CN109838551B - Control method and device of gear shifting actuating mechanism and gear shifting control system - Google Patents
Control method and device of gear shifting actuating mechanism and gear shifting control system Download PDFInfo
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- CN109838551B CN109838551B CN201910228065.4A CN201910228065A CN109838551B CN 109838551 B CN109838551 B CN 109838551B CN 201910228065 A CN201910228065 A CN 201910228065A CN 109838551 B CN109838551 B CN 109838551B
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Abstract
The invention provides a control method and device of a gear shifting actuating mechanism and a gear shifting control system. The gear shifting actuating mechanism comprises a connecting rod connected with the gearbox and a motor driving the connecting rod. The control method comprises the following steps: acquiring the temperature inside the gear shifting actuating mechanism; acquiring matching parameters in a preset data set based on the temperature; the matching parameters comprise maximum voltage, minimum voltage and deceleration travel time; the speed reduction travel time is the time for the input voltage of the motor to be reduced from the maximum voltage to the minimum voltage; the matching parameters are provided to the motor. The control method, the control device and the gear shifting control system of the gear shifting actuating mechanism can realize stable or consistent gear shifting time at different temperatures, and improve the comfort and the safety of driving and riding.
Description
Technical Field
The invention relates to the field of control of gear shifting actuating mechanisms, in particular to a control method and device of a gear shifting actuating mechanism and a gear shifting control system.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The transmission can change the transmission ratio of the transmission through a gear shifting control mechanism to realize gear shifting. Typically, the shift operating mechanism link is connected to a rocker arm of the transmission. An ECU (Electronic Control Unit) sends a gear shifting command to a gear shifting Control mechanism, and a connecting rod is driven by a motor to reciprocate so as to drive a rocker arm to swing and realize gear shifting.
Among them, the time from the ECU issuing the shift command to the link of the shift operating mechanism reaching the specified gear may be the shift time. The shifting time of the vehicle has an important influence on the shifting comfort, and the performance of the shifting actuating mechanism is greatly influenced by the temperature to a certain extent. Thus, the temperature within the shift actuator may affect the shift time.
Specifically, the external conditions of the vehicle running are different according to regions and seasons, and the environmental temperature span can be from-40 ℃ to 60 ℃. Also, the interior components generate heat during the travel of the vehicle. The change of temperature can cause the physical properties of mechanical parts, plastic parts and lubricating media in the gear shifting actuating mechanism to change, and then the moving friction resistance of the connecting rod changes in the gear shifting process. Therefore, under the same voltage driving of the motor of the gear shifting actuating mechanism, the speed of the connecting rod changes, and the gear shifting time for reaching the same gear changes along with the temperature. Excessive temperatures can result in reduced shift times and thus transmission performance. And too low a temperature may result in prolonged shift time, which may bring about a safety risk for driving.
Therefore, how to keep the shift actuator stable or consistent shift time under the condition of temperature change or different conditions is an important problem for improving driving comfort and safety.
It should be noted that the above background description is only for the sake of clarity and complete description of the technical solutions of the present invention and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the invention.
Disclosure of Invention
Based on the foregoing defects in the prior art, embodiments of the present invention provide a shift actuator control method, a shift actuator control device, and a shift control system, which can achieve stable or consistent shift time at different temperatures, and improve driving comfort and safety.
In order to achieve the above object, the present invention provides the following technical solutions.
A control method of a shift actuator, the shift actuator including a link for connection with a transmission case and a motor driving the link to move; the control method comprises the following steps:
acquiring the working condition temperature inside the gear shifting actuating mechanism;
acquiring matching parameters in a preset data set based on the working condition temperature, wherein the matching parameters comprise driving voltage, and the driving voltage and the working condition temperature are in an inverse correlation relation;
providing the matching parameters to the motor.
Preferably, the driving voltage comprises a first voltage;
in the step of obtaining the matching parameter, the matching parameter further includes a first time of flight, and the first time of flight is a loading time of the first voltage.
Preferably, the motor drives the connecting rod to move to a first node position at a constant speed at a first speed under the action of the first voltage;
and under the condition that the working condition temperatures are different, the first speeds are the same, and the first node positions are also the same.
Preferably, the driving voltage further includes a second voltage, the second voltage being less than the first voltage;
in the step of obtaining the matching parameter, the matching parameter further includes a second stroke time, and the second stroke time is a time required for the input voltage of the motor to decrease from the first voltage to the second voltage.
