CN110332308A - Gear shifting control method and device and readable storage medium - Google Patents
Gear shifting control method and device and readable storage medium Download PDFInfo
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- CN110332308A CN110332308A CN201910662862.3A CN201910662862A CN110332308A CN 110332308 A CN110332308 A CN 110332308A CN 201910662862 A CN201910662862 A CN 201910662862A CN 110332308 A CN110332308 A CN 110332308A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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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
- F16H61/18—Preventing unintentional or unsafe shift, e.g. preventing manual shift from highest gear to reverse gear
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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
- F16H2061/005—Supply of electric power, e.g. batteries for back up supply
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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
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear-Shifting Mechanisms (AREA)
Abstract
The embodiment of the invention provides a gear shifting control method, a gear shifting control device and a readable storage medium, wherein the gear shifting control method comprises the following steps: acquiring the actual position of the gear selecting and shifting shaft at the current moment; when the distance between the actual position at the current moment and a pre-acquired target position does not meet a distance threshold, acquiring a position preset voltage of the gear selecting motor according to the target position and the actual position at the current moment, and when the position difference between the actual position at the current moment and the actual position at the previous acquisition moment does not meet the position difference threshold, adjusting the position preset voltage to obtain a position control voltage at the current moment, and controlling the gear selecting motor to operate under the position control voltage to enable the position of the gear selecting shaft to approach the target position. The gear shifting control method, the gear shifting control device and the readable storage medium provided by the embodiment of the invention can improve the accuracy of the threshold range of the gear shifting fork reaching the target position.
Description
Technical field
The present embodiments relate to automotive field more particularly to a kind of shift control methods, device and readable storage medium storing program for executing.
Background technique
Automotive transmission is the main component in order to realize speed control and driving force control during type of motor car, with
The development of technology, there is manual transmission and automatic transmission, wherein in automatic transmission include auto-manual speed changer
(AMT, Automatic Manual Transmission), auto-manual speed changer refer to conventional dry clutch and manually
On the basis of gear-shift mechanism, installs electronic control system additional, manual shifting mechanism is transformed into self-clanging gear-shift, to realize
The stepped mechanical automatic transmission of fluid drive.
When carrying out the shift transformation of auto-manual speed changer, selector fork can be driven to change position by motor, into
Row block selecting and shift.
However, when being shifted gears, it may appear that selector fork cannot accurately reach the problem of target position.
Therefore, how to guarantee that selector fork accurately arrives at the threshold range of target position, become the technology of urgent need to resolve
Problem.
Summary of the invention
The technical issues of embodiment of the present invention solves how is guaranteed in gear shift, and selector fork can accurately arrive at mesh
The threshold range of cursor position.
To solve the above problems, the embodiment of the present invention provides a kind of shift control method, comprising:
Obtain the physical location at the current time of the shifting axis;
When the physical location at the current time is unsatisfactory for distance threshold at a distance from the target position of pre-acquiring, according to
The physical location at the target position and the current time obtains the position-scheduled voltage of the block selecting motor, works as when described
When the position difference of the physical location at preceding moment and the previous physical location for obtaining the moment is unsatisfactory for position difference threshold, institute is adjusted
Rheme sets predetermined voltage, obtains the position control voltage at current time, controls the block selecting motor in the position control electricity
Pressure operating, so that the position of the shifting axis levels off to the target position.
Optionally, the step of adjustment position-scheduled voltage includes:
Obtain the actual speed at the current time of the block selecting motor;
The rotating speed of target of the block selecting motor is obtained according to the physical location of the target position and the current time;
Position compensation electricity is obtained according to the actual speed of the rotating speed of target of the block selecting motor and the block selecting motor
Pressure;
The position-scheduled voltage is adjusted using the position compensation voltage.
Optionally, the rotating speed of target of the block selecting motor is obtained using the first proportional plus integral plus derivative controller;Institute's rheme
Offset voltage is set to obtain using the second proportional plus integral plus derivative controller.
Optionally, further includes: when the physical location at the current time and the position of the previous physical location for obtaining the moment
When difference meets the position difference threshold, controlled the current time position-scheduled voltage as the position at the current time
Voltage processed controls the block selecting motor and operates under the position-scheduled voltage, so that the position of the shifting axis approaches
In the target position.
Optionally, further includes:
When selecting the physical location at current time of shifting shaft to meet distance threshold at a distance from the target position of pre-acquiring,
Obtain the actual angle at the current time of the shifting axis;
When the differential seat angle of the actual angle at the current time and the target angle of pre-acquiring is unsatisfactory for angle threshold, root
The angle predetermined voltage that the shift motor is obtained according to the actual angle of the target angle and the current time, when described
When the angle difference of the actual angle at current time and the previous actual angle for obtaining the moment is unsatisfactory for angle difference threshold value, adjustment
The angle predetermined voltage obtains the angle control voltage at current time, controls the shift motor in the angle and controls electricity
Pressure operating, so that the angle of the shifting axis levels off to the target angle.
Optionally, the step of adjustment angle predetermined voltage includes:
Obtain the actual speed at the current time of the shift motor;
The rotating speed of target of the shift motor is obtained according to the actual angle of the target angle and the current time;
Angle compensation electricity is obtained according to the actual speed of the rotating speed of target of the shift motor and the shift motor
Pressure;
The angle predetermined voltage is adjusted using the angle compensation voltage.
Optionally, the rotating speed of target of the shift motor is obtained using third proportional plus integral plus derivative controller;The angle
Offset voltage is spent to obtain using the 4th proportional plus integral plus derivative controller.
Optionally, further includes: when the actual angle at the current time and the difference of the previous actual angle for obtaining the moment
When meeting the angle difference threshold value, controlled the angle predetermined voltage at the current time as the angle at the current time
Voltage controls the shift motor and operates under the angle predetermined voltage, so that the angle of the shifting axis levels off to
The target angle.
To solve the above problems, the embodiment of the present invention provides a kind of shift control apparatus, comprising:
The physical location acquiring unit at current time, the physical location at the current time suitable for obtaining the shifting axis;
Shifting shaft position adjustment unit, suitable for when the physical location at the current time and the target position of pre-acquiring
When distance is unsatisfactory for distance threshold, it is electronic that the block selecting is obtained according to the physical location at the target position and the current time
The position-scheduled voltage of machine, when the current time physical location and it is previous obtain the moment physical location position difference not
When meeting position difference threshold, adjusts the position-scheduled voltage and obtain the position control voltage at current time, control the choosing
Gear motor operates under the position control voltage, so that the position of the shifting axis levels off to the target position.
