CN112009262A - Gear shifting control method and device and vehicle - Google Patents

Gear shifting control method and device and vehicle Download PDF

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Publication number
CN112009262A
CN112009262A CN201910472442.9A CN201910472442A CN112009262A CN 112009262 A CN112009262 A CN 112009262A CN 201910472442 A CN201910472442 A CN 201910472442A CN 112009262 A CN112009262 A CN 112009262A
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CN
China
Prior art keywords
motor
rotating speed
speed
gear
target
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Pending
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CN201910472442.9A
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Chinese (zh)
Inventor
王昫
李建辉
孙国安
刘新强
刘栋栋
章宏文
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Great Wall Motor Co Ltd
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Great Wall Motor Co Ltd
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Publication date
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Priority to CN201910472442.9A priority Critical patent/CN112009262A/en
Publication of CN112009262A publication Critical patent/CN112009262A/en
Pending legal-status Critical Current

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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
    • 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
    • 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
    • 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
    • B60L2240/48—Drive Train control parameters related to transmissions
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The embodiment of the invention provides a gear shifting control method, a gear shifting control device and a vehicle, wherein the method comprises the following steps: under the condition that the difference between the detected rotating speed of the motor and the target rotating speed meets a first preset range, the motor and the shifting fork are subjected to parallel control, wherein the parallel control comprises the following steps: controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation; under the condition that the difference value between the rotating speed of the motor and the target rotating speed meets a second preset range, adjusting the motor torque of the motor to be zero; and the shifting fork completes the pre-synchronous operation, and executes a gear shifting action under the condition that the torque of the motor is zero. According to the gear shifting control method provided by the embodiment of the invention, because the speed regulation of the motor and the shifting fork movement are carried out in parallel, compared with the prior art in which the shifting fork is carried out after the speed regulation of the motor is finished, the gear shifting time can be effectively shortened.

Description

Gear shifting control method and device and vehicle
Technical Field
The invention relates to the technical field of automatic control, in particular to a gear shifting control method, a gear shifting control device and a vehicle.
Background
With the enhancement of environmental protection, new energy vehicles are more developed. In a new energy vehicle, in order to ensure power demand and low fuel demand, a multi-gear speed reducer comprising a first gear and a second gear is usually configured, wherein the first gear provides power for starting, climbing and overtaking of the vehicle, and the second gear is used for saving energy consumption when the vehicle runs at a high speed and ensuring comprehensive cruising ability of the vehicle.
Among the prior art, the multi-gear speed reducer usually includes gear shifting motor, shift fork, synchronous ware etc. and when the vehicle shifted gears, the multi-gear speed reducer can wait for the motor speed governing to accomplish usually and then carry out the action of shifting gears in order to guarantee the smoothness of shifting gears.
However, in the prior art, the gear shifting action is executed after the motor finishes speed regulation, so that the total gear shifting time is long, and the power response of the vehicle is slow when the vehicle is accelerated during gear shifting.
Disclosure of Invention
In view of the above, the present invention provides a shift control method, a shift control device and a vehicle, so as to solve or partially solve the problem of long total shift time of the vehicle.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
the invention discloses a gear shifting control method, which is applied to a vehicle and comprises the following steps:
under the condition that the difference between the detected rotating speed of the motor and the target rotating speed meets a first preset range, the motor and the shifting fork are subjected to parallel control, wherein the parallel control comprises the following steps: controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation;
under the condition that the difference value between the rotating speed of the motor and the target rotating speed meets a second preset range, adjusting the motor torque of the motor to be zero;
and the shifting fork completes the pre-synchronous operation, and executes a gear shifting action under the condition that the torque of the motor is zero.
Further, before the parallel control of the motor and the shifting fork, the method further comprises:
receiving a gear shifting command; the shift command includes: target gear and shift enable signals;
after receiving the gear shifting allowing signal, determining whether the shifting fork is in a neutral position;
if yes, acquiring the target rotating speed; if not, the torque of the motor is adjusted to zero, the speed reducer of the vehicle is shifted to a neutral gear, and the target rotating speed is obtained after the shifting fork is determined to be in the neutral gear.
