CN112208513B - Method and apparatus for eliminating noise generated by driveline lash - Google Patents
Method and apparatus for eliminating noise generated by driveline lash Download PDFInfo
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- CN112208513B CN112208513B CN202011123428.7A CN202011123428A CN112208513B CN 112208513 B CN112208513 B CN 112208513B CN 202011123428 A CN202011123428 A CN 202011123428A CN 112208513 B CN112208513 B CN 112208513B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
- B60W20/17—Control strategies specially adapted for achieving a particular effect for noise reduction
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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
- F16H57/00—General details of gearing
- F16H57/02—Gearboxes; Mounting gearing therein
- F16H57/028—Gearboxes; Mounting gearing therein characterised by means for reducing vibration or noise
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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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
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention provides a method and a device for eliminating noise generated by a transmission system clearance, comprising the following steps: identifying the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal; when the current vehicle state meets a preset vehicle state, determining a target torque, wherein the preset vehicle state comprises a state from a parking state to a reversing state and a state from the parking state to the reversing state, and the target torque is used for overcoming the friction force of a transmission system and the rotational inertia between a motor and a meshed gear; the target torque is sent to the motor controller, so that the motor controller outputs the target torque, noise generated by a transmission system gap is eliminated, the NVH quality of the whole vehicle is improved, the drivability feeling is improved, and the acceleration response time is shortened by controlling the output torque of the motor.
Description
Technical Field
The invention relates to the technical field of electric vehicles, in particular to a method and a device for eliminating noise generated by a transmission system clearance.
Background
The current hybrid power vehicle of pure electric motor car and the single power supply of motor is comparatively similar in the aspect of the rotation system structure, all is connected through reduction gear and gear. When a vehicle is stopped and restarted, a certain gap exists between the speed reducer and the meshed gear, and the gear impact can be caused by the gear gap, so that the Noise of the whole vehicle, the Vibration and Noise Vibration Harshness (NVH) quality, the driveability feeling and the acceleration response time are influenced.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for eliminating noise generated by a driveline lash, which can improve NVH quality of a whole vehicle, improve drivability feeling, and shorten acceleration response time by controlling an output torque of a motor.
In a first aspect, an embodiment provides a method of eliminating driveline lash generated noise, the method comprising:
identifying the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal;
when the current vehicle state meets a preset vehicle state, determining a target torque, wherein the preset vehicle state comprises a state from a parking state to a reversing state and a state from the parking state to a driving state, and the target torque is used for overcoming the friction force of a transmission system and the rotational inertia between a motor and a meshed gear;
sending the target torque to a motor controller to enable the motor controller to output the target torque and eliminate noise generated by the transmission line clearance.
In an alternative embodiment, the method of determining the target torque comprises:
and when the current vehicle state meets the preset vehicle state, gradually increasing the motor from a preset torque value by a preset torque resolution, and determining the target torque, wherein the target torque enables the vehicle driving wheel to generate a preset moving distance.
In an alternative embodiment, the method further comprises:
the moving distance of the vehicle driving wheel is acquired by additionally arranging a position sensor on the vehicle driving wheel.
In an alternative embodiment, the step of identifying the current vehicle state based on the vehicle speed signal, the gear signal, and the brake pedal opening signal comprises:
and if the vehicle speed signal is lower than a preset vehicle speed threshold value, the brake pedal opening degree signal is larger than a preset angle, and the gear signal is a driving gear or a reverse gear, the current vehicle state meets the preset vehicle state.
In an alternative embodiment, before the step of identifying the current vehicle state based on the vehicle speed signal, the gear signal, and the brake pedal opening signal, the method further comprises:
the method comprises the steps that a vehicle speed signal sent by a vehicle stability controller is received through a controller area network CAN network, wherein the vehicle speed signal is obtained by converting a wheel speed signal collected by a vehicle wheel speed sensor through the vehicle stability controller.
