CN110230695A - A kind of method and apparatus that double-clutch power collision failure determines - Google Patents
A kind of method and apparatus that double-clutch power collision failure determines Download PDFInfo
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- CN110230695A CN110230695A CN201810179489.1A CN201810179489A CN110230695A CN 110230695 A CN110230695 A CN 110230695A CN 201810179489 A CN201810179489 A CN 201810179489A CN 110230695 A CN110230695 A CN 110230695A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1256—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected
- F16H2061/1276—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is a friction device, e.g. clutches or brakes
- F16H2061/128—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is a friction device, e.g. clutches or brakes the main clutch
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Abstract
The invention discloses the method and apparatus that a kind of double-clutch power collision failure determines, this method comprises: determining target gear and non-targeted gear according to car status information when having shift fork to be in bonding state on the first input shaft and the second input shaft；In shift process, target gear, the torque of the corresponding input shaft of non-targeted gear and engine three with direction of transfer are obtained；According to above three torque and corresponding first speed ratio of three torques, the second speed ratio and third speed ratio, unexpected torque is obtained；When unexpected torque is not within the scope of predetermined torque and the cumulative time is more than preset time, double-clutch power collision failure is determined.It can be seen that, when thering is shift fork to be in bonding state on two input shafts, it does not shift gears and accurate unexpected torque is obtained by engine and the transmitting torque of double clutch, speed ratio when completing, power collision failure is determined whether according to unexpected torque, improves the accuracy and reliability of determining power collision failure.
Description
Technical field
It is determined the present invention relates to Data Analysis Services technical field more particularly to a kind of double-clutch power collision failure
Method and apparatus.
Background technique
Currently, the gearbox of configuration of automobiles is double clutch gearbox mostly, it has transmission efficiency high, and shift process is dynamic
The advantages that power is without interrupting, with manual transmission the difference is that two clutches and two input shafts in double-clutch speed changer
It is connected.Popular explanation: there are two clutch, two clutches to be respectively connected from different input shafts for double clutch gearboxes, for example,
One 1,3,5 grade of clutch control；2,4,6 grades of another clutch control.
Transmission speed ratio when two clutches in double clutch transmit power is inconsistent, that is, each of double clutch from
Clutch has a constraint for engine.For double clutch gearbox, normal operating conditions refers to that shift is completed
Only have a clutch afterwards and transmit power, will appear two clutches in shift process while transmitting suitable power.If changed
It is more dynamic to transmit two clutch transmitting of appearance in power situation or shift process simultaneously for two clutches of appearance after the completion of gear
The case where power, at this point, there are abnormal constraints in engine end, that is to say, that double clutch is in power conflict situation, makes
Obtaining vehicle mechanical system can not work normally, and eventually results in the deceleration of vehicle generation sharply, power collision failure occurs.
In the prior art, the torque of corresponding two clutches of the monitoring control devices transmitting of double clutch gearbox, by sentencing
Whether the disconnected torque for obtaining clutch transmitting is more than that some calibration threshold value determines whether clutch normally transmits power, when judging
The torque transmitted to two clutches is above some calibration threshold value and power collision failure occurs with regard to double clutch.
But inventor has found that method in the prior art is only capable of a part production in covering shift process
The case where lively power collision failure, for example, in shift process, it is most likely that there are some clutch in double clutch or each
The torque of clutch transmitting is no more than calibration threshold value, but two clutches transmit more power, power collision failure occur,
That is, method in the prior art is unable to the power collision failure of accurate measurements double clutch.
Summary of the invention
A kind of method and dress determined the technical problem to be solved by the invention is to provide double-clutch power collision failure
It sets, by the unexpected torque of the accurate vehicle of acquisition, determines whether to move in conjunction with traditional torque threshold judgment method
Power collision failure, determining result more directly, it is reliable, substantially increase the accuracy of determining power collision failure and reliable
Property.
In a first aspect, the embodiment of the invention provides a kind of method that double-clutch power collision failure determines, this method
Include:
If the positional value of the first shift fork and the second input shaft are each group corresponding in the corresponding each shift fork of the first input shaft
The positional value of the second shift fork is more than corresponding threshold value and the corresponding speed ratio of first input shaft and second input in fork
When the corresponding speed ratio of axis meets preset condition, according to car status information, target gear and non-targeted gear are determined；
If not monitoring, shift is completed, and obtains the transmitting torque, described non-targeted of the corresponding input shaft of the target gear
The transmitting torque of the transmitting torque and engine of the corresponding input shaft of gear, the transmitting torque are the torsion with direction of transfer
Square；
According to the transmitting torque of the transmitting torque input shaft corresponding with the first speed ratio, the target gear of the engine
The transmitting torque and third speed ratio of input shaft corresponding with the second speed ratio and the non-targeted gear, obtain unexpected torque, institute
It states the first speed ratio and the engine is corresponding, second speed ratio and the corresponding input shaft of the target gear are corresponding, institute
It states third speed ratio and the corresponding input shaft of the non-targeted gear is corresponding；
If the unexpected torque is not within the scope of predetermined torque and the cumulative time is more than preset time, double clutch is determined
Power collision failure.
Preferably, the transmitting torque according to engine input corresponding with the first speed ratio, the target gear
The transmitting torque and third speed ratio of the transmitting torque input shaft corresponding with the second speed ratio and the non-targeted gear of axis, obtain non-
It is expected that torque, comprising:
According to the transmitting torque and the first speed ratio of the engine, the first gearbox output torque is obtained；
It is corresponding defeated according to the transmitting torque of the corresponding input shaft of target gear and the second speed ratio and the non-targeted gear
The transmitting torque and third speed ratio for entering axis, obtain the second gearbox output torque；
According to the second gearbox output torque and the first gearbox output torque, unexpected torque is obtained.
