CN111503259A - Method for eliminating impact of vehicle gear shifting gear - Google Patents

Method for eliminating impact of vehicle gear shifting gear Download PDF

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Publication number
CN111503259A
CN111503259A CN202010254955.5A CN202010254955A CN111503259A CN 111503259 A CN111503259 A CN 111503259A CN 202010254955 A CN202010254955 A CN 202010254955A CN 111503259 A CN111503259 A CN 111503259A
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China
Prior art keywords
torque
gear
gearbox
motor
vehicle
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CN202010254955.5A
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Chinese (zh)
Inventor
于海龙
秦兴权
梁瑞
牛正蕊
安鹏磊
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Fish Green Energy Technology Ningbo Co ltd
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Fish Green Energy Technology Ningbo Co ltd
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Priority to CN202010254955.5A priority Critical patent/CN111503259A/en
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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
    • 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
    • F16H63/40—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 comprising signals other than signals for actuating the final output mechanisms
    • F16H63/50—Signals to an engine or motor
    • F16H63/502—Signals to an engine or motor for smoothing gear shifts

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The invention relates to a method for eliminating vehicle gear shifting impact, which comprises a motor controller, a motor, a two-gear transmission case and a motor transmission controller which are in signal control connection with a VCU of a vehicle controller; the method comprises the following specific steps: firstly, the motor controller controls the torque of the output shaft of the motor to reduce the torque to 0 through a low gradient; secondly, the gearbox is adjusted to a neutral gear state through a gearbox gear shifting device, after a driving wheel and a driven wheel of the gearbox are separated, the rotating speed of the gearbox is controlled to be reduced to a second-gear rotating speed, and the torque is controlled to 0 torque again; finally, the gearbox is switched into an engagement state from a neutral gear state through a gearbox gear shifting device, after a driving wheel and a driven wheel of the gearbox are engaged again, the motor controller controls the torque of the output shaft of the motor to rise at a low slope, and when the torque reaches 50Nm, the torque is promoted according to a normal slope; the method adopts the modes of small torque, small slope, optimized gear shifting logic and the like, and eliminates the impact caused by gear shifting.

