CN111412278B - Optimized gear-reversing control method for double-clutch transmission - Google Patents
Optimized gear-reversing control method for double-clutch transmission Download PDFInfo
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- CN111412278B CN111412278B CN201910016272.3A CN201910016272A CN111412278B CN 111412278 B CN111412278 B CN 111412278B CN 201910016272 A CN201910016272 A CN 201910016272A CN 111412278 B CN111412278 B CN 111412278B
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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
- F16H61/0437—Smoothing ratio shift by using electrical signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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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
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H63/32—Gear shift yokes, e.g. shift forks
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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
- F16H2061/0481—Smoothing ratio shift during range shift from drive (D) or reverse (R) to neutral (N)
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
Abstract
An optimized gear-reversing control method of a double-clutch transmission is characterized in that an actual absolute position of a shifting fork is obtained through a conversion algorithm of the absolute position and a relative position of the shifting fork, and a pressure valve and a flow valve realize optimized gear-reversing control through combined pressure control, speed control and position control according to the actual absolute position; the absolute position refers to a position which is kept unchanged in the whole life cycle of the gearbox, and specifically comprises the following steps: the middle position and the gear points of all gears are arranged; the relative position refers to the percentage form of the shifting fork position obtained by the shifting fork position sensor. Through practical vehicle verification, the gear shifting quality is effectively improved, the gear shifting time is shortened while the smoothness, the rapidness, the accuracy and the controllability of the gear shifting process are ensured, and the gear shifting can reach 80 ms.
Description
Technical Field
The invention relates to a technology in the field of transmission control, in particular to an optimized gear-reversing control method of a dual-clutch transmission.
Background
The double-clutch transmission is shifted by controlling the odd-even clutch and the shifting fork, so that the accuracy and the rapidity of the control of the shifting fork are improved, and the working efficiency and the performance of the double-clutch transmission can be optimized. In the prior art, the unsmooth gear backing causes the reduction of the experience of the user.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an optimized gear-reversing control method for a dual-clutch transmission, which further ensures the smoothness, rapidness, accuracy and controllability of gear reversing by adopting a PID (proportion integration differentiation) algorithm and a trigonometric function filtering algorithm through a conversion algorithm of the relative position and the absolute position of a shifting fork.
The invention is realized by the following technical scheme:
the actual absolute position of the shifting fork is obtained through a shifting fork actual relative position measured by a position sensor, a shifting fork middle position relative position obtained by self-adaption, a shifting fork maximum shifting stroke relative position and a shifting fork maximum shifting stroke absolute position conversion algorithm, and optimal gear-reversing control is realized through combined pressure control, speed control and position control by a pressure valve and a flow valve according to the actual absolute position.
The maximum shifting stroke of the shifting fork is the maximum displacement of the shifting fork which is determined by a mechanical structure and moves from a middle position to a gear position.
The relative position refers to the percentage form of the shifting fork position obtained by the shifting fork position sensor.
The absolute position refers to the mechanical position of the shifting fork in millimeters.
The actual absolute position of the shifting fork is as follows:
The pressure control means that: when the shifting fork is in the middle position state and the gear position state, obtaining target pressure through a target pressure calculation formula according to the actual absolute position of the shifting fork, and obtaining target current through a P-I characteristic curve of the pressure valve; when the shifting fork is located at the middle position, the target pressure of the pressure valve is zero.
The intermediate position state is a position state between the neutral position and the gear point.
The speed control and the position control are realized by a flow valve, wherein: when the shifting fork is located at the middle position state and at the gear position state: when the gear of 1/3/6/4 is withdrawn, the flow is positive, and finally the flow can measure a large amount of speed control flow and position control flow; when the gear of 5/7/2/R is withdrawn, the flow is negative, and the final flow is small for the speed control flow and the position control flow; the obtained target flow passes through a Q-I characteristic curve of the flow valve to obtain a target current; when the shifting fork is located at the middle position, the target flow of the flow valve is zero.
The speed control means that: and calculating an instantaneous target position according to a formula, calculating a target speed according to the instantaneous target position so as to obtain a speed control target flow, wherein when the gear-reversing time is reached, the instantaneous target position is equal to the final target position.