To solve the above problems, the embodiment of the present invention provides a kind of computer readable storage medium, it is described computer-readable
Storage medium is stored with computer executable instructions, and control of shifting gears as the aforementioned may be implemented when the instruction is executed by processor
Method.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantage that
Shift control method, device provided by the embodiment of the present invention and readable storage medium storing program for executing, shift control method include:
Obtain the physical location at the current time of the shifting axis;When the physical location at the current time and the target position of pre-acquiring
When the distance set is unsatisfactory for distance threshold, the block selecting is obtained according to the physical location at the target position and the current time
The position-scheduled voltage of motor, when the physical location at the current time and the alternate position spike of the previous physical location for obtaining the moment
When value is unsatisfactory for position difference threshold, adjusts the position-scheduled voltage and obtain the position control voltage at current time, control institute
It states block selecting motor to operate under the position control voltage, so that the position of the shifting axis levels off to the target position
It sets.Shift control method provided by the embodiment of the present invention, when the voltage to block selecting motor controls, not only directly
It is determined according to the current actual positions of shifting axis obtained and target position, it is also necessary to when judgement carries out shift control,
The change in location situation of the physical location at shifting axis current time and the previous physical location for obtaining the moment, when between the two
When position difference is unsatisfactory for position difference threshold, show that the change in location of shifting axis is too large or too small, block selecting motor
The position control voltage at current time is unsatisfactory for shift transformation requirement, needs to be adjusted, to obtain position control voltage, so
After the motor that makes to shift gears operated under position control voltage, so that the position of shifting axis is leveled off to target position.As can be seen that this
Shift control method provided by inventive embodiments is based not only on physical location and the target position at the current time of shifting axis
Determine position control voltage, and the moment understands current time and the previous location variation for obtaining shifting axis between the moment,
To judge under the position control voltage of previous moment, whether block selecting motor drives shifting axis to change position as required,
When selecting the position change amount of shifting shaft to be unsatisfactory for requiring, then position predetermined voltage is adjusted, obtains the reality at current time
The position control voltage of the block selecting motor of border position, so as to be selected based on the concrete condition during practical block selecting
The adjustment of the position control voltage of motor is kept off, guarantees that block selecting motor drives shifting axis to change block selecting position as required,
It gradually levels off to the target position, until eventually arriving at the threshold range of target position, avoids due to actual conditions and position
The case where setting when predetermined voltage obtains it is different and caused by selected position-scheduled voltage it is inappropriate, guarantee position control electricity
The pressure moment matches with block selecting process, thereby may be ensured that the accuracy of block selecting process.
In optinal plan, shift control method, device provided by the embodiment of the present invention and readable storage medium storing program for executing, shift control
The step of adjustment position-scheduled voltage of method processed includes: to obtain the reality at the current time of the block selecting motor to turn
Speed;The rotating speed of target of the block selecting motor is obtained according to the physical location of the target position and the current time;According to
The actual speed of the rotating speed of target of the block selecting motor and the block selecting motor obtains position compensation voltage;Utilize institute's rheme
It sets offset voltage and adjusts the position-scheduled voltage.As it can be seen that shift control method provided by the embodiment of the present invention, passes through target
The physical location at position and current time obtains the rotating speed of target of block selecting motor, that is, according to target position and current time
Physical location determination when being run from the physical location at current time to target position, what block selecting motor should have turns
Then speed compares the difference between the actual speed and rotating speed of target of block selecting motor, i.e., currently practical revolving speed, which can not achieve, to be made
Shifting axis is changed from the physical location at current time to the deviation of target position, is obtained position based on deviation between the two and is mended
Voltage is repaid, ensure that the accuracy of acquired position compensation voltage, thus further can be with utility position compensation electricity
Pressure adjusts obtained position control voltage after position-scheduled voltage, and selector fork can be made to accurately arrive at the threshold of target position
It is worth range.
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 embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a flow diagram of shift control method provided by the embodiment of the present invention;
Fig. 2 is the process of the adjustment position-scheduled voltage steps of shift control method provided by the embodiment of the present invention
Schematic diagram;
Fig. 3 is another flow diagram of shift control method provided by the embodiment of the present invention;
Fig. 4 is the process of the adjustment angle predetermined voltage step of shift control method provided by the embodiment of the present invention
Schematic diagram;
Fig. 5 is a block diagram of shift control apparatus provided in an embodiment of the present invention;
Fig. 6 is another block diagram of shift control apparatus provided in an embodiment of the present invention.
Specific embodiment
It can be seen from background technology that in the prior art, when block selecting or gear shift, selector fork cannot accurately arrive at target position
Threshold range.
In the car, the shift control mechanism of speed changer includes shifting axis, shift fork axle and selector fork, wherein shift is dialled
Fork is set in shift fork axle, and can be under external force along the axial movement of shift fork axle, and selector fork includes group being fixedly connected
Fork and reversal means groove portion, and the reversal means groove portion of each selector fork is arranged along the axis of shifting axis, is fixed on shifting axis
Reversal means may be at different selector forks when moving under drive of the reversal means in shifting axis along the axis of shifting axis
In reversal means slot, block selecting is realized, drive selector fork to move along the axial direction of shift fork axle it is possible to further the rotation with shifting axis
It is dynamic, realize shift.
Specifically, the axis of shifting axis is mobile and swing is realized under the driving of motor, including shift motor
With block selecting motor, the two with shifting axis connection, wherein block selecting motor rotation, by movement conversion mechanism will rotate
Conversion of motion is linear motion, and shifting axis is driven to move along its axis direction, and then drives reversal means mobile, is contained in reversal means
In corresponding reversal means slot, block selecting is completed;Motor of shifting gears rotates, and drives the rotation of shifting axis, reversal means is driven to swing, promotion shift
Shift fork is moved along the axis of shift fork axle, realizes shift.
In auto-manual speed changer, in order to realize block selecting, using the physical location of sensor detection shifting axis, simultaneously
Combining target position determines the voltage of block selecting motor, and according to the change of physical location, changes the voltage of block selecting motor,
Until selector fork reaches the threshold range of target position, block selecting is realized, the voltage of block selecting motor becomes zero;It is changed to realize
Gear is determined using the actual angle of sensor detection shifting axis in combination with target angle on the basis of completing block selecting
The voltage of shift motor, and according to the change of actual angle, change the voltage of shift motor, until selector fork reaches mesh
Angle is marked, realizes shift, the voltage for motor of shifting gears becomes zero.
However, in practical work process, such as: when needing speed changer to be transformed into neutral gear position from engagement gear, by
To interlocking steel ball and groove between pressure change influence or coefficient of friction between the two change influence, the two it
Between frictional force can also change, but the voltage of motor will not change according to the change of frictional force, so as to cause shift
Shift fork cannot accurately arrive at the threshold range of target position, and speed changer can not achieve the accurate change of gear.
In order to guarantee target position that selector fork accurately arrives at, the embodiment of the invention provides a kind of shift controlling parties
Method includes: to obtain the physical location at the current time of the shifting axis;When the physical location and pre-acquiring at the current time
The distance of target position when being unsatisfactory for distance threshold, obtained according to the physical location at the target position and the current time
The position-scheduled voltage of the block selecting motor, when the physical location and the previous physical location for obtaining the moment at the current time
Position difference when being unsatisfactory for position difference threshold, adjust the position-scheduled voltage and obtain the position control electricity at current time
Pressure, controls the block selecting motor and operates under the position control voltage, so that the position of the shifting axis levels off to institute
State target position.
Shift control method provided by the embodiment of the present invention, when the voltage to block selecting motor controls, not only
It is only directly determined according to the current actual positions of shifting axis obtained and target position, it is also necessary to which judgement carries out shift control
When processed, the change in location situation of the physical location at shifting axis current time and the previous physical location for obtaining the moment works as the two
Between position difference when being unsatisfactory for position difference threshold, show that the change in location of shifting axis is too large or too small, block selecting electricity
The position control voltage at the current time of motivation is unsatisfactory for shift transformation requirement, needs to be adjusted, to obtain position control
Voltage, the motor that then makes to shift gears operate under position control voltage, and the position of shifting axis is made to level off to target position.
