CN111022634B - Two-gear AMT (automated mechanical transmission) based position self-learning method - Google Patents
Two-gear AMT (automated mechanical transmission) based position self-learning method Download PDFInfo
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- CN111022634B CN111022634B CN201911201562.1A CN201911201562A CN111022634B CN 111022634 B CN111022634 B CN 111022634B CN 201911201562 A CN201911201562 A CN 201911201562A CN 111022634 B CN111022634 B CN 111022634B
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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
- F16H61/04—Smoothing ratio shift
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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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1256—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected
- F16H2061/1284—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is a sensor
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Abstract
The application relates to a two-gear AMT position self-learning method. The method comprises the following steps: detecting whether a shift position sensor is malfunctioning; when the gear shifting position sensor has no fault, driving a gear shifting motor to learn a 1-gear limit position, acquiring a first adduction value corresponding to the 1 gear, and obtaining the 1-gear position according to the first adduction value and the learned 1-gear limit value; and driving the gear shifting motor to learn a 2-gear limit position, acquiring a second adduction value corresponding to the 2 gear, and acquiring a 2-gear position according to the second adduction value and the learned 2-gear limit value. By adopting the method, the accurate position of each gear of the two-gear AMT can be obtained.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a position self-learning method based on a two-gear AMT.
Background
Traditional two keep off AMT is because machining error and installation error etc. that appear add man-hour, when the sensor collection of shifting gears position, each keeps off the position and has different readings, will cause like this and can't learn to keep off the position and the condition that the mistake was hung appears to unable accurate each fender position then need be put into gear with comparatively more steady mode (big PWM promptly), has great noise and mechanism impact like this.
Disclosure of Invention
Therefore, in order to solve the technical problems, it is necessary to provide a two-gear AMT position self-learning method capable of acquiring accurate positions of the gears of the two-gear AMT.
A two-gear AMT position based self-learning method comprises the following steps:
detecting whether a shift position sensor is malfunctioning;
when the gear shifting position sensor has no fault, driving a gear shifting motor to learn a 1-gear limit position, acquiring a first adduction value corresponding to the 1 gear, and obtaining the 1-gear position according to the first adduction value and the learned 1-gear limit value;
and driving the gear shifting motor to learn a 2-gear limit position, acquiring a second adduction value corresponding to the 2 gear, and acquiring a 2-gear position according to the second adduction value and the learned 2-gear limit value.
In one embodiment, the driving the shift motor to learn the 1 st gear limit position includes:
calculating a first preset position according to the following formula, and driving a shift motor to allow a shift fork to reach the first preset position:
shf_pos＝(shf_bas-v_min)/(v_max-v_min)
wherein shf _ pos is a normalized quantity obtained from the position sensor and the learning limit value; shf _ bas is a digital quantity acquired by the position sensor, and the range is 0-4096; v _ min is a minimum limit value obtained by position self-learning, wherein the minimum limit value is randomly preset before learning; v _ max is a maximum limit value self-learned by the position, wherein the maximum limit value is randomly preset before learning;
and driving the gear shifting motor in a 1-gear direction by certain pulse width modulation until the change value of the normalization quantity is smaller than a first threshold value, and reading the value of the position sensor to serve as a 1-gear limit position.
In one embodiment, the method further comprises:
and after the gear shifting motor is driven for the first preset time, the result of learning failure is output when the shifting fork still cannot reach the first preset position.
In one embodiment, the driving the shift motor to learn the 2 nd gear limit position includes:
calculating a second preset position according to the following formula, and driving a shift motor to allow the shift fork to reach the second preset position:
shf_pos＝(shf_bas-v_min)/(v_max-v_min)
wherein shf _ pos is a normalized quantity obtained from the position sensor and the learning limit value; shf _ bas is a digital quantity acquired by the position sensor, and the range is 0-4096; v _ min is a minimum limit value obtained by position self-learning, wherein the minimum limit value is randomly preset before learning; v _ max is a maximum limit value self-learned by the position, wherein the maximum limit value is randomly preset before learning;
and driving the gear shifting motor in a 2-gear direction by certain pulse width modulation until the change value of the normalization quantity is smaller than a second threshold value, and reading the value of the position sensor to serve as a 2-gear limit position.