Preferably, during the process that the input voltage of the motor is reduced from the first voltage to the second voltage, the moving speed of the connecting rod is correspondingly reduced from the first speed to the second speed;
the second speed is the same under different working condition temperatures, and the second travel time and the working condition temperatures are in positive correlation.
Preferably, during the process that the input voltage of the motor is reduced from the first voltage to the second voltage, the moving speed of the connecting rod is correspondingly reduced from the first speed to the second speed, and the connecting rod moves to the second node position;
the second node position and the second travel time are respectively the same under different working condition temperatures, and the second speed and the working condition temperatures are in an inverse correlation relationship.
Preferably, in the second stroke time, the speed of the first voltage dropping to the second voltage is in positive correlation with the operating condition temperature.
Preferably, the preset data set includes a plurality of sets of corresponding relationships between temperature intervals and driving voltages, a first travel time and a second travel time;
the step of obtaining the matching parameters comprises:
determining a target temperature interval in which the working condition temperature falls, wherein the target temperature interval is one of the temperature intervals;
and taking the driving voltage, the first travel time and the second travel time corresponding to the target temperature interval as the matching parameters.
A control device of a gear shifting actuating mechanism, the gear shifting actuating mechanism comprises a connecting rod used for being connected with a gearbox and a motor driving the connecting rod to move; the control device includes:
the temperature acquisition module is used for acquiring the working condition temperature inside the gear shifting actuating mechanism;
the parameter matching module is used for acquiring matching parameters in a preset data set based on the working condition temperature, wherein the matching parameters comprise driving voltage, and the driving voltage and the working condition temperature are in an inverse correlation relation;
and the instruction sending module is used for providing the matching parameters for the motor.
A shift control system comprising:
the gear shifting actuating mechanism comprises a connecting rod connected with the gearbox and a motor driving the connecting rod to move;
the temperature detection element is used for detecting the working condition temperature inside the gear shifting actuating mechanism;
the control device is in signal connection with the temperature detection element and the motor, and is used for acquiring matching parameters in a preset data set based on the working condition temperature, wherein the matching parameters comprise driving voltage, and the driving voltage and the working condition temperature are in an inverse correlation relationship; the control device is also used for providing the matching parameters to the motor, and the motor runs under the driving of the matching parameters.
According to the control method and device of the gear shifting actuating mechanism and the gear shifting control system, the working condition temperature inside the gear shifting actuating mechanism is obtained, the matching parameters are obtained based on the working condition temperature, and the driving voltage contained in the matching parameters is in an inverse correlation relation with the working condition temperature. Therefore, the driving voltage inputted to the motor can compensate for the change of the movement resistance of the link caused by the temperature change. Therefore, the connecting rods can realize the same or connected motion under different working condition temperatures, so that the stability of gear shifting time can be kept, and the driving comfort and safety are improved.
Therefore, the embodiment of the invention can realize stable gear shifting time at different temperatures, avoid reduction of driving risk and driving comfort caused by overlong gear shifting time at low temperature, and avoid damage to the gear box caused by overlong gear shifting time at high temperature.
Specific embodiments of the present invention are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the invention may be employed. It should be understood that the embodiments of the invention are not so limited in scope. The embodiments of the invention include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments, in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein, is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for facilitating the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. Those skilled in the art, having the benefit of the teachings of this invention, may choose from the various possible shapes and proportional sizes to implement the invention as a matter of case. In the drawings:
FIG. 1 is a schematic diagram of a prior art shift actuator showing the variation of motor input voltage, link travel speed and link travel position;
FIG. 2 is a graphical illustration of a prior art change in motor voltage/speed versus link movement position as temperature within the shift actuator decreases;
FIG. 3 is a schematic diagram of the variation of the motor input voltage and the link movement position when the temperature in the shift actuator is different according to the first preferred embodiment of the present invention;
FIG. 4 is a graph showing the change in link movement speed and link movement position when the temperature in the shift actuator is different according to the first preferred embodiment of the present invention;
FIG. 5 is a graph illustrating the variation of the motor input voltage and the link movement position when the temperature in the shift actuator is different in accordance with the second preferred embodiment of the present invention;
FIG. 6 is a graph showing the change in link movement speed and link movement position when the temperature in the shift actuator is different in accordance with the second preferred embodiment of the present invention;
FIG. 7 is a flowchart of a method of controlling a shift actuator in accordance with an embodiment of the present invention;
FIG. 8 is a block diagram of a control arrangement for a shift actuator in accordance with an embodiment of the present invention;
FIG. 9 is a block diagram of a shift control system according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a single embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As is known, the ECU controls the rotation of the motor of the shift actuator in the same control scheme, driving the associated mechanical or plastic components of the shift actuator to perform the shifting action.