As can be seen that shift control method provided by the embodiment of the present invention, is based not only on the current time of shifting axis
Physical location and target position determine position control voltage, and the moment understands and selects between current time and previous acquisition moment
The location variation of shifting shaft, to judge under the position control voltage of previous moment, whether block selecting motor drives shifting
Axis changes position as required, when selecting the position change amount of shifting shaft to be unsatisfactory for requiring, then adjusts to position predetermined voltage
It is whole, the position control voltage of the block selecting motor of the physical location at current time is obtained, so as to be based on practical block selecting process
In concrete condition, carry out block selecting motor position control voltage adjustment, guarantee block selecting motor drive shifting axis press
According to needing to change block selecting position, the target position is gradually leveled off to, until eventually arriving at the threshold range of target position, avoid
The case where as when actual conditions are obtained from position-scheduled voltage it is different and caused by selected position-scheduled voltage not
Appropriately, guarantee that position control voltage value matches with block selecting process, thereby may be ensured that the accuracy of block selecting process.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a flow diagram of shift control method provided by the embodiment of the present invention.
As shown in the figure, shift control method provided by the embodiment of the present invention triggers after obtaining shifting instruction, because
This, has got the target position (gear positions after usually shifting gears) of shifting axis, comprising the following steps:
Step S10: the physical location at the current time of the shifting axis is obtained.
During block selecting, shifting axis changes position along its axis direction, with the propulsion of time, the reality of shifting axis
Border position can constantly change, and in order to accurately obtain the physical location of shifting axis, need constantly to obtain during entire block selecting
The physical location at the current time of shifting axis.
Specifically, it can use the physical location that sensor obtains current time, such as: position sensor or angle pass
Sensor can directly obtain the position of shifting axis using position sensor;It, can will be electric by detection using angular transducer
The rotary motion of machine is changed into the rotational angle of the component of the linear motion of shifting axis, and then calculates the position of shifting axis
It sets.
Sensor constantly obtains the physical location of shifting axis according to the time cycle, thus in entirely shift control process
In, shift control method provided by the embodiment of the present invention can be performed a plurality of times.
Specifically, the period that sensor obtains the physical location at the current time of shifting axis can be according to the function of sensor
It can determine that, also can be set as needed, in a specific embodiment, can be 10ms/ times, can not only guarantee to detect
Frequency need, avoid excessive cycle and cause the reduction of control effect, and can reduce operand, lower for hardware
It needs.
Step S11: judge whether to meet at a distance from the physical location at the current time and the target position of pre-acquiring away from
From threshold value, if so, thening follow the steps S17;If it is not, thening follow the steps S12.
It is understood that the target position of pre-acquiring, which refers to, acquired when receiving shift transformation instruction selects gear shift
The target position of axis, such as: when shifting to 1 gear from neutral gear, the target position of pre-acquiring is to select selector shaft corresponding to 1 gear
Position, but do not include and select the rotation angle of selector shaft.
The physical location for obtaining current time each time needs further exist for the physical location and pre-acquiring that determine current time
The distance of target position whether meet distance threshold, that is, whether shifting axis has had arrived at target position at current time
It sets, the position adjustment of shifting axis is executed then without being further carried out adjustment if it is, explanation has been realized in
The position control voltage of the block selecting motor is set as 0 by step S17;If it is not, then explanation is also not implemented for shifting axis
Position adjustment, need to continue shifting axis position adjustment, execute step S12.
Step S12: the block selecting motor is obtained according to the physical location of the target position and the current time
Position-scheduled voltage.
After determining the position adjustment for needing to carry out shifting axis, physical location and target position based on current time,
It can be obtained by the position-scheduled voltage of shifting axis.
It specifically, can be in such a way that the physical location at current time and target position be searched, from preparatory
In determining position-scheduled contact potential series, corresponding position-scheduled voltage is found.
Certainly, in other embodiments, position-scheduled voltage can also be obtained by other means, for example passes through calculating
Mode.
Step S13: judge the physical location at the current time and the position difference of the previous physical location for obtaining the moment
Whether position difference threshold is met, if satisfied, S15 is thened follow the steps, if not satisfied, thening follow the steps S14.
Then, judgement is currently by the position difference of the physical location at moment and the previous physical location for obtaining the moment, i.e. base
Under the driving of the voltage of the block selecting motor at the previous acquisition moment of the acquisition of information such as the previous physical location for obtaining the moment, warp
A signal acquisition period is spent, whether the position change amount of shifting axis meets position difference threshold.
If it is satisfied, then showing to select the movement of selector shaft to meet the requirements, gearshift by the previous signal acquisition period
All parts between the voltage of active force and block selecting motor match, then follow the steps S15, i.e., by the current time
Position control voltage of the position-scheduled voltage as the current time;If conditions are not met, then showing to obtain by previous signal
The period is taken, the amount of movement of selector shaft is selected to be unsatisfactory for requiring, the active force between all parts of gearshift and block selecting motor
Voltage mismatch, possible voltage is excessive, then selects the amount of movement of selector shaft excessive, it is also possible to which voltage is too small, then selects selector shaft
Amount of movement is too small, thens follow the steps S14, that is, adjusts the position-scheduled voltage and obtain the position control voltage at current time.
Step S14: the adjustment position-scheduled voltage obtains the position control voltage at current time.
By a signal acquisition period, the position difference of shifting axis is unsatisfactory for position difference threshold, then pre- to position
Constant voltage is adjusted, and obtains the adjustment required voltage for meeting current time, i.e. the position control voltage at current time.
In a specific embodiment, in order to guarantee obtained current time position control voltage and select selector shaft
Position difference matching, referring to FIG. 2, Fig. 2 be the embodiment of the present invention provided by shift control method adjustment described in
The flow diagram of position-scheduled voltage steps.
As shown in Fig. 2, in order to improve the accuracy to the adjustment of position predetermined voltage, shift provided by the embodiment of the present invention
The adjustment of the control method position-scheduled voltage steps include:
Step S141: the actual speed at the current time of the block selecting motor is obtained.
The actual speed at the current time of block selecting motor is obtained, i.e., is selected under the voltage determined based on the previous acquisition moment
Shift motor actual speed achieved, can specifically be obtained by the control system of block selecting motor.
The calculation formula of actual speed is as follows:
Wherein: UoutputIt is the practical control voltage of direct current generator;
CeIt is armature potential constant;
It is the flux of every pole;
IaIt is the electric current of direct current generator;
RaIt is the resistance of dc motor.
Step S142: the block selecting motor is obtained according to the physical location of the target position and the current time
Rotating speed of target.
In a specific embodiment, block selecting electricity is obtained according to the physical location at target position and current time for convenience
The physical location at target position and current time can be inputted the first proportional plus integral plus derivative controller by the rotating speed of target of motivation
(proportional plus integral plus derivative controller, that is, PID controller) obtains the rotating speed of target then by operation.It is understood that mesh
Mark revolving speed is when making that selector shaft is selected to be moved to target position from the physical location at current time, in the actual bit at current time
It sets, the rotating speed of target of required block selecting motor.
Step S143: position is obtained according to the actual speed of the rotating speed of target of the block selecting motor and the block selecting motor
Set offset voltage.
After obtaining rotating speed of target, in the difference according to rotating speed of target and actual speed, so that it may understand in previous acquisition
Under the voltage at quarter, it is too fast or excessively slow that the revolving speed of motor is changed in choosing, also, obtains position compensation voltage based on the two again.
In a specific embodiment, the position compensation voltage of block selecting motor is obtained for convenience, target can be turned
Speed and the actual speed at current time input the second proportional plus integral plus derivative controller, then by operation, show that the position is mended
Repay voltage.
