being 0；
It should be negative value that shf_pos_dif, which is the shift speed target value put into gear to 0 direction, at this time when being negative value,；
It should be positive value that shf_pos_dif, which is the shift speed target value put into gear to 0 direction, at this time when being positive value,.
Shift speed target value is that normalized value is then changed as standard as needed to complete from 0 to 1 in 200ms divided by the time
Gear speed target value should be (1-0)/0.2s=5, and the target speed value of each position is adjusted as benchmark, can be according to mesh
Mark velocity amplitude integral, which is drawn, obtains a drive range curve, it is ensured that in some position slow-downs or increases speed.
Shift speed target value shf_n_req, in the range of -10~10:
Shf_n_req=map (shf_pos_dif, gr_amt)
Wherein, gr_amt is target gear.
4, shift speed value:
In the step 4, current shift speed value is calculated according to shift physical location, since driving needs fastly
Speed reaction, therefore a shift speed value shf_n_pos is calculated in 2ms:
Shf_n_pos=(shf_pos_act-shf_pos_act_old) * 500
5, shift driving motor PWM is calculated:
In the step 5, the calculating of PWM uses speed by PID mode, i.e. shift target speed value subtracts shift
Velocity amplitude is inputted as the deviation of PID, and the PWM output that speed by PID calculates is tired plus I for P calculated values (kp_shf_pwm)
Value added (ki_shf_pwm) is obtained plus position basis power (base_shf_pwm):
Shf_pwm=kp_shf_pwm+ki_shf_pwm+base_shf_pwm
Wherein, P calculated value kp_shf_pwm are calculated as follows:
Kp_shf_pwm=kp* (shf_n_req-shf_n_pos)
Wherein, kp is P term coefficient, tables look-up to obtain by shift speed target value；
I accumulated value ki_shf_pwm are calculated:
Ki_shf_pwm=∫ ki* (shf_n_req-shf_n_pos) dt
Wherein, ki is I term coefficient, tables look-up to obtain by shift speed target value；
Position basis power is to table look-up to obtain by shift physical location shf_pos_act.
The PWM output that the speed by PID calculates is timing, and forward driving is driven in the reverse direction when being negative.
It is an advantage of the invention that accurate control of the TCU by shift driving method to shift motor, greatly improves vapour
Ride comfort and low noise performance when the shift of vehicle, while protecting gearshift and synchronous ring of gear box.
The mode that shift driving uses speed by PID binding site power to control, specific strategy is as shown in Figure 2, wherein
Pos_tar is the input of shift target position；Pos_act is shift physical location；Pwm is the driving force of output；Dir is driving side
To；Lv_reach is to shift to bit flag position；Pos_dif is the difference of target value and physical location；Shf_state is shift shape
State.
Speed by PID control needs to use shift motor speed, calculation formula are as follows:
Vshf=k (a-aold)
Wherein:
A is drive range (normalization)；
aoldFor drive range before 2ms (normalization)；
K is velocity coeffficient, is mainly used for the speed (scalar quantity C_SHF_N_K) of the rate conversion of 2ms to 1s.
Speed by PID has different speed target values to different positions, to 1 control when with good grounds target gear and shift
It tables look-up position:
ID_SHF_N_REQ_TO1_ON_POS
Obtain speed target value；
To 0 control when with good grounds target gear and drive range table look-up:
ID_SHF_N_REQ_TO0_ON_POS
Obtain speed target value；
To 0.5 control when with good grounds current gear and drive range table look-up:
ID_SHF_N_REQ_TOh_ON_POS
Speed target value is obtained, speed target value is determined using which table according to the selection of shift target position, then
PID output PWM value is calculated by the difference of speed target value and shift speed.
Meanwhile having corresponding correction factor to this 3 speedometers, as shown in Figure 3.Wherein, NofClutch is that an axis turns
Speed；N_req_ecu_act is current rotating speed of target；Shf_pwm_n_dif is synchronous ring rotational speed difference in shift process；shf_
Pwm_k is the PWM correction factor of synchronous ring rotational speed difference.
In Fig. 4, ACCPED is throttle value；VS is current vehicle speed；CALIBRATION_MAP is table look-up module；shf_
Pwm_k is the PWM correction factor of synchronous ring rotational speed difference.
As shown in Figure 3, Figure 4, the ID_SHF_N_REQ_ON_POS_GAIN coefficient table looked by throttle and speed is that amendment is complete
3, portion speed tables look-up value (multiplication)；
The ID_SHF_N_REQ_N_DIF_GAIN that one axis revolving speed and rotating speed of target absolute value of the difference shf_pwm_n_dif are looked into
Coefficient table is only to be adapted to 0 and table look-up to 1 speed.
In Fig. 5, GR_AMT is target gear；GR_NOW is current gear；Shf_tar_n is to shift gears to table look-up to select mould
Block；Pos_tar is the input of shift target position；Pos_act is shift physical location；Pwm is the driving force of output；Dir is to drive
Dynamic direction；Lv_reach is to shift to bit flag position；Pos_dif is the difference of target value and physical location；Shf is gearshift condition；
Subsystem is basic power table look-up module；SHF_N_2ms is that shift actual speed calculates；PWM_PID is PID computing module；
Shf_pwm_k is that two correction factors are tabled look-up.