Further, the obtaining of the target rotation speed includes:
and determining a target rotating speed according to the gear speed ratio corresponding to the target gear and the current wheel speed of the vehicle.
Further, after the obtaining the target rotation speed, the method further includes:
and when the difference value between the rotating speed of the motor and the target rotating speed does not meet the first preset range, controlling the motor to regulate the speed according to the current rotating speed of the motor and the target rotating speed so as to enable the difference value between the rotating speed of the motor and the target rotating speed to meet the first preset range.
Further, the first preset range is as follows: determining a numerical range according to the pre-synchronization execution time of the vehicle, the speed regulation performance parameter of the motor and the rotating speed precision of the motor;
the second preset range is a numerical range determined according to the rotating speed precision of the motor.
Furthermore, a first preset distance is reserved between the position of the shifting fork when the pre-synchronization operation is completed and the initial position of the synchronization point, wherein the first preset distance is predetermined according to the vehicle calibration process.
The invention also discloses a gear shift control device, which is applied to a vehicle, and the device comprises:
the parallel control module is used for detecting the rotating speed of the motor and the difference value of the target rotating speed to meet the condition of a first preset range, and performing parallel control on the motor and the shifting fork, wherein the parallel control comprises the following steps: controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation;
the torque setting module is used for adjusting the motor torque of the motor to zero under the condition that the difference value between the rotating speed of the motor and the target rotating speed meets a second preset range;
and the gear shifting module is used for executing gear shifting action under the condition that the shifting fork completes the pre-synchronous operation and the motor torque is zero.
Further, the apparatus further comprises:
the receiving module is used for receiving a gear shifting instruction; the shift command includes: target gear and shift enable signals;
the determining module is used for determining whether the shifting fork is in a neutral position or not after receiving the gear shifting allowing signal;
if yes, acquiring the target rotating speed; if not, the torque of the motor is adjusted to zero, the speed reducer of the vehicle is shifted to a neutral gear, and the target rotating speed is obtained after the shifting fork is determined to be in the neutral gear.
Further, the determining module comprises:
and the target rotation speed determining submodule is used for determining a target rotation speed according to the gear speed ratio corresponding to the target gear and the current wheel speed of the vehicle.
The invention also discloses a vehicle which comprises the gear shifting control device.
A vehicle includes a shift control device.
Compared with the prior art, the gear shifting control method has the following advantages:
in the embodiment of the invention, under the condition that the difference between the current rotating speed of the motor and the target rotating speed is detected to meet a first preset range, the motor and the shifting fork are controlled in parallel, specifically, the shifting fork is controlled to execute the pre-synchronous operation at the same time, and the motor is controlled to execute the speed regulating operation, so that the speed regulation of the motor and the shifting fork are synchronous in movement, when the difference between the rotating speed of the motor and the target rotating speed meets the first preset range, the motor completes the speed regulation, further the motor torque of the motor is regulated to zero, and under the condition that the shifting fork completes the pre-synchronous operation and the motor torque is zero, the motor and the shifting fork both meet the gear-in condition and can execute the gear-in action. In the embodiment of the invention, because the speed regulation of the motor and the shifting fork movement are carried out in parallel, compared with the prior art in which the shifting fork is carried out after the speed regulation of the motor is finished, the shifting time can be effectively shortened.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a flowchart illustrating steps of a shift control method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating the steps of a shift control method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a shifting process according to an embodiment of the present invention;
FIG. 4 is a block diagram of a shift control device according to an embodiment of the present invention;
fig. 5 is a specific structural block diagram of a shift control device according to an embodiment of the present invention.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, which shows a flowchart of steps of a gear shifting control method provided by an embodiment of the present invention, applied to a vehicle, the method includes:
step 101, under the condition that the difference value between the current rotating speed and the target rotating speed of the motor is detected to meet a first preset range, the motor and the shifting fork are subjected to parallel control, wherein the parallel control comprises the following steps: and controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation.