Rotational speed difference can be obtained by following formula:
ndiff=ntarget-nactual
Wherein: ndiffRotational speed difference;
ntargetRotating speed of target;
nactualThe actual speed at current time.
Position compensation voltage can be obtained by following formula:
Wherein, KpProportionality coefficient;
KiIntegral coefficient;
KdDifferential coefficient.
It is understood that position compensation voltage is to make that selector shaft is selected to be moved to target from the physical location at current time
When position, in the physical location at current time, the amount of the position-scheduled voltage of required adjustment;When actual speed turns higher than target
When fast, position compensation voltage is negative value, so as to reduce position-scheduled voltage, when actual speed is lower than rotating speed of target, and position
Setting offset voltage is positive value, so as to raised position predetermined voltage.
Step S144: the position-scheduled voltage is adjusted using the position compensation voltage.
In this way, the rotating speed of target of block selecting motor is obtained by target position and the physical location at current time, that is,
When being run from the physical location at current time according to the physical location determination at target position and current time to target position, choosing
The revolving speed that gear motor should have, then compares the difference between the actual speed and rotating speed of target of block selecting motor, that is, works as
Both preceding actual speed, which can not achieve, changes shifting axis to the deviation of target position from the physical location at current time, based on
Between deviation obtain position compensation voltage, ensure that the accuracy of acquired position compensation voltage, to further may be used
With obtained position control voltage after the position-scheduled voltage of utility position compensation voltage adjustment, selector fork can be made quasi-
Really reach the threshold range of target position.
Step S15: using the current time position-scheduled voltage as the position control voltage at the current time.
When the physical location at current time and the position difference of the previous physical location for obtaining the moment meet position difference threshold
When value, it is only necessary to using current time position-scheduled voltage as the position control voltage at the current time, carry out subsequent change
Gear control.
Step S16: controlling the block selecting motor and operate under the position control voltage, so that the shifting axis
Position levels off to the target position.
Based on different situations, different position control voltage is obtained, and then controls block selecting motor again in position control
It is operated under voltage, realizes that the position of shifting axis gradually levels off to the target position.
Step S17: the position control voltage of the block selecting motor is set as 0.
When whether the physical location at current time meets distance threshold at a distance from the target position of pre-acquiring, then
The position control voltage of block selecting motor is set as 0 by the block selecting for completing shift process
To, shift control method provided by the embodiment of the present invention, when the voltage to block selecting motor controls,
It is not only directly determined according to the current actual positions of shifting axis obtained and target position, it is also necessary to which judgement is changed
When gear control, the change in location situation of the physical location at shifting axis current time and the previous physical location for obtaining the moment, when
When position difference between the two is unsatisfactory for position difference threshold, show that the change in location of shifting axis is too large or too small, selects
The position control voltage for keeping off the current time of motor is unsatisfactory for shift transformation requirement, needs to be adjusted, to obtain position
Voltage is controlled, the motor that then makes to shift gears operates under position control voltage, and the position of shifting axis is made to level off to target position.
As can be seen that shift control method provided by the embodiment of the present invention, is based not only on the current time of shifting axis
Physical location and target position determine position control voltage, and the moment understands and selects between current time and previous acquisition moment
The location variation of shifting shaft, to judge under the position control voltage of previous moment, whether block selecting motor drives shifting
Axis changes position as required, when selecting the position change amount of shifting shaft to be unsatisfactory for requiring, then adjusts to position predetermined voltage
It is whole, the position control voltage of the block selecting motor of the physical location at current time is obtained, so as to be based on practical block selecting process
In concrete condition, carry out block selecting motor position control voltage adjustment, guarantee block selecting motor drive shifting axis press
According to needing to change block selecting position, the target position is gradually leveled off to, until eventually arriving at the threshold range of target position, avoid
The case where as when actual conditions are obtained from position-scheduled voltage it is different and caused by selected position-scheduled voltage not
Appropriately, guarantee that position control voltage value matches with block selecting process, thereby may be ensured that the accuracy of block selecting process.
To realize gear replacement, after completing gear selecting, it is also necessary to shift gears, referring to FIG. 3, Fig. 3 is that the present invention is implemented
Another flow diagram of shift control method provided by example.
As shown in the figure, shift control method provided by the embodiment of the present invention triggers after obtaining shifting instruction, and
And in the case where meeting distance threshold at a distance from target position of the physical location at current time with pre-acquiring, therefore,
Get the target angle (the gear angle after usually shifting gears) of shifting axis, comprising the following steps:
Step S20: the actual angle at the current time of the shifting axis is obtained.
In shift process, shifting axis changes angle along its circumferential direction, with the propulsion of time, the reality of shifting axis
Border angle can constantly change, and in order to accurately obtain the actual angle of shifting axis, need constantly to obtain in entire shift process
The actual angle at the current time of shifting axis.
Specifically, it can use the actual angle that sensor obtains current time, such as: angular transducer or angle pass
Sensor can directly obtain the angle of shifting axis using angular transducer;Using position sensor, can be displaced by detection
Knots modification, and then calculate the angle of shifting axis.
Sensor constantly obtains the actual angle of shifting axis according to the time cycle, thus in entirely shift control process
In, shift control method provided by the embodiment of the present invention can be performed a plurality of times.
Specifically, the period that sensor obtains the actual angle at the current time of shifting axis can be according to the function of sensor
It can determine that, also can be set as needed, in a specific embodiment, can be 10ms/ times, can not only guarantee to detect
Frequency need, avoid excessive cycle and cause the reduction of control effect, and can reduce operand, lower for hardware
It needs.
Step S21: judge whether the differential seat angle of the actual angle at the current time and the target angle of pre-acquiring meets
Angle threshold, if so, thening follow the steps S27;If it is not, thening follow the steps S22.
The actual angle for obtaining current time each time needs further exist for the actual angle and pre-acquiring that determine current time
The differential seat angle of target angle whether meet angle threshold, that is, whether shifting axis has had arrived at target at current time
Angle holds the angle adjustment of shifting axis then without being further carried out adjustment if it is, explanation has been realized in
The angle control voltage of the shift motor is set as 0 by row step S27;If it is not, then explanation is also not implemented for shifting
The angle of axis adjusts, and needs to continue the angle adjustment of shifting axis, executes step S22.
Step S22: the shift motor is obtained according to the actual angle of the target angle and the current time
Angle predetermined voltage.
After determining the angle adjustment for needing to carry out shifting axis, actual angle and target angle based on current time,
It can be obtained by the angle predetermined voltage of shifting axis.
It specifically, can be in such a way that the actual angle at current time and target angle be searched, from preparatory
In determining angle predetermined voltage sequence, corresponding angle predetermined voltage is found.
Certainly, in other embodiments, angle predetermined voltage can also be obtained by other means, for example passes through calculating
Mode.
Step S23: judge the actual angle at the current time and the angle difference of the previous actual angle for obtaining the moment
Whether angle difference threshold value is met, if satisfied, S26 is thened follow the steps, if not satisfied, thening follow the steps S24.
Then, judgement is currently by the angle difference of the actual angle at moment and the previous actual angle for obtaining the moment, i.e. base
Under the driving of the voltage of the shift motor at the previous acquisition moment of the acquisition of information such as the previous actual angle for obtaining the moment, warp
A signal acquisition period is spent, whether the angulation change amount of shifting axis meets angle difference threshold value.