Preferably, the direction of transfer of the transmitting torque of the corresponding input shaft of the target gear is according to the target gear
What the rotational speed difference of corresponding input shaft and engine determined；The transmitting of the transmitting torque of the corresponding input shaft of the non-targeted gear
Direction is determined according to the rotational speed difference of the corresponding input shaft of the non-targeted gear and engine.
Preferably, after obtaining unexpected torque, further includes:
According to the unexpected torque, vehicle tyre radius and vehicle mass, unexpected acceleration is obtained；
If the unexpected acceleration is not within the scope of predetermined acceleration and the cumulative time is more than preset time, determine it is double from
Clutch power collision failure.
Preferably, further includes:
If monitoring, shift is completed, and obtains the transmitting torque of the corresponding input shaft of the non-targeted gear；The transmitting is turned round
Square is the input shaft torque with direction of transfer；
According to the transmitting torque of the corresponding input shaft of the non-targeted gear and the third speed ratio；Obtain unexpected torsion
Square；
If the unexpected torque is not within the scope of predetermined torque and continuous time is more than preset time, double clutch is determined
Power collision failure.
Preferably, if monitoring, shift is completed, the transmitting side of the transmitting torque of the corresponding input shaft of the non-targeted gear
To be according to the height relationship of the relatively described target gear of the non-targeted gear determine.
Preferably, if monitoring, shift is completed, and is obtaining unexpected torque, further includes:
According to the unexpected torque, vehicle tyre radius and vehicle mass, unexpected acceleration is obtained；
If the unexpected acceleration is not within the scope of predetermined acceleration and continuous time is more than preset time, determine it is double from
Clutch power collision failure.
Preferably, the shift is completed to refer to turning for the revolving speed of engine input shaft corresponding with the target gear
The ratio of speed and 1 absolute value of difference are less than preset value, and the transmitting torque of the corresponding input shaft of the target gear is greater than
Zero, the transmitting torque of the corresponding input shaft of the non-targeted gear is equal to zero.
Preferably, after determining double-clutch power collision failure, further includes:
It controls the position of clutch or control in double clutch and interrupts power output.
Second aspect, the embodiment of the invention provides the device that a kind of double-clutch power collision failure determines, features
It is, comprising:
First determination unit, if defeated for the positional value of the first shift fork in the corresponding each shift fork of the first input shaft and second
The positional value for entering the second shift fork in the corresponding each shift fork of axis is more than corresponding threshold value and the corresponding speed of first input shaft
When meeting preset condition than speed ratio corresponding with second input shaft, according to car status information, determine target gear and
Non-targeted gear；
First obtains unit, if obtaining the biography of the corresponding input shaft of the target gear for not monitoring that shift is completed
Torque delivery, the corresponding input shaft of the non-targeted gear transmitting torque and engine transmitting torque, the transmitting torque is
Torque with direction of transfer；
Second obtaining unit, for corresponding with the first speed ratio, the target gear according to the transmitting torque of the engine
Input shaft corresponding with the second speed ratio and the non-targeted gear input shaft of transmitting torque transmitting torque and third speed ratio,
Unexpected torque is obtained, first speed ratio and the engine are corresponding, and second speed ratio and the target gear are corresponding
Input shaft it is corresponding, the third speed ratio and the corresponding input shaft of the non-targeted gear are corresponding；
Second determination unit, if for the unexpected torque not within the scope of predetermined torque and the cumulative time is more than default
Time determines double-clutch power collision failure.
Compared with prior art, the present invention has at least the following advantages:
Using the technical solution of the embodiment of the present invention, firstly, corresponding each group in the first input shaft and the second input shaft
The positional value that fork has shift fork is more than corresponding threshold value and first input shaft and the corresponding speed ratio of second input shaft
Under the premise of meeting preset condition, target gear and non-targeted gear are determined according to car status information；Then, at vehicle
When in shift process, obtains the corresponding input shaft of the target gear, the corresponding input shaft of the non-targeted gear and start
Machine three has the transmitting torque of direction of transfer；Then, according to the transmitting torque of the engine and corresponding first speed ratio, institute
State the transmitting torque of the corresponding input shaft of target gear and corresponding second speed ratio and the corresponding input shaft of the non-targeted gear
Transmitting torque and corresponding third speed ratio, obtain unexpected torque；Finally, when the unexpected torque is not in predetermined torque model
In enclosing and when the cumulative time is more than preset time, double-clutch power collision failure is determined.It can be seen that on two input shafts
Under the premise of thering is shift fork to be in bonding state, does not shift gears and torque, corresponding is transmitted by engine and double clutch when completing
Speed ratio obtains the unexpected torque of accurate vehicle, determines whether power conflict in conjunction with traditional torque threshold judgment method
Failure, determining result more directly, reliably, substantially increase the accuracy and reliability of determining power collision failure.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is system framework schematic diagram involved in application scenarios a kind of in the embodiment of the present invention；
Fig. 2 is the process signal for the method that a kind of double-clutch power collision failure provided in an embodiment of the present invention determines
Figure；
Fig. 3 is the process signal for the method that another double-clutch power collision failure provided in an embodiment of the present invention determines
Figure；
Fig. 4 is the structural representation for the device that a kind of double-clutch power collision failure provided in an embodiment of the present invention determines
Figure.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
When double clutch is in power conflict situation, vehicle mechanical system be can not work normally, and eventually result in vehicle
Deceleration sharply occurs.For example, the proportionate relationship between engine speed and output shaft of gear-box revolving speed, is on the one hand 3:1
Relationship, on the one hand there are the relationships of a 2:1 again, in order to guarantee that two proportionate relationships are set up, in this case, car speed
It is final to be a significant slowdown to 0, but pilot process is it is possible that of short duration acceleration.Generally, double clutch gearbox is corresponding
Whether the torque of two clutches of monitoring control devices transmitting is more than some calibration threshold by the torque for judging to obtain clutch transmitting
Value determines whether clutch normally transmits power, when the torque that judgement obtains the transmitting of two clutches is above some calibration threshold value
It is considered as being in power conflict situation in double clutch.