And the difference value of the instantaneous target position and the actual position is regulated by adopting PI (proportion integration) so that the actual position follows the instantaneous target position.
The position control means calculating the position control target flow according to a formula.
Technical effects
Compared with the prior art, the invention has the advantages that through practical vehicle verification, the smoothness, the rapidness, the accuracy and the controllability of the gear-reversing process are ensured, the gear-shifting quality is effectively improved, the gear-shifting time is shortened, and the gear-reversing time can reach 80 ms.
Drawings
FIG. 1 is a schematic diagram of the system of the present embodiment;
FIG. 2 is a schematic view showing a state of a position of a shift fork;
FIG. 3 is a graph of a pressure valve P-I characteristic;
FIG. 4 is a graph of flow valve Q-I characteristics;
FIG. 5 is a graph of a 3-gear downshift test.
Detailed Description
As shown in fig. 1, the present embodiment adopts a 7-speed wet type dual clutch fork control hydraulic system, including: 1/3/5/7 gear on the odd shaft, 2/4/6/R gear on the even shaft, four three-position four-way reversing flow valves (SCV 1-SCV 4), two-position three-way pressure valves (GPCV1 and GPCV2) and four shifting forks, wherein: the R gear and the 4 gear realize the up gear and the back gear by controlling a first shifting fork through SCV1 and GPCV2, the 2 gear and the 6 gear realize the up gear and the back gear by controlling a second shifting fork through SCV2 and GPCV2, the 1 gear and the 5 gear realize the up gear and the back gear by controlling a third shifting fork through SCV3 and GPCV1, and the 3 gear and the 7 gear realize the up gear and the back gear by controlling a fourth shifting fork through SCV4 and GPCV 1.
The pressure valve is a pressure reducing valve.
In the embodiment, the actual relative position of the shifting fork measured by the position sensor, the self-adaptive shifting fork middle position relative position and the shifting fork maximum shifting stroke relative position obtained by the self-adaption and the shifting fork maximum shifting stroke absolute position conversion algorithm are used for obtaining the actual absolute position of the shifting fork, and the pressure valve and the flow valve realize optimized gear-reversing control through joint pressure control, speed control and position control according to the actual absolute position.
The relative position refers to the percentage form of the shifting fork position obtained by the shifting fork position sensor.
The absolute position refers to the mechanical position of the shifting fork in millimeters.
The absolute position of the maximum gear shifting stroke of the shifting fork is shown in table 1, and the absolute position of the middle position is 0 mm.
TABLE 1 Absolute position of maximum shift stroke and absolute position of neutral position of shift fork
| |
1 |
3 grade | 6-gear | 4-gear | Neutral position |
| Absolute position | -8.15 | -8.68 | -8.15 | -8.15 | 0 |
| Gear position | 5-gear | 7 |
2 keeps off | R gear | Neutral position |
| Absolute position | 8.15 | 8.13 | 8.29 | 8.15 | 0 |
The absolute positions of different gearboxes and different gears are the same.
The relative positions of different gearboxes and different gears are slightly different, the relative positions of the middle positions, the synchronization points and the maximum gear shifting strokes of different gearboxes and different shifting forks are obtained through shifting fork self-learning control, and the relative positions are stored in an electrified erasable programmable read-write memory (EEPROM) for program calling.
The conversion algorithm is that the actual relative position of the shifting fork measured by the position sensor, the self-adaptive middle relative position of the shifting fork, the maximum shifting stroke relative position of the shifting fork and the maximum shifting fork are obtainedThe algorithm for obtaining the actual absolute position of the shifting fork from the absolute position of the shifting stroke is as follows:
wherein: GC _ l _ PosFrk is the actual absolute position of the shifting fork and has a unit of mm, NeutPctada is the self-adaptive middle position relative position of the shifting fork, AC _ Pct _ ShftFrkGearVct is the actual relative position of the shifting fork measured by a position sensor and has a unit of mm, GearPctada is the self-adaptive maximum shifting stroke relative position of the shifting fork and has a unit of mm, and GearAbs is the absolute position of the maximum shifting stroke of the shifting fork and has a unit of mm.