And changes in temperature around and within the shift actuator can result in changes in the properties of the mechanical or plastic parts and the lubricating grease as described above. Accordingly, the friction during shifting will also change accordingly. In this way, the speed of the links is different for the same voltage drive of the motors of the shift actuators. Thus, the shift time is caused to vary with the temperature, and it is difficult to achieve a stable shift time.
Fig. 1 is a diagram illustrating a variation curve between a motor input voltage, a link moving speed and a link moving position of a shift actuator in the prior art. In both the figures, the X axis (horizontal axis) represents the movement position of the link, and the Y axis (vertical axis) represents the input voltage of the motor and the movement speed of the link.
As shown in fig. 1, a link of the shift actuator is driven by a motor to drive a rocker arm of a transmission to swing to realize a shift process, which can be divided into three strokes:
a: at the initial time, the ECU controls the voltage input to the motor to be a constant value, which is also the maximum voltage vol (max). The corresponding rotating speed of the motor is the maximum value, and the connecting rod moves at the maximum speed (max) at a constant speed to reach the point d1 of the deceleration node.
The first stroke is a uniform speed stroke, i.e. the distance between points 0 and d1 in fig. 1. The time of the section of travel is the constant speed travel time, which is denoted as t 1.
b: when the link moves to the point d1, the input voltage of the motor is reduced through PI control. As the input voltage is gradually decreased, the rotation speed of the motor is decreased. The speed of the connecting rod is correspondingly gradually reduced from the highest speed (max) to the lowest speed (min) until the connecting rod moves to the power-off node position d 2.
The second stroke is a deceleration stroke, i.e. the distance between the point d1 and the point d2 in fig. 1. The elapsed time of the travel is the deceleration travel time, which is denoted as t 2.
c: when the moving speed of the connecting rod is reduced to speed (min), the voltage input is cut off. The link rod continues to move forward by a distance (error distance) under the inertia effect to reach the final target position dD.
The third stroke is an inertia stroke, i.e., the distance from the point d2 to the point dD in fig. 1. The time of the section of travel is the inertia travel time, which is recorded as t 3. The shift time is t1+ t2+ t 3.
It should be noted that when the link described herein is moved to a certain position, the determination may be made using any point or portion on the link as a reference point or reference. For example, the end of the link that is used to connect with the rocker arm of the gearbox may be used as a reference point or datum for movement. Alternatively, the connecting rod is generally rigidly connected to the rocker arm of the transmission. Thus, the rocker arm may also be used as the reference point or datum.
Fig. 1 shows the change curves of the motor input voltage, the link movement speed and the link movement position when the temperature inside the shift actuator is a certain value (e.g. a certain constant temperature value T1). When the temperature inside the shift actuator changes, the motor input voltage, the link movement speed, and the link movement position also change.
The temperature (T2) is lower than the specific value (T1), that is, the temperature is lowered.
As shown in fig. 2, the frictional resistance to movement of the connecting rods becomes large due to the temperature drop (T2 < T1) and the performance of the internal components of the shift actuator and the surrounding grease varies with temperature. So that the initial movement speed of the link becomes small at the same motor input voltage vol (max).
That is, as illustrated in fig. 2, in the case where the initial input voltage vol (max) of the motor is the same, the initial Speed of the link is reduced from Speed1(min) at a temperature of T1 to Speed2(min) at a temperature of T2. The constant velocity travel time t1 required for the link to reach the deceleration node position d1 point becomes long.
In the deceleration stroke, since the moving resistance of the link is increased, when the link is decelerated to speed (min), the power-off node position d2 is not reached yet. I.e. another point d3 as illustrated in fig. 2, which point d3 is located before d 2. Thus, the error distance, i.e., the inertia stroke, is lengthened. In addition to the temperature decrease, the link movement frictional resistance increases, and the inertia stroke time t3 required to reach the shift target position dD also becomes longer.
