CN110332308A

CN110332308A - Shift control method, device and readable storage medium storing program for executing

Info

Publication number: CN110332308A
Application number: CN201910662862.3A
Authority: CN
Inventors: 李智明
Original assignee: Schaeffler Technologies AG and Co KG
Current assignee: Schaeffler Technologies AG and Co KG
Priority date: 2019-07-22
Filing date: 2019-07-22
Publication date: 2019-10-15

Abstract

The embodiment of the invention provides a kind of shift control method, device and readable storage medium storing program for executing, shift control method includes: the physical location for obtaining 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, the position-scheduled voltage of the block selecting motor is obtained according to the physical location of the target position and the current time, when the position difference of the physical location at the current time and the previous physical location for obtaining the moment is unsatisfactory for position difference threshold, adjust the position-scheduled voltage, obtain the position control voltage at current time, the block selecting motor is controlled to operate under the position control voltage, so that the position of the shifting axis levels off to the target position.The accuracy that selector fork reaches the threshold range of target position can be improved in shift control method, device provided by the embodiment of the present invention and readable storage medium storing program for executing.

Description

Shift control method, device and readable storage medium storing program for executing

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: U_outputIt is the practical control voltage of direct current generator；

C_eIt is armature potential constant；

It is the flux of every pole；

I_aIt is the electric current of direct current generator；

R_aIt 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:

n_diff=n_target-n_actual

Wherein: n_diffRotational speed difference；

n_targetRotating speed of target；

n_actualThe actual speed at current time.

Position compensation voltage can be obtained by following formula:

Wherein, K_pProportionality coefficient；

K_iIntegral coefficient；

K_dDifferential 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.

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:

n_diff=n_target-n_actual

Wherein: n_diffRotational speed difference；

n_targetRotating speed of target；

n_actualThe actual speed at current time.

Angle compensation voltage can be obtained by following formula:

Wherein, K_pProportionality coefficient；

K_iIntegral coefficient；

K_dDifferential 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.

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:

C_eIt is armature potential constant；

It is the flux of every pole；

I_aIt is the electric current of direct current generator；

R_aIt 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.

Rotational speed difference can be obtained by following formula:

n_diff=n_target-n_actual

Wherein: n_diffRotational speed difference；

n_targetRotating speed of target；

n_actualThe actual speed at current time.

Position compensation voltage can be obtained by following formula:

Wherein, K_pProportionality coefficient；

K_iIntegral coefficient；

K_dDifferential coefficient.

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.

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.

Rotational speed difference can be obtained by following formula:

n_diff=n_target-n_actual

Wherein: n_diffRotational speed difference；

n_targetRotating speed of target；

n_actualThe actual speed at current time.

Angle compensation voltage can be obtained by following formula:

Wherein, K_pProportionality coefficient；

K_iIntegral coefficient；

K_dDifferential coefficient.

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

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；

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；

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 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；

Angle compensation voltage is obtained according to the actual speed of the rotating speed of target of the shift motor and the shift motor；

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

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.