CN111536169A - Clutch control method and terminal - Google Patents
Clutch control method and terminal Download PDFInfo
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- CN111536169A CN111536169A CN202010376474.1A CN202010376474A CN111536169A CN 111536169 A CN111536169 A CN 111536169A CN 202010376474 A CN202010376474 A CN 202010376474A CN 111536169 A CN111536169 A CN 111536169A
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
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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
- F16H61/14—Control of torque converter lock-up clutches
- F16H61/143—Control of torque converter lock-up clutches using electric control means
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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
- F16H61/14—Control of torque converter lock-up clutches
- F16H61/143—Control of torque converter lock-up clutches using electric control means
- F16H2061/145—Control of torque converter lock-up clutches using electric control means for controlling slip, e.g. approaching target slip value
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a clutch control method and a terminal, which control clutch to be quickly separated at a first preset speed; shifting according to the received target gear; controlling the clutch to be quickly closed to a half clutch position at the first preset speed; controlling the clutch to advance to a target engagement position at a low speed at a second preset speed, calculating clutch slip amount in real time in the low-speed advancing process, and controlling the clutch to be quickly engaged to the target engagement position at the first preset speed when the clutch slip amount is smaller than a preset value; in the clutch engaging process, in the starting and ending stages, the clutch is quickly engaged, the clutch movement time in the whole process is reduced, the clutch is stably controlled at the clutch semi-engaging position, and the clutch is stably controlled, so that the vehicle speed and the rotating speed are stably matched, the vehicle is stably driven, the starting stability and the starting comfort are realized through the quick and stable clutch control, the starting flameout condition is avoided, the starting quality is fully improved, the quick and reliable control of the clutch is realized, and the gear shifting speed can be improved.
Description
Technical Field
The invention relates to the field of vehicle control, in particular to a clutch control method and a terminal.
Background
The diesel engine has the advantages of long service life, economy, durability, low speed, large torque, high safety, environmental protection and the like, and the diesel engine locomotive in the market generally adopts a manual gear shifting mechanism to carry out variable speed control so as to give full play to the advantages of the diesel engine. The manual driving can judge the on-off of the clutch through artificial sense organs, but the unmanned control manual gearbox can only be fully automatically controlled, and the existing automatic control manual gearbox is often slow in clutch speed, not stable enough for starting, not good in comfort and easy to cause starting flameout.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a clutch control method and a terminal are provided to realize rapid and stable clutch control.
In order to solve the technical problems, the invention adopts a technical scheme that:
a clutch control method comprising the steps of:
s1, controlling the clutch to be quickly separated at a first preset speed;
s2, shifting gears according to the received target gear;
s3, controlling the clutch to be quickly closed to a half clutch position at the first preset speed;
and S4, controlling the clutch to advance to a target engagement position at a low speed at a second preset speed, calculating the clutch slip amount in real time in the low-speed advancing process, and controlling the clutch to be quickly engaged to the target engagement position at the first preset speed when the clutch slip amount is smaller than a preset value.
In order to solve the technical problem, the invention adopts another technical scheme as follows:
a clutch control terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:
s1, controlling the clutch to be quickly separated at a first preset speed;
s2, shifting gears according to the received target gear;
s3, controlling the clutch to be quickly closed to a half clutch position at the first preset speed;
and S4, controlling the clutch to advance to a target engagement position at a low speed at a second preset speed, calculating the clutch slip amount in real time in the low-speed advancing process, and controlling the clutch to be quickly engaged to the target engagement position at the first preset speed when the clutch slip amount is smaller than a preset value.