In one embodiment, the method further comprises:
and after the gear shifting motor is driven for a second preset time, the shifting fork still cannot reach the second preset position, and a result of learning failure is output.
In one embodiment, the obtaining the 1 st gear position according to the first adduction value and the learned 1 st gear limit value includes:
acquiring a historical 1-gear learning position and a first learning frequency;
calculating the current learned learning position of the 1 st gear according to the first adduction value and the learned limit value of the 1 st gear;
and calculating to obtain the 1 st gear position according to the historical 1 st gear learning position, the current 1 st gear learning position and the first learning times.
In one embodiment, the deriving 2-gear position from the second adduction value and the learned 2-gear limit value includes:
acquiring a historical 2-gear learning position and a second learning frequency;
calculating the learned current 2-gear learning position according to the second adduction value and the learned 2-gear limit value;
and calculating to obtain the 2 nd gear position according to the historical 2 nd gear learning position, the current 2 nd gear learning position and the second learning times.
In one embodiment, the detecting whether the shift position sensor is malfunctioning includes:
receiving a power-on instruction and entering a self-checking state;
after the self-checking is finished, judging whether position learning is carried out or not;
if the position learning is not performed, whether the shift position sensor is malfunctioning or not is continuously detected.
In one embodiment, the detecting whether the shift position sensor is malfunctioning includes:
judging whether a position learning instruction sent by a fault diagnosis instrument is received;
and when a position learning instruction sent by the fault diagnosis instrument is received, continuously detecting whether the gear shifting position sensor is in fault.
In one embodiment, the detecting whether the shift position sensor is malfunctioning includes:
and judging whether position learning is carried out through the circulating switching of all gears of the gear shifting handle and the matching action of the accelerator, and if so, continuously detecting whether the gear shifting position sensor has faults.
According to the two-gear AMT position self-learning method, when the sensor is not in fault, the gear shifting motor is driven to learn the 1-gear limit position, the first adduction value corresponding to the 1-gear is acquired, and the 1-gear position is acquired according to the first adduction value and the learned 1-gear limit value; the gear shifting motor is driven to learn a 2-gear limit position, a second adduction value corresponding to the 2 gear is acquired, and the 2-gear position is obtained according to the second adduction value and the learned 2-gear limit value, so that the impact caused by the position over-limit can be prevented by adjusting according to the first adduction value and the second adduction value. By adopting the method, the accurate position of each gear of the two-gear AMT can be obtained, so that the PWM can be accurately controlled according to the position, the noise and the mechanism impact are reduced, and the service life of the two-gear AMT is prolonged.
Drawings
FIG. 1 is a diagram illustrating the layout of two gears of an AMT according to an embodiment;
FIG. 2 is a schematic diagram of a two speed AMT shift mechanism in one embodiment;
FIG. 3 is a schematic flow chart of a two-gear AMT position based self-learning method in one embodiment;
FIG. 4 is a schematic flow chart illustrating a process for controlling the transmission into a position self-learning procedure in accordance with another embodiment;
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Specifically, referring to fig. 1 and 2, the two-gear AMT includes 1 gear, 2 gear and N gear. The gear shifting motor controls the gear shifting fork to move left and right through gear transmission (worm and gear), then the gear trains of the 1 gear and the 2 gear are meshed to achieve the gear shifting measure, the position sensor is placed on the gear trains, and the transmission is controlled to read the sensing value of each gear through the position sensor, so that the purpose of determining the specific position of each gear is achieved. That is to say, the control unit of the two-gear AMT controls the transmission TCU by acquiring the data of the shift position sensor and then calculating the PWM and direction of the driving shift motor according to the algorithm, so that the driving motor is in place to complete the shift action, and therefore, the accuracy of the shift position acquired by the shift sensor of the two-gear AMT is very important.
Specifically, with reference to fig. 3 and 4, the present application provides a two-gear AMT position based self-learning method, which includes:
s202: it is detected whether the shift position sensor is malfunctioning.