Thus, when the external temperature is reduced to cause the internal temperature of the gear shifting actuating mechanism to be reduced, the gear shifting time can be prolonged. Likewise, if the outside temperature increases, which increases the temperature inside the shift actuator, the shift time is shortened.
In view of this, the embodiment of the invention provides a control method and device for a shift actuator and a shift control system. According to the embodiment of the invention, the temperature in the gear shifting actuating mechanism is detected, and the temperature is fed back to the ECU. The ECU adjusts the driving parameters of the motor input to the shift actuator in real time according to the detected temperature to achieve stable or consistent shift times at different temperatures.
In the present invention, the shift actuator may include any known embodiment capable of implementing an electronic shift function, and the present invention is not limited thereto.
In a specific implementation scenario, the shift actuator may adopt a known embodiment provided with publication number CN 106838303B. The entire contents of this known embodiment are disclosed in the present invention by reference, and are not described herein again.
As shown in fig. 7, in one embodiment, the control method may include the steps of:
step S101: and acquiring the working condition temperature inside the gear shifting actuating mechanism.
The working condition temperature inside the gear shifting actuating mechanism specifically refers to the temperature inside a shell of the gear shifting actuating mechanism. The temperature acquisition mode can be that the temperature in the shell is detected through adopting the temperature detection component that is connected with ECU signal, and then sends the temperature value that detects to ECU.
The temperature detecting element may adopt any suitable existing structure, and the arrangement position thereof is adaptively designed or adjusted according to different specific structures and temperature measuring principles, which is not limited in the embodiment of the present invention.
For example, the temperature detection element may be a temperature sensor or a thermocouple or the like, which may be provided in the housing of the shift actuator. Alternatively, the temperature detection element may also be an infrared temperature measurement device, which may be disposed outside the housing of the shift actuator.
Step S102: and acquiring matching parameters in a preset data set based on the working condition temperature, wherein the matching parameters comprise driving voltage, and the driving voltage and the working condition temperature are in an inverse correlation relation.
In order to achieve a stable or uniform shift time, the input voltage of the motor can be adjusted for temperature changes, so that the connecting rods of the shift actuator achieve the same movement at different temperatures.
As described above, the temperature decreases and the movement resistance of the link increases. The speed at which the drive link moves will be reduced for the same input voltage to the motor, resulting in an extended shift time. Conversely, the temperature increases and the shift time is shortened.
Therefore, in order to maintain or maintain the same or a continuous speed of the connecting rod under different working temperatures, the driving voltage input to the motor needs to be adaptively adjusted according to the different working temperatures.
Specifically, when the temperature decreases, the movement resistance of the link increases, and the driving voltage input to the motor can be increased. When the temperature rises, the movement resistance of the link decreases, and the driving voltage input to the motor can be reduced.
That is, the driving voltage decreases as the operating temperature increases, and increases as the operating temperature decreases.
The preset data set may comprise a plurality of sets of temperature intervals and corresponding relationships between driving voltages. And comparing the detected working condition temperature serving as a known quantity in the preset data set, and determining a target temperature interval in which the working condition temperature falls so as to acquire the driving voltage corresponding to the target temperature interval. Wherein the target temperature interval is one of a plurality of temperature intervals.
Thus, the preset data set may be expressed in the form { [ T1, T2] | VOL }. Wherein, T1 and T2 are two end values of the temperature interval. Each temperature interval corresponds to a driving voltage VOL. When the operating temperature falls within a certain temperature range [ T1, T2] (i.e., a target temperature range), the driving voltage VOL corresponding to the temperature range can be obtained.
Step S103: providing the matching parameters to the motor.
After the matching parameters including the driving voltage are obtained based on the temperature, they may be sent to the motor. The motor operates under the drive of the matching parameters.
The driving voltage contained in the matching parameters is inversely related to the working condition temperature. Therefore, the driving voltage inputted to the motor can compensate for the change of the movement resistance of the link caused by the temperature change. Therefore, the connecting rod can realize the same or similar movement under different working condition temperatures, so that the stability of the gear shifting time can be kept.
In this embodiment, the driving voltage may include a first voltage and a second voltage smaller than the first voltage, and the first voltage and the second voltage correspond to the maximum voltage vol (max) and the minimum voltage vol (min) described above, respectively.