The vehicle applied to the embodiment of the present invention may include an electronic Control Unit, where the electronic Control Unit may include an ACU (action Control Unit), and the ACU may drive a shift actuator to complete a gear shift process of a speed reducer; an HCU (Hybrid Control Unit); the HCU is a vehicle control unit and determines when gear shifting is needed and sends gear shifting permission and a target gear; the MCU (Motor Control Unit) can Control the drive Motor to provide torque or rotate speed to cooperate with gear shifting according to the requirement of the ACU; and a multi-gear reducer which can internally contain a gear shifting motor, a shifting fork, a synchronizer and the like.
In the specific application, in the gear shifting control process, the MCU can detect the rotating speed of the motor, and under the condition that the difference value between the rotating speed of the motor and the target rotating speed meets a first preset threshold value, the motor and the shifting fork can be considered to enter the time for performing parallel control on the motor and the shifting fork at the moment. Optionally, the first preset threshold may be determined according to a preset execution time of the vehicle, a speed regulation performance parameter of the motor, and a rotation speed precision of the motor, for example, for a preset vehicle, the execution time during the preset synchronous operation of the vehicle is obtained through an experimental test and the like, the speed regulation performance of the motor of the vehicle and the rotation speed precision of the motor of the vehicle are considered at the same time, and a first preset range is determined based on the execution time.
In a specific application, the parallel control comprises the following steps: and controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation. In actual operation, the control of the shifting fork to execute the pre-synchronization operation specifically may be: the control shifting fork drives the synchronizer to move, and the control motor synchronously executes the speed regulation operation, which specifically comprises the following steps: when the shifting fork drives the synchronizer to move, the rotating speed of the motor is reduced when the shifting fork is used for gear-up control, and the rotating speed of the motor is increased when the shifting fork is used for gear-down control.
And 102, adjusting the motor torque of the motor to zero under the condition that the difference value between the current rotating speed and the target rotating speed of the motor meets a second preset range.
In the embodiment of the invention, when the upshift or downshift control is performed, the second preset range is related to the rotation speed precision of the motor, when the difference between the current rotation speed and the target rotation speed of the motor meets the second preset range, after the motor precision is considered, it can be considered that a gear shifting condition is met, at this time, the motor torque of the motor can be adjusted to 0, and gear shifting preparation is made. The second preset range is smaller than the first preset range.
And 103, executing a gear shifting action under the condition that the pre-synchronization operation is finished by the shifting fork and the motor torque is zero.
In the specific application, the shifting fork completes the pre-synchronous operation, and the shifting fork can be considered to have the gear shifting condition, so that the gear shifting condition can be determined to be sufficient when the shifting fork completes the pre-synchronous operation and the motor torque is zero, the gear shifting action can be carried out, and the gear is meshed after the gear shifting, so that the gear shifting process is completed.
In summary, in the embodiment of the present invention, when it is detected that the difference between the rotation speed of the motor and the target rotation speed satisfies the first preset range, the motor and the shift fork are controlled in parallel, specifically, the shift fork is controlled to perform a pre-synchronization operation, and the motor is controlled to perform a speed regulation operation, so that the speed regulation of the motor and the movement of the shift fork are synchronized, when the difference between the rotation speed of the motor and the target rotation speed satisfies the second preset range, it can be said that the motor completes the speed regulation, and further, the motor torque of the motor is adjusted to zero, and when the shift fork completes the pre-synchronization operation and the motor torque is zero, it can be said that both the motor and the shift fork satisfy the shift condition, and can. In the embodiment of the invention, because the speed regulation of the motor and the shifting fork movement are carried out in parallel, compared with the prior art in which the shifting fork is carried out after the speed regulation of the motor is finished, the shifting time can be effectively shortened.
As shown in fig. 2, which shows a flowchart of specific steps of a gear shift control method provided by an embodiment of the present invention, applied to a vehicle, the method specifically includes:
step 201: receiving a gear shifting command; the shift command includes: target gear and allowed shift signal.
After receiving the gear shifting allowing signal, determining whether the shifting fork is in a neutral position;
if yes, acquiring the target rotating speed; if not, adjusting the torque of the motor to zero, and acquiring the target rotating speed after a speed reducer of the vehicle is shifted to a neutral gear.