In an alternative embodiment, before the step of identifying the current vehicle state based on the vehicle speed signal, the gear signal, and the brake pedal opening signal, the method further comprises:
and receiving a gear signal acquired by a sensor through a Controller Area Network (CAN).
In an alternative embodiment, before the step of identifying the current vehicle state based on the vehicle speed signal, the gear signal, and the brake pedal opening signal, the method further comprises:
and receiving a brake pedal opening signal acquired by a brake pedal opening sensor through a Controller Area Network (CAN).
In a second aspect, embodiments provide an apparatus for eliminating driveline lash generated noise, the apparatus comprising:
the identification module is used for identifying the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal;
the determining module is used for determining a target torque when the current vehicle state meets a preset vehicle state, wherein the preset vehicle state comprises a state from parking to a reversing state and a state from parking to a driving state, and the target torque is used for overcoming the friction force of a transmission system and the rotational inertia between a motor and a meshed gear;
and the output module is used for sending the target torque to a motor controller so that the motor controller outputs the target torque and eliminates noise generated by the transmission system clearance.
In a third aspect, an embodiment provides an electronic device, including a memory and a processor, where the memory stores a computer program operable on the processor, and the processor implements the steps of the method described in any one of the foregoing embodiments when executing the computer program.
In a fourth aspect, embodiments provide a machine-readable storage medium having stored thereon machine-executable instructions that, when invoked and executed by a processor, cause the processor to carry out the steps of the method of any preceding embodiment.
According to the method and the device for eliminating the noise generated by the transmission system clearance, the current vehicle state is determined through the vehicle speed, the gear and the opening degree of the brake pedal, if the current vehicle state meets the preset vehicle state, the noise elimination function is started, namely the target torque capable of overcoming the friction force of the transmission system and the rotational inertia between the motor and the meshed gear is determined, the motor controller is controlled to output the target torque, and the purpose of eliminating the noise is achieved, wherein the noise is possibly generated due to the transmission system clearance when the current vehicle is in the preset vehicle state, and the user experience is further influenced.
Additional features and advantages of the disclosure will be set forth in the description which follows, or in part may be learned by the practice of the above-described techniques of the disclosure.
In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for eliminating noise generated by driveline lash, according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of an apparatus for eliminating noise generated by driveline lash, according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a hardware architecture of an electronic device according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The current pure electric vehicle driving mode is generally that a vehicle driving motor is connected with a speed reducer and then connected with two driving wheels; the motor driving mode of the current hybrid vehicle only has a single motor power source, and generally, a driving motor is connected with a transmission, a speed reducer and two driving wheels;
the transmission systems of the two electric vehicles have similar structures, and a certain gap exists between meshing gears in the speed reducer due to mechanical errors.
For example, when a driver of the pure electric vehicle brakes and parks the vehicle, the motor does not output torque at the moment, and the gears are in a loose state, namely a certain gap is formed between the gears; when the vehicle is started again from the stop, the gear clearance causes gear impact, which affects the Noise of the whole vehicle, the Vibration and Harshness (NVH) quality, the drivability feeling and the acceleration response time.
In addition, the structure of the power train of the hybrid electric vehicle is similar to that of the pure electric vehicle, and the defects exist in the process from parking to restarting, and are not described again.
The speed reducer is a speed reduction transmission device between a motor and wheels, and the speed reduction ratio is fixed; the speed changer is a speed reduction transmission device between a motor and wheels, the speed reduction ratio can be changed, and generally at least two gears are arranged; the drivability feeling refers to a feeling of smoothness of the vehicle by the driver.
Based on the above, the method and the device for eliminating the noise generated by the transmission system clearance provided by the embodiment of the invention realize the improvement of the NVH quality of the whole vehicle, the improvement of the drivability feeling and the shortening of the acceleration response time by controlling the output torque of the motor.