Specifically, at the beginning of the position self-learning, the control transmission may first detect whether the shift position sensor is faulty, and if the control transmission detects that the shift position sensor is faulty, directly enter learning failure and exit learning, and if there is no fault, the control transmission starts to control to sequentially learn the 1 st gear limit position and the 2 nd gear limit position. And optionally, in order to ensure the learning accuracy, the limit position of the 1 st gear and the limit position of the 2 nd gear can be learned for multiple times, and then the average value is obtained to be used as the final limit position of the 1 st gear and the limit position of the 2 nd gear.
S204: and when the gear shifting position sensor has no fault, driving the gear shifting motor to learn a 1-gear limit position, acquiring a first adduction value corresponding to the 1 gear, and obtaining the 1-gear position according to the first adduction value and the learned 1-gear limit value.
Specifically, controlling the transmission first acquires a preset limit value, such as a limit value learned last time or the like; and then controlling the transmission to drive the gear shifting motor, so that the position of the gear shifting motor meets the position requirement of the preset limit value, continuing to drive the gear shifting motor to detect the position change of the gear shifting motor in real time, acquiring a first adduction value when the position of the gear shifting motor meets a first threshold value, and obtaining a 1-gear position according to the first adduction value and the learned 1-gear limit value.
Alternatively, driving the shift motor to learn the 1 st gear limit position includes:
calculating a first preset position according to the following formula, and driving a shift motor to allow a shift fork to reach the first preset position:
shf_pos＝(shf_bas-v_min)/(v_max-v_min) (1)
wherein shf _ pos is a normalized quantity obtained from the position sensor and the learning limit value; shf _ bas is a digital quantity acquired by the position sensor, and the range is 0-4096; v _ min is a minimum limit value obtained by position self-learning, wherein the minimum limit value is randomly preset before learning; v _ max is a maximum limit value self-learned by the position, wherein the maximum limit value is randomly preset before learning;
and driving the gear shifting motor in a 1-gear direction by certain pulse width modulation until the change value of the normalization quantity is smaller than a first threshold value, and reading the value of the position sensor to serve as a 1-gear limit position.
Specifically, since the normalized value position shf _ pos corresponding to the 1-gear is 0, when learning is started, when the motor reaches the position shf _ pos of 0.1 before the shift is driven by a certain PWM in the 0 direction, the change in position is monitored in real time, and when the absolute value of the change amount of shf _ pos is lower than a first threshold value, for example, 0.03, it is determined that the shift fork reaches the limit position corresponding to the 1-gear, and a certain first adduction value is adducted, which is calculated as follows:
v_min＝shf_bas+v_add (2)
as in the above equation, v _ add is a first adduction value for preventing an impact due to an over-limit position; the learning minimum limit value v _ min calculated according to the above equation is used for the next learning process.
And after learning is finished according to the method, self-learning of the 2 nd limiting position is carried out.
And optionally, when the shifting fork cannot reach the first preset position after the gear shifting motor is driven for the first preset time, outputting a result of failed learning. That is, if the time is judged to be timed out over a period of time when the drive motor cannot bring the position shf _ pos to the vicinity of 0.1, learning fails and learning is exited.
S206: and driving the gear shifting motor to learn a 2-gear limit position, acquiring a second adduction value corresponding to the 2 gear, and acquiring a 2-gear position according to the second adduction value and the learned 2-gear limit value.
Specifically, controlling the transmission first acquires a preset limit value, such as a limit value learned last time or the like; and then controlling the transmission to drive the gear shifting motor, so that the position of the gear shifting motor meets the position requirement of the preset limit value, continuing to drive the gear shifting motor to detect the position change of the gear shifting motor in real time, acquiring a second adduction value when the position of the gear shifting motor meets a second threshold value, and obtaining a 2-gear position according to the second adduction value and the learned 2-gear limit value.