If it is satisfied, then showing to select the movement of selector shaft to meet the requirements, gearshift by the previous signal acquisition period
All parts between active force and shift gears motor voltage match, then follow the steps S26, i.e., by the current time
Angle predetermined voltage controls voltage as the angle at the current time;If conditions are not met, then showing to obtain by previous signal
The period is taken, the amount of movement of selector shaft is selected to be unsatisfactory for requiring, the active force between all parts of gearshift and shift motor
Voltage mismatch, possible voltage is excessive, then selects the amount of movement of selector shaft excessive, it is also possible to which voltage is too small, then selects selector shaft
Amount of movement is too small, thens follow the steps S24, that is, adjusts the angle predetermined voltage and obtain the angle control voltage at current time.
Step S24: it adjusts the angle predetermined voltage and obtains the angle control voltage at current time.
By a signal acquisition period, the angle difference of shifting axis is unsatisfactory for angle difference threshold value, then according to
Angle difference is adjusted angle predetermined voltage, obtain the adjustment required voltage for meeting current time, i.e. current time
Angle controls voltage.
In a specific embodiment, in order to guarantee that the angle control at obtained current time and selects selector shaft at voltage
Angle difference matching, referring to FIG. 4, Fig. 4 be the embodiment of the present invention provided by shift control method adjustment described in
The flow diagram of angle predetermined voltage step.
As shown in figure 4, in order to improve the accuracy to the adjustment of angle predetermined voltage, shift provided by the embodiment of the present invention
The adjustment of the control method angle predetermined voltage step includes:
Step S241: the actual speed at the current time of the shift motor is obtained.
The actual speed at the current time of shifting motor is obtained, i.e., under the voltage determined based on the previous acquisition moment
Shifting motor actual speed achieved can specifically be obtained by the control system for motor of shifting gears.
Step S242: the shift motor is obtained according to the actual angle of the target angle and the current time
Rotating speed of target.
In a specific embodiment, shift electricity is obtained according to target angle and the actual angle at current time for convenience
Target angle and the actual angle at current time can be inputted third proportional plus integral plus derivative controller by the rotating speed of target of motivation
(proportional plus integral plus derivative controller, that is, PID controller) obtains the rotating speed of target then by operation.
It is understood that rotating speed of target is to make that selector shaft is selected to be moved to target angle from the actual angle at current time
When, in the actual angle at current time, the rotating speed of target of required shift motor.
Step S243: angle is obtained according to the actual speed of the rotating speed of target of the shift motor and the shift motor
Spend offset voltage.
After obtaining rotating speed of target, in the difference according to rotating speed of target and actual speed, so that it may understand in previous acquisition
Under the voltage at quarter, it is too fast or excessively slow that the revolving speed of motor is changed in choosing, also, obtains angle compensation voltage based on the two again.
In a specific embodiment, the angle compensation voltage of shift motor is obtained for convenience, target can be turned
Speed and the actual speed at current time input the 4th proportional plus integral plus derivative controller, then by operation, show that the angle is mended
Repay voltage.
Rotational speed difference can be obtained by following formula:
ndiff=ntarget-nactual
Wherein: ndiffRotational speed difference;
ntargetRotating speed of target;
nactualThe actual speed at current time.
Angle compensation voltage can be obtained by following formula:
Wherein, KpProportionality coefficient;
KiIntegral coefficient;
KdDifferential coefficient.
It is understood that angle compensation voltage is to make that selector shaft is selected to be moved to target from the actual angle at current time
When angle, in the actual angle at current time, the amount of the angle predetermined voltage of required adjustment;When actual speed turns higher than target
When fast, angle compensation voltage is negative value, so as to reduce angle predetermined voltage, when actual speed is lower than rotating speed of target, and angle
Degree offset voltage is positive value, so as to rise angle predetermined voltage.
Step S244: the angle predetermined voltage is adjusted using the angle compensation voltage.
In this way, the rotating speed of target of shift motor is obtained by target angle and the actual angle at current time, that is,
When being run from the actual angle at current time according to the actual angle determination at target angle and current time to target angle, change
The revolving speed that gear motor should have, then compares the difference between the actual speed and rotating speed of target of shift motor, that is, works as
Both preceding actual speed, which can not achieve, changes shifting axis to the deviation of target angle from the actual angle at current time, based on
Between deviation obtain angle compensation voltage, ensure that the accuracy of acquired angle compensation voltage, to further may be used
Obtained angle controls voltage after adjusting the angle predetermined voltage with utility angle compensation voltage, and selector fork can be made quasi-
Really reach target angle.
Step S25: the control shift motor is operated in the case where the angle controls voltage, so that the shifting axis
Angle levels off to the target angle.
Based on different situations, different angle control voltage is obtained, and then controls shift motor again and is controlled in angle
It is operated under voltage, realizes that the angle of shifting axis gradually levels off to the target angle.
Step S26: voltage is controlled using the current time angle predetermined voltage as the angle at the current time.
When the actual angle at current time and the angle difference of the previous actual angle for obtaining the moment meet angle difference threshold
When value, it is only necessary to control voltage for current time angle predetermined voltage as the angle at the current time, carry out subsequent change
Gear control.
Step S27: the angle control voltage of the shift motor is set as 0.
To, shift control method provided by the embodiment of the present invention, when the voltage to shift motor controls,
It is not only directly determined according to the currently practical angle of shifting axis obtained and target angle, it is also necessary to which judgement is changed
When gear control, the angle change situation of the actual angle at shifting axis current time and the previous actual angle for obtaining the moment, when
When angle difference between the two is unsatisfactory for angle difference threshold value, shows that the angle change of shifting axis is too large or too small, change
The angle control voltage for keeping off the current time of motor is unsatisfactory for shift transformation requirement, needs to be adjusted, to obtain angle
Voltage is controlled, the motor that then makes to shift gears is operated in the case where angle controls voltage, and the angle of shifting axis is made to level off to target angle.
As can be seen that shift control method provided by the embodiment of the present invention carries out gear after the completion of realizing block selecting
When replacement, the actual angle and target angle for being based not only on the current time of shifting axis determine that angle controls voltage, Er Qieshi
It carves and understands current time and the previous angle variable quantity for obtaining shifting axis between the moment, to judge the angle control in previous moment
Under voltage processed, whether shift motor drives shifting axis to change angle as required, is elected to the angulation change amount of shifting shaft not
When meeting the requirements, then angle predetermined voltage is adjusted, obtains the angle of the shift motor of the actual angle at current time
Voltage is controlled, so as to carry out the angle control voltage of shift motor based on the concrete condition in practical shift process
Adjustment guarantees that shift motor drives shifting axis to change angle of shifting gears as required, gradually levels off to the target angle, directly
To target angle is eventually arrived at, the case where avoiding by when actual conditions and angle predetermined voltage obtain it is different and caused by institute
The angle predetermined voltage of selection it is inappropriate, guarantee angle control voltage value match with shift process, thereby may be ensured that
The accuracy of shift process.
Shift control apparatus provided in an embodiment of the present invention is introduced below, shift control apparatus described below can
With the functional module framework of setting needed for being considered shift control method that embodiment to realize the present invention provides.It is described below
The content of shift control apparatus can correspond to each other reference with the content of above-described shift control method.