To facilitate understanding of the present embodiment, a detailed description will be given to a method for eliminating noise generated by a driveline clearance, which is disclosed in the embodiments of the present invention, wherein the method can be implemented in a vehicle control unit VCU of a vehicle, and both a manufacturer on a vehicle factory side and a driver on a user side can eliminate noise according to actual conditions and self-needs.
For the vehicle factory side, the method provided by the embodiment of the invention can eliminate the clearance between the transmission systems in each type of vehicle through the target torque before the vehicle is sold, so as to eliminate the noise generated by the clearance, and the vehicle after the clearance elimination can be directly sold and used, namely, a consumer does not need to perform noise elimination operation on the vehicle again after purchasing the vehicle. For the user side, as the vehicle increases with the driving range, the wear degree of the drive train component increases, and the friction force of the drive train changes, so that the target torque for eliminating the clearance is more accurate, namely the elimination result of the clearance and the noise is more remarkable. The user can carry out noise elimination again according to the method in the embodiment of the invention according to the actual noise situation and personal requirements or during the after-sales maintenance of the vehicle. FIG. 1 is a flowchart of a method for eliminating noise generated by a driveline lash adjustment according to an embodiment of the present invention.
As shown in fig. 1, the method comprises the steps of:
step S102, identifying the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening signal;
step S104, when the current vehicle state meets a preset vehicle state, determining a target torque, wherein the preset vehicle state comprises a state from a parking state to a reversing state and a state from the parking state to a driving state, and the target torque is used for overcoming the friction force of a transmission system and the rotational inertia between a motor and a meshed gear;
and step S106, sending the target torque to a motor controller so that the motor controller outputs the target torque and noise generated by the transmission system clearance is eliminated.
In a preferred embodiment of practical application, a current vehicle state is determined through a vehicle speed, a gear and a brake pedal opening, if the current vehicle state meets a preset vehicle state, a noise elimination function is started, namely a target torque capable of overcoming friction of a transmission system and rotational inertia between a motor and a meshed gear is determined, and a motor controller is controlled to output the target torque, so that the purpose of noise elimination is achieved, wherein noise may be generated due to transmission system clearance when the current vehicle is in the preset vehicle state, and user experience is further influenced;
it will be appreciated that the moment of inertia is a measure of the inertia of a rigid body as it rotates about an axis, and that inertia is a characteristic of a rotating object to maintain its uniform circular motion or rest. After the embodiment of the invention overcomes the friction force of the transmission system and the rotational inertia between the motor and the meshed gears, the gears of the transmission system are in a close fit state, so that the noise generated by the gap of the transmission system can be avoided.
In addition, it should be noted that the embodiment of the present invention specifically realizes the shortening of the accelerated response time through the following two aspects:
1. when a gap exists in a transmission system of a traditional vehicle, the gap of the transmission system needs to be eliminated firstly in the acceleration process; based on the target torque, the acceleration process can save the time for eliminating the clearance of the transmission system after the clearance of the transmission system is eliminated;
2. the motor through the embodiment of the invention outputs the target torque in advance, and when the motor pre-loads partial torque, compared with the motor without pre-loading torque, the motor response time from 0 to the pre-loading torque in the acceleration process is saved.
In an alternative embodiment, before step S102, the method further comprises:
step 1.1), receiving a vehicle speed signal sent by a vehicle stability controller through a controller area network CAN network, wherein the vehicle speed signal is obtained by converting a wheel speed signal acquired by a vehicle wheel speed sensor by the vehicle stability controller.
Namely, the vehicle wheel speed sensor collects the wheel speed and transmits the wheel speed signal to the vehicle stability controller ESC, and the ESC converts the wheel speed signal into a vehicle speed signal and transmits the vehicle speed signal to the VCU controller through the CAN network.
In an alternative embodiment, before step S102, the method further comprises:
and 2.1) receiving a gear signal acquired by the sensor through a Controller Area Network (CAN) network.
Here, a gear control unit in the vehicle collects a gear signal through a sensor and transmits the gear signal to the VCU controller through the CAN network.