From the above, the 1/3/6/4 gear shift forks are less than fifty percent in position relative position, and the 5/7/2/R gear shift forks are more than fifty percent in position relative position.
The shifting fork position state is divided into a middle position state, a middle position state and a gear position state.
As shown in fig. 2, the state diagram of the shift fork position is shown, wherein: the absolute position of the O point is set to be zero, and when the shifting fork is in the middle position, namely the position is between AA', the state value is 3; when the shift fork moves in a direction in which the absolute position is negative, i.e. when the position is between the ACs: the third shifting fork is used for engaging 1 gear, the fourth shifting fork is used for engaging 3 gears, the second shifting fork is used for engaging 6 gears, the first shifting fork is used for engaging 4 gears, and the state value is 2; when the four shifting forks are at the gear point of 1/3/6/4 gears, namely the position is located on the left side of the D point, the state value is 1; when the fork is moved in the positive direction of the absolute position, i.e. the position between a 'C': the third shifting fork is used for engaging 5 gears, the fourth shifting fork is used for engaging 7 gears, the second shifting fork is used for engaging 2 gears, the first shifting fork is used for engaging R gears, and the state value is 4; when the four shifting forks are at the gear point of 5/7/2/R gear, namely the position is positioned on the right side of D', the state value is 5; when the fork is in CD or C 'D', the state value of the last cycle is used. In the figure, points D and D 'are on-gear points, according to mechanical structure analysis, when the shifting fork is in a certain distance range away from the maximum gear shifting stroke, the shifting fork is already in place, a numerical table is shown in a table 2, points B and B' are synchronous points, the actual absolute positions of the points B and B 'are obtained by an actual absolute position calculation algorithm, and the numerical values of the points AA', CC 'and DD' are shown in the following table:
TABLE 2AA ', CC ', DD ' points values Table
| 1 |
3 grade | 6-gear | 4-gear | |
| A | -1 | -1 | -1 | -1 |
| C | -7.15 | -7.65 | -7.15 | -7.15 |
| D | -7.65 | -8.15 | -7.65 | -7.65 |
| 5-gear | 7 |
2 keeps off | R gear | |
| A’ | 1 | 1 | 1 | 1 |
| C’ | 7.15 | 7.125 | 7.16 | 7.15 |
| D’ | 7.65 | 7.625 | 7.79 | 7.65 |
The reverse gear is reflected in fig. 2, namely the process that the shift fork of 1/3/6/4 gear is changed from a shift fork position state value 1 to a state value 3 through a state value 2; the shift fork of 5/7/2/R gear is changed from shift fork position state value 5 to state value 3 through state value 4.
The pressure control means that: when the shifting fork is in the state values of 1 and 2 or 5 and 4, obtaining target pressure through a target pressure calculation formula according to the actual absolute position of the shifting fork, and obtaining target current through a P-I characteristic curve of the pressure valve shown in figure 3; when the shifting fork is positioned at the state value of 3, the target pressure of the pressure valve is zero.
The target pressure is as follows:
GC_p_TargetPosCtl＝
(1-PS_Shaper(Normalizer(GC_l_PosFrk,l_PStrt,l_PEnd)))*p_StrtVal
+PS_Shaper(Normalizer(GC_l_PosFrk,l_PStrt,l_PEnd))*p_EndVal
The starting position of the pressure control and the ending position of the pressure control for each gear are shown in the following table:
TABLE 3 pressure control Start and pressure control end position tables for respective gears
The speed control and the position control are realized by a flow valve, wherein: when the fork is in the state values 1 and 2 or 5 and 4: when the gear of 1/3/6/4 is withdrawn, the flow is positive, and finally the flow can measure a large amount of speed control flow and position control flow; when the gear of 5/7/2/R is withdrawn, the flow is negative, and the final flow is small for the speed control flow and the position control flow; obtaining target current by passing the obtained target flow through a Q-I characteristic curve of the flow valve shown in figure 4; when the shifting fork is located at the middle position, the target flow of the flow valve is zero.
The speed control means that: and calculating an instantaneous target position according to a formula, calculating a target speed according to the instantaneous target position so as to obtain a speed control target flow, wherein when the gear-reversing time is reached, the instantaneous target position is equal to the final target position.