Optionally, the driving the shift motor to learn the 2 nd gear limit position includes:
calculating a second preset position according to the following formula, and driving a shift motor to allow the shift fork to reach the second preset position:
shf_pos＝(shf_bas-v_min)/(v_max-v_min) (1)
wherein shf _ pos is a normalized quantity obtained from the position sensor and the learning limit value; shf _ bas is a digital quantity acquired by the position sensor, and the range is 0-4096; v _ min is a minimum limit value obtained by position self-learning, wherein the minimum limit value is randomly preset before learning; v _ max is a maximum limit value self-learned by the position, wherein the maximum limit value is randomly preset before learning;
and driving the gear shifting motor in a 2-gear direction by certain pulse width modulation until the change value of the normalization quantity is smaller than a second threshold value, and reading the value of the position sensor to serve as a 2-gear limit position.
Specifically, since the position shf _ pos corresponding to the normalization value of the 2-gear is 1, when learning is started, when the motor reaches the position shf _ pos of 0.9 before the shift is driven by a certain PWM in the direction 1, the change of the position is monitored in real time, and when the absolute value of the variation of shf _ pos is lower than a second threshold value, for example, 0.03, it is determined that the shift fork reaches the limit position corresponding to the 2-gear, and a certain second adduction value is adducted, which is calculated as follows:
v_max＝shf_bas-v_sub (3)
as in the above equation, v _ sub is a second adduction value for preventing an impact due to an excessive position; the learning maximum limit value v _ max calculated according to the above equation is used for the next learning process.
And optionally, when the shifting fork cannot reach the second preset position after the gear shifting motor is driven for a second preset time, outputting a result of failed learning. After learning is finished according to the method, entering a judging module, namely judging whether to continue circular learning; if the time is determined to be out of time for a period of time when the drive motor cannot bring the position shf _ pos to around 0.9, learning fails and is exited.
According to the two-gear AMT position self-learning method, when the sensor is not in fault, the gear shifting motor is driven to learn the 1-gear limit position, the first adduction value corresponding to the 1-gear is acquired, and the 1-gear position is acquired according to the first adduction value and the learned 1-gear limit value; the gear shifting motor is driven to learn a 2-gear limit position, a second adduction value corresponding to the 2 gear is acquired, and the 2-gear position is obtained according to the second adduction value and the learned 2-gear limit value, so that the impact caused by the position over-limit can be prevented by adjusting according to the first adduction value and the second adduction value. By adopting the method, the accurate position of each gear of the two-gear AMT can be obtained, so that the PWM can be accurately controlled according to the position, the noise and the mechanism impact are reduced, and the service life of the two-gear AMT is prolonged.
In one embodiment, the obtaining the 1 st gear position according to the first adduction value and the learned 1 st gear limit value includes: acquiring a historical 1-gear learning position, wherein the historical 1-gear learning position is calculated according to the last 1-gear learning position and the average value of the 1-gear learning positions before the last 1-gear learning position; calculating the current learned learning position of the 1 st gear according to the first adduction value and the learned limit value of the 1 st gear; and calculating the 1-gear position according to the historical 1-gear learning position and the current 1-gear learning position.
In one embodiment, the deriving 2-gear position from the second adduction value and the learned 2-gear limit value includes: acquiring a historical 2-gear learning position, wherein the historical 2-gear learning position is calculated according to the last 2-gear learning position and the average value of 2-gear learning positions before the last 2-gear learning position; calculating the learned current 2-gear learning position according to the second adduction value and the learned 2-gear limit value; and calculating to obtain the 2 nd gear position according to the historical 2 nd gear learning position and the current 2 nd gear learning position.
Specifically, in order to ensure the accuracy of the learned position, the control transmission may perform loop learning to find the average value as the limit value.
For example, a judgment module and a threshold value of the number of times of the loop may be set, and the judgment module judges whether the number of times of learning is equal to the threshold value of the number of times of the loop, if so, it is determined that loop learning is not needed, otherwise, loop learning needs to be continued, where the threshold value of the number of times of the loop may be 3 times, and the number of times may be adjusted by a user according to the accuracy of controlling the transmission.