In an alternative embodiment, before step S102, the method further comprises:
and 3.1) receiving a brake pedal opening signal acquired by the brake pedal opening sensor through a controller area network CAN network.
The brake pedal opening degree sensor collects a brake pedal opening degree signal and transmits the brake pedal opening degree signal to the VCU controller.
As an alternative embodiment, step S102 can be further implemented by the following steps, which include:
and 4.1), if the vehicle speed signal is lower than a preset vehicle speed threshold value, the brake pedal opening degree signal is larger than a preset angle, and the gear signal is a driving gear or a reverse gear, the current vehicle state meets a preset vehicle state.
For example, if the vehicle speed signal of the current vehicle is lower than a preset vehicle speed threshold, and the opening signal of the brake pedal is greater than a preset angle, and the vehicle gear is a Drive gear (D gear, Drive gear) or a Reverse gear (R gear, Reverse gear), the current vehicle meets a preset vehicle state, at this time, noise is easily generated, and the noise elimination function is started;
the preset vehicle speed threshold value can represent a vehicle stop threshold value, namely, a vehicle with the speed lower than the vehicle stop threshold value is in a parking state. As an alternative embodiment, the opening degree of the brake pedal may be determined by the angle of the brake pedal depressed by the driver, i.e. the greater the angle of the brake pedal depressed by the driver, the greater the opening degree signal.
In an alternative embodiment, the method of determining the target torque comprises:
and 5.1) when the current vehicle state meets the preset vehicle state, gradually increasing the motor from a preset torque value by a preset torque resolution ratio, and determining the target torque, wherein the target torque enables the vehicle driving wheel to generate a preset moving distance.
Under the condition that the noise elimination function is started, the target torque determined by the embodiment of the invention can overcome the friction force of the transmission system, overcome the rotational inertia of the motor body and the gear meshed with the motor, and enable the transmission system to be in a pre-tightening state when the target torque is output;
the pretensioned state is a state in which the backlash of the gear train has been eliminated, i.e. the gears of the gear train are free of backlash.
In the basis of the preceding embodiment, the method further comprises:
and 6.1) acquiring the moving distance of the vehicle driving wheel by additionally arranging a position sensor on the vehicle driving wheel, comparing the moving distance with a preset moving distance, and further identifying whether the vehicle driving force moves to a specified state, and further determining whether the current torque is the target torque.
In order to identify the moving distance of the vehicle driving wheel more accurately, in an alternative embodiment, the vehicle can be lifted by the lifting machine, the vehicle driving wheel is separated from the ground, the vehicle and the ground keep a fixed preset distance, and a high-precision position sensor is additionally arranged on the vehicle driving wheel; enabling the vehicle to be in a D gear, and enabling a driver to step on a brake pedal; controlling the torque of the motor to gradually increase from 0 with the minimum torque resolution until the position sensor detects that the vehicle driving wheel generates a preset moving distance, wherein the torque of the motor is the optimal target torque for eliminating the transmission system clearance;
it will be appreciated that the determination of the target torque magnitude when the vehicle is in the R range may be performed in the same manner as described above.
Wherein, the preset moving distance may include 1mm, 2mm, and the like.
According to the embodiment of the invention, through a control strategy of the target torque, when a motor of a pure electric vehicle or a hybrid vehicle is driven, the noise generated by a transmission system clearance can be eliminated in the process from stopping to starting, so that the NVH quality of the whole vehicle is improved, the drivability feeling is improved, and the acceleration response is accelerated.
As shown in fig. 2, the embodiment provides a device 200 for eliminating noise generated from a backlash of a drive train, the device including:
the identification module 201 is used for identifying the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal;
a determining module 202, configured to determine a target torque when the current vehicle state meets a preset vehicle state, where the preset vehicle state includes a transition from a parking state to a reverse state and a transition from the parking state to a driving state, and the target torque is used to overcome friction of a power train and rotational inertia between an electric machine and a meshed gear;
an output module 203, configured to send the target torque to a motor controller, so that the motor controller outputs the target torque and eliminates noise generated by the driveline lash.