And the difference value of the instantaneous target position and the actual position is regulated by adopting PI (proportion integration) so that the actual position follows the instantaneous target position.
The instantaneous target positions are:
The speed control target flow is as follows:
The position control means calculating the position control target flow according to a formula.
The position control target flow is as follows:
The starting position of the position control and the ending position of the position control of each gear are shown as the following table:
TABLE 4 position control for each gear starting position and ending position table
Fig. 5 is a graph showing a test for 3-gear downshift. Taking the shift 3 as an example, the target pressure (CPT _ GC _ p _ TargetShftAct) is 10000mbar in the initial stage of the shift, the pressure is 8000mbar after a certain time, and when the actual position reaches-2 mm of the pressure control initial position, the pressure is gradually transited from 8000mbar to 0mbar of the final target pressure. The velocity control target flow rate (GC _ Q _ TargetFlowPID) is greater than the position control target flow rate (GC _ Q _ TargetFlowPosDiff), and therefore the final target flow rate (GC _ Q _ TargetFlowNoLim) adopts the velocity control target flow rate. When actual absolute position was less than the A point value of 3 grades in table 2, shift fork position state became state value 3, and target flow and target pressure all become 0 this moment, and its purpose prevents that the shift fork from moving back, though the shift fork position has not arrived absolute neutral position this moment yet, because shift fork hardware structure characteristic, the shift fork can be got back to absolute neutral position by oneself. The whole gear-reversing process is about 80 ms.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (6)
1. An optimized gear-reversing control method of a double-clutch transmission is characterized in that an actual absolute position of a shifting fork is obtained through a shifting fork actual relative position measured by a position sensor, a shifting fork middle relative position obtained in a self-adaptive mode, a shifting fork maximum gear-shifting stroke relative position and a shifting fork maximum gear-shifting stroke absolute position conversion algorithm, and optimized gear-reversing control is achieved through combined pressure control, speed control and position control according to the actual absolute position by a pressure valve and a flow valve;
the absolute position refers to the mechanical position of the shifting fork in millimeter units;
the relative position refers to the shifting fork position in percentage form obtained by a shifting fork position sensor;
the actual absolute position of the shifting fork is as follows:
wherein: GC _ l _ PosFrk is the actual absolute position of the shifting fork and the unit is mm, NeutPctada is the self-adaptive middle position relative position of the shifting fork and the unit is%, AC _ Pct _ ShftFrkGearVct position sensor measures the actual relative position of the shifting fork and the unit is%, GearPctada is the self-adaptive maximum shifting stroke relative position of the shifting fork and the unit is mm, and GearAbs is the maximum shifting stroke of the shifting fork and the unit is mm.
2. The method of claim 1, wherein the pressure control is: when the shifting fork is in the middle position state and the gear position state, obtaining target pressure through a target pressure calculation formula according to the actual absolute position of the shifting fork, and obtaining target current through a P-I characteristic curve of the pressure valve; when the shifting fork is positioned at the middle position, the target pressure of the pressure valve is zero;
the intermediate position state is a position state between the neutral position and the gear point.
3. The method of optimizing downshift control in a dual clutch transmission according to claim 2, wherein said target pressures are:
GC_p_TargetPosCtl＝(1-PS_Shaper(Normalizer(GC_l_PosFrk，l_PStrt，l_PEnd)))*p_StrtVal+PS_Shaper(Normalizer(GC_l_PosFrk，l_PStrt，l_PEnd))*p_EndVal；
wherein: GC _ p _ TargetPosCtl is a target pressure of the pressure valve and has a unit of mbar, PS _ Shaper () is a triangular filter function, Normalizer () is a displacement proportion calculation function, GC _ l _ PosFrk is an actual absolute position of the shifting fork and has a unit of mm, l _ PStrt is a starting position of the shifting fork and has a unit of mm, l _ PENd is a stopping position of the shifting fork and has a unit of mm, p _ StrtVal is a starting pressure of the shifting fork and has a unit of mbar, and p _ EndVal is a stopping pressure of the shifting fork and has a unit of mbar.