Fig. 5 is a block diagram of shift control apparatus provided in an embodiment of the present invention, and referring to Fig. 5, which can
To include:
The physical location acquiring unit 100 at current time, the actual bit at the current time suitable for obtaining the shifting axis
It sets;
Shifting shaft position adjustment unit 110, suitable for when the physical location at the current time and the target position of pre-acquiring
When the distance set is unsatisfactory for distance threshold, the block selecting is obtained according to the physical location at the target position and the current time
The position-scheduled voltage of motor, when the physical location at the current time and the alternate position spike of the previous physical location for obtaining the moment
When value is unsatisfactory for position difference threshold, adjusts the position-scheduled voltage and obtain the position control voltage at current time, control institute
It states block selecting motor to operate under the position control voltage, so that the position of the shifting axis levels off to the target position
It sets.In order to realize shift control, the actual angle acquiring unit 100 at current time obtains the physical location at current time first.
The target position of pre-acquiring refers to the target position of selecting selector shaft acquired when receiving shift transformation instruction,
Such as: when shifting to 1 gear from neutral gear, the target position of pre-acquiring is the position that selector shaft is selected corresponding to 1 gear, but is not wrapped
Containing the rotation angle for selecting selector shaft.
In addition the physical location acquiring unit 100 at current time and shifting shaft position adjustment unit 110 can be respectively
In the controller of motor vehicle, in a specific embodiment, controller can be ECU (Electronic Control
Unit) electronic control unit.
Shifting shaft position adjustment unit 110 is obtained in the physical location acquiring unit 100 for receiving current time
When the physical location at current time, both judges and whether in positional distance to meet threshold status.
It is unsatisfactory for when both determining, after the position adjustment for needing to carry out shifting axis, the physical location based on current time
And target position, so that it may obtain the position-scheduled voltage of shifting axis.
It specifically, can be in such a way that the physical location at current time and target position be searched, from preparatory
In determining position-scheduled contact potential series, corresponding position-scheduled voltage is found.
Then, judgement is currently by the position difference of the physical location at moment and the previous physical location for obtaining the moment, i.e. base
Under the driving of the voltage of the block selecting motor at the previous acquisition moment of the acquisition of information such as the previous physical location for obtaining the moment, warp
A signal acquisition period is spent, whether the position change amount of shifting axis meets position difference threshold.
If conditions are not met, then showing to select the amount of movement of selector shaft to be unsatisfactory for requiring by the previous signal acquisition period, change
The voltage of active force and block selecting motor between all parts of retaining device mismatches, and possible voltage is excessive, then selects selector shaft
Amount of movement it is excessive, it is also possible to voltage is too small, then selects the amount of movement of selector shaft too small, then adjusts the position-scheduled voltage and obtain
The position control voltage at current time.
In a specific embodiment, in order to realize the accurate adjustment for position-scheduled voltage, shifting shaft position
Adjustment unit 110 is further adapted for obtaining the actual speed at the current time of the block selecting motor, according to the target position and institute
The physical location for stating current time obtains the rotating speed of target of the block selecting motor, according to the rotating speed of target of the block selecting motor
Position compensation voltage is obtained with the actual speed of the block selecting motor, it is pre- to adjust the position using the position compensation voltage
Constant voltage.
In a specific embodiment, the actual speed at current time can be selected by the control system of block selecting motor
The acquisition of shift motor.
The calculation formula of actual speed is as follows:
Wherein: UoutputIt is the practical control voltage of direct current generator;
CeIt is armature potential constant;
It is the flux of every pole;
IaIt is the electric current of direct current generator;
RaIt is the resistance of dc motor.
The rotating speed of target for obtaining block selecting motor according to the physical location at target position and current time for convenience, can be with
The physical location at target position and current time is inputted the first proportional plus integral plus derivative controller, and (proportional plus integral plus derivative controller is
PID controller), then by operation, obtain the rotating speed of target.
It is understood that rotating speed of target is to make that selector shaft is selected to be moved to target position from the physical location at current time
When, in the physical location at current time, the rotating speed of target of required block selecting motor.
After obtaining rotating speed of target, in the difference according to rotating speed of target and actual speed, so that it may understand in previous acquisition
Under the voltage at quarter, it is too fast or excessively slow that the revolving speed of motor is changed in choosing, also, obtains position compensation voltage based on the two again.
In a specific embodiment, the position compensation voltage of block selecting motor is obtained for convenience, target can be turned
Speed and the actual speed at current time input the second proportional plus integral plus derivative controller, then by operation, show that the position is mended
Repay voltage.
Rotational speed difference can be obtained by following formula:
ndiff=ntarget-nactual
Wherein: ndiffRotational speed difference;
ntargetRotating speed of target;
nactualThe actual speed at current time.
Position compensation voltage can be obtained by following formula:
Wherein, KpProportionality coefficient;
KiIntegral coefficient;
KdDifferential coefficient.
It is understood that position compensation voltage is to make that selector shaft is selected to be moved to target from the physical location at current time
When position, in the physical location at current time, the amount of the position-scheduled voltage of required adjustment;When actual speed turns higher than target
When fast, position compensation voltage is negative value, so as to reduce position-scheduled voltage, when actual speed is lower than rotating speed of target, and position
Setting offset voltage is positive value, so as to raised position predetermined voltage.
In this way, shift control apparatus provided by the embodiment of the present invention, when carrying out block selecting, by target position and currently
The physical location at moment obtains the rotating speed of target of block selecting motor, that is, the physical location according to target position and current time
When determination will be run from the physical location at current time to target position, then the revolving speed that block selecting motor should have compares
Difference between the actual speed and rotating speed of target of block selecting motor, i.e., currently practical revolving speed, which can not achieve, makes shifting axis from working as
The physical location at preceding moment is changed to the deviation of target position, is obtained position compensation voltage based on deviation between the two, is guaranteed
The accuracy of acquired position compensation voltage, so that it is pre- further position can be adjusted with utility position compensation voltage
Obtained position control voltage, can make selector fork accurately arrive at the threshold range of target position after constant voltage.
In another embodiment specific implementation mode, the shifting shaft position adjustment unit 110 is further adapted for when described current
When the position difference of the physical location at quarter and the previous physical location for obtaining the moment meets the position difference threshold, described in control
Block selecting motor operates under the position-scheduled voltage, so that the position of the shifting axis levels off to the target position.
As can be seen that shift control apparatus provided by the embodiment of the present invention, is based not only on the current time of shifting axis
Physical location and target position determine position control voltage, and the moment understands and selects between current time and previous acquisition moment
The location variation of shifting shaft, to judge under the position control voltage of previous moment, whether block selecting motor drives shifting
Axis changes position as required, when selecting the position change amount of shifting shaft to be unsatisfactory for requiring, then adjusts to position predetermined voltage
It is whole, the position control voltage of the block selecting motor of the physical location at current time is obtained, so as to be based on practical block selecting process
In concrete condition, carry out block selecting motor position control voltage adjustment, guarantee block selecting motor drive shifting axis press
According to needing to change block selecting position, the target position is gradually leveled off to, until eventually arriving at the threshold range of target position, avoid
The case where as when actual conditions are obtained from position-scheduled voltage it is different and caused by selected position-scheduled voltage not
Appropriately, guarantee that position control voltage value matches with block selecting process, thereby may be ensured that the accuracy of block selecting process.
The physical location at current time of elected shifting shaft meets distance threshold at a distance from the target position of pre-acquiring, i.e.,
When completing block selecting, then the shift control in gear replacement process is carried out, the completion of certain block selecting can be through the embodiment of the present invention
Provided shift control apparatus carries out, and can also be completed by other methods.