Accordingly, in the step of obtaining the matching parameter, the matching parameter may further include a first travel time and a second travel time. The first travel time is loading time of the first voltage, and the second travel time is time required for the input voltage of the motor to be reduced from the first voltage to the second voltage.
Correspondingly, the preset data set may further include a plurality of sets of corresponding relationships between the temperature range and the driving voltage, the first time period, and the second time period. And comparing the detected working condition temperature serving as a known quantity in the preset data set, and determining a target temperature interval in which the working condition temperature falls, so as to obtain the driving voltage, the first travel time and the second travel time corresponding to the target temperature interval as matching parameters.
Thus, the expression form of the preset data set can be further refined to { [ T1, T2] | VOL, T1, T2 }. The driving voltage VOL may further include a first voltage VOL1 and a second voltage VOL2, where t1 is a first stroke time and t2 is a second stroke time. When the working temperature falls within a certain temperature range [ T1, T2], the driving voltage VOL, the first travel time T1 and the second travel time T2 corresponding to the temperature range can be obtained.
The preset data set may be obtained by preliminary experiments or tests. Specifically, the temperature range in which the shift actuator is likely to operate is divided into a number of temperature intervals. Then, the first voltage VOL1 and the second voltage VOL2 corresponding to the links reaching the same first speed and the same second speed respectively, and the loading time-the first stroke time t1 of the first voltage VOL1 and the second stroke time t2 of the motor for the input voltage of the motor to drop from the first voltage VOL1 to the second voltage VOL2 are measured respectively in each temperature interval. Thereby, a preset data set is obtained.
For example, the shift actuator may operate in a temperature range of-40 ℃ to 140 ℃ and be divided into 18 temperature ranges, the 18 temperature ranges being [ -40 ℃ to-30 ℃ C. ], [ -29 ℃ to-20 ℃ C. ], [ -19 ℃ to-10 ℃ C. ] … [131 ℃ to 140 ℃ C. ], respectively. And respectively measuring a first voltage VOL1 and a second voltage VOL2 of the motor corresponding to the condition that the connecting rod reaches the same first speed and the same second speed, a loading time-first stroke time t1 of the first voltage VOL1 and a second stroke time t2 of the input voltage of the motor from the first voltage VOL1 to the second voltage VOL2 in each temperature interval. Thereby, a preset data set is obtained.
During the first stroke time, the input voltage of the motor is the first voltage, and the connecting rod is driven to run to the first node position at a first speed at a constant speed. During the second stroke time, the input voltage of the motor is gradually increased from the first voltage to the second voltage, the speed of the connecting rod is correspondingly reduced from the first speed to the second speed, and the connecting rod moves to the second node position.
The first speed and the second speed correspond to the maximum speed spped (max) and the minimum speed spped (min) described above, respectively; the first node position and the second node position correspond to the deceleration node position d1 point and the power-off node position d2 point, respectively, described above.
In the present embodiment, the input voltage of the motor is decreased from the first voltage to the second voltage, which may be a linear decrease as illustrated in fig. 1 and 3, or may be a decrease in other forms. Such as exponential drop, logarithmic drop, etc., which are not limited in this embodiment of the present invention.
When the input voltage to the motor drops to the second voltage, i.e., the linkage reaches the second node position, the input voltage to the motor is cut off. The link continues to move for the third stroke time under inertia to stop at the target shift position.
Similarly, the first voltage and the second voltage are inversely related to the operating temperature in order to maintain the same moving speed of the connecting rod under different operating temperatures.
Therefore, by adaptively inputting the first voltage to the motor based on the operating temperature, when the operating temperatures are different, the motor can drive the connecting rod to obtain the same first speed under the action of different first voltages.
In one embodiment, the first node location is the same. In this way, the first stroke time may remain stable or constant at different operating temperatures. Because the connecting rod moves at a constant speed in the first stroke. Therefore, the first travel time is kept stable or unchanged under different working condition temperatures by determining the position of the first node, and the gear shifting time can be conveniently and accurately controlled in a segmented mode.
The first travel time is the same due to different operating temperatures. Therefore, stability or consistency of the shift time can be achieved as long as it is ensured that the sum of the second and third stroke times is stable or consistent at different temperatures.
In one embodiment, the target shift positions tend to coincide. Specifically, the target shift position may fluctuate within a predetermined range. As shown in fig. 3-6, the target shift is the dD point, which may have a fault tolerance distance d 0. When the link is moved to within the range of [ dD-d0, dD + d0], the link is considered to have reached the target shift position.