4. The method of optimized downshift control in a dual clutch transmission as set forth in claim 1 wherein said speed and position control is by flow valves and wherein: when the shifting fork is located at the middle position state and at the gear position state: when the gear of 1/3/6/4 is withdrawn, the flow is positive, and finally the flow can measure a large amount of speed control flow and position control flow; when the gear of 5/7/2/R is withdrawn, the flow is negative, and the final flow is small for the speed control flow and the position control flow; the obtained target flow passes through a Q-I characteristic curve of the flow valve to obtain a target current; when the shifting fork is located at the middle position, the target flow of the flow valve is zero.
5. The method of claim 4 wherein said speed control is: calculating an instantaneous target position according to a formula, calculating a target speed according to the instantaneous target position so as to obtain a speed control target flow, wherein when the gear-reversing time is reached, the instantaneous target position is equal to a final target position;
the difference value of the instantaneous target position and the actual position is regulated by adopting PI (proportion integration) to enable the actual position to follow the instantaneous target position;
the instantaneous target positions are:
GC_l_PosFrkTgt＝(1-QS_Shaper(t))*l_VelStrtVal+QS_Shaper(t)*l_VelEndVal；
wherein: GC _ l _ PosFrktTgt is a transient target absolute position and has a unit of mm, QS _ Shaper () is a proportional calculation function of gear-reversing elapsed time and target time, l _ VelStrtVal is a flow valve speed control starting position and has a unit of mm, l _ VelEndVal is a flow valve speed control ending position and has a unit of mm, and T is target gear-reversing time and has a unit of ms;
the speed control target flow is as follows:
wherein: GC _ Q _ VelFrkTgt is the speed control target flow rate in L/min, GC _ L _ PosFrkTgt is the transient target absolute position in mm, and GC _ ar _ ArPstnShftFrk _ Co is the piston area in mm2Kp is a coefficient of a P term, Ki is a coefficient of an I term, and Factor is a unit conversion coefficient.
6. The method of claim 4, wherein the position control is a calculation of a position control target flow according to a formula;
the position control target flow is as follows:
GC_Q_PosFrkTgt＝(1-QS_Shaper(PosNormalizer(GC_l_PosFrk，l_QStrt，l_QEnd)))*Q_StrtVal+QS_Shaper(Normalizer(GC_l_PosFrk，l_QStrt，l_QEnd))*Q_EndVal；
wherein: GC _ Q _ PosFrkTgt is a position control target flow rate and has a unit of L/min, QS _ Shaper () is a triangular filter function, PosNormalizer () is a displacement proportion calculation function, GC _ L _ PosFrk is an actual absolute position of a shift fork and has a unit of mm, L _ QStrt is a position control shift fork starting position and has a unit of mm, L _ Qend is a position control shift fork ending position and has a unit of mm, Q _ StrtVal is a position control shift fork starting flow rate and has a unit of L/min, and Q _ EndVal is a position control shift fork ending flow rate and has a unit of L/min.
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| CN115750781B (en) * | 2022-11-26 | 2024-05-14 | 重庆长安汽车股份有限公司 | Self-learning method and system for QI characteristic data of flow valve of transmission and vehicle |
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| CN105492804A (en) * | 2013-08-14 | 2016-04-13 | 沃尔沃卡车集团 | Method for automatic calibration of automatic transmission |
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| CN107524794A (en) * | 2017-10-16 | 2017-12-29 | 安徽江淮汽车集团股份有限公司 | A kind of wet dual-clutch automatic transmission gear method for handover control |
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2019
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| CN102221081A (en) * | 2010-04-15 | 2011-10-19 | 通用汽车环球科技运作公司 | Fork position and synchronization control in a dual clutch transmission using pressure control solenoids |
| CN105492804A (en) * | 2013-08-14 | 2016-04-13 | 沃尔沃卡车集团 | Method for automatic calibration of automatic transmission |
| CN106678355A (en) * | 2017-01-25 | 2017-05-17 | 安徽江淮汽车集团股份有限公司 | Dual-clutch shifting-fork gear disengagement control method and system |
| CN106678354A (en) * | 2017-01-25 | 2017-05-17 | 安徽江淮汽车集团股份有限公司 | Self-adaptive control method and system for position of shifting fork of automatic gearbox |
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