In the embodiment of the invention, when the HCU acquires that the vehicle needs to be shifted, the HCU sends a shifting instruction, the shifting instruction comprises a corresponding target gear and a shift-allowed signal after shifting is finished, and after the ACU receives the shifting instruction, a shifting execution mechanism is determined to finish gear shifting of a speed reducer; when the MCU controls the driving motor to provide torque or rotate speed to cooperate with gear shifting according to the requirements of the ACU.
Step 202: after receiving the gear shifting allowing signal, under the condition that the shifting fork is in a neutral position, determining a target rotating speed according to a gear speed ratio corresponding to the target gear and the current wheel speed of the vehicle.
In the embodiment of the invention, after the target gear is determined, the gear speed ratio corresponding to the target gear can be obtained, and in the gear shifting process, the vehicle is usually in a running state and corresponds to the corresponding wheel speed; in practical application, the mapping relation among the wheel speed of the vehicle, the gear speed ratio and the target rotating speed can be tested in advance, and the target rotating speed of the motor can be determined according to the gear speed ratio corresponding to the target gear and the current wheel speed of the vehicle.
It can be understood that in the prior art, the speed reducer performs the gear shifting action after the speed regulation of the driving motor is finished, but a pre-synchronization process exists between the neutral gear and the synchronization point, and in the process, because the speed regulation process of the motor is finished and the torque needs to be adjusted, the rotating speed is uncontrollable in the pre-synchronization process, and the motor inevitably rotates due to inertia. In addition, if the vehicle is under the acceleration and deceleration condition, the influence of the acceleration of the vehicle on the wheel speed in the pre-synchronization stage can cause the rotating speed difference between the input end and the output end of the synchronizer to be overlarge in the synchronization stage, and finally cause the gear shifting failure. Therefore, in the prior art, a certain compensation value needs to be added to the target rotating speed to meet the threshold value of the synchronous rotating speed difference. In the control of the gear shifting process based on the embodiment of the invention, because the synchronizer finishes presynchronization in the speed regulating process of the motor and the target rotating speed is calculated in real time according to the wheel speed, which is equivalent to the transition of the blank period of uncontrollable rotating speed, the influence of vehicle acceleration and motor inertia on the rotating speed compensation aspect does not need to be considered, the factors of increasing the rotating speed compensation to the target rotating speed of the driving motor are reduced, the control difficulty is reduced, and the gear shifting process is smoother and more stable.
Step 203: the shifting fork is not in under the condition of neutral position, will the moment of torsion of motor is transferred to zero, and will the reduction gear of vehicle is plucked to neutral, confirms the shifting fork is in after the neutral position, acquires the target rotational speed.
In the specific application, the shifting fork needs to be moved to the neutral position and then is shifted, so that before the shifting operation is performed, whether the shifting fork is in the neutral range or not is determined, if the shifting fork is not in the neutral position, the torque of the motor needs to be adjusted to 0Nm, the speed reducer is shifted to the neutral position, and the shifting process is started after the shifting fork is moved to the neutral position.
Step 204: and controlling the motor to regulate the speed according to the current rotating speed, the target rotating speed and a first preset range of the motor.
In an embodiment of the present invention, the first preset range is: and determining a numerical range according to the preset synchronous execution time of the vehicle, the speed regulation performance of the motor and the rotating speed precision of the motor. In the gear shifting control process, the MCU can detect the rotating speed of the motor, and under the condition that the difference value between the rotating speed of the motor and the target rotating speed meets a first preset threshold value, the motor and the shifting fork can be considered to be controlled in parallel at the moment. Optionally, the first preset threshold may be determined according to a preset execution time of the vehicle, a speed regulation performance parameter of the motor, and a rotation speed precision of the motor, for example, for a preset vehicle, the execution time during the preset synchronous operation of the vehicle is obtained through an experimental test and the like, the speed regulation performance of the motor of the vehicle and the rotation speed precision of the motor of the vehicle are considered at the same time, and a first preset range is determined based on the execution time.
Step 205: under the condition that the difference between the detected rotating speed of the motor and the target rotating speed meets a first preset range, the motor and the shifting fork are subjected to parallel control, wherein the parallel control comprises the following steps: and controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation.