Referring to FIG. 6, Fig. 6 is another block diagram of shift control apparatus provided in an embodiment of the present invention, referring to Fig. 6, this is changed
Keeping off control device can also include:
The actual angle acquiring unit 200 at current time, suitable for being elected to the physical location at the current time of shifting shaft and pre-
When the distance of the target position of acquisition meets distance threshold, the actual angle at the current time of the shifting axis is obtained;
Shifting axis angle adjusting 210, suitable for when the actual angle at the current time and the target angle of pre-acquiring
When the differential seat angle of degree is unsatisfactory for angle threshold, changed according to the target angle and the acquisition of the actual angle at the current time
The angle predetermined voltage for keeping off motor, when the actual angle at the current time and the angle of the previous actual angle for obtaining the moment
When difference is unsatisfactory for angle difference threshold value, adjusts the angle predetermined voltage and obtain the angle control voltage at current time, control
The shift motor is operated in the case where the angle controls voltage, so that the angle of the shifting axis levels off to the target angle
Degree.
In order to realize shift control, the actual angle acquiring unit 200 at current time obtains the reality at current time first
Angle.
The target angle of pre-acquiring refers to the target angle that selects selector shaft acquired when receiving shift transformation instruction,
Such as: when shifting to 1 gear from neutral gear, the target angle of pre-acquiring is the angle that selector shaft is selected corresponding to 1 gear, but is not wrapped
Containing the displacement in axial direction for selecting selector shaft.
Shifting axis angle adjusting 210 is obtained in the actual angle acquiring unit 200 for receiving current time
When the actual angle at current time, whether the differential seat angle for judging the two meets angle threshold.
When determination is unsatisfactory for, after the angle adjustment for needing to carry out shifting axis, actual angle based on current time and
Target angle, so that it may obtain the angle predetermined voltage of shifting axis.
It specifically, can be in such a way that the actual angle at current time and target angle be searched, from preparatory
In determining angle predetermined voltage sequence, corresponding angle predetermined voltage is found.
Then, judgement is currently by the angle difference of the actual angle at moment and the previous actual angle for obtaining the moment, i.e. base
Under the driving of the voltage of the shift motor at the previous acquisition moment of the acquisition of information such as the previous actual angle for obtaining the moment, warp
A signal acquisition period is spent, whether the angulation change amount of shifting axis meets angle difference threshold value.
If conditions are not met, then showing to select the amount of movement of selector shaft to be unsatisfactory for requiring by the previous signal acquisition period, change
The voltage of active force and shift motor between all parts of retaining device mismatches, and possible voltage is excessive, then selects selector shaft
Amount of movement it is excessive, it is also possible to voltage is too small, then selects the amount of movement of selector shaft too small, then adjusts the angle predetermined voltage and obtain
The angle at current time controls voltage.
In a specific embodiment, in order to realize the accurate adjustment for angle predetermined voltage, shifting shaft angle degree
Adjustment unit 210 is further adapted for obtaining the actual speed at the current time of the shift motor, according to the target angle and institute
The actual angle for stating current time obtains the rotating speed of target of the shift motor, according to the rotating speed of target of the shift motor
Angle compensation voltage is obtained with the actual speed of the shift motor, it is pre- to adjust the angle using the angle compensation voltage
Constant voltage.
In a specific embodiment, the actual speed at current time can be selected by the control system for motor of shifting gears
The acquisition of shift motor.
The rotating speed of target of shift motor is obtained according to target angle and the actual angle at current time for convenience, it can be with
By target angle and the actual angle at current time input third proportional plus integral plus derivative controller, (proportional plus integral plus derivative controller is
PID controller), then by operation, obtain the rotating speed of target.
It is understood that rotating speed of target is to make that selector shaft is selected to be moved to target angle from the actual angle at current time
When, in the actual angle at current time, the rotating speed of target of required shift motor.
After obtaining rotating speed of target, in the difference according to rotating speed of target and actual speed, so that it may understand in previous acquisition
Under the voltage at quarter, it is too fast or excessively slow that the revolving speed of motor is changed in choosing, also, obtains angle compensation voltage based on the two again.
In a specific embodiment, the angle compensation voltage of shift motor is obtained for convenience, target can be turned
Speed and the actual speed at current time input the 4th proportional plus integral plus derivative controller, then by operation, show that the angle is mended
Repay voltage.
Rotational speed difference can be obtained by following formula:
ndiff=ntarget-nactual
Wherein: ndiffRotational speed difference;
ntargetRotating speed of target;
nactualThe actual speed at current time.
Angle compensation voltage can be obtained by following formula:
Wherein, KpProportionality coefficient;
KiIntegral coefficient;
KdDifferential coefficient.
It is understood that angle compensation voltage is to make that selector shaft is selected to be moved to target from the actual angle at current time
When angle, in the actual angle at current time, the amount of the angle predetermined voltage of required adjustment;When actual speed turns higher than target
When fast, angle compensation voltage is negative value, so as to reduce angle predetermined voltage, when actual speed is lower than rotating speed of target, and angle
Degree offset voltage is positive value, so as to rise angle predetermined voltage.
In this way, shift control apparatus provided by the embodiment of the present invention, when carrying out gear replacement, by target angle and
The actual angle at current time obtains the rotating speed of target of shift motor, that is, the reality according to target angle and current time
When angle determination will be run from the actual angle at current time to target angle, the revolving speed that shift motor should have, then
Compare the difference between the actual speed and rotating speed of target of shift motor, i.e., currently practical revolving speed, which can not achieve, makes shifting axis
It changes from the actual angle at current time to the deviation of target angle, angle compensation voltage is obtained based on deviation between the two,
It ensure that the accuracy of acquired angle compensation voltage, thus further can be with utility angle compensation voltage adjusting angle
Obtained angle controls voltage after spending predetermined voltage, and selector fork can be made to accurately arrive at the angle threshold of target angle
It is interior.
In another embodiment specific implementation mode, the shifting axis angle adjusting 210 is further adapted for when described current
When the angle difference of the actual angle at quarter and the previous actual angle for obtaining the moment meets the angle difference threshold value, described in control
Shift motor operates under the angle predetermined voltage, so that the angle of the shifting axis levels off to the target angle.
As can be seen that shift control apparatus provided by the embodiment of the present invention, is based not only on the current time of shifting axis
Actual angle and target angle determine that angle controls voltage, and the moment understands and selects between current time and previous acquisition moment
The angle variable quantity of shifting shaft, to judge under the angle control voltage of previous moment, whether shift motor drives shifting
Axis changes angle as required, when selecting the angulation change amount of shifting shaft to be unsatisfactory for requiring, then adjusts to angle predetermined voltage
It is whole, the angle control voltage of the shift motor of the actual angle at current time is obtained, so as to be based on practical shift process
In concrete condition, carry out shift motor angle control voltage adjustment, guarantee shift motor drive shifting axis press
According to needing to change shift angle, the target angle that gradually levels off to is avoided until eventually arriving at target angle due to reality
The case where when situation and angle predetermined voltage obtain it is different and caused by selected angle predetermined voltage inappropriate, guarantee angle
Degree control voltage value matches with shift process, thereby may be ensured that the accuracy of shift process.
The embodiment of the present invention also provides a kind of computer readable storage medium, and the computer-readable recording medium storage has
Shift control method as described above may be implemented when the instruction is executed by processor for computer executable instructions, or
Shift control method as described above.