Description

Method for eliminating impact of vehicle gear shifting gear
Technical Field
The invention relates to the technical field of motor control methods, in particular to a method for eliminating vehicle gear shifting gear impact.
Background
At present, commercial vehicles widely use two-gear gearboxes to reduce energy consumption and improve the efficiency of a power system. But the gear box is impacted due to high torque during gear shifting, so that great gear beating sound is generated and vehicle shaking is caused. Affecting vehicle drivability and passenger comfort. Therefore, there is a need for a method of reducing gear lash during gear shifts without hardware additions.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for eliminating the impact of a vehicle gear shifting gear, and the impact caused by gear shifting is eliminated by adopting the modes of small torque, small slope, optimized gear shifting logic and the like on a power system algorithm. Compared with the prior art, the method for changing the duty ratio improves the driving comfort and protects the vehicle system and the personal safety under the condition of not increasing hardware.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method of eliminating a vehicle shift gear lash, characterized by: the vehicle gear shifting mechanism comprises a motor controller, a motor, a gearbox and a transmission shaft, wherein the gearbox is a two-gear gearbox, and the motor controller is in signal control connection with a VCU (vehicle control unit); a power system algorithm is stored in a VCU of the vehicle controller, the power system algorithm finishes a gear shifting process by controlling the torque change slope of an output shaft of a motor, and the method comprises the following specific steps:
step 1, entering a gear shifting mode, and controlling the torque of an output shaft of a motor to reduce the torque to 0 through a low slope by a motor controller;
step 2, entering a gear-disengaging mode, adjusting the gearbox to a neutral gear state through a gearbox gear-shifting device, controlling the rotating speed of the gearbox to be reduced to a second-gear rotating speed after a driving wheel and a driven wheel of the gearbox are separated, and controlling the torque to be 0 torque again;
step 3, entering a gear engaging mode, entering the gear box from a neutral gear state into an engaging state through a gear box shifting device, controlling the torque of the output shaft of the motor to rise at a low slope by the motor controller after a driving wheel and a driven wheel of the gear box are engaged again, and when the torque reaches 50Nm, increasing the torque according to a normal slope;
and 4, finishing gear shifting after the torque reaches the target torque.
And the VCU of the whole vehicle controller is in signal control connection with the motor controller through a CAN line.
The low slope range of the torque of the output shaft of the motor in the step 1 during the torque reduction to 0 is 500Nm/s to 200 Nm/s.
The gradient in the process that the torque is adjusted to 0 torque in the step 2 is 500Nm/s to 200Nm/s, the rotating speed of the gearbox is reduced from 4500rpm to 1500rpm in the process that the rotating speed of the gearbox is reduced to the rotating speed of the second gear, and the speed reduction process of the gearbox is completed within 700 ms.
And in the step 3, after the driving wheel and the driven wheel of the gearbox are meshed again, the ascending slope of the torque of the output shaft of the motor is 500Nm/s to 200 Nm/s.
And after the torque reaches 50Nm in the step 3, the lifting slope is 2000 Nm/s.
The method for eliminating the impact of the vehicle gear shifting gear has the beneficial effects that: by adopting the optimization on the gear shifting logic, compared with the prior art, the method of changing the duty ratio can eliminate the gear impact caused by gear shifting under the condition of not increasing hardware. Furthermore, in the gear shifting process, after the gears of the driving wheel and the driven wheel are separated and are meshed again, the lower slope is adopted to improve the torque or reduce the torque, and the torque impact and noise caused by gear collision in the gear shifting process are eliminated.
Drawings
FIG. 1 is a flow chart of a method of eliminating a vehicle shift gear lash in accordance with the present invention.
Fig. 2 is a schematic structural diagram of a driving wheel and a driven wheel engaged in a method for eliminating the impact of a vehicle gear shifting gear according to the invention.
FIG. 3 is a schematic representation of the speed of the vehicle during a normal shift over time.
FIG. 4 is a schematic diagram showing the variation of the rotation speed with time in the method for eliminating the impact of the vehicle gear shifting.
Detailed Description
The invention will now be described in further detail with reference to fig. 1.
During a gear change of a vehicle, in the equation of motion of the vehicle, the acceleration resistance FaComprises the following steps:
Figure BDA0002436933950000021
wherein, the conversion coefficient of the rotating mass is; m0The total mass of the automobile; ftIs a driving force; fwIs the air resistance; ffIs rolling resistance; fiIs the slope resistance.
The vehicle impact degree is:
Figure BDA0002436933950000022
before and after the shift operation and during the throttle adjustment, since the time and the travel distance are short and the speed change is small, it can be considered that F isw、Ff、FiHas small change and is in gear position
Figure BDA0002436933950000023
Also not large, negligible;
the vehicle impact equation can now be simplified as:
Figure BDA0002436933950000024
in the formula i0Is a main transmission ratio; i.e. igThe transmission ratio of the transmission, the transmission efficiency of η, the rolling radius of the wheels, the throttle opening degree of α, and the speed of TeIs formed by the opening degree of an accelerator, α and the rotating speed n of a motoreThe determined motor output torque.
It follows from this that the jerk j of the shifting action and the rate of change of the throttle (torque)
Figure BDA0002436933950000031
Proportional ratio, so the control of the shift shock is mainly to control the change of the acceleratorThe rate of change, i.e., the rate of change of torque. Therefore, the elimination of the shift shock can be realized by controlling the change slope of the motor torque during the shifting process.
As shown in fig. 1, the vehicle gear shifting mechanism comprises a motor controller, a motor, a gearbox and a transmission shaft 3, wherein an output shaft of the motor is in transmission connection with a driving wheel 1 through the transmission shaft 3, the driving wheel 1 is in meshing transmission with a driven wheel 2, the gearbox is a two-gear gearbox, and the motor controller is in signal control connection with a VCU of the vehicle controller; the power of the vehicle is generated by the motor, and then the reduction box amplifies the torque by a certain proportion to reduce the rotating speed. Finally, the power is transmitted to the tire through the transmission shaft. The VCU is used for issuing gear shifting commands for the vehicle. In the gearbox, a driving wheel is in transmission connection with an output shaft of a motor, and a driven wheel is in transmission connection with a transmission shaft. A power system algorithm is stored in the VCU of the vehicle controller and finishes a gear shifting process in a mode of controlling the torque change slope of the output shaft of the motor.
Under the control of the vehicle control unit VCU, the shift process is as follows:
step 1, entering a gear shifting mode, issuing a gear shifting command by a VCU through a CAN (controller area network) line, and controlling the torque of a motor output shaft to be reduced to 0 through a low gradient by a motor controller when a driving wheel 1 and a driven wheel 2 are in an engaged state as shown in figure 2;
step 2, entering a gear-disengaging mode, adjusting the gearbox to a neutral gear state through a gearbox gear-shifting device, controlling the gearbox to reduce the rotating speed to a 2-gear rotating speed through rotating speed ring speed regulation after a driving wheel and a driven wheel of the gearbox are separated, and controlling the torque to 0 torque again;
step 3, entering a gear engaging mode, entering the gear box from a neutral gear state into an engaging state through a gear box shifting device, controlling the torque of the output shaft of the motor to rise at a low slope by the motor controller after a driving wheel and a driven wheel of the gear box are engaged again, and when the torque reaches 50Nm, increasing the torque according to a normal slope;
and 4, finishing gear shifting after the torque reaches the target torque.
Further, the vehicle control unit VCU is in signal control connection with the motor controller through a CAN line.
Further, the motor controller controls the starting torque of the output shaft of the motor to be the maximum torque of stepping on the accelerator, and the maximum torque of the motor in the embodiment is 1200 Nm.
In this embodiment, the low slope in the process of decreasing the torque of the output shaft of the motor to 0 in step 1 ranges from 500Nm/s to 200 Nm/s.
In this embodiment, the slope in the process of adjusting the torque to 0 again in step 2 is 500Nm/s to 200Nm/s, the rotating speed of the transmission is reduced from 4500rpm to 1500rpm in the process of reducing the rotating speed of the transmission to the second gear, and the speed reduction process of the transmission is completed within 700 ms.
In this embodiment, the rising slope of the torque of the output shaft of the motor after the driving pulley and the driven pulley of the transmission case are engaged again in step 3 is 500Nm/s to 200 Nm/s.
In this embodiment, after the torque in step 3 reaches 50Nm, the lift slope is 2000 Nm/s.
According to the method, torque shock and noise caused by gear collision in the gear shifting process are eliminated in a mode of adopting small torque and small slope and optimizing gear shifting logic.
Further, as shown in fig. 3 and 4, under the working condition of 800rpm of the output shaft of the transmission, as indicated by the arrow in fig. 3, the time-dependent change of the rotation speed of the vehicle during shifting according to the ordinary shifting manner is shown, and it can be known from the figure that, at the vertical dotted line, when shifting according to the ordinary shifting manner, gear impact may cause rotation speed fluctuation, which may further cause the problems of unsmooth shifting, prominent noise, and the like. As can be seen from the graph, under the same working condition as that shown in fig. 3, the gear shift mode can effectively eliminate gear impact, improve the smoothness of gear shift, and simultaneously eliminate noise.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.