And after the limit learning of the 1 st gear and the 2 nd gear is completed by one cycle, controlling the transmission to judge whether to continue the cycle learning or not, and if the cycle does not exceed 3 times, continuously repeating the limit learning of the 1 st gear and the 2 nd gear. However, the learned limit value calculation formula is changed as follows:
v_min＝(v_minold+(shf_bas+v_add))/2 (4)
v_max＝(v_maxold+(shf_bas-v_sub))/2 (5)
in the above formula, v _ minold is the minimum limit value of the last learning; v _ maxold is the maximum limit for the last learning.
That is, the relearning of gear 1 includes: when the gear shifting motor is driven to a position shf _ pos of 0.1, then the motor is driven by a certain PWM in the direction of 0, the position change is monitored in real time, and when the absolute value of the change quantity of shf _ pos is lower than 0.03 in a certain time, the limit value is calculated according to the following formula:
v_min＝(v_minold+(shf_bas+v_add))/2 (4)
relearning in gear 2 includes:
when the gear shifting motor is driven to a position shf _ pos of 0.9, then the motor is driven by a certain PWM in the direction 1, the position change is monitored in real time, and when the absolute value of the change amount of shf _ pos is lower than 0.03 in a certain time, the limit value is calculated according to the following formula:
v_max＝(v_maxold+(shf_bas-v_sub))/2 (5)
when the number of times of cyclic learning exceeds 3 times, the calculation of a limit value is carried out, the previously obtained limit value and the last stored limit position are averaged, and the calculation is as follows:
v_min_ada＝(v_min_ada old+v_min)/2 (6)
v_max_ada＝(v_max_ada old+v_max)/2 (7)
in the above formula, v _ min _ ada is the minimum limit value for self-learning of the final position; v _ max _ ada is the maximum limit value of the final position self-learning; v _ min _ ada old is a self-learning minimum limit value or a preset minimum limit value of the last stored position; v _ max _ ada old is a self-learning maximum limit value or a preset maximum limit value of the last stored position;
and controlling the self-learning of the position of the transmission after the calculation of the transmission is finished.
In the embodiment, the erroneous judgment is eliminated through multiple times of extreme learning, and the accuracy of position learning is improved.
In one embodiment, the detecting whether the shift position sensor is malfunctioning includes: receiving a power-on instruction and entering a self-checking state; after the self-checking is finished, judging whether position learning is carried out or not; if the position learning is not performed, whether the shift position sensor is malfunctioning or not is continuously detected.
In one embodiment, the detecting whether the shift position sensor is malfunctioning includes: judging whether a position learning instruction sent by a fault diagnosis instrument is received; and when a position learning instruction sent by the fault diagnosis instrument is received, continuously detecting whether the gear shifting position sensor is in fault.
In one embodiment, the detecting whether the shift position sensor is malfunctioning includes: and judging whether position learning is carried out through the circulating switching of all gears of the gear shifting handle and the matching action of the accelerator, and if so, continuously detecting whether the gear shifting position sensor has faults.
Specifically, referring to fig. 4, after the TCU is controlled to be powered on, self-checking is performed, after the self-checking is completed, it is determined whether the TCU performs self-learning, if the TCU does not perform self-learning, the TCU starts position self-learning for the first time, and returns to the normal mode to travel after learning is completed or fails, and if the TCU triggers position self-learning through conditions such as actions in the normal mode, the TCU reenters the position self-learning mode.
The self-learning conditions of the trigger positions include two conditions, one is self-learning of the trigger positions of the fault diagnosis instrument (maintenance in a 4S shop), and the other is triggering through circulation switching of all gears of the gear shifting handle and matching action of an accelerator.
It should be understood that although the various steps in the flow charts of fig. 3-4 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 3-4 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A two-gear AMT position based self-learning method comprises the following steps:
detecting whether a shift position sensor is malfunctioning;
when the gear shifting position sensor has no fault, driving a gear shifting motor to learn a 1-gear limit position, acquiring a first adduction value corresponding to the 1 gear, and obtaining the 1-gear position according to the first adduction value and the learned 1-gear limit value;
and driving the gear shifting motor to learn a 2-gear limit position, acquiring a second adduction value corresponding to the 2 gear, and acquiring a 2-gear position according to the second adduction value and the learned 2-gear limit value.
