CN111055695A - Control method for coordinating smoothness of gear shifting of electric motor coach gearbox - Google Patents
Control method for coordinating smoothness of gear shifting of electric motor coach gearbox Download PDFInfo
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- 230000002159 abnormal effect Effects 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
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- 230000003247 decreasing effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Transmission Device (AREA)
Abstract
The invention discloses a control method for smooth coordination of the gear shifting of a gearbox of an electric motor coach, wherein a gear box of a single-motor gear box system is arranged between a driving motor and a drive axle, the method for controlling the driving motor in the gear shifting process is to switch the control mode of the driving motor according to the rotation speed difference between the rotation speed of the driving motor and the target rotation speed to realize the speed regulation of the driving motor, and the rotation speed difference between the rotation speed of the driving motor and the target rotation speed is controlled within a certain range before and during the gear shifting process. The invention realizes the quick and stable speed regulation control before the gear shifting, avoids the problems of gear shifting abnormal sound or gear shifting failure caused by the quick expansion of the rotating speed difference between the rotating speed of the driving motor and the target rotating speed due to the climbing or the stepping on the brake by the driver in the gear shifting process, and improves the working condition adaptability of the pure electric two-gear box vehicle type.
Description
Technical Field
The invention relates to the technical field of control of new energy automobiles, in particular to a control method for smooth coordination of the gear shifting of a gearbox of an electric motor coach.
Background
The traditional gear shift control method of the single-motor gear box system comprises the following steps: before the gear is shifted, only the motor is controlled in rotation speed, when the rotation speed difference between the rotation speed of the driving motor and the target rotation speed is smaller than a certain value, the gear is allowed to be shifted, and only the motor is controlled in torque and instructed in zero torque in the gear shifting process. The traditional gear shifting control method has the possibility of causing the problems of gear shifting abnormal noise or gear shifting failure caused by slope climbing or the expansion of the rotating speed difference between the rotating speed of a driving motor and the target rotating speed when a driver steps on braking in the gear shifting process.
Chinese patent (granted publication No. CN 103032563A) provides a shift control method for an automated manual transmission of a hybrid vehicle, which suppresses a decrease in synchronization by generating a torque by a motor connected to an input shaft in consideration of a change in inertia of the motor and a change in a control target rotation speed during a shift when a vehicle speed suddenly changes. The invention relates to a multi-gear AMT gear shifting synchronous control method for a hybrid power car, wherein synchronous load torque is obtained by multiplying the variation of the control target rotating speed of an input shaft and the inertia moment of a motor. Due to the fact that inertia moment differences of different motors are large, actual use is difficult to estimate accurately, and meanwhile, if parameter setting is inaccurate, synchronous load torque oscillation easily occurs, and the synchronous effect is poor.
The technical scheme is that a simple, universal and reliable stepping staged torque coordination control method for the pure electric passenger car is provided, torque control is not involved when the speed difference is smaller than a certain value n0, minimum torque intervention control is not influenced when the speed difference is smaller than a certain value n1, and low torque intervention control is not influenced when the speed difference is smaller than a certain value n 2. The control method of the technical scheme can not affect the gear shifting, and can effectively relieve the rapid expansion of the speed difference under special working conditions.
Chinese patent (No. CN 102889375A) provides a method for gear shift control of a two-gear mechanical automatic transmission of a pure electric vehicle, which judges whether a target gear is engaged or not by combining a displacement sensor signal and a gear shift motor stalling signal, and improves the accuracy of gear state judgment. The invention aims to improve the accuracy of gear state judgment. The invention relates to a torque coordination control method in a gear shifting process.
Chinese patent (granted publication No. CN 103786598B) provides a motor control system and method for a vehicle having a transmission that improves the accuracy of shift control by controlling motor torque in response to determining an up-shift for increasing gear and a down-shift for decreasing gear when the vehicle is shifted. The invention mainly aims at the control of the speed regulation link in the gear shifting process on the motor torque, realizes the fast speed regulation and ensures the realization of the target gear shifting time. The invention mainly aims at the gear-shifting link in the gear shifting process, ensures the gear-shifting smoothness and improves the working condition adaptability by the coordinated control of the motor torque.
Chinese patent (No. CN 105539425A) proposes an optimal economical gear shift control system and control method for AMT of hybrid electric bus, which is suitable for plug-in parallel hybrid electric bus. The invention is mainly directed to how to make optimal economical gear shifting laws, not to gear shifting process control.
Disclosure of Invention
The invention discloses a control method for smooth coordination of the gear shifting of a gearbox of an electric motor coach, which mainly aims to overcome the defects and shortcomings in the prior art.
