CN109910864B - Method, system and related device for determining gear positions of AMT (automated mechanical transmission) - Google Patents
Method, system and related device for determining gear positions of AMT (automated mechanical transmission) Download PDFInfo
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- CN109910864B CN109910864B CN201711330994.3A CN201711330994A CN109910864B CN 109910864 B CN109910864 B CN 109910864B CN 201711330994 A CN201711330994 A CN 201711330994A CN 109910864 B CN109910864 B CN 109910864B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
Abstract
The application discloses a method for determining gear positions of an AMT gearbox, which learns the accurate positions of all gears and the positions of all gear synchronous points while performing extreme position calibration by learning the extreme positions of all gears, prolongs the service life of all mechanical parts in the gearbox, solves the problem of gear shifting impact abnormal sound in the gear shifting process, reduces the gear shifting time and improves the gear shifting smoothness. The application also discloses a system and a device for determining the gear positions of the AMT gearbox and a computer readable storage medium, and the beneficial effects are achieved.
Description
Technical Field
The application relates to the technical field of gear adjustment of AMT (automated mechanical transmission), in particular to a method, a system, a device and a computer readable storage medium for determining gear positions of an AMT.
Background
With the development of new energy vehicles, a pure electric AMT (Automated Mechanical Transmission) system is increasingly applied to the field of commercial vehicles by taking the characteristics of high and low vehicle speeds, large climbing gradient and low operation labor intensity into consideration.
In the gear shifting process of the electric automobile provided with the AMT system, if the gear shifting position is inaccurate, the conditions of unsuccessful gear engagement, gear disengagement and abnormal abrasion of key parts of a gearbox can be caused, and serious traffic accidents can occur in serious cases, so that the position of each gear must be accurate. However, in the AMT system, the position of each shift position is inconsistent due to the consistency deviation of production and processing and the accumulation of wear in long-term gear shifting, so the timely calibration of each shift position in the AMT system is the key point of the current research.
At present, self-calibration operation of manufacturers for manufacturing AMT systems for key gear positions is concentrated on learning the extreme position of each gear (the position is used for mechanical limiting of a gear shifter), and in fact, a certain deviation exists between the position and the actual gear position, abnormal abrasion of mechanical parts can be caused by setting the gear position at the extreme position for a long time, and the gear shifting smoothness of the whole vehicle and the lifting space of the dynamic property are reduced.
Therefore, how to overcome the technical defects of learning of each gear position of the conventional AMT gearbox is a problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The application aims at providing a method for determining gear positions of an AMT gearbox, when the limit positions are subjected to limit position calibration by learning, accurate gear positions and synchronous gear point positions are learned, the service life of each mechanical part in the gearbox is prolonged, the problem of gear shifting impact abnormal sound in the gear shifting process is solved, gear shifting time is shortened, and gear shifting smoothness is improved.
It is another object of the present application to provide a system, apparatus and computer readable storage medium for determining gear positions of an AMT gearbox.
In order to solve the technical problem, the application provides a method for determining each gear position of an AMT gearbox, which comprises the following steps:
when the vehicle is in a parking state, calculating by utilizing the temporary value of the first gear limit position and the temporary value of the second gear limit position to respectively obtain a first gear limit position accurate value and a second gear limit position accurate value; each gear of the AMT gearbox is sequentially a first gear, a neutral gear and a second gear;
averaging the accurate value of the first gear limit position and the accurate value of the second gear limit position to obtain a temporary value of a neutral position;
controlling a gear shifting block to move for a first preset number of times from the temporary value of the neutral position to the direction of the first gear to obtain a corresponding number of temporary values of the first gear, and calculating according to the temporary values of the first gear to obtain a precise value of the first gear;
controlling the gear shifting head to move for the first preset times from the temporary value of the neutral position to the direction of the second gear to obtain temporary values of the second gear with corresponding quantity, and calculating according to the temporary values of the second gear to obtain accurate values of the second gear;
calculating the average of the first gear accurate value and the second gear accurate value to obtain a neutral position accurate value;
controlling the gear shifting head to move in the direction of the first gear from the accurate neutral position value for a second preset number of times to obtain a corresponding number of temporary values of first synchronization point positions, and calculating according to the temporary values of the first synchronization point positions to obtain the accurate first synchronization point positions;
controlling the gear shifting block to move from the neutral position accurate value to the direction of the second gear for a second preset number of times, acquiring a corresponding number of second synchronization point position temporary values, and calculating according to the second synchronization point position temporary values to obtain a second synchronization point position accurate value;
and recording and storing the first gear limit position accurate value, the second gear limit position accurate value, the neutral gear accurate value, the first synchronization point position accurate value and the second synchronization point position accurate value in a memory.
Optionally, the obtaining a corresponding number of first gear temporary values, and calculating a first gear accurate value according to the first gear temporary values includes:
in the process of moving the gear shifting block to the direction of the first gear each time, stopping applying power to the gear shifting block at preset time intervals, and collecting and obtaining the change of the resistance on the gear shifting block before and after stopping;
when the resistance changes to the state that the resistance exceeds a first threshold before stopping and is smaller than the first threshold after stopping, and the distance between the position where the gear shifting block stops and the accurate value of the first gear limit position is within a first distance range, determining a first gear temporary value until obtaining a first gear temporary value with the quantity corresponding to the first preset times;
calculating the standard deviation of the temporary value of the first gear to obtain a first calculation result;
judging whether the first calculation result is smaller than a first standard deviation threshold value or not;
if so, averaging the temporary value of the first gear to obtain the accurate value of the first gear.