But inventor has found that method in the prior art, which can not cover all double clutches, is in dynamic
Power conflict situation, for example, it is assumed that the peak acceleration based on normal vehicle operation sets calibration threshold value as 100, if shift process
In, a clutch transmission torque is 80, another clutch transmission torque is 40, although each clutch passes in double clutch
The torque passed is no more than 100, and two clutch transmission torques are 120 greater than engine transmitting torque 100, two clutches transmitting
More power is in power conflict situation.It can be seen that, it is most likely that there are some clutch in double clutch or each clutches
The torque of transmitting is no more than calibration threshold value, but two clutches, which transmit more power, is in power conflict situation, that is, existing skill
Method in art is unable to the power conflict of accurate measurements double clutch.
In order to solve this problem, in embodiments of the present invention, firstly, it is corresponding in the first input shaft and the second input shaft
Each shift fork there is the positional value of shift fork more than corresponding threshold value and first input shaft and second input shaft correspond to
Speed ratio meet preset condition under the premise of, target gear and non-targeted gear are determined according to car status information；Then, when
When vehicle is in shift process, the corresponding input shaft of the target gear, the corresponding input shaft of the non-targeted gear are obtained
The transmitting torque of direction of transfer is had with engine three；Then, according to the transmitting torque of the engine and corresponding first
Speed ratio, the transmitting torque of the corresponding input shaft of the target gear are corresponding with corresponding second speed ratio and the non-targeted gear
The transmitting torque of input shaft and corresponding third speed ratio, obtain unexpected torque；Finally, when the unexpected torque is not default
In torque range and when the cumulative time is more than preset time, double-clutch power collision failure is determined.It can be seen that defeated at two
Under the premise of entering on axis to have shift fork to be in bonding state, do not shift gears when completing by engine and double clutch transmit torque,
Corresponding speed ratio obtains the unexpected torque of accurate vehicle, determines whether to move in conjunction with traditional torque threshold judgment method
Power collision failure, determining result more directly, it is reliable, substantially increase the accuracy of determining power collision failure and reliable
Property.
For example, one of the scene of the embodiment of the present invention, can be applied in scene as shown in Figure 1.The scene
Position Sensor 101, controller 102 and double clutch 103.The monitoring of position sensor 101 obtains each in double clutch 103
The positional value of shift fork is transmitted to controller 102；When the judgement of controller 102 obtains in the corresponding each shift fork of the first input shaft the
In the positional value of one shift fork and the corresponding each shift fork of the second input shaft the positional value of the second shift fork be more than corresponding threshold value and
When the corresponding speed ratio of first input shaft and the corresponding speed ratio of second input shaft meet preset condition, according to vehicle shape
State information determines target gear and non-targeted gear；If controller 102 does not monitor that shift is completed, the target gear is obtained
The transmitting of the transmitting torque, the transmitting torque and engine of the corresponding input shaft of the non-targeted gear of corresponding input shaft is turned round
Square；Controller 102 is according to the transmitting of corresponding with the first speed ratio, the target gear input shaft of transmitting torque of the engine
The transmitting torque and third speed ratio of torque input shaft corresponding with the second speed ratio and the non-targeted gear, obtain unexpected torsion
Square；If the judgement of controller 102 obtains the unexpected torque not within the scope of predetermined torque and the cumulative time is more than preset time,
Determine double-clutch power collision failure.After controller 102 determines double-clutch power collision failure, double clutch is controlled
The position of clutch in 103, so that vehicle enters safe condition.
It is understood that in above-mentioned application scenarios, although by the action description of embodiment of the present invention by controller
102 execute, and still, the present invention is unrestricted in terms of executing subject, move disclosed in embodiment of the present invention as long as performing
Work.
It is understood that above-mentioned scene is only a Sample Scenario provided in an embodiment of the present invention, the embodiment of the present invention
It is not limited to this scene.
With reference to the accompanying drawing, true come double-clutch power collision failure in the present invention will be described in detail embodiment by embodiment
The specific implementation of fixed method and apparatus.
Illustrative methods
Referring to fig. 2, a kind of process for the method that double-clutch power collision failure determines in the embodiment of the present invention is shown
Schematic diagram.In the present embodiment, the method for example may comprise steps of:
Step 201: if the positional value of the first shift fork and the second input shaft are corresponding in the corresponding each shift fork of the first input shaft
Each shift fork in the positional value of the second shift fork be more than corresponding threshold value and the corresponding speed ratio of first input shaft and described
When the corresponding speed ratio of second input shaft meets preset condition, according to car status information, target gear and non-targeted shelves are determined
Position.
It should be noted that only when two input shafts of double clutch, that is, on the first input shaft and the second input shaft
When having shift fork to be in bonding state, it is likely to generate power conflict, accordingly, it is determined that the premise of power collision failure is double clutch
Two input shafts on there is shift fork to be in bonding state.
Specifically, position sensor obtains the positional value of each shift fork in double clutch, is sent to controller, and controller is logical
It crosses and judges whether the positional value of each shift fork is more than corresponding threshold value, determines whether each shift fork is in the corresponding position of bonding state
It sets, when the positional value that judgement simultaneously obtains the first shift fork in the corresponding each shift fork of the first input shaft is more than corresponding threshold value and the
In the corresponding each shift fork of two input shafts the positional value of the second shift fork be more than corresponding threshold value when, can determine the first input shaft and
There is the shift fork in the corresponding position of bonding state on second input shaft, also needs to check the corresponding input of these shift forks at this time
Whether the corresponding speed ratio of axis is in preset ratio coverage, in order to avoid appearance position sensor fault or shift fork hardware fault feelings
Condition, that is, while above-mentioned shift fork locality condition meets, the corresponding speed ratio of the first input shaft and the corresponding speed ratio of the second input shaft are equal
When meeting preset condition, it just can determine that the shift fork in the corresponding position of bonding state in bonding state.