Since the first stroke is the same at different operating temperatures, the sum of the second stroke and the third stroke is constant. In order to maintain the sum of the second and third stroke times stable or consistent at different temperatures, in one embodiment, the second speed is the same at different operating temperatures, and the second stroke time is positively correlated with the operating temperature.
In one case, the second travel time matched is greater as the operating temperature increases. Since both the first speed and the second speed are determined, the second stroke is lengthened and the third stroke is shortened accordingly. In addition, the temperature of the working condition is increased, so that the moving resistance of the connecting rod is reduced, and the time of the third stroke is shortened. Therefore, the second travel time is longer, the third travel time is shorter, and the stability or consistency of the sum of the second travel time and the third travel time under different temperature conditions can be realized.
In one case, the second travel time matched is smaller when the operating temperature decreases. The second stroke is shortened and the third stroke is correspondingly lengthened. In addition, the temperature of the working condition is reduced, so that the movement resistance of the connecting rod is increased, and the third travel time is increased. Therefore, the second travel time is shorter, the third travel time is longer, and the stability or consistency of the sum of the second travel time and the third travel time under different temperature conditions can be realized.
Specifically, as shown in fig. 3 and 4, the temperature T1 > T2. According to the above scheme, the matched second stroke time T21 at the temperature of T1 is longer, and the matched second stroke time T22 at the temperature of T2 is shorter.
Since the first speed and the second speed at both temperatures are the same. Then correspondingly, the second stroke of the link operation is longer at the temperature T1 and shorter at the temperature T2. In particular, the distance between d21 and d1 is greater than the distance between d22 and d 1.
Accordingly, the inertia stroke of the link at the temperature T1, i.e., the third stroke, is short, and the inertia stroke of the link at the temperature T2, i.e., the third stroke, is long. Thus, the third travel time T31 for the link is shorter at the T1 temperature and longer at T32 for the link at the T2 temperature.
The second stroke time T21 of the connecting rod is longer and the third stroke time T31 is shorter at the temperature of T1. And the second stroke time T22 of the connecting rod is shorter and the third stroke time T32 is longer at the temperature of T2. The connecting rod may be stable or consistent at two different temperatures, the sum of the second stroke time and the third stroke time.
In this embodiment, the trend of the first voltage decreasing to the second voltage during the second stroke time may be the same. Specifically, as shown in fig. 3, the slopes of the voltage change curves corresponding to the T1 temperature and the T2 temperature are the same. Thus, the speed change tendency (i.e., acceleration) of the link is also the same when the link is driven by the motor. Thus, since the first speed and the second speed are the same at different operating temperatures, the longer the second stroke time, the longer the distance of the second stroke.
In another embodiment, the second node position and the second travel time are respectively the same at different operating temperatures, and the second speed is inversely related to the operating temperatures.
The second node position and the second stroke time are respectively the same at different working condition temperatures, that is, the second node position is the same at different working condition temperatures, and the second stroke time is the same at different working condition temperatures.
Since the second node position is the same at different operating temperatures, the second stroke is the same at different operating temperatures. In addition, the first stroke is the same under different working condition temperatures, and the third stroke is also unchanged. Meanwhile, the second stroke time is not changed under different working condition temperatures. Therefore, stability or consistency of the shift times can be achieved as long as it is ensured that the third stroke time is stable or consistent at different temperatures.
Bearing in mind the above description, since the second speed is the initial speed of the third stroke. Under the condition that the third stroke is not changed, the third stroke time can be kept consistent under different working condition temperatures as long as the second speed and the working condition temperature are in an inverse correlation relation.
In addition, the second stroke and the first speed are not changed along with the temperature of the working condition. Then, to make the second speed different under the working condition temperature, the above purpose can be achieved by only controlling the speed of reducing the first voltage to the second voltage.
Specifically, according to the acceleration displacement principle, under the unchangeable condition of second stroke and first speed, through in the second stroke time, the falling speed that falls first voltage to the second voltage sets up to be positive correlation with operating mode temperature, can realize that second speed and operating mode temperature are the anti-correlation. The falling speed of the first voltage to the second voltage may be embodied as a slope of a voltage change curve shown in fig. 5.