Optionally, the obtaining of the temporary values of the first synchronization point positions of the corresponding number, and calculating the temporary value of the first synchronization point position according to the temporary value of the first synchronization point position, includes:
in the process of moving the gear shifting block to the direction of the first gear each time, stopping applying power to the gear shifting block at intervals of the preset time interval, and acquiring the change of the resistance on the gear shifting block before and after stopping;
when the resistance changes to the state that the resistance exceeds a second threshold before stopping and is smaller than the second threshold after stopping, and the distance between the position where the gear shifting block stops and the accurate value of the limit position of the first gear is within a second distance range, determining a temporary value of the first synchronization point position until a temporary value of the first synchronization point position corresponding to the second preset number of times is obtained;
calculating the standard deviation of the position accurate value of the first synchronization point to obtain a second calculation result;
judging whether the second calculation result is smaller than a second standard deviation threshold value;
and if so, averaging the temporary values of the first synchronization point position to obtain the accurate value of the first synchronization point position.
Optionally, the method further includes:
controlling the gear shifting block to move towards the first gear with the maximum power to obtain a temporary value of the limit position of the first gear;
and controlling the gear shifting head to move towards the second gear with the maximum power to obtain the temporary value of the limit position of the second gear.
Optionally, the method further includes:
calculating a distance difference value between the first gear limit position accurate value and the intermediate gear temporary value;
calculating a homing time for moving the distance difference when applying homing power to the shift knob;
judging whether the actual moving back time of the gear shifting block exceeds the homing time or not;
and if so, determining that the gear position is determined to be failed, and stopping applying power to the gear shifting block.
Optionally, after determining that the gear position determination fails and stopping applying power to the shift knob, the method further includes:
and generating a calibration failure signal and returning the calibration failure signal through a preset path.
Optionally, the method further includes:
and performing gear determination analysis on the data stored in the memory every other preset time period to obtain a gear determination log.
In order to achieve the above object, the present application further provides a system for determining gear positions of an AMT gearbox, the system comprising:
the gear limit position calculation unit is used for calculating and obtaining a first gear limit position accurate value and a second gear limit position accurate value respectively by utilizing the temporary value of the first gear limit position and the temporary value of the second gear limit position when the vehicle is in a parking state; each gear of the AMT gearbox is sequentially a first gear, a neutral gear and a second gear;
the neutral position temporary value calculating unit is used for calculating the average of the first gear limit position accurate value and the second gear limit position accurate value to obtain a neutral position temporary value;
the first gear accurate value calculating unit is used for controlling the gear shifting block to move for a first preset number of times from the neutral position temporary value to the direction of the first gear, acquiring a corresponding number of first gear temporary values, and calculating according to the first gear temporary values to obtain first gear accurate values;
the second gear accurate value calculating unit is used for controlling the gear shifting block to move the gear shifting block from the neutral position temporary value to the direction of the second gear for the first preset times to obtain a corresponding number of second gear temporary values, and calculating according to the second gear temporary values to obtain second gear accurate values;
the neutral position accurate value calculating unit is used for calculating the average of the first gear accurate value and the second gear accurate value to obtain a neutral position accurate value;
the first synchronization point position accurate value calculating unit is used for controlling the gear shifting block to move from the neutral position accurate value to the first gear direction for a second preset number of times, acquiring a corresponding number of first synchronization point position temporary values, and calculating according to the first synchronization point position temporary values to obtain a first synchronization point position accurate value;
the second synchronization point position accurate value calculating unit is used for controlling the gear shifting block to move from the neutral position accurate value to the direction of the second gear for a second preset number of times, acquiring a corresponding number of second synchronization point position temporary values, and calculating according to the second synchronization point position temporary values to obtain a second synchronization point position accurate value;
and the recording and storing unit is used for recording and storing the first gear limit position accurate value, the second gear limit position accurate value, the neutral gear accurate value, the first synchronization point position accurate value and the second synchronization point position accurate value in a memory.
In order to achieve the above object, the present application further provides an AMT transmission gear position determining device, including:
a memory for storing a computer program;
a processor for implementing the steps of the method for determining the gear positions of the AMT gearbox as described in the above when executing said computer program.
To achieve the above object, the present application further provides a computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements the steps of the method for determining gear positions of an AMT gearbox as described in the above.
Obviously, the technical scheme that this application provided, when utilizing to learn each gear extreme position and carrying out the extreme position calibration, still learned each gear accurate position and each gear synchronization point position, promoted the inside life of each mechanical parts of gearbox, solved the problem that has the impact abnormal sound of shifting among the process of shifting, reduce the time of shifting simultaneously, promoted the ride comfort of shifting.
The application also provides a system, a determining device and a computer readable storage medium for determining the gear positions of the AMT, which have the beneficial effects and are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of an AMT transmission;
FIG. 2 is a flowchart of a method for determining gear positions of an AMT according to an embodiment of the present application;
FIG. 3 is a flowchart illustrating a method for determining a temporary first gear value and a precise first gear value in a method for determining gear positions of an AMT transmission according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating a method for determining a temporary value and a precise value of a first synchronization point position in a method for determining gear positions of an AMT transmission according to an embodiment of the present application;
FIG. 5 is a flowchart illustrating a failed gear position determination method in a method for determining gear positions of an AMT transmission according to an embodiment of the present application;
fig. 6 is a block diagram of a system for determining gear positions of an AMT gearbox according to an embodiment of the present application.
Detailed Description
Referring to fig. 1, fig. 1 is a schematic diagram of an actual structure of an AMT transmission.
Generally, the automatic transmission comprises a transmission control unit, a gear shifting power source, a gear shifting head, a gear shifting rod, a transmission, a system power unit and the like, wherein a position detection device for detecting the real-time position of the gear shifting head is arranged on the gear shifting head. It can be seen from fig. 1 that the left and right sides of the gear shift knob are provided with the limiting devices to limit the gear shift knob to move only in a fixed area, and the movement of the gear shift knob also drives the shift lever connected with the gear shift knob to move correspondingly, three pits are arranged on the right side of the shift lever, wherein a fixed-position gear engaging device is further arranged around the pit close to the leftmost side of the shift lever and is used for moving in the three pits along with the position change of the shift lever, and the three pits correspond to three different gears.