It is understood that under the premise of thering is shift fork to be in bonding state on two input shafts of double clutch, control
Device is it needs to be determined which correspondence target gear of two shift forks in bonding state, which corresponds to non-targeted gear, so as to subsequent
Know in shift stage or shift completion stage.Firstly, determining target gear, the general mode for determining target gear is
According to car status information, for example, accelerator open degree, speed etc.；Then, one of them group is determined according to the positional value of two shift forks
Corresponding target gear is pitched, then another shift fork corresponds to non-targeted gear, can determine non-targeted shelves according to the positional value of the shift fork
Position.
Step 202: if not monitoring, shift is completed, and obtains transmitting torque, the institute of the corresponding input shaft of the target gear
The transmitting torque of the transmitting torque and engine of the corresponding input shaft of non-targeted gear is stated, the transmitting torque is with transmitting side
To torque.
It is understood that the case where according to practical power collision failure, can be divided into shift stage power collision failure
Power collision failure is completed with shift.Wherein, when vehicle is in the shift stage, due to the process of two clutch interaction torques
The middle problem, leads to two clutches while to transmit torque excessive, and vehicle is caused unexpected acceleration, final vehicle occur
Be a significant slowdown, there is power collision failure；When vehicle is in the shift completion stage, since software calculating or logic are wrong
Accidentally or hardware goes wrong, this clutch that should not be worked abruptly starts to transmitting power, causes vehicle to occur non-pre-
Phase torque, unexpected torque generate unexpected acceleration, and final vehicle is a significant slowdown, and power collision failure occur.It therefore, can be with
The unexpected torque occurred based on vehicle judges whether power collision failure occur, but since the above two stage generates vehicle
Unexpected torque the reason of it is different, the mode for obtaining unexpected torque is also different, it is then desired to first judge vehicle in above-mentioned
Which in two kinds of stages in stage.
Specifically, controller can monitor vehicle in relation to some data shifted gears, and judge whether that shift is completed, if shift
Not completing is vehicle also in the shift stage.Based on vehicle in relation to shift gears some data judge whether shift complete there are many
Mode, in the present embodiment, first, the revolving speed of engine and the revolving speed of the corresponding input shaft of target gear are monitored, by sentencing
Whether the revolving speed of the disconnected corresponding input shaft of target gear close to the revolving speed of engine determines that the corresponding clutch of target gear is
It is no to be in bonding state, that is, to calculate the ratio of the revolving speed of the revolving speed and the corresponding input shaft of target gear that obtain engine, judgement
Whether the ratio and 1 absolute value of difference are less than preset value, the preset value very little, when the absolute value of the ratio and 1 difference
When less than preset value, represents the corresponding clutch of target gear and be in bonding state；Second, the corresponding input of monitoring objective gear
The transmitting torque of axis and the corresponding input shaft of non-targeted gear is determining that the corresponding clutch of target gear is in bonding state
Under, only when the transmitting that the transmitting torque of the corresponding input shaft of target gear is greater than zero, the corresponding input shaft of non-targeted gear is turned round
When square is equal to zero, just think that shift is completed.
When vehicle be in do not shift gears complete the stage when, two clutches all transmit torque in double clutch, obtain unexpected
The premise of torque is the transmitting torque for needing to know the transmitting torque and engine of two clutches.
It should be noted that the transmitting torque of input shaft refers to the torque with direction of transfer.Transmitting for input shaft
The torque value of torque can directly calculate acquisition according to the position of clutch or pressure etc.；The transmitting of input shaft is turned round
The direction of transfer of square, the method for determination that vehicle is in the different stages are different.
At the stage of shift, the direction of transfer of the transmitting torque of input shaft is true according to the rotational speed difference of input shaft and engine
It is fixed, that is to say, that the direction of transfer of the transmitting torque of the corresponding input shaft of above-mentioned target gear is corresponding according to target gear
What the rotational speed difference of input shaft and engine determined, the direction of transfer of the transmitting torque of the corresponding input shaft of above-mentioned non-targeted gear
It is to be determined according to the rotational speed difference of the corresponding input shaft of non-targeted gear and engine.Specifically, target gear is corresponding defeated
The method of determination for entering the direction of transfer of the transmitting torque of axis is as follows:
Step A: the revolving speed of the corresponding input shaft of target gear and the revolving speed of engine are obtained；
Step B: according to the revolving speed of the revolving speed of the corresponding input shaft of target gear and engine, it is corresponding to obtain target gear
The rotational speed difference of input shaft and engine；
Step C: the size relation between the rotational speed difference of engine and preset value a ,-a is determined；
Step D: if the rotational speed difference of the corresponding input shaft of target gear and engine is greater than preset value a, target gear is corresponding
The direction of transfer of transmitting torque of input shaft be negative；
Step E: if the rotational speed difference of the corresponding input shaft of target gear and engine is less than preset value-a, target gear is corresponding
The direction of transfer of transmitting torque of input shaft be positive；
Step F: if the rotational speed difference of the corresponding input shaft of target gear and engine is in [- a, a] range, target gear
The direction of transfer for the torque delivery that corresponding input shaft passes is the biography that engine transmits torque and the corresponding input shaft of non-targeted gear
The symbol of torque delivery difference.
It should be noted that the method for determination and mesh of the direction of transfer of the transmitting torque of the corresponding input shaft of non-targeted gear
The method of determination of the direction of transfer of the transmitting torque of the corresponding input shaft of mark gear be it is similar, do not repeating herein.
It should also be noted that, the rotational speed difference of input shaft and engine is in [- a, a] range, the transmitting of input shaft is turned round
The numerical value of square is also equal to engine transmitting torque and goes out the absolute value of the transmitting torque difference of another input shaft outside the input shaft, but
It is that be position or pressure of clutch etc. directly calculated the upper limit by coefficient of friction/torque curve etc. obtains torque value.