Step 206: and under the condition that the difference value between the rotating speed of the motor and the target rotating speed meets a second preset range, setting the motor torque of the motor to be zero.
In the embodiment of the invention, the second preset range is a numerical range determined according to the rotating speed precision of the motor. In the embodiment of the invention, the second preset range is a numerical range determined according to the rotating speed precision of the motor. Specifically, considering the influence of factors such as motor control precision, measurement precision and calculation precision, a certain error usually exists between the actual rotating speed of the final motor and the target rotating speed, and if the target rotating speed is directly used as the rotating speed corresponding to the motor during gear shifting, the performance of the synchronizer is reduced due to frequent synchronous large rotating speed difference, and the durability of the synchronizer is damaged. It can be understood that the precision of the rotation speed of the motor can be an integer or a negative number, so that the current rotation speed of the motor can be greater than or less than the target rotation speed.
In specific application, the MCU can enter a speed regulation mode to regulate speed, when the difference value between the rotating speed of the motor and the target rotating speed meets the condition of a second preset range, the ACU can request the MCU to cancel the activation of the speed regulation mode and adjust the torque to 0Nm, and at the moment, the ACU controls the shifting fork to execute synchronous operation.
Step 207: and the shifting fork completes the pre-synchronous operation, and executes a gear shifting action under the condition that the torque of the motor is zero.
It should be noted that, if the shifting fork reaches the target position in advance, and the difference between the motor rotation speed and the target rotation speed is not within the second preset range, the motor torque is not zero, and due to the fact that the speed difference between the two ends of the synchronizer is too large, abrasion to the synchronizing ring is generated to a large extent, the service life of the synchronizer is reduced, therefore, the shifting fork completes the pre-synchronization operation, and the motor torque is zero, the gear shifting action is executed, and the synchronizer can be effectively protected.
As a preferable scheme of the embodiment of the present invention, the shift action corresponds to a synchronization point in the vehicle, and a first preset distance is provided between a position of the shift fork when the pre-synchronization operation is completed and a start position of the synchronization point, where the first preset distance is predetermined according to the vehicle calibration process.
In the embodiment of the invention, in the gear shifting action, a synchronous point is correspondingly arranged in the vehicle, and the synchronous point can balance the rotating speed difference between the input end and the output end of the synchronizer, realize gear shifting and complete gear meshing.
As a preferred solution to the embodiment of the present invention,
the first preset range is as follows: determining a numerical range according to the preset synchronous execution time of the vehicle, the speed regulation performance of the motor and the rotating speed precision of the motor;
the second preset range is a numerical range determined according to the rotating speed precision of the motor;
in the embodiment of the invention, the first preset range can be determined according to the relationship between the motor speed regulation performance and the presynchronization execution time. In the concrete application, the pre-synchronization execution time of the vehicle can be obtained by testing in advance, a first preset range can be obtained by reverse estimation according to the motor rotating speed precision, the pre-synchronization execution time and the speed regulation performance of the motor, so that the difference value of the current rotating speed and the target rotating speed of the motor is adjusted from the time meeting the first preset range to the time meeting a second preset range, the difference value is basically consistent with the pre-synchronization execution time, and then the parallel control stage is started after the difference value of the rotating speed and the target rotating speed of the motor meets the first preset range.
In specific application, taking the rotating speed needing to be increased in gear shifting as an example, the second preset range is smaller than the first preset range, that is, in the speed regulation process, the rotating speed of the engine needs to be gradually regulated to a range close to the target rotating speed. Referring to fig. 3, in the case that the difference between the motor rotation speed and the target rotation speed satisfies the first preset range at the point 30, the parallel control starts, the motor rotation speed continues to be increased, and the shifting fork starts to drive the synchronizer to move, in the area 31, the difference between the motor rotation speed and the target rotation speed satisfies the second preset range, the motor torque is set to 0Nm, the shifting fork completes the pre-synchronization operation, reaches the pre-synchronization point, executes the shift action, and shifts at the synchronization point to complete the subsequent shift process.