The invention has the beneficial effects that: in the clutch control process, the clutch is controlled to be quickly separated firstly, then the vehicle starting clutch engagement process is divided into different stages for control, the stages are divided into a front stage, a middle stage and a rear stage, the middle stage is near a half clutch position, the front stage adopts quick control, the middle stage is switched into stable control, when the clutch slip amount is less than a preset value, the rear stage enters the rear stage, the rear stage adopts quick control, the whole process finishes the quick and stable clutch control in the gear shifting process, the clutch engagement process, the starting and ending stages, the clutch is quickly engaged, the clutch movement time in the whole process is reduced, the clutch half engagement position is engaged, the clutch is stably controlled, the vehicle speed and the rotating speed are stably matched, thereby the vehicle runs stably, the starting stability and the comfort are realized through the quick and stable clutch control, the starting flameout condition is avoided, the starting quality is fully improved, the, the power performance of the diesel engine is fully exerted, and the diesel engine can adapt to various driving conditions of common road surfaces.
Drawings
FIG. 1 is a flow chart illustrating steps of a clutch control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a clutch control terminal according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the detailed steps of a clutch control method according to an embodiment of the present invention;
FIG. 4 is a flow chart of PID control feedback according to an embodiment of the invention;
description of reference numerals:
1. a clutch control terminal; 2. a memory; 3. a processor.
Detailed Description
In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1, a clutch control method includes the steps of:
s1, controlling the clutch to be quickly separated at a first preset speed;
s2, shifting gears according to the received target gear;
s3, controlling the clutch to be quickly closed to a half clutch position at the first preset speed;
and S4, controlling the clutch to advance to a target engagement position at a low speed at a second preset speed, calculating the clutch slip amount in real time in the low-speed advancing process, and controlling the clutch to be quickly engaged to the target engagement position at the first preset speed when the clutch slip amount is smaller than a preset value.
From the above description, the beneficial effects of the present invention are: in the clutch control process, the clutch is controlled to be quickly separated firstly, then the vehicle starting clutch engagement process is divided into different stages for control, the stages are divided into a front stage, a middle stage and a rear stage, the middle stage is near a half clutch position, the front stage adopts quick control, the middle stage is switched into stable control, when the clutch slip amount is less than a preset value, the rear stage enters the rear stage, the rear stage adopts quick control, the whole process finishes the quick and stable clutch control in the gear shifting process, the clutch engagement process, the starting and ending stages, the clutch is quickly engaged, the clutch movement time in the whole process is reduced, the clutch half engagement position is engaged, the clutch is stably controlled, the vehicle speed and the rotating speed are stably matched, thereby the vehicle runs stably, the starting stability and the comfort are realized through the quick and stable clutch control, the starting flameout condition is avoided, the starting quality is fully improved, the, the power performance of the diesel engine is fully exerted, and the diesel engine can adapt to various driving conditions of common road surfaces.
Further, the rapid clutch separation control, the rapid clutch closing control to the pre-calibrated half clutch position and the rapid clutch engagement control to the target engagement position all adopt rapid control mechanisms.
Further, the fast control mechanism comprises:
acquiring the current position and the target position of the motor;
determining the position deviation of the motor according to the current position of the motor and the target position of the motor;
determining the duty ratio of the motor of the engine according to the position deviation;
and determining that the motor rotates to the motor target position at the maximum driving speed according to the duty ratio.
As can be seen from the above description, in the fast control mechanism, the PID control algorithm can be used to achieve the target position of the motor stably, fast and reliably.
Further, the calculating the clutch slip amount in real time includes:
acquiring the current engine speed and the vehicle speed;
calculating the clutch slip amount in real time according to the current engine speed and the vehicle speed:
in the equation, car _ speed represents a vehicle speed, rotate _ speed represents an engine speed, and ratio represents a transmission ratio.
From the above description, the clutch slip amount can be accurately and reliably calculated according to the current engine speed and the vehicle speed, and the reliability of clutch control is ensured.
Further, the S4 includes:
subdividing the target engagement position into a plurality of sub-target positions according to the semi-clutch position and the target engagement position;
controlling the clutch to sequentially advance to the plurality of sub-target positions at the second preset speed;
s41, reading the current engine speed in real time in the propulsion process:
judging whether the current engine rotating speed is reduced to the flameout critical rotating speed, if so, returning the clutch to the previous sub-target position, and returning to S41, otherwise, propelling to the next sub-target position at the second preset speed, and returning to S41;
s42, reading the current vehicle speed in real time in the propulsion process:
if the current vehicle speed is zero, propelling to the next sub-target position at the second preset speed, and returning to the step S42;
if the current vehicle speed is uniformly increased, calculating the clutch slip amount, judging whether the clutch slip amount is smaller than a preset value, if so, controlling the clutch to be quickly engaged to the target engagement position at the first preset speed, and if not, returning to the step S42.