2. The method of claim 1, wherein driving the shift motor to learn the 1 st gear limit position comprises:
calculating a first preset position according to the following formula, and driving a shift motor to allow a shift fork to reach the first preset position:
shf_pos＝(shf_bas-v_min)/(v_max-v_min)
wherein shf _ pos is a normalized first preset position obtained from the position sensor and the learning limit value; shf _ bas is a digital quantity acquired by the position sensor, and the range is 0-4096; v _ min is a minimum limit value obtained by position self-learning, wherein the minimum limit value is randomly preset before learning; v _ max is a maximum limit value self-learned by the position, wherein the maximum limit value is randomly preset before learning;
and driving the gear shifting motor in a 1-gear direction by certain pulse width modulation until the change value of the normalization quantity is smaller than a first threshold value, and reading the value of the position sensor to serve as a 1-gear limit position.
3. The method of claim 2, further comprising:
and after the gear shifting motor is driven for the first preset time, the result of learning failure is output when the shifting fork still cannot reach the first preset position.
4. The method of claim 1, wherein the driving the shift motor to learn a 2 nd gear limit position comprises:
calculating a second preset position according to the following formula, and driving a shift motor to allow the shift fork to reach the second preset position:
shf_pos＝(shf_bas-v_min)/(v_max-v_min)
wherein shf _ pos is a normalized second preset position obtained from the position sensor and the learning limit value; shf _ bas is a digital quantity acquired by the position sensor, and the range is 0-4096; v _ min is a minimum limit value obtained by position self-learning, wherein the minimum limit value is randomly preset before learning; v _ max is a maximum limit value self-learned by the position, wherein the maximum limit value is randomly preset before learning;
and driving the gear shifting motor in a 2-gear direction by certain pulse width modulation until the change value of the normalization quantity is smaller than a second threshold value, and reading the value of the position sensor to serve as a 2-gear limit position.
5. The method of claim 4, further comprising:
and after the gear shifting motor is driven for a second preset time, the shifting fork still cannot reach the second preset position, and a result of learning failure is output.
6. The method according to any one of claims 1 to 5, wherein deriving a gear 1 position from the first adduction value and the learned gear 1 limit value comprises:
acquiring a historical 1-gear learning position, wherein the historical 1-gear learning position is calculated according to the last 1-gear learning position and the average value of the 1-gear learning positions before the last 1-gear learning position;
calculating the current learned learning position of the 1 st gear according to the first adduction value and the learned limit value of the 1 st gear;
and calculating the 1-gear position according to the historical 1-gear learning position and the current 1-gear learning position.
7. The method of claim 6, wherein deriving a 2-gear position from the second adduction value and the learned 2-gear limit value comprises:
acquiring a historical 2-gear learning position, wherein the historical 2-gear learning position is calculated according to the last 2-gear learning position and the average value of 2-gear learning positions before the last 2-gear learning position;
calculating the learned current 2-gear learning position according to the second adduction value and the learned 2-gear limit value;
and calculating to obtain the 2 nd gear position according to the historical 2 nd gear learning position and the current 2 nd gear learning position.
8. The method of any one of claims 1 to 5, wherein prior to detecting whether a shift position sensor is malfunctioning, comprising:
receiving a power-on instruction and entering a self-checking state;
after the self-checking is finished, judging whether position learning is carried out or not;
if the position learning is not performed, whether the shift position sensor is malfunctioning or not is continuously detected.
9. The method of any one of claims 1 to 5, wherein prior to detecting whether a shift position sensor is malfunctioning, comprising:
judging whether a position learning instruction sent by a fault diagnosis instrument is received;
and when a position learning instruction sent by the fault diagnosis instrument is received, continuously detecting whether the gear shifting position sensor is in fault.
10. The method of any one of claims 1 to 5, wherein prior to detecting whether a shift position sensor is malfunctioning, comprising:
and judging whether position learning is carried out through the circulating switching of all gears of the gear shifting handle and the matching action of the accelerator, and if so, continuously detecting whether the gear shifting position sensor has faults.
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