As shown in Figure 6, wherein GR_AMT is target gear；GR_NOW is current gear；Pos_act is shift actual bit
It sets；In1 is selection of tabling look-up, and selection uses tabling look-up for the position of middle position, 0 and 1；Out1 is the basic power in PWM；
The basic PWM table looked into according to target gear and drive range is also added into the PID of shift driving, according to shift
Target position selection determines basic PWM value using which table, to 1 control when with good grounds target gear and drive range
It tables look-up:
ID_SHF_PWM_REQ_TO1_ON_POS
Obtain basic PWM value；
To 0 control when with good grounds target gear and drive range table look-up:
ID_SHF_PWM_REQ_TOh_ON_POS is obtained；
To 0.5 control when with good grounds current gear and drive range table look-up:
ID_SHF_PWM_REQ_TOh_ON_POS is obtained；
Then basic PWM value speed by PID is added to obtain obtaining final shift driving force on PWM.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (8)
1. a kind of shift motor speed by PID driving method of AMT speed changer, TCU passes through shift motor speed according to gear shift sensing device
Shift motor driving PWM is calculated in degree PID, controls shift motor by harness, completes shift process；
It is characterized by: method includes the following steps:
Step 1, TCU acquire the position where shift by gearshift position sensor；
Step 2, TCU issue shift target position according to demand；
Step 3 tables look-up to obtain shift speed target value；
Step 4 calculates current shift speed value according to shift physical location；
The PWM calculating of step 5, driving motor speed of shifting gears.
2. the shift motor speed by PID driving method of AMT speed changer described in accordance with the claim 1, it is characterised in that: described
Step 1 in, carry out bringing calculating by normalization drive range；TCU learns the shift for being mounted on AMT mechanism on gearbox
Then gearshift position sensor reading digital value is normalized according to bound and shift is calculated by high-low limit positional value
Position quantity shf_pos_act, range are 0~1:
Wherein:
V_shf_max and v_shf_min is shift high-low limit positional value respectively；
Shf_bas is that gear position sensor reads digital value.
3. the shift motor speed by PID driving method of AMT speed changer described in accordance with the claim 1, it is characterised in that: described
Step 2 in, TCU issue according to demand shift target position shf_pos_tar, numerical value is respectively 0,0.5 and 1.
4. the shift motor speed by PID driving method of AMT speed changer described in accordance with the claim 1, it is characterised in that: described
Step 3 in, shift speed target value be by gear and shift deviation table look-up, but tabled look-up lattice needs according to 3
A shift target position switches respectively, and shift deviation is shf_pos_dif, and value range is between -1~1:
Shf_pos_dif=shf_pos_tar-shf_pos_act
Wherein,
Shf_pos_dif is that in place, shift speed target value should be 0 at this time when being 0；
It should be negative value that shf_pos_dif, which is the shift speed target value put into gear to 0 direction, at this time when being negative value,；
It should be positive value that shf_pos_dif, which is the shift speed target value put into gear to 0 direction, at this time when being positive value,.
5. the shift motor speed by PID driving method of AMT speed changer described in accordance with the claim 1, it is characterised in that: shift speed
Degree target value is that normalized value is completed from 0 to 1 as standard, such as needs in 200ms divided by the time, then shift speed target value is answered
For (1-0)/0.2s=5, the target speed value of each position is adjusted as benchmark, can be integrated and be drawn according to target speed value
It is made to a drive range curve, it is ensured that in some position slow-downs or increase speed；Shift speed target value
Shf_n_req, in the range of -10~10:
Shf_n_req=map (shf_pos_dif, gr_amt)
Wherein, gr_amt is target gear.
6. the shift motor speed by PID driving method of AMT speed changer described in accordance with the claim 1, it is characterised in that: described
Step 4 in, current shift speed value is calculated according to shift physical location, since driving needs fast reaction,
2ms calculates a shift speed value shf_n_pos:
Shf_n_pos=(shf_pos_act-shf_pos_act_old) * 500.
7. the shift motor speed by PID driving method of AMT speed changer described in accordance with the claim 1, it is characterised in that: described
Step 5 in, the calculating of PWM uses speed by PID mode, i.e. shift target speed value subtracts shift speed value as PID
Deviation input, the PWM output that speed by PID calculates adds position basis power plus I accumulated values for P calculated values and obtains:
Shf_pwm=kp_shf_pwm+ki_shf_pwm+base_shf_pwm
Wherein, P calculated value kp_shf_pwm are calculated as follows:
Kp_shf_pwm=kp* (shf_n_req-shf_n_pos)
Wherein, kp is P term coefficient, tables look-up to obtain by shift speed target value；
I accumulated value ki_shf_pwm are calculated:
Ki_shf_pwm=∫ ki* (shf_n_req-shf_n_pos) dt
Wherein, ki is I term coefficient, tables look-up to obtain by shift speed target value；
Position basis power is to table look-up to obtain by shift physical location shf_pos_act.
8. the shift motor speed by PID driving method of AMT speed changer according to claim 7, it is characterised in that: described
The PWM output that speed by PID calculates is timing, and forward driving is driven in the reverse direction when being negative.
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| CN112524238A (en) * | 2020-12-02 | 2021-03-19 | 安徽江淮汽车集团股份有限公司 | Vehicle control method, vehicle and storage medium |
| CN112610688A (en) * | 2021-01-05 | 2021-04-06 | 潍柴动力股份有限公司 | Vehicle gear shifting control method and device and automatic gearbox control unit |
| CN112610688B (en) * | 2021-01-05 | 2022-04-05 | 潍柴动力股份有限公司 | Vehicle gear shifting control method and device and automatic gearbox control unit |
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Application publication date: 20190521 |