The engaging means are located substantially around the rightmost recess when the shift control knob is restrained by the leftmost restraining means from moving further to the left, and correspondingly the engaging means are located substantially around the leftmost recess when the shift control knob is restrained by the rightmost restraining means from moving further to the right, which positions are referred to as the extreme positions of the two gears of the gearbox. The prior art usually only obtains the extreme positions of the corresponding gear positions by applying the maximum power to the gear shift knob, and as is apparent from fig. 1, the extreme positions of the gear positions do not very well represent the true positions of the gear positions, the engagement means being in each of the pockets in fig. 1 and representing the exact position of the gear position only if the engagement means is at the bottom of each pocket.
The gear limiting position is utilized for representing the accurate gear position for a long time, so that the related elements in the gearbox can process abnormal stress states for a long time, the service life of the gearbox can be obviously shortened, the gear shifting sensitivity is reduced, and poor gear shifting smoothness can be brought.
The core of the application is to provide a method, a system, a device and a computer readable storage medium for determining each gear position of an AMT gearbox, when the limit position calibration is carried out by utilizing the learned limit position of each gear, the accurate point position of each gear is learned to obtain the accurate point position of each gear and the synchronous point position of each gear, the service life of each mechanical part in the gearbox is prolonged, the problem of gear shifting impact abnormal sound in the gear shifting process is solved, the gear shifting time is reduced, and the gear shifting smoothness is improved.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 2, fig. 2 is a flowchart of a method for determining gear positions of an AMT transmission according to an embodiment of the present application.
The method specifically comprises the following steps:
s101: when the vehicle is in a parking state, calculating by utilizing the temporary value of the first gear limit position and the temporary value of the second gear limit position to respectively obtain a first gear limit position accurate value and a second gear limit position accurate value; each gear of the AMT gearbox is sequentially a first gear, a neutral gear and a second gear;
in the present embodiment, three pits shown in fig. 1 represent a first gear, a neutral gear, and a second gear from left to right, respectively.
One way of obtaining the gear limit positions is as follows:
controlling the gear shifting block to move towards the first gear with the maximum power to obtain a temporary value of the limit position of the first gear; and controlling the gear shifting block to move towards the second gear with the maximum power to obtain a temporary value of the limit position of the second gear. The gear shifting head is controlled to move in the same direction with maximum power, when the gear shifting head is limited by a limiting device in the corresponding direction each time, a temporary value of a limiting position of the gear is recorded, the temporary value of the limiting position of a plurality of gears can be obtained by repeating the action for many times, and an accurate value of the limiting position of the gear can be obtained by utilizing a method of mostly averaging.
Of course, the temporary values of the limit positions of the obtained plurality of gears can be judged to eliminate or judge whether a representative accurate value of the limit position can be obtained by utilizing the temporary values of the limit positions. One of the methods is to calculate a standard deviation for the temporary value of the set of limit positions, and since the standard deviation can reflect the fluctuation stability of the temporary value of the set of limit positions, the average calculation can be performed only after the calculated standard deviation meets the requirement, so as to obtain the accurate value of the limit position of the gear.
S102: calculating the average of the first gear limit position accurate value and the second gear limit position accurate value to obtain a temporary value of a neutral position;
after the accurate values of the extreme positions of the two gears corresponding to the two directions are successfully obtained by using the method in the step S101, the step aims to perform average calculation by using the calculated accurate values of the extreme positions of the two gears to obtain the temporary value of the neutral position. Since the positions of the two gears on the left and right sides of the neutral gear in the transmission shown in fig. 1 exist symmetrically relative to the neutral gear, certainly, due to the existence of manufacturing process or special requirements in actual conditions, certain deviation or asymmetry can also exist, and the application is only directed to the transmission with the first gear and the second gear in a generally symmetrical relation relative to the neutral gear.
S103: controlling the gear shifting head to move for a first preset number of times from the temporary value of the neutral position to the direction of a first gear to obtain the temporary values of the first gear with corresponding number, and calculating according to the temporary values of the first gear to obtain the accurate value of the first gear;
on the basis of S102, this step aims to obtain an accurate value of the first gear. It can be seen from fig. 1 that the first gear limit position accuracy value should be located to the left of the first gear limit position accuracy value, i.e. it should be greater than the first gear limit position accuracy value, but of course, due to the rigid condition of the manufacturing of the gearbox itself, on the basis of obtaining the first gear limit position accuracy value, the first gear limit position accuracy value should not be too far away from the first gear limit position accuracy value, i.e. there is a distance range within which the first gear temporary value should be authentic, otherwise it is not authentic.
It can be seen from fig. 1 that during the shifting of the gearshift lever from the temporary neutral position value to the right, i.e. when the engagement of the engaging device into the first gear is to be controlled, the engaging device is first subjected to a resistance from the left side of the neutral recess to the upper left wall, and due to the gentle slope of the neutral recess, the engaging device can be moved out of the neutral recess with a small force until it enters the first gear recess and is subsequently subjected to a resistance from the left side of the first gear recess to the upper left wall, which resistance is large, and normally, the engaging device can be moved to the first gear limit position only when maximum power is applied against the large resistance. It is thus possible to determine where a greater resistance is encountered whether the engagement device has reached the vicinity of the first gear accuracy value and attempted to move against the resistance towards the first gear limit position.
The method of averaging by using majority, as in S101, may be implemented by collecting a plurality of temporary values of the first gear, and performing an average calculation after passing the determination to obtain a precise value of the representative first gear.