The input voltage of the motor affects and is related to the moving speed of the link, and actually, the changing trend of the moving speed of the link always follows the changing trend of the input voltage of the motor. Therefore, the falling speed of the input voltage of the motor from the first voltage to the second voltage is directly related to the movement acceleration of the connecting rod in the second stroke time.
Based on this, when the operating temperature rises, the speed of the first voltage falling to the second voltage increases. Accordingly, the moving acceleration increases when the link is driven by the motor. Then, with the second stroke and the first speed unchanged, the second speed will decrease.
Similarly, when the operating temperature decreases, the rate of decrease of the first voltage to the second voltage decreases. Accordingly, the moving acceleration is reduced when the link is driven by the motor. Then, with the second stroke and the first speed unchanged, the second speed will increase.
Specifically, as shown in fig. 5 and 6, the temperature T1 > T2. Then the matched voltage drop rate is greater at the temperature T1 and smaller at the temperature T2 according to the above scheme.
Since the second stroke and the first speed are not changed the same. Then correspondingly, the second speed of the connecting rod is less when the connecting rod travels to the second node position at the temperature of T1. And a second speed of the connecting rod is greater when the connecting rod travels to the second node position at a temperature of T2. Then, in case the third stroke is constant, a third stroke time stabilization or consistency can be achieved.
Therefore, the embodiment of the invention can realize stable gear shifting time at different temperatures, avoid reduction of driving risk and driving comfort caused by overlong gear shifting time at low temperature, and avoid damage to the gear box caused by overlong gear shifting time at high temperature.
Based on the same concept, the embodiment of the invention also provides a control device of the gear shifting actuating mechanism, and the control device is described in the following embodiment. Because the principle of solving the problems and the technical effects that can be achieved by the control device are similar to the control method described above, the implementation of the control device can refer to the implementation of the control method, and repeated details are not repeated. The term "module" used below may be implemented based on software, or based on hardware, or implemented by a combination of software and hardware.
Referring to fig. 8, a control device for a shift actuator according to an embodiment of the present invention may include:
and the temperature obtaining module 101 is used for obtaining the working condition temperature inside the gear shifting actuating mechanism.
And the parameter matching module 102 is configured to obtain matching parameters in a preset data set based on the operating condition temperature, where the matching parameters include a driving voltage, and the driving voltage and the operating condition temperature are in an inverse correlation relationship.
And the instruction sending module 103 is used for providing the matching parameters to the motor.
As shown in fig. 9, an embodiment of the present invention also provides a shift control system, which may include:
the gear shifting actuating mechanism comprises a connecting rod connected with the gearbox and a motor driving the connecting rod to move;
the temperature detection element is used for detecting the working condition temperature inside the gear shifting actuating mechanism;
and the control device is in signal connection with the temperature detection element and the motor and is used for acquiring matching parameters in a preset data set based on the working condition temperature, the matching parameters comprise driving voltage, and the driving voltage and the working condition temperature are in an inverse correlation relationship. The control device is also used for providing the matching parameters to the motor so that the motor runs under the driving of the matching parameters.
In the present embodiment, the shift actuator may adopt the known configuration described above, and will not be described herein. Similarly, the temperature detecting element may be the temperature sensor or thermocouple arranged in the housing of the shift actuator, or may be an infrared temperature measuring device arranged outside the housing of the shift actuator.
The control means may specifically be the ECU described above. In the present embodiment, a preset data set is stored in advance in the ECU as the control device, unlike the related art. When it receives the operating temperature from the temperature sensing element, it may acquire a matching parameter suitable for the operating temperature in a preset data set and provide the matching parameter to the motor of the shift actuator. Therefore, the motor drives the connecting rod to operate under the action of the matching parameters, and finally the gear shifting actuating mechanism has stable or consistent gear shifting time under different working condition temperatures.
It should be noted that, in the description of the present invention, the terms "first", "second", and the like are used for descriptive purposes only and for distinguishing similar objects, and no precedence between the two is considered as indicating or implying relative importance. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided would be apparent to those of skill in the art upon reading the above description. The scope of the present teachings should, therefore, be determined not with reference to the above description, but should instead be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. The disclosures of all articles and references, including patent applications and publications, are hereby incorporated by reference for all purposes. The omission in the foregoing claims of any aspect of subject matter that is disclosed herein is not intended to forego such subject matter, nor should the applicant consider that such subject matter is not considered part of the disclosed subject matter.