The technical scheme adopts the following specific scheme:
a control method for coordinating the smooth gear shifting of a gearbox of an electric motor coach comprises the following specific steps:
the method comprises the following steps: regulating the speed before shifting, and carrying out closed-loop control on the rotating speed of the driving motor;
step two: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is less than a certain value n0 and the certain time is t0, entering a third step, otherwise, entering the first step again to perform speed regulation control before gear shifting, wherein 30rpm < = n0<50rpm, and 20ms < = t0<50 ms;
step three: performing gear shifting, and adopting drive motor torque control, wherein a torque command T is 0;
step four: judging whether the gear shifting is finished or not by the gearbox controller, entering a step twelve when the gear shifting is finished, and entering a step five when the gear shifting is not finished;
step five: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n0, entering the step six, otherwise, entering the step three again to perform gear shifting;
step six: performing gear shifting, and adopting torque control and torque command of the driving motor
T1= (n-n0) × K1 (when n > n0), T1= (n + n0) × K1 (when n < -n 0); wherein K1 is linear coefficient (-1< K1<0), 30rpm < = n0<50 rpm;
step seven: judging whether the gear shifting is finished or not by the gearbox controller, entering a twelfth step when the gear shifting is finished, and entering an eighth step when the gear shifting is not finished;
step eight: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n1, entering the ninth step, and otherwise, entering the fifth step again to enter the gear;
step nine: performing gear shifting, and adopting torque control and torque command of the driving motor
T2= (n1-n0) × K1+ (n-n1) × K2 (n > n1), T2= (-n1+ n0) × K1+ (n + n1) × K2 (n < -n 1); wherein K1 and K2 are linear coefficients (-1< K2< K1<0), 30rpm < = n0<50rpm, 60rpm < = n1<80 rpm;
step ten: judging whether the gear shifting is finished or not by the gearbox controller, entering a step twelve when the gear shifting is finished, and entering a step eleven when the gear shifting is not finished;
step eleven: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n2 (n 2> n1> n0> 0) and continues for a certain time t1, or the gear shifting process exceeds a certain time t2, the method enters a step twelve, otherwise, the method re-enters a step eight, wherein 80rpm < = n2<100rpm, 20ms < = t1<50ms, and 500ms < = t2<1000 ms;
step twelve: and finishing the gear shifting, finishing and exiting the gear shifting process.
Furthermore, the target rotating speed is the product of the rotating speed of the output shaft of the gear box and the target gear speed ratio, and the rotating speed difference n is the rotating speed difference between the rotating speed of the driving motor and the target rotating speed.
Furthermore, the torque instruction T1 in the gear shifting process in the sixth step ranges from 10 Nm to 100Nm, and the torque instruction T2 in the gear shifting process in the ninth step ranges from 10 Nm to 100 Nm.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
the invention provides a gear-shifting speed-regulating control method of a gearbox, which is characterized in that the speed regulation of a driving motor is realized by switching a control mode of the driving motor according to the speed difference between the rotating speed of the driving motor and a target rotating speed, and the speed difference between the rotating speed of the driving motor and the target rotating speed is controlled within a certain range before and during the gear shifting. The method realizes the fast and stable speed regulation control before gear shifting, avoids the problems of gear shifting abnormal sound or gear shifting failure caused by the rapid expansion of the rotating speed difference between the rotating speed of the driving motor and the target rotating speed due to slope climbing or braking stepped by a driver in the gear shifting process, and improves the working condition adaptability of a pure electric two-gear box vehicle type.