S104: controlling the gear shifting head to move for a first preset number of times from the temporary value of the neutral position to the direction of a second gear to obtain temporary values of the second gear with corresponding number, and calculating according to the temporary values of the second gear to obtain accurate values of the second gear;
this step is substantially the same as step S103 except that after determining the precise value of the first gear, the shift knob is placed at the temporary value of the neutral position and the operation described in step S103 is repeated in the opposite direction to obtain the precise value of the second gear to the right of neutral.
S105: calculating the average of the first gear accurate value and the second gear accurate value to obtain a neutral gear position accurate value;
based on S103 and S104, the step performs an average calculation according to the calculated first gear precision value and the second gear precision value to obtain a neutral position precision value.
S106: controlling the gear shifting block to move for a second preset number of times from the neutral position accurate value to the first gear direction, acquiring a corresponding number of temporary values of the first synchronization point positions, and calculating according to the temporary values of the first synchronization point positions to obtain a first synchronization point position accurate value;
on the basis of S106, this step aims to obtain a first synchronization point position accuracy value. In each AMT gearbox, in the process of shifting the gear shifting block from a neutral gear to a first gear accurate value or a second gear accurate value, the gear shifting block correspondingly passes through a first synchronization point and a second synchronization point and correspondingly shifts to a first gear and a second gear. The synchronization point means a position engaged with a synchronizer in the transmission, which is indispensable, and since the engaging device also receives a certain resistance when passing through the synchronization point, how to find the position of each gear synchronization point is an important basis for increasing the smoothness of gear shifting.
Since the synchronizing point position of each gear position is subjected to a certain resistance in the process of moving the shift knob from the neutral gear to the first gear position or the second gear position, the resistance point can be searched and confirmed by using the method used in S103, and unlike S103, the distance range of the first gear position synchronizing point position from the first gear position limit position accurate value is larger than the distance range of the first gear position accurate value from the first gear position limit position accurate value, so that another larger distance range exists, i.e., whether the first gear position accurate value or the first synchronizing point position is determined by using the distance range within which the distance range from the first gear position limit position accurate value falls.
S107: controlling the gear shifting block to move for a second preset number of times from the neutral position accurate value to the direction of a second gear, acquiring temporary values of the positions of a corresponding number of second synchronizing points, and calculating according to the temporary values of the positions of the second synchronizing points to obtain a second synchronizing point position accurate value;
this step is substantially the same as step S106, except that after the first precise value of the synchronization point position is determined, the shift knob is placed at the precise value of the neutral position, and the operation described in step S106 is repeated in the opposite direction to obtain the second precise value of the synchronization point position located on the right side of the neutral position.
S108: and recording and storing the first gear limit position accurate value, the second gear limit position accurate value, the neutral gear accurate value, the first synchronization point position accurate value and the second synchronization point position accurate value in a memory.
The step aims to record and store a first gear limit position accurate value, a second gear limit position accurate value, a neutral gear accurate value, a first synchronization point position accurate value and a second synchronization point position accurate value in a memory so as to enable the AMT gearbox to realize accurate gear shifting.
Furthermore, the gear position determination analysis can be performed on the data stored in the memory every other preset time period to obtain a gear position determination log, so that the whole gear position determination process can be reproduced and subjected to abnormal analysis according to the gear position determination log.
Based on the technical scheme, the calibration method for the gear positions of the AMT gearbox, provided by the embodiment of the application, has the advantages that when the limit positions of the gears are learned to calibrate the limit positions, the accurate point positions of the gears and the synchronous point positions of the gears are learned, the service life of each mechanical part in the gearbox is prolonged, the problem of gear shifting impact abnormal sound in the gear shifting process is solved, the gear shifting time is shortened, and the gear shifting smoothness is improved.
Referring to fig. 3, fig. 3 is a flowchart illustrating a manner of determining a temporary value and a precise value of a first gear in a method for determining positions of gears in an AMT transmission according to an embodiment of the present application.
The present embodiment is a specific limitation on how to obtain the first gear temporary value and calculate the first gear accurate value in S103 in the previous embodiment, other steps are substantially the same as those in the previous embodiment, and the same parts may refer to relevant parts of the previous embodiment, and are not described herein again.
The method specifically comprises the following steps:
s201: in the process of moving the gear shifting block to the direction of the first gear each time, stopping applying power to the gear shifting block at preset time intervals, and collecting and obtaining the change of resistance on the gear shifting block before and after stopping;
s202: when the resistance changes to the state that the resistance exceeds a first threshold before stopping, the resistance is smaller than the first threshold after stopping, and the distance between the position where the gear shifting block stops and the accurate value of the limit position of the first gear is within a first distance range, determining a temporary value of the first gear until obtaining the temporary value of the first gear with the quantity corresponding to the first preset times;
the present embodiment determines the first gear accurate value by stopping the application of power to the shift knob every preset time interval during the movement of the shift knob in the direction of the first gear and using the change in the magnitude of the resistance force received before and after the stop. As shown in fig. 1, if the engaging device is located at the middle waist of the left upper wall of the first gear pit obliquely on the left side before the application of power is stopped, the resistance applied at this time is assumed to be 10N, if the application of power is stopped at this time, the gear shifting head will retract to the left under the condition that the resistance cannot be overcome until the engaging device is located at the bottommost part of the first gear pit, i.e. the first gear accurate value, because the force applied at this time is basically balanced, the force applied at this time will be smaller, and meanwhile, whether the engaging device is located in the first distance range is determined according to the distance between the position detecting device and the first gear limit position accurate value to eliminate the interference of the first synchronization point position.
Similarly, the principle of majority averaging in S101 may be used to obtain a plurality of first gear temporary values first.
S203: calculating a standard deviation of the temporary value of the first gear to obtain a first calculation result;
s204: judging whether the first calculation result is smaller than a first standard deviation threshold value or not;
s205: and calculating the average of the temporary values of the first gear to obtain the accurate value of the first gear.