According to the description, the stable control adds the engine speed as a control reference on the basis of the quick control, the secondary control is adopted, the primary control directly controls the motor, the quick control method is also adopted to quickly reach the half clutch position, the secondary control adopts a mode of subdividing a target control value to carry out delay stable control, a large target angle value is subdivided into a series of small target values, delay processing is carried out among the small target values, the low-speed control effect can be realized, the starting flameout condition is avoided through the stable control, the starting quality is improved, in the stable control process, whether the engagement is reliable or not is judged on the basis of the clutch slip amount obtained in real time, if the engagement is reliable, the quick stage is started, the clutch is pushed to the clutch position through the quick control, the clutch is closed, and the rapidity and the reliability of the engagement are realized.
Referring to fig. 2, a clutch control terminal includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the following steps:
s1, controlling the clutch to be quickly separated at a first preset speed;
s2, shifting gears according to the received target gear;
s3, controlling the clutch to be quickly closed to a half clutch position at the first preset speed;
and S4, controlling the clutch to advance to a target engagement position at a low speed at a second preset speed, calculating the clutch slip amount in real time in the low-speed advancing process, and controlling the clutch to be quickly engaged to the target engagement position at the first preset speed when the clutch slip amount is smaller than a preset value.
From the above description, the beneficial effects of the present invention are: in the clutch control process, the clutch is controlled to be quickly separated firstly, then the vehicle starting clutch engagement process is divided into different stages for control, the stages are divided into a front stage, a middle stage and a rear stage, the middle stage is near a half clutch position, the front stage adopts quick control, the middle stage is switched into stable control, when the clutch slip amount is less than a preset value, the rear stage enters the rear stage, the rear stage adopts quick control, the whole process finishes the quick and stable clutch control in the gear shifting process, the clutch engagement process, the starting and ending stages, the clutch is quickly engaged, the clutch movement time in the whole process is reduced, the clutch half engagement position is engaged, the clutch is stably controlled, the vehicle speed and the rotating speed are stably matched, thereby the vehicle runs stably, the starting stability and the comfort are realized through the quick and stable clutch control, the starting flameout condition is avoided, the starting quality is fully improved, the, the power performance of the diesel engine is fully exerted, and the diesel engine can adapt to various driving conditions of common road surfaces.
Further, the rapid clutch separation control, the rapid clutch closing control to the pre-calibrated half clutch position and the rapid clutch engagement control to the target engagement position all adopt rapid control mechanisms.
Further, the fast control mechanism comprises:
acquiring the current position and the target position of the motor;
determining the position deviation of the motor according to the current position of the motor and the target position of the motor;
determining the duty ratio of the motor of the engine according to the position deviation;
and determining that the motor rotates to the motor target position at the maximum driving speed according to the duty ratio.
As can be seen from the above description, in the fast control mechanism, the PID control algorithm can be used to achieve the target position of the motor stably, fast and reliably.
Further, the calculating the clutch slip amount in real time includes:
acquiring the current engine speed and the vehicle speed;
calculating the clutch slip amount in real time according to the current engine speed and the vehicle speed:
in the equation, car _ speed represents a vehicle speed, rotate _ speed represents an engine speed, and ratio represents a transmission ratio.
From the above description, the clutch slip amount can be accurately and reliably calculated according to the current engine speed and the vehicle speed, and the reliability of clutch control is ensured.