Claims (10)
1. A control method of a shift actuator, the shift actuator including a link for connection with a transmission case and a motor driving the link to move; the control method is characterized by comprising the following steps:
acquiring the working condition temperature inside the gear shifting actuating mechanism;
acquiring matching parameters in a preset data set based on the working condition temperature, wherein the matching parameters comprise driving voltage, and the driving voltage and the working condition temperature are in an inverse correlation relation;
providing the matching parameters to the motor.
2. The control method according to claim 1, wherein the drive voltage includes a first voltage;
in the step of obtaining the matching parameter, the matching parameter further includes a first time of flight, and the first time of flight is a loading time of the first voltage.
3. The control method of claim 2, wherein the motor drives the linkage at a constant velocity to a first node position at a first speed under the first voltage;
and under the condition that the working condition temperatures are different, the first speeds are the same, and the first node positions are also the same.
4. The control method according to claim 3, wherein the driving voltage further includes a second voltage, the second voltage being smaller than the first voltage;
in the step of obtaining the matching parameter, the matching parameter further includes a second stroke time, and the second stroke time is a time required for the input voltage of the motor to decrease from the first voltage to the second voltage.
5. The control method according to claim 4,
when the input voltage of the motor is reduced from the first voltage to the second voltage, the moving speed of the connecting rod is correspondingly reduced from the first speed to the second speed;
the second speed is the same under different working condition temperatures, and the second travel time and the working condition temperatures are in positive correlation.
6. The control method of claim 4, wherein during the process of the input voltage of the motor decreasing from the first voltage to the second voltage, the moving speed of the link decreases from a first speed to a second speed, and the link moves to a second node position;
the second node position and the second travel time are respectively the same under different working condition temperatures, and the second speed and the working condition temperatures are in an inverse correlation relationship.
7. The control method according to claim 6, characterized in that a speed of decrease of the first voltage to the second voltage in the second stroke time is positively correlated with the condition temperature.
8. The control method of claim 4, wherein the preset data set comprises a plurality of sets of temperature intervals corresponding to the driving voltage, the first time period, and the second time period;
the step of obtaining the matching parameters comprises:
determining a target temperature interval in which the working condition temperature falls, wherein the target temperature interval is one of the temperature intervals;
and taking the driving voltage, the first travel time and the second travel time corresponding to the target temperature interval as the matching parameters.
9. A control device of a gear shifting actuating mechanism, the gear shifting actuating mechanism comprises a connecting rod used for being connected with a gearbox and a motor driving the connecting rod to move; characterized in that the control device comprises:
the temperature acquisition module is used for acquiring the working condition temperature inside the gear shifting actuating mechanism;
the parameter matching module is used for acquiring matching parameters in a preset data set based on the working condition temperature, wherein the matching parameters comprise driving voltage, and the driving voltage and the working condition temperature are in an inverse correlation relation;
and the instruction sending module is used for providing the matching parameters for the motor.
10. A shift control system, comprising:
the gear shifting actuating mechanism comprises a connecting rod connected with the gearbox and a motor driving the connecting rod to move;
the temperature detection element is used for detecting the working condition temperature inside the gear shifting actuating mechanism;
the control device is in signal connection with the temperature detection element and the motor, and is used for acquiring matching parameters in a preset data set based on the working condition temperature, wherein the matching parameters comprise driving voltage, and the driving voltage and the working condition temperature are in an inverse correlation relationship; the control device is also used for providing the matching parameters to the motor, and the motor runs under the driving of the matching parameters.
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| CN201910228065.4A CN109838551B (en) | 2019-03-25 | 2019-03-25 | Control method and device of gear shifting actuating mechanism and gear shifting control system |
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| JP2001182828A (en) * | 1999-12-27 | 2001-07-06 | Aisin Aw Co Ltd | Range changeover device for automatic transmission |
| JP4483410B2 (en) * | 2004-05-31 | 2010-06-16 | 日産自動車株式会社 | Steering device |
| JP6277013B2 (en) * | 2014-02-21 | 2018-02-07 | 日立オートモティブシステムズ株式会社 | Actuator control device |
| CN106246902B (en) * | 2016-08-09 | 2018-05-11 | 王大方 | Short distance pure electric automobile no-clutch is without synchronizer AMT shift control methods |
| JP6565841B2 (en) * | 2016-09-09 | 2019-08-28 | 株式会社デンソー | Shift range control device |
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