Step 203: according to the transmitting torque input shaft corresponding with the first speed ratio, the target gear of the engine
The transmitting torque and third speed ratio for transmitting torque input shaft corresponding with the second speed ratio and the non-targeted gear, obtain unexpected
Torque, first speed ratio and the engine are corresponding, second speed ratio and the corresponding input shaft phase of the target gear
Corresponding, the third speed ratio and the corresponding input shaft of the non-targeted gear are corresponding.
It should be noted that obtaining engine, the corresponding input shaft of target gear and the corresponding input of non-targeted gear
It, can be first corresponding according to engine, the corresponding input shaft of target gear and non-targeted gear after the transmitting torque of axis three
The corresponding speed ratio of input shaft three calculates and obtains torque and engine transmitting torque that double clutch is converted to output shaft of gear-box
It is converted to the torque of output shaft of gear-box, obtains the unexpected torque of vehicle in the difference of two torques according to acquisition.Therefore,
In some embodiments of the present embodiment, the step 203, specifically implementation is as follows:
S1: according to the transmitting torque and the first speed ratio of the engine, the first gearbox output torque is obtained；
S2: corresponding with the second speed ratio and the non-targeted gear according to the transmitting torque of the corresponding input shaft of target gear
The transmitting torque and third speed ratio of input shaft, obtain the second gearbox output torque；
S3: according to the second gearbox output torque and the first gearbox output torque, unexpected torque is obtained.
Wherein, the first speed ratio is the ratio of the revolving speed of engine and the revolving speed of output shaft of gear-box, and the first speed ratio is target
The ratio of the revolving speed of the revolving speed and output shaft of gear-box of the corresponding input shaft of gear, third speed ratio are that non-target gear is corresponding defeated
Enter the ratio of the revolving speed of axis and the revolving speed of output shaft of gear-box.
Step 204: if the unexpected torque is not within the scope of predetermined torque and the cumulative time is more than preset time, determining
Double-clutch power collision failure.
It is understood that after step 203 obtains unexpected torque, being needed in conjunction with the judgment method of traditional torque threshold
The unexpected torque is judged whether in predetermined torque range [- torque threshold, torque threshold], only when more than the torque model
It encloses, that is, the absolute value of unexpected torque is greater than torque threshold, then (completes since shift to shift) in the shift process tired
There is double clutch when the cumulative time being more than preset time in the time that the absolute value for counting unexpected torque is greater than torque threshold
Power collision failure.
It should be noted that unexpected torque is actually to produce unexpected acceleration, vehicle is caused to occur non-pre-
Phase acceleration, deceleration situations, and hence it is also possible to judge whether power collision failure occur according to unexpected acceleration.In this implementation
In some embodiments of example, after obtaining unexpected torque, such as further include: firstly, according to unexpected torque, vehicle wheel
Tire radius and vehicle mass obtain unexpected acceleration, specifically by unexpected torque multiplied by vehicle tyre radius, and remove
With vehicle mass, unexpected acceleration is calculated；Then, analogously judge the unexpected acceleration whether in predetermined torque
In range [- acceleration rate threshold, acceleration rate threshold], and add up the time of unexpected acceleration not within the above range, judgement is tired
It whether is more than preset time between timing, when unexpected acceleration is not within the scope of predetermined acceleration and the cumulative time is more than default
Between, determine double-clutch power collision failure.
It should be noted that according to the explanation below above-mentioned steps 202 it is found that when vehicle be in shift the completion stage when,
Since software calculating or logic error or hardware go wrong, this clutch that should not be worked abruptly starts to transmit
Power, the unexpected torque for causing vehicle to occur, then monitoring shift completion, that is to say, that vehicle, which is not at, shifted gears
The corresponding clutch of Cheng Zhong, only target gear transmits power, at this point, judging that power conflict only needs to monitor non-targeted gear
Whether corresponding input shaft transmits power, and therefore, the premise for obtaining unexpected torque is that need to obtain non-targeted gear corresponding
The transmitting torque of input shaft does not need the transmitting torque for obtaining the corresponding input shaft of target gear.In some realities of the present embodiment
It applies in mode, shifts gears the completion stage, such as can also include the following steps to correspond to step 202- step 204:
Step a: if monitoring, shift is completed, and obtains the transmitting torque of the corresponding input shaft of the non-targeted gear；It is described
Transmitting torque is the input shaft torque with direction of transfer.
When shifting gears the completion stage, the direction of transfer of the transmitting torque of the corresponding input shaft of non-targeted gear is according to non-mesh
What the height relationship of mark gear relative target gear determined.Specifically, the method for determination of direction of transfer is as follows:
Step G: the height relationship between non-targeted gear and target gear is determined；
Step H: if not target gear is higher than target gear, the transmitting of the transmitting torque of the corresponding input shaft of non-targeted gear
Direction is positive；
Step I: if not target gear is lower than target gear, the transmitting of the transmitting torque of the corresponding input shaft of non-targeted gear
Direction is negative.
Step b: according to the transmitting torque of the corresponding input shaft of the non-targeted gear and the third speed ratio；It obtains non-pre-
Phase torque.
Wherein, third speed ratio is the ratio of the revolving speed of the corresponding input shaft of non-target gear and the revolving speed of output shaft of gear-box
Value.
Step c: it if the unexpected torque is not within the scope of predetermined torque and continuous time is more than preset time, determines double
Clutch power collision failure.
It is understood that the similar shift stage, in conjunction with the judgment method of traditional torque threshold, step b obtains non-pre-
After phase torque, need to judge the unexpected torque whether in the predetermined torque range [- torque threshold, torque threshold], only when
More than the torque range, that is, the absolute value of unexpected torque is greater than torque threshold, then calculates unexpected torque after the completion of shifting gears
Absolute value is greater than the duration of torque threshold, when the duration being more than preset time, double-clutch power conflict event occurs
Barrier.
It is understood that in the similar shift stage, can also judge whether power conflict occur according to unexpected acceleration
Failure.Firstly, obtaining unexpected acceleration according to unexpected torque, vehicle tyre radius and vehicle mass；Then, in conjunction with biography
The judgment method of the torque threshold of system, when unexpected acceleration is not within the scope of predetermined acceleration and the duration is more than default
Between, determine double-clutch power collision failure.