In practical application, the second preset range is a numerical range which is finally required to be met by the difference value between the current rotating speed and the target rotating speed of the motor, the motor is always in an adjusting stage before the difference value reaches the range, and the first preset range is used for determining the time range when the shifting fork starts to move. If the difference value between the current rotating speed of the motor and the target rotating speed meets the first preset range, the pre-synchronization process is started, and if the difference value between the current rotating speed of the motor and the target rotating speed does not meet the first preset range, the rotating speed of the motor is adjusted to enable the difference value between the current rotating speed of the motor and the target rotating speed to meet the first preset range, and then the pre-synchronization process is started.
In summary, in the embodiment of the present invention, under the condition that the current rotation speed of the motor and the target rotation speed meet the first preset range, the motor and the shifting fork are controlled in parallel, specifically, the shifting fork is controlled to perform a presynchronization operation at the same time, and the motor is controlled to perform a speed regulation operation, so that the speed regulation of the motor and the shifting fork are synchronized, when the rotation speed of the motor and the target rotation speed meet the first preset range, the motor completes the speed regulation, and further sets the motor torque of the motor to zero, and when the shifting fork completes the presynchronization operation and the motor torque is zero, both the motor and the shifting fork meet the shift condition, and can perform the shift action. In the embodiment of the invention, because the speed regulation of the motor and the shifting fork movement are carried out in parallel, compared with the prior art in which the shifting fork is carried out after the speed regulation of the motor is finished, the shifting time can be effectively shortened.
As shown in fig. 4, which shows a block diagram of a shift control device provided by an embodiment of the present invention, the shift control device is applied to a vehicle, and the shift control device specifically includes:
the parallel control module 310 is configured to perform parallel control on the motor and the shifting fork under the condition that a difference between the detected rotation speed of the motor and the target rotation speed satisfies a first preset range, where the parallel control includes: controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation;
the torque setting module 320 is configured to adjust the motor torque of the motor to zero when a difference between the rotation speed of the motor and the target rotation speed satisfies a second preset range;
and the gear shifting module 330 is used for executing a gear shifting action under the condition that the shifting fork completes the pre-synchronization operation and the motor torque is zero.
As shown in fig. 5, which shows a block diagram of a shift control device according to an embodiment of the present invention, on the basis of fig. 4, the device comprises: further comprising:
a receiving module 340 configured to receive a shift instruction; the shift command includes: target gear and shift enable signals;
a determining module 350, configured to determine whether the shift fork is in the neutral position after receiving the shift enable signal;
if yes, acquiring the target rotating speed; if not, adjusting the torque of the motor to zero, and acquiring the target rotating speed after a speed reducer of the vehicle is shifted to a neutral gear.
And the speed regulating module 360 is used for controlling the motor to regulate the speed according to the current rotating speed, the target rotating speed and the first preset range of the motor.
The determining module 350 includes:
a target rotation speed determining submodule 3501, configured to determine a target rotation speed according to a gear speed ratio corresponding to the target gear and a current wheel speed of the vehicle;
further, the first preset range is as follows: determining a numerical range according to the preset synchronous execution time of the vehicle, the speed regulation performance of the motor and the rotating speed precision of the motor;
the second preset range is a numerical range determined according to the rotating speed precision of the motor;
further, the shift fork still includes after accomplishing the presynchronization operation: the shifting fork completes a first preset distance;
the position of the shifting fork when the shifting fork carries out the presynchronization operation is an initial position, the position of the shifting fork when the presynchronization operation is finished is a target position, and a first preset distance is a distance between the target position and the initial position, wherein the first preset distance can be predetermined according to the vehicle calibration process.
In summary, in the embodiment of the present invention, under the condition that the current rotation speed of the motor and the target rotation speed meet the first preset range, the motor and the shifting fork are controlled in parallel, specifically, the shifting fork is controlled to perform a presynchronization operation at the same time, and the motor is controlled to perform a speed regulation operation, so that the speed regulation of the motor and the shifting fork are synchronized, when the rotation speed of the motor and the target rotation speed meet the first preset range, the motor completes the speed regulation, and further sets the motor torque of the motor to zero, and when the shifting fork completes the presynchronization operation and the motor torque is zero, both the motor and the shifting fork meet the shift condition, and can perform the shift action. In the embodiment of the invention, because the speed regulation of the motor and the shifting fork movement are carried out in parallel, compared with the prior art in which the shifting fork is carried out after the speed regulation of the motor is finished, the shifting time can be effectively shortened.