Computer readable storage medium provided by the embodiment of the present invention is held in the computer executable instructions of its storage
When row, it can be achieved that shift control method, be based not only on the current time of shifting axis physical location and target position determine
Position control voltage, and the moment understands current time and the previous location variation for obtaining shifting axis between the moment, to sentence
Break under the position control voltage of previous moment, whether block selecting motor drives shifting axis to change position as required, is elected to
When the position change amount of shifting shaft is unsatisfactory for requiring, then position predetermined voltage is adjusted, obtains the actual bit at current time
The position control voltage for the block selecting motor set, so as to carry out block selecting electricity based on the concrete condition during practical block selecting
The adjustment of the position control voltage of motivation guarantees that block selecting motor drives shifting axis to change block selecting position as required, gradually
It levels off to the target position, until eventually arriving at the threshold range of target position, avoids pre- with position due to actual conditions
The case where when constant voltage obtains it is different and caused by selected position-scheduled voltage it is inappropriate, when guaranteeing position control voltage
Quarter matches with block selecting process, thereby may be ensured that the accuracy of block selecting process.
The embodiment of aforementioned present invention is the combination of element and feature of the invention.Unless otherwise mentioned, otherwise described
Elements or features can be considered as selective.Each element or feature can be real in the case where not combining with other elements or features
It tramples.In addition, embodiments of the present invention can be constructed by built-up section element and/or feature.In embodiments of the present invention
Described operation order can rearrange.Some constructions of any embodiment can be included in another embodiment, and
And it can be replaced with the corresponding construction of another embodiment.It will be obvious to a person skilled in the art that appended claims
In be combined into embodiments of the present invention without the claim of clear adduction relationship each other, or can submit the application it
Include as new claim in modification afterwards.
Embodiments of the present invention can be realized for example, by the various means of hardware, firmware, software or combinations thereof.Hard
In part configuration mode, the method for illustrative embodiments can pass through one or more specific integrated circuits according to the present invention
(ASIC), digital signal processor (DSP), digital signal processing device (DSPD), programmable logic device (PLD), scene can
Gate array (FPGA), processor, controller, microcontroller, microprocessor etc. are programmed to realize.
In firmware or software configuration mode, embodiments of the present invention can be realized in the form of module, process, function etc..
Software code is storable in memory cell and is executed by processor.Memory cell is located at the internal or external of processor,
And can via it is various oneself know means to processor send data and from processor receive data.
Although the embodiment of the present invention discloses as above, present invention is not limited to this.Anyone skilled in the art, not
It is detached from the spirit and scope of the present invention, can make various changes or modifications, therefore protection scope of the present invention should be with right
It is required that subject to limited range.
Claims (10)
1. a kind of shift control method characterized by comprising
Obtain the physical location at the current time of the shifting axis;
When the physical location at the current time is unsatisfactory for distance threshold at a distance from the target position of pre-acquiring, according to described
The physical location at target position and the current time obtains the position-scheduled voltage of the block selecting motor, when described current
When the position difference of the physical location at quarter and the previous physical location for obtaining the moment is unsatisfactory for position difference threshold, institute's rheme is adjusted
Predetermined voltage is set, the position control voltage at current time is obtained, controls the block selecting motor under the position control voltage
Operating, so that the position of the shifting axis levels off to the target position.
2. shift control method as described in claim 1, which is characterized in that the step of the adjustment position-scheduled voltage
Include:
Obtain the actual speed at the current time of the block selecting motor;
The rotating speed of target of the block selecting motor is obtained according to the physical location of the target position and the current time;
Position compensation voltage is obtained according to the actual speed of the rotating speed of target of the block selecting motor and the block selecting motor;
The position-scheduled voltage is adjusted using the position compensation voltage.
3. shift control method as claimed in claim 2, which is characterized in that the rotating speed of target of the block selecting motor utilizes the
One proportional plus integral plus derivative controller obtains;The position compensation voltage is obtained using the second proportional plus integral plus derivative controller.
4. shift control method as described in any one of claims 1-3, which is characterized in that further include:
When the physical location at the current time and the position difference of the previous physical location for obtaining the moment meet the alternate position spike
When being worth threshold value, using the current time position-scheduled voltage as the position control voltage at the current time, the choosing is controlled
Gear motor operates under the position-scheduled voltage, so that the position of the shifting axis levels off to the target position.
5. shift control method as described in claim 1, which is characterized in that further include:
When selecting the physical location at current time of shifting shaft to meet distance threshold at a distance from the target position of pre-acquiring, obtain
The actual angle at the current time of the shifting axis;
When the differential seat angle of the actual angle at the current time and the target angle of pre-acquiring is unsatisfactory for angle threshold, according to institute
It states target angle and the actual angle at the current time obtains the angle predetermined voltage of the shift motor, when described current
When the angle difference of the actual angle at moment and the previous actual angle for obtaining the moment is unsatisfactory for angle difference threshold value, described in adjustment
Angle predetermined voltage obtains the angle control voltage at current time, controls the shift motor and controls under voltage in the angle
Operating, so that the angle of the shifting axis levels off to the target angle.
6. shift control method as claimed in claim 5, which is characterized in that the step of the adjustment angle predetermined voltage
Include:
Obtain the actual speed at the current time of the shift motor;
The rotating speed of target of the shift motor is obtained according to the actual angle of the target angle and the current time;
Angle compensation voltage is obtained according to the actual speed of the rotating speed of target of the shift motor and the shift motor;
The angle predetermined voltage is adjusted using the angle compensation voltage.
7. shift control method as claimed in claim 6, which is characterized in that the rotating speed of target of the shift motor utilizes the
Three proportional plus integral plus derivative controllers obtain;The angle compensation voltage is obtained using the 4th proportional plus integral plus derivative controller.
8. such as the described in any item shift control methods of claim 5-7, which is characterized in that further include:
When the actual angle at the current time and the difference of the previous actual angle for obtaining the moment meet the angle difference threshold
When value, voltage is controlled using the angle predetermined voltage at the current time as the angle at the current time, controls the shift
Motor operates under the angle predetermined voltage, so that the angle of the shifting axis levels off to the target angle.
9. a kind of shift control apparatus characterized by comprising
The physical location acquiring unit at current time, the physical location at the current time suitable for obtaining the shifting axis;
Shifting shaft position adjustment unit, suitable for the physical location when the current time at a distance from the target position of pre-acquiring
When being unsatisfactory for distance threshold, the block selecting motor is obtained according to the physical location of the target position and the current time
Position-scheduled voltage, when the position difference of the physical location and the previous physical location for obtaining the moment at the current time is unsatisfactory for
It when the difference threshold of position, adjusts the position-scheduled voltage and obtains the position control voltage at current time, control the block selecting electricity
Motivation operates under the position control voltage, so that the position of the shifting axis levels off to the target position.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer executable instructions,
It is characterized in that, such as the described in any item shift control methods of claim 1-8 is realized when the instruction is executed by processor.
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN112355368A (en) * | 2020-11-23 | 2021-02-12 | 固高科技(深圳)有限公司 | Electric carving control method and device, electric carving control system and storage medium |
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2019
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112355368A (en) * | 2020-11-23 | 2021-02-12 | 固高科技(深圳)有限公司 | Electric carving control method and device, electric carving control system and storage medium |
CN112355368B (en) * | 2020-11-23 | 2022-05-27 | 固高科技股份有限公司 | Electric carving control method and device, electric carving control system and storage medium |
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