Further, the S4 includes:
subdividing the target engagement position into a plurality of sub-target positions according to the semi-clutch position and the target engagement position;
controlling the clutch to sequentially advance to the plurality of sub-target positions at the second preset speed;
s41, reading the current engine speed in real time in the propulsion process:
judging whether the current engine rotating speed is reduced to the flameout critical rotating speed, if so, returning the clutch to the previous sub-target position, and returning to S41, otherwise, propelling to the next sub-target position at the second preset speed, and returning to S41;
s42, reading the current vehicle speed in real time in the propulsion process:
if the current vehicle speed is zero, propelling to the next sub-target position at the second preset speed, and returning to the step S42;
if the current vehicle speed is uniformly increased, calculating the clutch slip amount, judging whether the clutch slip amount is smaller than a preset value, if so, controlling the clutch to be quickly engaged to the target engagement position at the first preset speed, and if not, returning to the step S42.
According to the description, the stable control adds the engine speed as a control reference on the basis of the quick control, the secondary control is adopted, the primary control directly controls the motor, the quick control method is also adopted to quickly reach the half clutch position, the secondary control adopts a mode of subdividing a target control value to carry out delay stable control, a large target angle value is subdivided into a series of small target values, delay processing is carried out among the small target values, the low-speed control effect can be realized, the starting flameout condition is avoided through the stable control, the starting quality is improved, in the stable control process, whether the engagement is reliable or not is judged on the basis of the clutch slip amount obtained in real time, if the engagement is reliable, the quick stage is started, the clutch is pushed to the clutch position through the quick control, the clutch is closed, and the rapidity and the reliability of the engagement are realized.
Example one
In order to realize clutch control, the clutch control device comprises a mechanical mechanism, a hardware circuit and a software program;
in the mechanical structure, a large-torque motor is adopted to drive a liquid crystal booster pump to push a clutch to act, so that an electric control clutch effect is realized;
the clutch mainly comprises a driving part (flywheel, clutch cover and the like), a driven part (friction plate), a pressing mechanism (diaphragm spring) and a hydraulic pushing mechanism, and the majority of clutches matched with the manual transmission are dry friction type clutches;
the hardware circuit mainly comprises a motor driver, a motor angle Hall sensor and a processor, and is used for acquiring a motor angle digital signal through analog-to-digital conversion and carrying out output control according to an algorithm;
on the basis of a software program, innovative sectional control is adopted, and control operations suitable for corresponding stages are respectively made aiming at different stages of clutch shifting, so that the rapidity of clutch closing in the shifting process is realized, and the shifting stability in the vehicle driving process is improved;
specifically, referring to fig. 1 and fig. 3, a clutch control method includes the steps of:
s1, controlling the clutch to be quickly separated at a first preset speed;
s2, shifting gears according to the received target gear;
s3, controlling the clutch to be quickly closed to a half clutch position at the first preset speed;
s4, controlling the clutch to advance to a target engagement position at a low speed at a second preset speed, calculating the clutch slip amount in real time in the low-speed advancing process, and controlling the clutch to be quickly engaged to the target engagement position at the first preset speed when the clutch slip amount is smaller than a preset value;
the control of the clutch to be quickly separated, the control of the clutch to be quickly closed to a pre-calibrated half clutch position and the control of the clutch to be quickly engaged to the target engagement position all adopt quick control mechanisms;
specifically, the fast control mechanism, as shown in fig. 4, includes:
acquiring a current position cur _ pos and a target position tar _ pos of a motor;
determining the position deviation of the motor according to the current position of the motor and the target position of the motor:
e_pos(k)＝tar_pos-cur_pos；
calculating a motor position integral and a motor position difference according to the motor position deviation:
motor position integration:
and (3) motor position difference:
e_pos(k)-e_pos(k-1)；
determining the duty ratio of the engine motor according to the position deviation and the integral and difference thereof:
the Kp _ pos, the Ki _ pos and the kd _ pos are respectively a proportional term coefficient, an integral term coefficient and a differential term coefficient; the larger the deviation from the target position is, the larger the duty ratio is, the positive represents positive going to the target position, and the negative represents negative going to the target position; n represents an integral quantity;
k represents k time sampling points in a preset time period, k represents the latest calculated value, k-1 represents the last calculated value, … …,1 represents the first calculated value; as the control is continuously carried out, k is continuously carried out and continuously updated;
determining that the motor rotates to the motor target position at the maximum driving speed according to the duty ratio;
wherein the calculating the clutch slip amount in real time comprises:
acquiring the current engine speed and the vehicle speed;
the engine speed is recorded by an external timer, the number of pulses generated by an engine crankshaft sensor within a set time is recorded, so that the engine speed is calculated, the speed precision depends on the pulse input capturing reliability of a processor and counting edge processing, and the counting edge problem can be effectively processed by rolling average filtering;
the vehicle speed is the rotating speed of a main shaft of the vehicle, and the rotating speed of the main shaft is obtained by recording the number of pulses generated by a main shaft sensor recorded in a specified time through an external timer;
calculating the clutch slip amount in real time according to the current engine speed and the vehicle speed:
in the formula, car _ speed represents a vehicle speed, rotate _ speed represents an engine speed, and ratio represents a gear ratio;
the engine power output is transmitted through a clutch, then is subjected to speed change through a gearbox, is output to a main shaft, and is transmitted to wheels through a differential mechanism, the clutch slip amount (rho) can be obtained by calculating the ratio of the engine speed to the main shaft speed and performing speed change conversion through the current gear, the value range of the clutch slip amount is [0,1], the closer to 1, the better the clutch engagement effect is, and the more reliable the power output is.
Example two
The present embodiment is different from the first embodiment in that it is further defined that the S4 includes:
subdividing the target engagement position into a plurality of sub-target positions according to the semi-clutch position and the target engagement position;
for example, the half-clutch position is half _ pos, the target engagement position is whole _ pos, the half-clutch position to the target engagement position can be subdivided into a plurality of sub-target positions according to the requirement, and the sub _ pos1, sub _ pos2, sub _ pos3, sub _ pos4 and sub _ pos5 are assumed to be 5,
sub _ pos (n) half _ pos + n (whole _ pos-half _ pos)/5;
controlling the clutch to sequentially advance to the plurality of sub-target positions at the second preset speed, namely to sequentially reach sub _ pos1, sub _ pos2, sub _ pos3, sub _ pos4 and sub _ pos 5;
s41, reading the current engine speed in real time in the propulsion process:
judging whether the current engine speed is reduced to a flameout critical speed, if so, returning the clutch to the previous sub-target position, for example, if so, pushing from sub _ pos3 to sub _ pos4, then returning to sub _ pos3, if yes, pushing from half _ pos to sub _ pos1, then returning to half _ pos, and returning to S41, otherwise, pushing to the next sub-target position at the second preset speed, for example, if so, pushing from sub _ pos3 to sub _ pos4, then pushing to sub _ pos4, if yes, pushing to sub _ pos1, then pushing to sub _ pos1, and returning to S41;
s42, reading the current vehicle speed in real time in the propulsion process:
if the current vehicle speed is zero, propelling to the next sub-target position at the second preset speed, and returning to the step S42;
if the current vehicle speed is uniformly increased, calculating the clutch slip amount, and judging whether the clutch slip amount is smaller than a preset value, such as smaller than 20%, if so, controlling the clutch to be quickly engaged to the target engagement position at the first preset speed, otherwise, returning to the step S42.
EXAMPLE III
Referring to fig. 2, a clutch control terminal 1 includes a memory 2, a processor 3, and a computer program stored on the memory 2 and executable on the processor 3, wherein the processor 3 implements the steps of the first embodiment or the second embodiment when executing the computer program.