Claims (6)

1. A method of eliminating a vehicle shift gear lash, characterized by: the vehicle gear shifting mechanism comprises a motor controller, a motor, a gearbox and a transmission shaft, wherein the gearbox is a two-gear gearbox, and the motor controller is in signal control connection with a VCU (vehicle control unit); a power system algorithm is stored in a VCU of the vehicle controller, the power system algorithm finishes a gear shifting process by controlling the torque change slope of an output shaft of a motor, and the method comprises the following specific steps:
step 1, entering a gear shifting mode, and controlling the torque of an output shaft of a motor to reduce the torque to 0 through a low slope by a motor controller;
step 2, entering a gear-disengaging mode, adjusting the gearbox to a neutral gear state through a gearbox gear-shifting device, controlling the rotating speed of the gearbox to be reduced to a second-gear rotating speed after a driving wheel and a driven wheel of the gearbox are separated, and controlling the torque to be 0 torque again;
step 3, entering a gear engaging mode, entering the gear box from a neutral gear state into an engaging state through a gear box shifting device, controlling the torque of the output shaft of the motor to rise at a low slope by the motor controller after a driving wheel and a driven wheel of the gear box are engaged again, and when the torque reaches 50Nm, increasing the torque according to a normal slope;
and 4, finishing gear shifting after the torque reaches the target torque.
2. A method of canceling a vehicle shift gear shock according to claim 1, wherein: and the VCU of the whole vehicle controller is in signal control connection with the motor controller through a CAN line.
3. A method of canceling a vehicle shift gear shock according to claim 1, wherein: the low slope range of the torque of the output shaft of the motor in the step 1 during the torque reduction to 0 is 500Nm/s to 200 Nm/s.
4. A method of canceling a vehicle shift gear shock according to claim 1, wherein: the gradient in the process that the torque is adjusted to 0 torque in the step 2 is 500Nm/s to 200Nm/s, the rotating speed of the gearbox is reduced from 4500rpm to 1500rpm in the process that the rotating speed of the gearbox is reduced to the rotating speed of the second gear, and the speed reduction process of the gearbox is completed within 700 ms.
5. A method of canceling a vehicle shift gear shock according to claim 1, wherein: and in the step 3, after the driving wheel and the driven wheel of the gearbox are meshed again, the ascending slope of the torque of the output shaft of the motor is 500Nm/s to 200 Nm/s.
6. A method of canceling a vehicle shift gear shock according to claim 1, wherein: and after the torque reaches 50Nm in the step 3, the lifting slope is 2000 Nm/s.
CN202010254955.5A 2020-04-02 2020-04-02 Method for eliminating impact of vehicle gear shifting gear Withdrawn CN111503259A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113263923A (en) * 2021-07-05 2021-08-17 珠海格力电器股份有限公司 Motor control method and device of electric vehicle, storage medium and vehicle control unit
CN113602277A (en) * 2021-08-20 2021-11-05 北京理工大学 Coordination control method for reducing gear shifting impact based on rotation speed control
WO2023131267A1 (en) * 2022-01-07 2023-07-13 长城汽车股份有限公司 Control method and apparatus during tooth-to-tooth phenomenon of gearbox, and vehicle

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113263923A (en) * 2021-07-05 2021-08-17 珠海格力电器股份有限公司 Motor control method and device of electric vehicle, storage medium and vehicle control unit
CN113602277A (en) * 2021-08-20 2021-11-05 北京理工大学 Coordination control method for reducing gear shifting impact based on rotation speed control
CN113602277B (en) * 2021-08-20 2023-11-03 北京理工大学 Coordination control method for reducing gear shifting impact based on rotation speed control
WO2023131267A1 (en) * 2022-01-07 2023-07-13 长城汽车股份有限公司 Control method and apparatus during tooth-to-tooth phenomenon of gearbox, and vehicle

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Application publication date: 20200807