On the basis that a plurality of first gear temporary values are obtained in S202, the subsequent steps in this embodiment determine whether the group of data has reliability and representativeness by performing standard deviation calculation on the group of first gear temporary values, and perform the step S205 to average the group of first gear temporary values only when the determination result in S204 is that the first calculation result is smaller than the first standard deviation threshold, so as to obtain the first gear accurate value.
Referring to fig. 4, fig. 4 is a flowchart illustrating a manner of determining a temporary value and an accurate value of a first synchronization point position in a method for determining gear positions of an AMT transmission according to an embodiment of the present application.
The present embodiment is a specific limitation on how to obtain the temporary value of the first synchronization point position and calculate the accurate value of the first synchronization point position in S106 in the previous embodiment, other steps are substantially the same as those in the previous embodiment, and the same parts may refer to relevant parts of the previous embodiment, and are not described herein again.
The method specifically comprises the following steps:
s301: in the process of moving the gear shifting block to the direction of the first gear each time, stopping applying power to the gear shifting block at preset time intervals, and collecting and obtaining the change of resistance on the gear shifting block before and after stopping;
s302: when the resistance changes to the situation that the resistance exceeds a second threshold before stopping, the resistance is smaller than the second threshold after stopping, and the distance between the position where the gear shifting block stops and the accurate value of the limit position of the first gear is within a second distance range, determining a temporary value of the position of a first synchronization point until a temporary value of the position of the first synchronization point is obtained, wherein the number of the temporary values corresponds to a second preset number of times;
s303: calculating the standard deviation of the position accurate value of the first synchronization point to obtain a second calculation result;
s304: judging whether the second calculation result is smaller than a second standard deviation threshold value;
s305: and calculating the average of the temporary values of the first synchronization point position to obtain the accurate value of the first synchronization point position.
The present embodiment is substantially the same as the previous embodiment, except that the magnitude of the resistance applied to the gear engaging device around the first synchronization point may be different from the resistance applied to the gear engaging device around the first gear accurate value, and the distance from the first synchronization point to the first gear limit position is relatively far from the first gear limit position accurate value with respect to the first gear accurate value, so that the corresponding operation steps and determination conditions are changed, and the description of the other same parts is omitted.
With reference to fig. 5, fig. 5 is a flowchart of a failed gear position determination method in the method for determining gear positions of an AMT transmission according to the embodiment of the present application.
The present embodiment is described with respect to the possible abnormal phenomena occurring in the operation process in other embodiments, other steps are substantially the same as those in the previous embodiment, and the same portions refer to the relevant portions of the previous embodiment, which are not described herein again.
The method specifically comprises the following steps:
s401: calculating a distance difference value between the accurate value of the limit position of the first gear and the temporary value of the intermediate gear;
s402: when the homing power is applied to the gear shifting block, the homing time of the moving distance difference is calculated;
s403: judging whether the actual moving back time of the gear shifting block exceeds the homing time or not;
steps S401, S402 and S403 are directed to determining whether the actual shift-back time of the shift gates when the preset homing power is applied exceeds the preset homing time on the basis of determining the first gear limit position accurate value and the intermediate gear temporary value.
S404: determining that the gear position determination fails, and stopping applying power to the gear shifting block;
this step is established on the basis that the judgment result of S403 is exceeded, that is, the temporary value of the intermediate gear is also determined incorrectly due to the determination error of the accurate value of the first gear limit position and the accurate value of the second gear limit position, and finally, an abnormality occurs in the homing verification operation.
S405: generating a gear position determination failure signal, and returning the gear position determination failure signal through a preset path;
on the basis of S404, this step is intended to generate a gear position determination failure signal, and return the gear position determination failure signal through a preset path. The preset path includes a plurality of paths, such as a personal mailbox, instant messaging software, a short message service or other paths of the current vehicle owner, so as to remind the vehicle owner that the gear determination fails, and enable the vehicle owner to take subsequent corresponding measures.
S406: it is determined that the gear position determination is successful and the steps of determining the other gear positions are continued.
This step is based on the determination result in S403 being not exceeded, that is, it can be considered that the predetermined position is reached within the predetermined time, and the subsequent determination step of another shift position can be continued.
Further, not only the abnormality check may be performed here, but also similar abnormality checks may be performed under the same or similar circumstances that exist in other embodiments, and abnormality and error may be discovered in time, reducing useless gear position determination operations.
Referring to fig. 6, fig. 6 is a block diagram of a system for determining gear positions of an AMT transmission according to an embodiment of the present application.
The system may include:
the gear limit position calculating unit 100 is used for calculating and respectively obtaining a first gear limit position accurate value and a second gear limit position accurate value by utilizing a first gear limit position temporary value and a second gear limit position temporary value when the vehicle is in a parking state; each gear of the AMT gearbox is sequentially a first gear, a neutral gear and a second gear;
a neutral position temporary value calculation unit 200, configured to calculate an average of the first gear limit position accurate value and the second gear limit position accurate value to obtain a temporary value of the neutral position;
the first gear accurate value calculating unit 300 is configured to control the shift knob to move from the neutral position temporary value to the first gear direction for a first preset number of times, obtain a corresponding number of first gear temporary values, and calculate a first gear accurate value according to the first gear temporary values;
the second gear accurate value calculating unit 400 is configured to control the shift knob to move from the neutral position temporary value to the second gear direction for a first preset number of times, obtain a corresponding number of second gear temporary values, and calculate a second gear accurate value according to the second gear temporary values;
a neutral position accurate value calculating unit 500, configured to calculate an average of the first gear accurate value and the second gear accurate value to obtain a neutral position accurate value;
the first synchronization point position accurate value calculating unit 600 is configured to control the shift knob to move from the neutral position accurate value to the first gear direction for a second preset number of times, obtain a corresponding number of first synchronization point position temporary values, and calculate a first synchronization point position accurate value according to the first synchronization point position temporary values;
the second synchronization point position accurate value calculating unit 700 is configured to control the shift knob to move from the neutral position accurate value to the second gear for a second preset number of times, obtain a corresponding number of second synchronization point position temporary values, and calculate a second synchronization point position accurate value according to the second synchronization point position temporary values;
the recording storage unit 800 is configured to record and store the first gear limit position accurate value, the second gear limit position accurate value, the neutral position accurate value, the first synchronization point position accurate value, and the second synchronization point position accurate value in the memory.