Drawings
FIG. 1 is a flow chart of the implementation work of the present invention.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, a control method for smooth coordination of an electric motor coach transmission gear shifting, the control method comprises the following specific steps:
the method comprises the following steps: regulating the speed before shifting, and carrying out closed-loop control on the rotating speed of the driving motor;
step two: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is less than a certain value n0 and the certain time is t0, entering a third step, otherwise, entering the first step again to perform speed regulation control before gear shifting, wherein 30rpm < = n0<50rpm, and 20ms < = t0<50 ms;
step three: performing gear shifting, and adopting drive motor torque control, wherein a torque command T is 0;
step four: judging whether the gear shifting is finished or not by the gearbox controller, entering a step twelve when the gear shifting is finished, and entering a step five when the gear shifting is not finished;
step five: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n0, entering the step six, otherwise, entering the step three again to perform gear shifting;
step six: performing gear shifting, and adopting torque control and torque command of the driving motor
T1= (n-n0) × K1 (when n > n0), T1= (n + n0) × K1 (when n < -n 0); wherein K1 is linear coefficient (-1< K1<0), 30rpm < = n0<50 rpm;
step seven: judging whether the gear shifting is finished or not by the gearbox controller, entering a twelfth step when the gear shifting is finished, and entering an eighth step when the gear shifting is not finished;
step eight: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n1, entering the ninth step, and otherwise, entering the fifth step again to enter the gear;
step nine: performing gear shifting, and adopting torque control and torque command of the driving motor
T2= (n1-n0) × K1+ (n-n1) × K2 (n > n1), T2= (-n1+ n0) × K1+ (n + n1) × K2 (n < -n 1); wherein K1 and K2 are linear coefficients (-1< K2< K1<0), 30rpm < = n0<50rpm, 60rpm < = n1<80 rpm;
step ten: judging whether the gear shifting is finished or not by the gearbox controller, entering a step twelve when the gear shifting is finished, and entering a step eleven when the gear shifting is not finished;
step eleven: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n2 (n 2> n1> n0> 0) and continues for a certain time t1, or the gear shifting process exceeds a certain time t2, the method enters a step twelve, otherwise, the method enters a step eight again, wherein 80< = n2<100rpm, 20ms < = t1<50ms, and 500ms < = t2<1000 ms;
step twelve: and finishing the gear shifting, finishing and exiting the gear shifting process.
Furthermore, the target rotating speed is the product of the rotating speed of the output shaft of the gear box and the target gear speed ratio, and the rotating speed difference n is the rotating speed difference between the rotating speed of the driving motor and the target rotating speed.
Furthermore, the torque instruction T1 in the gear shifting process in the sixth step ranges from 10 Nm to 100Nm, and the torque instruction T2 in the gear shifting process in the ninth step ranges from 10 Nm to 100 Nm.
The gear box of the single-motor gear box system is arranged between the driving motor and the driving axle. The method for controlling the driving motor in the gear shifting process is to switch the control mode of the driving motor according to the rotation speed difference between the rotation speed of the driving motor and the target rotation speed to realize the speed regulation of the driving motor, and to control the rotation speed difference between the rotation speed of the driving motor and the target rotation speed in a certain range before and during the gear shifting process.
Preferably: according to the scheme, the speed is regulated before gear shifting by adopting the rotating speed control of the driving motor, the rotating speed closed-loop control is carried out by taking the rotating speed of the gear box output shaft multiplied by the target gear speed ratio as the target rotating speed, and the gear shifting is allowed to be performed for 30ms when the absolute value of the rotating speed difference n between the rotating speed of the driving motor and the target rotating speed is less than a certain value 40 rpm; in the gear shifting process, when the absolute value of the rotating speed difference n between the rotating speed of the driving motor and the target rotating speed is less than 40rpm, the torque control of the driving motor is adopted, and a zero torque instruction T =0 is adopted; when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is between 40rpm and 60rpm, the torque control of the driving motor is adopted, and the torque command value T1= (n-40) × (-0.5) (when n > 40), T1= (n +40) × (-0.5) (when n < -40); when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than 60rpm, the torque control of the driving motor is adopted, and when the torque command value T2 (= (60-40) (-0.5) + (n-60) (-0.8) (n > 60), T2 (= (-60+40) (-0.5) + (n +60) (-0.8) (n < -60) is adopted; the torque command limit during the drive range Tmax =30 Nm. And exiting the gear shifting process when the absolute value of the speed difference n between the rotating speed of the driving motor and the target rotating speed is greater than 80rpm and lasts for 30ms or the time of the gear shifting process exceeds 500 ms.
The gear shifting and speed regulating control method of the gearbox achieves a good speed regulating effect:
1) before the gear is shifted, the speed is regulated by controlling the rotating speed of the driving motor, and the speed regulation time is usually less than 0.8 s.
2) The torque is finely adjusted by adopting the torque control of the driving motor in the gear shifting process, so that the speed difference is controlled in a proper range in the gear shifting process, the problems of gear shifting abnormal sound or gear shifting failure which possibly occur are reduced, and the working condition adaptability of the vehicle type with the gear box is improved.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
the invention provides a gear-shifting speed-regulating control method of a gearbox, which is characterized in that the speed regulation of a driving motor is realized by switching a control mode of the driving motor according to the speed difference between the rotating speed of the driving motor and a target rotating speed, and the speed difference between the rotating speed of the driving motor and the target rotating speed is controlled within a certain range before and during the gear shifting. The method realizes the fast and stable speed regulation control before gear shifting, avoids the problems of gear shifting abnormal sound or gear shifting failure caused by the rapid expansion of the rotating speed difference between the rotating speed of the driving motor and the target rotating speed due to slope climbing or braking stepped by a driver in the gear shifting process, and improves the working condition adaptability of a pure electric two-gear box vehicle type.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications of the present invention using this concept shall fall within the scope of infringing the present invention.