It should be noted that the main harm that unexpected torque generates unexpected acceleration can exactly make vehicle appearance non-
, there is power collision failure in expected sharply acceleration or deceleration, to cause to vehicle driver or other traffic participant
Damage to person.Therefore when determining that before harm generates, controller passes through control clutch when obtaining power collision failure
Power output is interrupted in position, or control, so that vehicle enters safe condition.
The various embodiments provided through this embodiment, firstly, corresponding each in the first input shaft and the second input shaft
A shift fork exist shift fork positional value be more than corresponding threshold value and first input shaft and second input shaft it is corresponding
Under the premise of speed ratio meets preset condition, target gear and non-targeted gear are determined according to car status information；Then, work as vehicle
When in the shift process, obtain the corresponding input shaft of the target gear, the corresponding input shaft of the non-targeted gear and
Engine three has the transmitting torque of direction of transfer；Then, according to the transmitting torque of the engine and corresponding first speed
The transmitting torque and corresponding second speed ratio and the non-targeted gear of input shaft more corresponding than, the target gear are corresponding defeated
Enter the transmitting torque of axis and corresponding third speed ratio, obtains unexpected torque；Finally, when the unexpected torque is not turned round default
Within the scope of square and when the cumulative time is more than preset time, double-clutch power collision failure is determined.It can be seen that being inputted at two
Under the premise of thering is shift fork to be in bonding state on axis, do not shift gears when completing through the transmitting of engine and double clutch input shaft
Torque, corresponding speed ratio obtain the unexpected torque of accurate vehicle, and it is corresponding defeated by non-targeted gear when completing to shift gears
Enter the transmitting torque of axis, corresponding speed ratio obtains the unexpected torque of accurate vehicle, in conjunction with traditional torque threshold judgement side
Method determines whether power collision failure, and determining result more directly, reliably, substantially increases determining power collision failure
Accuracy and reliability.
The case where due to practical power collision failure, can be divided into shift stage power collision failure and power is completed in shift
Collision failure, with reference to the accompanying drawing 3, two rank in the embodiment of the present invention is described in detail in practical application by another embodiment
The specific implementation for the method that section double-clutch power collision failure determines.
Referring to Fig. 3, the stream for the method that another double-clutch power collision failure determines in the embodiment of the present invention is shown
Journey schematic diagram.In the present embodiment, the method for example may comprise steps of:
Step 301: if the positional value of the first shift fork and the second input shaft are corresponding in the corresponding each shift fork of the first input shaft
Each shift fork in the second shift fork positional value be more than corresponding threshold value and the corresponding speed ratio of the first input shaft and second input
When the corresponding speed ratio of axis meets preset condition, according to car status information, target gear and non-targeted gear are determined.
Step 302: judging whether to monitor that shift is completed, if so, entering step 303；If it is not, entering step 307.
Step 303: obtaining the transmitting torque of the corresponding input shaft of non-targeted gear；Transmitting torque is with direction of transfer
Input shaft torque.
Step 304: according to the transmitting torque of the corresponding input shaft of non-targeted gear and corresponding third speed ratio；It obtains non-pre-
Phase torque.
Step 305: according to unexpected torque, vehicle tyre radius and vehicle mass, obtaining unexpected acceleration.
Step 306: if unexpected acceleration is not within the scope of predetermined acceleration and the duration is more than preset time, determining
Double-clutch power collision failure.
Step 307: obtaining the transmitting torque of the corresponding input shaft of target gear, the biography of the corresponding input shaft of non-targeted gear
The transmitting torque of torque delivery and engine, transmitting torque are the torque with direction of transfer.
Step 308: according to the transmitting torque of the engine and corresponding first speed ratio, obtaining the output of the first gearbox and turn round
Square.
Step 309: according to the transmitting torque of the corresponding input shaft of target gear and corresponding second speed ratio and the non-mesh
Mark the transmitting torque of the corresponding input shaft of gear and corresponding third speed ratio, the second gearbox output torque of acquisition.
Step 310: according to the second gearbox output torque and the first gearbox output torque, obtaining unexpected
Torque.
Step 311: according to unexpected torque, vehicle tyre radius and vehicle mass, obtaining unexpected acceleration.
Step 312: if unexpected acceleration is not within the scope of predetermined acceleration and the cumulative time is more than preset time, determining
Double-clutch power collision failure.
The various embodiments provided through this embodiment, firstly, corresponding each in the first input shaft and the second input shaft
A shift fork exist shift fork positional value be more than corresponding threshold value and first input shaft and second input shaft it is corresponding
Under the premise of speed ratio meets preset condition, target gear and non-targeted gear are determined according to car status information；Then, work as vehicle
When in the shift process, obtain the corresponding input shaft of the target gear, the corresponding input shaft of the non-targeted gear and
Engine three has the transmitting torque of direction of transfer；Then, according to the transmitting torque of the engine and corresponding first speed
The transmitting torque and corresponding second speed ratio and the non-targeted gear of input shaft more corresponding than, the target gear are corresponding defeated
Enter the transmitting torque of axis and corresponding third speed ratio, obtains unexpected torque；Finally, when the unexpected torque is not turned round default
Within the scope of square and when the cumulative time is more than preset time, double-clutch power collision failure is determined.It can be seen that being inputted at two
Under the premise of thering is shift fork to be in bonding state on axis, do not shift gears when completing through the transmitting of engine and double clutch input shaft
Torque, corresponding speed ratio obtain the unexpected torque of accurate vehicle, and it is corresponding defeated by non-targeted gear when completing to shift gears
Enter the transmitting torque of axis, corresponding speed ratio obtains the unexpected torque of accurate vehicle, in conjunction with traditional torque threshold judgement side
Method determines whether power collision failure, and determining result more directly, reliably, substantially increases determining power collision failure
Accuracy and reliability.