In summary, the clutch control method and terminal provided by the invention includes two modes of fast control and stable control in the clutch control process, firstly, the clutch is controlled to be separated in the fast control mode, then the vehicle starting clutch engagement process is divided into different stages to be controlled, the stages are divided into a front stage, a middle stage and a rear stage, the middle stage is near the half clutch position, the front stage adopts the fast control mode, the middle stage is switched into the stable control mode, when the clutch slip amount is less than the preset value, the rear stage is switched into the fast control mode, the whole process namely the fast and stable clutch control in the gear shifting process is completed, the clutch engagement process, the starting and ending stages, the clutch is fast engaged, the clutch movement time in the whole process is reduced, the half clutch engagement position is engaged, the clutch is stably controlled, the vehicle speed and the rotating speed are stably matched, thereby the vehicle is driven stably, and through, the clutch is unmanned, starting stability and comfort are guaranteed, starting flameout is avoided, starting quality is fully improved, clutch is controlled quickly and reliably, gear shifting speed can be improved, power performance of a diesel engine is fully exerted, and the clutch can adapt to various driving conditions of common roads; the stable control adds the engine speed as the control reference on the basis of the fast control, and adopt the secondary control, the primary control directly controls the motor, adopt the fast control mode to reach half the separation and reunion position fast equally, the secondary control adopts the way of subdividing the target control value, carry on the time delay stable control, subdivide the large target angle value into a series of little target values, carry on the time delay processing between the little target values, can realize the low-speed control effect, avoid the starting flame-out situation through the stable control, improve the starting quality, and in the course of the stable control, judge whether reliable to join on the basis of the slip amount of separation and reunion obtained in real time, if reliable, enter the fast stage, the separation and reunion is pushed to the separation and reunion position through the fast control, finish the separation and reunion closure.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.
Claims (10)
1. A clutch control method, characterized by comprising the steps of:
s1, controlling the clutch to be quickly separated at a first preset speed;
s2, shifting gears according to the received target gear;
s3, controlling the clutch to be quickly closed to a half clutch position at the first preset speed;
and S4, controlling the clutch to advance to a target engagement position at a low speed at a second preset speed, calculating the clutch slip amount in real time in the low-speed advancing process, and controlling the clutch to be quickly engaged to the target engagement position at the first preset speed when the clutch slip amount is smaller than a preset value.
2. A clutch control method according to claim 1, characterized in that the control of the rapid clutch disengagement, the rapid clutch closing to a pre-calibrated half clutch position and the rapid clutch engagement to the target engagement position are performed by means of a rapid control mechanism.
3. A clutch control method according to claim 2, characterized in that the fast control mechanism comprises:
acquiring the current position and the target position of the motor;
determining the position deviation of the motor according to the current position of the motor and the target position of the motor;
determining the duty ratio of the motor of the engine according to the position deviation;
and determining that the motor rotates to the motor target position at the maximum driving speed according to the duty ratio.
4. A clutch control method as claimed in claim 1, wherein said calculating the clutch slip amount in real time includes:
acquiring the current engine speed and the vehicle speed;
calculating the clutch slip amount in real time according to the current engine speed and the vehicle speed:
in the equation, car _ speed represents a vehicle speed, rotate _ speed represents an engine speed, and ratio represents a transmission ratio.
5. The clutch control method according to claim 1, wherein the S4 includes:
subdividing the target engagement position into a plurality of sub-target positions according to the semi-clutch position and the target engagement position;
controlling the clutch to sequentially advance to the plurality of sub-target positions at the second preset speed;
s41, reading the current engine speed in real time in the propulsion process:
judging whether the current engine rotating speed is reduced to the flameout critical rotating speed, if so, returning the clutch to the previous sub-target position, and returning to S41, otherwise, propelling to the next sub-target position at the second preset speed, and returning to S41;
s42, reading the current vehicle speed in real time in the propulsion process:
if the current vehicle speed is zero, propelling to the next sub-target position at the second preset speed, and returning to the step S42;
if the current vehicle speed is uniformly increased, calculating the clutch slip amount, judging whether the clutch slip amount is smaller than a preset value, if so, controlling the clutch to be quickly engaged to the target engagement position at the first preset speed, and if not, returning to the step S42.
6. A clutch control terminal comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to perform the steps of:
s1, controlling the clutch to be quickly separated at a first preset speed;
s2, shifting gears according to the received target gear;
s3, controlling the clutch to be quickly closed to a half clutch position at the first preset speed;
and S4, controlling the clutch to advance to a target engagement position at a low speed at a second preset speed, calculating the clutch slip amount in real time in the low-speed advancing process, and controlling the clutch to be quickly engaged to the target engagement position at the first preset speed when the clutch slip amount is smaller than a preset value.