Claims (3)
1. A control method for coordinating the smoothness of the gear shifting of a gearbox of an electric motor coach is characterized by comprising the following steps: the control method comprises the following specific steps:
the method comprises the following steps: regulating the speed before shifting, and carrying out closed-loop control on the rotating speed of the driving motor;
step two: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is less than a certain value n0 and the certain time is t0, entering a third step, otherwise, entering the first step again to perform speed regulation control before gear shifting, wherein 30rpm < = n0<50rpm, and 20ms < = t0<50 ms;
step three: performing gear shifting, and adopting drive motor torque control, wherein a torque command T is 0;
step four: judging whether the gear shifting is finished or not by the gearbox controller, entering a step twelve when the gear shifting is finished, and entering a step five when the gear shifting is not finished;
step five: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n0, entering the step six, otherwise, entering the step three again to perform gear shifting;
step six: performing gear shifting, and adopting torque control and torque command of the driving motor
T1= (n-n0) × K1 (when n > n0), T1= (n + n0) × K1 (when n < -n 0); wherein K1 is linear coefficient (-1< K1<0), 30rpm < = n0<50 rpm;
step seven: judging whether the gear shifting is finished or not by the gearbox controller, entering a twelfth step when the gear shifting is finished, and entering an eighth step when the gear shifting is not finished;
step eight: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n1, entering the ninth step, and otherwise, entering the fifth step again to enter the gear;
step nine: performing gear shifting, and adopting torque control and torque command of the driving motor
T2= (n1-n0) × K1+ (n-n1) × K2 (n > n1), T2= (-n1+ n0) × K1+ (n + n1) × K2 (n < -n 1); wherein K1 and K2 are linear coefficients (-1< K2< K1<0), 30< = n0<50rpm, and 60< = n1<80 rpm;
step ten: judging whether the gear shifting is finished or not by the gearbox controller, entering a step twelve when the gear shifting is finished, and entering a step eleven when the gear shifting is not finished;
step eleven: when the absolute value of the difference n between the rotating speed of the driving motor and the target rotating speed is greater than a certain value n2 (n 2> n1> n0> 0), the constant time t1 is continued, or the gear shifting process exceeds a certain time t2, the step twelve is executed, otherwise, the step eight is executed again, wherein 80< = n2<100rpm, 20ms < = t1<50ms, and 500ms < = t2<1000 ms;
step twelve: and finishing the gear shifting, finishing and exiting the gear shifting process.
2. The method for controlling smooth coordination of the gear shifting of the electric motor coach gearbox as claimed in claim 1, wherein the method comprises the following steps: the target rotating speed is the product of the rotating speed of the output shaft of the gear box and the target gear speed ratio, and the rotating speed difference n is the rotating speed difference between the rotating speed of the driving motor and the target rotating speed.
3. The method for controlling smooth coordination of the gear shifting of the electric motor coach gearbox as claimed in claim 1, wherein the method comprises the following steps: the torque instruction T1 in the gear shifting process in the sixth step ranges from 10 Nm to 100Nm, and the torque instruction T2 in the gear shifting process in the ninth step ranges from 10 Nm to 100 Nm.
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| CN113339496A (en) * | 2021-06-15 | 2021-09-03 | 何亚芳 | Shift control method for transmission of electric vehicle |
| WO2024055181A1 (en) * | 2022-09-14 | 2024-03-21 | 舍弗勒技术股份两合公司 | Gear shifting control method and device for vehicle power system |
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| CN108146295A (en) * | 2018-01-16 | 2018-06-12 | 厦门金龙联合汽车工业有限公司 | A kind of clutch adaptive control algorithm for improving AMT gear shifting qualities |
| CN110230691A (en) * | 2018-03-05 | 2019-09-13 | 上海汽车集团股份有限公司 | The shift control method and system of a kind of vehicle, electric clutch |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113339496A (en) * | 2021-06-15 | 2021-09-03 | 何亚芳 | Shift control method for transmission of electric vehicle |
| CN113339496B (en) * | 2021-06-15 | 2022-12-20 | 深圳优安米科技有限公司 | Shift control method for transmission of electric vehicle |
| WO2024055181A1 (en) * | 2022-09-14 | 2024-03-21 | 舍弗勒技术股份两合公司 | Gear shifting control method and device for vehicle power system |
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