Example devices
Referring to fig. 4, a kind of structure for the device that double-clutch power collision failure determines in the embodiment of the present invention is shown
Schematic diagram.In the present embodiment, described device for example can specifically include:
First determination unit 401, if for the positional value of the first shift fork in the corresponding each shift fork of the first input shaft and
The positional value of the second shift fork is more than corresponding threshold value in the corresponding each shift fork of two input shafts and first input shaft is corresponding
Speed ratio and second input shaft corresponding speed ratio when meeting preset condition, according to car status information, determine target shift
Position and non-targeted gear；
First obtains unit 402, if obtaining the corresponding input shaft of the target gear for not monitoring that shift is completed
Transmit torque, the corresponding input shaft of the non-targeted gear transmitting torque and engine transmitting torque, the transmitting torque
For the torque with direction of transfer；
Second obtaining unit 403, for according to the transmitting torque of the engine and the first speed ratio, the target gear pair
The transmitting torque and third speed of the transmitting torque input shaft corresponding with the second speed ratio and the non-targeted gear for the input shaft answered
Than obtaining unexpected torque, first speed ratio and the engine are corresponding, second speed ratio and the target gear pair
The input shaft answered is corresponding, and the third speed ratio and the corresponding input shaft of the non-targeted gear are corresponding；
Second determination unit 404, if for the unexpected torque not to be within the scope of predetermined torque and the cumulative time is more than
Preset time determines double-clutch power collision failure.
Optionally, second obtaining unit 403 includes；
First obtains subelement, for the transmitting torque and the first speed ratio according to the engine, obtains the first gearbox
Output torque；
Second obtains subelement, for the transmitting torque of the corresponding input shaft of target gear and the second speed ratio and the non-mesh
The transmitting torque and third speed ratio for marking the corresponding input shaft of gear, obtain the second gearbox output torque；
Third obtains subelement, for being turned round according to the second gearbox output torque and first gearbox output
Square obtains unexpected torque.
Optionally, the direction of transfer of the transmitting torque of the corresponding input shaft of the target gear is according to the target gear
What the rotational speed difference of corresponding input shaft and engine determined；The transmitting of the transmitting torque of the corresponding input shaft of the non-targeted gear
Direction is determined according to the rotational speed difference of the corresponding input shaft of the non-targeted gear and engine.
Optionally, described device further include:
Third obtaining unit, for obtaining unexpected according to the unexpected torque, vehicle tyre radius and vehicle mass
Acceleration；
Third determination unit, if for the unexpected acceleration not to be within the scope of predetermined acceleration and the cumulative time is more than
Preset time determines double-clutch power collision failure.
Optionally, described device further include:
4th obtaining unit, if obtaining the biography of the corresponding input shaft of the non-targeted gear for monitoring that shift is completed
Torque delivery；The transmitting torque is the input shaft torque with direction of transfer；
5th obtaining unit, for the transmitting torque and third speed according to the corresponding input shaft of the non-targeted gear
Than；Obtain unexpected torque；
4th determination unit, if for the unexpected torque not within the scope of predetermined torque and continuous time is more than default
Time determines double-clutch power collision failure.
Optionally, if monitoring, shift is completed, the transmitting side of the transmitting torque of the corresponding input shaft of the non-targeted gear
To be according to the height relationship of the relatively described target gear of the non-targeted gear determine.
Optionally, if monitoring, shift is completed, and is obtaining unexpected torque, further includes:
6th obtaining unit, for obtaining unexpected according to the unexpected torque, vehicle tyre radius and vehicle mass
Acceleration；
5th determination unit, if for the unexpected acceleration not to be within the scope of predetermined acceleration and continuous time is more than
Preset time determines double-clutch power collision failure.
Optionally, the shift is completed to refer to turning for the revolving speed of engine input shaft corresponding with the target gear
The ratio of speed and 1 absolute value of difference are less than preset value, and the transmitting torque of the corresponding input shaft of the target gear is greater than
Zero, the transmitting torque of the corresponding input shaft of the non-targeted gear is equal to zero.
Optionally, described device further include:
6th control unit interrupts power output for controlling the position of clutch or control in double clutch.
The various embodiments provided through this embodiment, firstly, corresponding each in the first input shaft and the second input shaft
A shift fork exist shift fork positional value be more than corresponding threshold value and first input shaft and second input shaft it is corresponding
Under the premise of speed ratio meets preset condition, target gear and non-targeted gear are determined according to car status information；Then, work as vehicle
When in the shift process, obtain the corresponding input shaft of the target gear, the corresponding input shaft of the non-targeted gear and
Engine three has the transmitting torque of direction of transfer；Then, according to the transmitting torque of the engine and corresponding first speed
The transmitting torque and corresponding second speed ratio and the non-targeted gear of input shaft more corresponding than, the target gear are corresponding defeated
Enter the transmitting torque of axis and corresponding third speed ratio, obtains unexpected torque；Finally, when the unexpected torque is not turned round default
Within the scope of square and when the cumulative time is more than preset time, double-clutch power collision failure is determined.It can be seen that being inputted at two
Under the premise of thering is shift fork to be in bonding state on axis, do not shift gears when completing through the transmitting of engine and double clutch input shaft
Torque, corresponding speed ratio obtain the unexpected torque of accurate vehicle, and it is corresponding defeated by non-targeted gear when completing to shift gears
Enter the transmitting torque of axis, corresponding speed ratio obtains the unexpected torque of accurate vehicle, in conjunction with traditional torque threshold judgement side
Method determines whether power collision failure, and determining result more directly, reliably, substantially increases determining power collision failure
Accuracy and reliability.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention
Technical solution makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, it is all without departing from
The content of technical solution of the present invention, according to the technical essence of the invention any simple modification made to the above embodiment, equivalent
Variation and modification, all of which are still within the scope of protection of the technical scheme of the invention.