The above units may be practically applied to the following set of calibration or self-learning procedures:
step 1: confirming whether a self-learning instruction request exists or not, if not, exiting self-learning, and if so, turning to Step 2;
step 2: confirming whether the parking signal is valid or not, if the parking signal is invalid, directly turning to Step16, and otherwise, turning to Step 3; (i.e. the invention is applied in parking situations)
Step 3: adjusting the power output in a gear shifting actuator to be maximum or close to the maximum, pushing a gear shifting rod left and right until the gear shifting rod is pushed to be not moved (detecting that the variation range of a sensor value in a certain set time is smaller than a set threshold), recording the numerical value of a sensor at the moment, executing the set times of the action, considering that the identification of the gear limit position value is effective when the standard difference of each obtained gear position value is smaller than the set value, averaging the measured data at each time to obtain the limit position value of each gear, averaging the limit position value to be used as a temporary value of a neutral position, and turning to Step 4; if the standard deviation of each gear position value obtained every time is larger than a set threshold value, the gear limit value identification is considered to be invalid, and the Step16 is directly carried out;
step 4: moving the gear shifting block to a neutral gear position temporary value by commanding a gear shifting actuator, if the position is reached within a specified time, then turning to Step5, otherwise, directly turning to Step 16;
step 5: adjusting the power output capability of a shifting power source in a shifting actuator to a set value, and then pushing a shifting lever to the left (or to the right):
1) if the position of the gear shifting lever does not exceed a set position threshold value and the output capacity of the gear shifting power source in the gear shifting actuator is smaller than a set maximum output capacity threshold value, and the position change range is detected to be smaller than a set change range threshold value within set time, the output capacity of the gear shifting power source in the gear shifting actuator is increased according to a set value, and the gear shifting lever is continuously pushed;
2) if the position of the gear shifting lever does not exceed a set position threshold value and the output capacity of the gear shifting power source in the gear shifting actuator is smaller than a set maximum output capacity threshold value, and the position change range is detected to be larger than a set change range threshold value within set time, the output capacity of the gear shifting power source in the current gear shifting actuator is kept, and the gear shifting lever is continuously pushed;
3) if the position of the gear shifting lever does not exceed a set position threshold value and the output capacity of a gear shifting power source in the gear shifting actuator exceeds a set maximum output capacity threshold value, and the position change range is detected to be larger than the set change range threshold value within set time, keeping the set maximum output capacity threshold value, and continuously pushing the gear shifting lever;
4) if the position of the gear shift lever does not exceed a set position threshold value and the output capacity of a gear shifting power source in the gear shifting actuator exceeds a set maximum output capacity threshold value, and the position change range is detected to be smaller than the set change range threshold value within set time, the gear shift lever is stopped to be pushed, the position value at the moment is recorded as a temporary value of a gear accurate value, the temporary value is shifted to Step4 and Step5 until a set number of temporary values of the gear accurate value are obtained, if the standard deviation of the temporary value is smaller than the set standard deviation threshold value, the gear accurate value is successfully learned, the average value is calculated to be the current gear accurate value, the gear shift lever is shifted to Step6, and if the standard deviation of the gear;
5) if the position of the gear shifting lever exceeds the set position threshold value, turning to Step 16;
step 6: moving the gear shifting block to a neutral gear position temporary value by commanding a gear shifting actuator, if the position is reached within a specified time, then turning to Step7, otherwise, directly turning to Step 16;
step 7: adjusting the power output capability of a shifting power source in a shifting actuator to a set value, and then pushing a shifting lever to the right (or left):
1) if the position of the gear shifting lever does not exceed a set position threshold value and the output capacity of the gear shifting power source in the gear shifting actuator is smaller than a set maximum output capacity threshold value, and the position change range is detected to be smaller than a set change range threshold value within set time, the output capacity of the gear shifting power source in the gear shifting actuator is increased according to a set value, and the gear shifting lever is continuously pushed;
2) if the position of the gear shifting lever does not exceed a set position threshold value and the output capacity of the gear shifting power source in the gear shifting actuator is smaller than a set maximum output capacity threshold value, and the position change range is detected to be larger than a set change range threshold value within set time, the output capacity of the gear shifting power source in the current gear shifting actuator is kept, and the gear shifting lever is continuously pushed;
3) if the position of the gear shifting lever does not exceed a set position threshold value and the output capacity of a gear shifting power source in the gear shifting actuator exceeds a set maximum output capacity threshold value, and the position change range is detected to be larger than the set change range threshold value within set time, keeping the set maximum output capacity threshold value, and continuously pushing the gear shifting lever;
4) if the position of the gear shift lever does not exceed a set position threshold value and the output capacity of a gear shifting power source in the gear shifting actuator exceeds a set maximum output capacity threshold value, and the position change range is detected to be smaller than the set change range threshold value within set time, the gear shift lever is stopped to be pushed, the position value at the moment is recorded as a temporary value of a gear accurate value, the gear shift lever is switched to Step4 and Step7 until a set number of temporary values of the gear accurate value are obtained, if the standard deviation of the gear accurate value is smaller than the set standard deviation threshold value, the gear accurate value is successfully learned, the average value is calculated to be the current gear accurate value, the gear accurate value in Step5 and the learned accurate value in the current link are averaged to obtain an accurate value of a neutral position, the gear shift lever is switched to Step8, and otherwise the gear shift lever is;
5) if the position of the gear shifting lever exceeds the set position threshold value, turning to Step 16;
step 8: moving the shift dial to the precise value of neutral position by commanding the shift actuator, if this position is reached within the prescribed time, then go to Step9, otherwise go directly to Step 16;