7. A clutch control terminal according to claim 6, characterized in that the control of the clutch quick-release, the control of the clutch quick-close to a pre-calibrated half clutch position and the control of the clutch quick-engagement to the target engagement position all employ quick control mechanisms.
8. The clutch control terminal according to claim 7, wherein the fast control mechanism comprises:
acquiring the current position and the target position of the motor;
determining the position deviation of the motor according to the current position of the motor and the target position of the motor;
determining the duty ratio of the motor of the engine according to the position deviation;
and determining that the motor rotates to the motor target position at the maximum driving speed according to the duty ratio.
9. The clutch control terminal according to claim 6, wherein the calculating of the clutch slip amount in real time includes:
acquiring the current engine speed and the vehicle speed;
calculating the clutch slip amount in real time according to the current engine speed and the vehicle speed:
in the equation, car _ speed represents a vehicle speed, rotate _ speed represents an engine speed, and ratio represents a transmission ratio.
10. The clutch control terminal according to claim 6, wherein the S4 includes:
subdividing the target engagement position into a plurality of sub-target positions according to the semi-clutch position and the target engagement position;
controlling the clutch to sequentially advance to the plurality of sub-target positions at the second preset speed;
s41, reading the current engine speed in real time in the propulsion process:
judging whether the current engine rotating speed is reduced to the flameout critical rotating speed, if so, returning the clutch to the previous sub-target position, and returning to S41, otherwise, propelling to the next sub-target position at the second preset speed, and returning to S41;
s42, reading the current vehicle speed in real time in the propulsion process:
if the current vehicle speed is zero, propelling to the next sub-target position at the second preset speed, and returning to the step S42;
if the current vehicle speed is uniformly increased, calculating the clutch slip amount, judging whether the clutch slip amount is smaller than a preset value, if so, controlling the clutch to be quickly engaged to the target engagement position at the first preset speed, and if not, returning to the step S42.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112576741A (en) * | 2020-12-18 | 2021-03-30 | 潍柴动力股份有限公司 | Gear shifting control method of HMCVT and related device |
| CN113217559A (en) * | 2021-05-24 | 2021-08-06 | 福建盛海智能科技有限公司 | Optimization method and system for clutch-by-wire clutch |
| CN113251138A (en) * | 2021-05-24 | 2021-08-13 | 福建盛海智能科技有限公司 | Control method and terminal for vehicle accelerator clutch |
| CN115059756A (en) * | 2022-04-28 | 2022-09-16 | 一汽解放汽车有限公司 | Clutch control method and device, TCU and storage medium |
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| WO2010128276A1 (en) * | 2009-05-02 | 2010-11-11 | Raicam Clutch Limited | Vehicle driveline including clutches |
| CN102563039A (en) * | 2012-03-21 | 2012-07-11 | 湖南南车时代电动汽车股份有限公司 | Control method for improving gear shifting smoothness based on AMT (automated mechanical transmission) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112576741A (en) * | 2020-12-18 | 2021-03-30 | 潍柴动力股份有限公司 | Gear shifting control method of HMCVT and related device |
| CN113217559A (en) * | 2021-05-24 | 2021-08-06 | 福建盛海智能科技有限公司 | Optimization method and system for clutch-by-wire clutch |
| CN113251138A (en) * | 2021-05-24 | 2021-08-13 | 福建盛海智能科技有限公司 | Control method and terminal for vehicle accelerator clutch |
| CN115059756A (en) * | 2022-04-28 | 2022-09-16 | 一汽解放汽车有限公司 | Clutch control method and device, TCU and storage medium |
| CN115059756B (en) * | 2022-04-28 | 2023-07-25 | 一汽解放汽车有限公司 | Clutch control method and device, TCU and storage medium |
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| CN111536169B (en) | 2021-08-10 |
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