Claims (10)
1. a kind of method that double-clutch power collision failure determines characterized by comprising
If in the corresponding each shift fork of the first input shaft in the positional value of the first shift fork and the corresponding each shift fork of the second input shaft
The positional value of second shift fork is more than corresponding threshold value and the corresponding speed ratio of first input shaft and second input shaft pair
When the speed ratio answered meets preset condition, according to car status information, target gear and non-targeted gear are determined；
If not monitoring, shift is completed, and obtains transmitting torque, the non-targeted gear of the corresponding input shaft of the target gear
The transmitting torque of the transmitting torque and engine of corresponding input shaft, the transmitting torque are the torque with direction of transfer；
According to the transmitting torque of corresponding with the first speed ratio, the target gear input shaft of transmitting torque of the engine and the
The transmitting torque of two speed ratios and the corresponding input shaft of the non-targeted gear and third speed ratio, obtain unexpected torque, and described the
One speed ratio and the engine are corresponding, and second speed ratio and the corresponding input shaft of the target gear are corresponding, and described
Three speed ratios and the corresponding input shaft of the non-targeted gear are corresponding；
If the unexpected torque is not within the scope of predetermined torque and the cumulative time is more than preset time, double-clutch power is determined
Collision failure.
2. the method according to claim 1, wherein described according to the transmitting torque of the engine and the first speed
The transmitting torque input shaft corresponding with the second speed ratio and the non-targeted gear of input shaft more corresponding than, the target gear
Torque and third speed ratio are transmitted, unexpected torque is obtained, comprising:
According to the transmitting torque and the first speed ratio of the engine, the first gearbox output torque is obtained；
According to the transmitting torque of the corresponding input shaft of target gear input shaft corresponding with the second speed ratio and the non-targeted gear
Transmitting torque and third speed ratio, obtain the second gearbox output torque；
According to the second gearbox output torque and the first gearbox output torque, unexpected torque is obtained.
3. the method according to claim 1, wherein the transmitting torque of the target gear corresponding input shaft
Direction of transfer is determined according to the rotational speed difference of the corresponding input shaft of the target gear and engine；The non-targeted gear pair
The direction of transfer of the transmitting torque for the input shaft answered is the revolving speed according to the non-targeted gear corresponding input shaft and engine
What difference determined.
4. the method according to claim 1, wherein after obtaining unexpected torque, further includes:
According to the unexpected torque, vehicle tyre radius and vehicle mass, unexpected acceleration is obtained；
If the unexpected acceleration is not within the scope of predetermined acceleration and the cumulative time is more than preset time, double clutch is determined
Power collision failure.
5. the method according to claim 1, wherein further include:
If monitoring, shift is completed, and obtains the transmitting torque of the corresponding input shaft of the non-targeted gear；The transmitting torque is
Input shaft torque with direction of transfer；
According to the transmitting torque of the corresponding input shaft of the non-targeted gear and the third speed ratio；Obtain unexpected torque；
If the unexpected torque is not within the scope of predetermined torque and continuous time is more than preset time, double-clutch power is determined
Collision failure.
6. according to the method described in claim 5, the non-targeted gear is corresponding it is characterized in that, shift is completed if monitoring
The direction of transfer of transmitting torque of input shaft be true according to the height relationship of the relatively described target gear of the non-targeted gear
Fixed.
7. according to the method described in claim 5, it is characterized in that, if monitoring, shift is completed, in the unexpected torque of acquisition, also
Include:
According to the unexpected torque, vehicle tyre radius and vehicle mass, unexpected acceleration is obtained；
If the unexpected acceleration is not within the scope of predetermined acceleration and continuous time is more than preset time, double clutch is determined
Power collision failure.
8. method according to claim 1 or 5, which is characterized in that the revolving speed for referring to the engine is completed in the shift
The ratio of the revolving speed of input shaft corresponding with the target gear and 1 absolute value of difference are less than preset value, and the target
The transmitting torque that the transmitting torque of the corresponding input shaft of gear is greater than zero, the corresponding input shaft of the non-targeted gear is equal to zero.
9. according to claim 1, method described in any one of 4,5 and 7, which is characterized in that determining double-clutch power
After collision failure, further includes:
It controls the position of clutch or control in double clutch and interrupts power output.
10. the device that a kind of double-clutch power collision failure determines characterized by comprising
First determination unit, if positional value and the second input shaft for the first shift fork in the corresponding each shift fork of the first input shaft
In corresponding each shift fork the positional value of the second shift fork be more than corresponding threshold value and the corresponding speed ratio of first input shaft and
When the corresponding speed ratio of second input shaft meets preset condition, according to car status information, target gear and non-mesh are determined
Mark gear；
First obtains unit, if the transmitting for obtaining the corresponding input shaft of the target gear is turned round for not monitoring that shift is completed
Square, the corresponding input shaft of the non-targeted gear transmitting torque and engine transmitting torque, the transmitting torque for
The torque of direction of transfer；
Second obtaining unit, for corresponding defeated according to the transmitting torque and the first speed ratio, the target gear of the engine
The transmitting torque and third speed ratio for entering the transmitting torque input shaft corresponding with the second speed ratio and the non-targeted gear of axis, obtain
Unexpected torque, first speed ratio and the engine are corresponding, and second speed ratio and the target gear are corresponding defeated
It is corresponding to enter axis, the third speed ratio and the corresponding input shaft of the non-targeted gear are corresponding；
Second determination unit, if for the unexpected torque not within the scope of predetermined torque and when the cumulative time is more than default
Between, determine double-clutch power collision failure.
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| CN201810179489.1A CN110230695B (en) | 2018-03-05 | 2018-03-05 | Method and device for determining double-clutch power conflict fault |
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| CN201810179489.1A CN110230695B (en) | 2018-03-05 | 2018-03-05 | Method and device for determining double-clutch power conflict fault |
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| CN113969949A (en) * | 2021-10-19 | 2022-01-25 | 中国第一汽车股份有限公司 | Control method of dual-clutch transmission |
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