step 9: sending an instruction to an AMT system power driving unit to enable the rotating speed of the AMT system power driving unit to reach a set range and keep stable, if the requirement is met within a specified time, going to Step10, otherwise, directly going to Step 16;
step 10: adjusting the power output capacity of the gear shifting power source in the gear shifting actuator to a set value, then pushing the gear shifting lever to the right (or to the left), pushing for a set time, then canceling the power output of the gear shifting power source in the gear shifting actuator and maintaining a set period, and repeating the steps:
1) if the position of the gear shifting lever is detected to exceed the set position threshold value, directly turning to Step 16;
2) if the shift lever position is detected not to exceed the set position threshold value and the position change range of the shift lever is smaller than the set change range threshold value within the set time, the synchronization point learning is considered to be successful, and the Step11 is carried out;
step 11: moving the shift dial to the precise value of neutral position by commanding the shift actuator, if this position is reached within the prescribed time, then go to Step12, otherwise go directly to Step 16;
step 12: adjusting the power output capacity of the gear shifting power source in the gear shifting actuator to a set value, then pushing the gear shifting lever leftwards (or rightwards) for a set time, then canceling the power output of the gear shifting power source in the gear shifting actuator and maintaining a set period, and repeating the steps:
1) if the position of the gear shifting lever is detected to exceed the set position threshold value, directly turning to Step 16;
2) if the shift lever position is detected not to exceed the set position threshold value and the position change range of the shift lever is smaller than the set change range threshold value within the set time, the synchronization point learning is considered to be successful, and the Step13 is carried out;
step 13: and sending a shutdown to the AMT system power driving unit, and if the shutdown is performed within the specified time, turning to Step14, otherwise, directly turning to Step 16.
Step 14: moving the shift dial to the precise value of neutral position by commanding the shift actuator, if this position is reached within the prescribed time, then go to Step15, otherwise go directly to Step 16;
step 15: storing the learned gear limit values, accurate values and synchronous point positions in an AMT (automated mechanical Transmission) Controller (TCU) into an EEPROM (Electrically Erasable Programmable read only memory), generating a self-learning successful system code, and exiting the self-learning process;
step 16: and generating a self-learning fault code, setting the power output in the gear shifting actuator to be 0, and exiting the self-learning process.
The application also provides a device for determining gear positions of an AMT gearbox, which may include a memory and a processor, where the memory stores a computer program, and the processor may implement the steps provided in the above embodiments when calling the computer program in the memory. Of course, the determining means may also comprise various necessary network interfaces, power supplies, other components, etc.
The present application also provides a computer-readable storage medium, on which a computer program is stored, which, when executed by an execution terminal or processor, can implement the steps provided by the above-mentioned embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method of determining gear positions of an AMT transmission, comprising:
when the vehicle is in a parking state, calculating by utilizing the temporary value of the first gear limit position and the temporary value of the second gear limit position to respectively obtain a first gear limit position accurate value and a second gear limit position accurate value; each gear of the AMT gearbox is sequentially a first gear, a neutral gear and a second gear;
averaging the first gear limit position accurate value and the second gear limit position accurate value to obtain a temporary value of the neutral position;
controlling a gear shifting block to move for a first preset number of times from the temporary value of the neutral position to the direction of the first gear, acquiring temporary values of the first gear with corresponding number, and calculating according to the temporary values of the first gear to obtain an accurate value of the first gear;
controlling the gear shifting block to move the first preset times from the temporary value of the neutral position to the direction of the second gear to obtain temporary values of the second gear with corresponding quantity, and calculating according to the temporary values of the second gear to obtain accurate values of the second gear;
calculating the average of the first gear accurate value and the second gear accurate value to obtain a neutral position accurate value;
controlling the gear shifting block to move in the direction of the first gear from the neutral position accurate value for a second preset number of times, acquiring a corresponding number of temporary values of first synchronization point positions, and calculating according to the temporary values of the first synchronization point positions to obtain a first synchronization point position accurate value;
controlling the gear shifting block to move from the neutral position accurate value to the direction of the second gear for a second preset number of times, acquiring a corresponding number of second synchronization point position temporary values, and calculating according to the second synchronization point position temporary values to obtain a second synchronization point position accurate value;
and recording and storing the first gear limit position accurate value, the second gear limit position accurate value, the neutral position accurate value, the first synchronization point position accurate value and the second synchronization point position accurate value in a memory.
2. The method according to claim 1, wherein obtaining a corresponding number of first gear temporary values and calculating a first gear accurate value according to the first gear temporary values comprises:
in the process of moving the gear shifting block to the direction of the first gear each time, stopping applying power to the gear shifting block at preset time intervals, and collecting and obtaining the change of the resistance force applied to the gear shifting block before and after stopping;
when the resistance changes to the state that the resistance exceeds a first threshold before stopping and is smaller than the first threshold after stopping, and the distance between the position where the gear shifting block stops and the accurate value of the first gear limit position is within a first distance range, determining a first gear temporary value until obtaining a first gear temporary value with the quantity corresponding to the first preset times;
calculating the standard deviation of the temporary value of the first gear to obtain a first calculation result;
judging whether the first calculation result is smaller than a first standard deviation threshold value or not;
if so, averaging the temporary value of the first gear to obtain the accurate value of the first gear.