The embodiment of the invention also discloses a vehicle which comprises the gear shifting control device.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. A shift control method, characterized by being applied to a vehicle, the method comprising:
under the condition that the difference between the detected rotating speed of the motor and the target rotating speed meets a first preset range, the motor and the shifting fork are subjected to parallel control, wherein the parallel control comprises the following steps: controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation;
under the condition that the difference value between the rotating speed of the motor and the target rotating speed meets a second preset range, adjusting the motor torque of the motor to be zero;
and the shifting fork completes the pre-synchronous operation, and executes a gear shifting action under the condition that the torque of the motor is zero.
2. The method of claim 1, wherein prior to said controlling the motors and forks in parallel, the method further comprises:
receiving a gear shifting command; the shift command includes: target gear and shift enable signals;
after receiving the gear shifting allowing signal, determining whether the shifting fork is in a neutral position;
if yes, acquiring the target rotating speed; if not, the torque of the motor is adjusted to zero, the speed reducer of the vehicle is shifted to a neutral gear, and the target rotating speed is obtained after the shifting fork is determined to be in the neutral gear.
3. The method of claim 2, wherein said obtaining the target rotational speed comprises:
and determining a target rotating speed according to the gear speed ratio corresponding to the target gear and the current wheel speed of the vehicle.
4. The method of claim 2, further comprising, after said obtaining a target rotational speed:
and when the difference value between the rotating speed of the motor and the target rotating speed does not meet the first preset range, controlling the motor to regulate the speed according to the current rotating speed of the motor and the target rotating speed so as to enable the difference value between the rotating speed of the motor and the target rotating speed to meet the first preset range.
5. The method of claim 1, wherein the first predetermined range is: determining a numerical range according to the pre-synchronization execution time of the vehicle, the speed regulation performance parameter of the motor and the rotating speed precision of the motor;
the second preset range is a numerical range determined according to the rotating speed precision of the motor.
6. The method according to claim 1, wherein a first preset distance is provided between a position of the fork at which the pre-synchronization operation is completed and a start position of a synchronization point, wherein the first preset distance is predetermined according to the vehicle calibration process.
7. A shift control apparatus, characterized by being applied to a vehicle, the apparatus comprising:
the parallel control module is used for detecting the rotating speed of the motor and the difference value of the target rotating speed to meet the condition of a first preset range, and performing parallel control on the motor and the shifting fork, wherein the parallel control comprises the following steps: controlling the shifting fork to execute pre-synchronous operation, and controlling the motor to synchronously execute speed regulation operation;
the torque setting module is used for adjusting the motor torque of the motor to zero under the condition that the difference value between the rotating speed of the motor and the target rotating speed meets a second preset range;
and the gear shifting module is used for executing gear shifting action under the condition that the shifting fork completes the pre-synchronous operation and the motor torque is zero.
8. The apparatus of claim 7, further comprising:
the receiving module is used for receiving a gear shifting instruction; the shift command includes: target gear and shift enable signals;
the determining module is used for determining whether the shifting fork is in a neutral position or not after receiving the gear shifting allowing signal;
if yes, acquiring the target rotating speed; if not, the torque of the motor is adjusted to zero, the speed reducer of the vehicle is shifted to a neutral gear, and the target rotating speed is obtained after the shifting fork is determined to be in the neutral gear.
9. The apparatus of claim 7, wherein the determining module comprises:
and the target rotation speed determining submodule is used for determining a target rotation speed according to the gear speed ratio corresponding to the target gear and the current wheel speed of the vehicle.
10. A vehicle characterized by comprising a shift control apparatus according to any one of claims 7 to 9.
CN201910472442.9A 2019-05-31 2019-05-31 Gear shifting control method and device and vehicle Pending CN112009262A (en)

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