3. The method according to claim 1 or 2, wherein obtaining a corresponding number of temporary values of the first synchronization point position, and calculating a first accurate value of the synchronization point position according to the temporary values of the first synchronization point position comprises:
in the process of moving the gear shifting block to the direction of the first gear each time, stopping applying power to the gear shifting block at intervals of the preset time interval, and acquiring the change of the resistance on the gear shifting block before and after stopping;
when the resistance changes to the state that the resistance exceeds a second threshold before stopping and is smaller than the second threshold after stopping, and the distance between the position where the gear shifting block stops and the accurate value of the limit position of the first gear is within a second distance range, determining a temporary value of the first synchronization point position until a temporary value of the first synchronization point position with the quantity corresponding to the second preset number of times is obtained;
calculating the standard deviation of the position accurate value of the first synchronization point to obtain a second calculation result;
judging whether the second calculation result is smaller than a second standard deviation threshold value;
and if so, averaging the temporary values of the first synchronization point position to obtain the accurate value of the first synchronization point position.
4. The method of claim 3, further comprising:
controlling the gear shifting block to move towards the first gear with the maximum power to obtain a temporary value of the limit position of the first gear;
and controlling the gear shifting block to move towards the second gear with the maximum power to obtain a temporary value of the limit position of the second gear.
5. The method of claim 4, further comprising:
calculating a distance difference between the first gear limit position accurate value and the neutral position temporary value;
calculating a homing time to move the distance difference when applying a homing power to the shift knob;
judging whether the actual moving back time of the gear shifting block exceeds the returning time or not;
and if so, determining that the gear position determination fails, and stopping applying power to the gear shifting block.
6. The method of claim 5, further comprising, after determining that the gear position determination has failed and stopping power application to the shift finger:
and generating a calibration failure signal and returning the calibration failure signal through a preset path.
7. The method of claim 6, further comprising:
and performing gear determination analysis on the data stored in the memory every other preset time period to obtain a gear determination log.
8. A system for determining the gear positions of an AMT transmission, comprising:
the gear limit position calculation unit is used for calculating and obtaining a first gear limit position accurate value and a second gear limit position accurate value respectively by utilizing the temporary value of the first gear limit position and the temporary value of the second gear limit position when the vehicle is in a parking state; each gear of the AMT gearbox is sequentially a first gear, a neutral gear and a second gear;
the neutral position temporary value calculation unit is used for calculating the average of the first gear limit position accurate value and the second gear limit position accurate value to obtain a neutral position temporary value;
the first gear accurate value calculating unit is used for controlling the gear shifting block to move for a first preset number of times from the neutral position temporary value to the direction of the first gear, acquiring a corresponding number of first gear temporary values, and calculating according to the first gear temporary values to obtain first gear accurate values;
the second gear accurate value calculating unit is used for controlling the gear shifting block to move for the first preset times from the neutral position temporary value to the direction of the second gear, acquiring second gear temporary values of corresponding quantity, and calculating according to the second gear temporary values to obtain second gear accurate values;
the neutral position accurate value calculating unit is used for calculating the average of the first gear accurate value and the second gear accurate value to obtain a neutral position accurate value;
the first synchronization point position accurate value calculating unit is used for controlling the gear shifting block to move from the neutral position accurate value to the first gear direction for a second preset number of times, acquiring a corresponding number of first synchronization point position temporary values, and calculating according to the first synchronization point position temporary values to obtain a first synchronization point position accurate value;
the second synchronization point position accurate value calculating unit is used for controlling the gear shifting block to move from the neutral position accurate value to the direction of the second gear for a second preset number of times, acquiring a corresponding number of second synchronization point position temporary values, and calculating according to the second synchronization point position temporary values to obtain a second synchronization point position accurate value;
and the recording and storing unit is used for recording and storing the first gear limit position accurate value, the second gear limit position accurate value, the neutral position accurate value, the first synchronization point position accurate value and the second synchronization point position accurate value in a memory.
9. A device for determining each gear position of an AMT gearbox is characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of determining the gear positions of an AMT gearbox according to any one of claims 1 to 7 when executing said computer program.
10. A computer-readable storage medium, characterized in that it has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of determining the positions of the gears of an AMT gearbox according to any one of claims 1 to 7.
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| CN201711330994.3A CN109910864B (en) | 2017-12-13 | 2017-12-13 | Method, system and related device for determining gear positions of AMT (automated mechanical transmission) |
| PCT/CN2018/117113 WO2019114521A1 (en) | 2017-12-13 | 2018-11-23 | Method, system, and related device for determining each gear position of atm transmission |
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| CN201711330994.3A CN109910864B (en) | 2017-12-13 | 2017-12-13 | Method, system and related device for determining gear positions of AMT (automated mechanical transmission) |
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| CN109910864B true CN109910864B (en) | 2020-08-25 |
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| CN112161055B (en) * | 2020-10-16 | 2022-04-01 | 南京奥联汽车电子电器股份有限公司 | Gear detection system and detection method for automobile electronic gear shifter |
| CN114439931B (en) * | 2020-11-02 | 2023-11-14 | 上汽通用汽车有限公司 | Method and system for identifying engagement jamming of synchronizer type gearbox and automatic re-engagement and vehicle |
| CN113803461B (en) * | 2021-09-28 | 2023-06-02 | 东风汽车有限公司东风日产乘用车公司 | Gear position determining method, device and equipment based on self-learning and storage medium |
| DE102022204787A1 (en) | 2022-05-16 | 2023-11-16 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for calibrating a manual transmission and computing unit |
| CN115507175B (en) * | 2022-09-19 | 2023-09-22 | 长城汽车股份有限公司 | Gear shift control method of two-gear speed reducer and related equipment |
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| WO2019114521A1 (en) | 2019-06-20 |
| CN109910864A (en) | 2019-06-21 |
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