In an alternative embodiment, the determining module is further specifically configured to gradually increase the motor from a preset torque value with a preset torque resolution when the current vehicle state meets a preset vehicle state, and determine the target torque, where the target torque enables the vehicle driving wheel to generate a preset moving distance.
In an alternative embodiment, the device further comprises a collecting module for collecting the moving distance of the vehicle driving wheel by adding a position sensor on the vehicle driving wheel.
In an optional implementation manner, the identification module is further specifically configured to, if the vehicle speed signal is lower than a preset vehicle speed threshold, the brake pedal opening degree signal is greater than a preset angle, and the gear signal is a driving gear or a reverse gear, determine that the current vehicle state meets a preset vehicle state.
In an optional implementation manner, before the identification module identifies the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal, the device further includes a communication module, configured to receive the vehicle speed signal sent by the vehicle stability controller through a controller area network CAN network, where the vehicle speed signal is obtained by converting a wheel speed signal acquired by a wheel speed sensor of the vehicle by the vehicle stability controller.
In an optional implementation manner, before the identification module identifies the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal, the communication module is further used for receiving the gear signal acquired by the sensor through a Controller Area Network (CAN).
In an optional embodiment, before the identification module identifies the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal, the communication module is further configured to receive the brake pedal opening degree signal acquired by the brake pedal opening degree sensor through a controller area network CAN network.
Fig. 3 is a schematic hardware architecture diagram of an electronic device 300 according to an embodiment of the present invention. Referring to fig. 3, the electronic device 300 includes: a machine-readable storage medium 301 and a processor 302, and may further include a non-volatile storage medium 303, a communication interface 304, and a bus 305; among other things, the machine-readable storage medium 301, the processor 302, the non-volatile storage medium 303, and the communication interface 304 communicate with each other via a bus 305. The processor 302 may perform the method of eliminating driveline lash generated noise described in the embodiments above by reading and executing machine executable instructions of the machine readable storage medium 301 to eliminate driveline lash generated noise.
A machine-readable storage medium as referred to herein may be any electronic, magnetic, optical, or other physical storage device that can contain or store information such as executable instructions, data, and the like. For example, the machine-readable storage medium may be: a RAM (random Access Memory), a volatile Memory, a non-volatile Memory, a flash Memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, a dvd, etc.), or similar storage medium, or a combination thereof.
The non-volatile medium may be non-volatile memory, flash memory, a storage drive (e.g., a hard drive), any type of storage disk (e.g., an optical disk, dvd, etc.), or similar non-volatile storage medium, or a combination thereof.
It can be understood that, for the specific operation method of each functional module in this embodiment, reference may be made to the detailed description of the corresponding step in the foregoing method embodiment, and no repeated description is provided herein.
The computer readable storage medium provided in the embodiments of the present invention stores a computer program, and when the computer program code is executed, the method for eliminating noise generated by a clearance of a drive train according to any of the above embodiments can be implemented, and specific implementation can refer to the method embodiments, which are not described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (7)
1. A method of eliminating driveline lash generated noise, the method comprising:
identifying the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal;
when the current vehicle state meets a preset vehicle state, determining a target torque, wherein the preset vehicle state comprises a state from a parking state to a reversing state and a state from the parking state to a driving state, and the target torque is used for overcoming the friction force of a transmission system and the rotational inertia between a motor and a meshed gear;
sending the target torque to a motor controller so that the motor controller outputs the target torque and eliminates noise generated by the transmission system clearance;
the method for determining the target torque comprises the following steps:
when the current vehicle state meets a preset vehicle state, gradually increasing a motor from a preset torque value by a preset torque resolution ratio, and determining the target torque, wherein the target torque enables a vehicle driving wheel to generate a preset moving distance, and the preset moving distance comprises 1mm or 2 mm;
the method comprises the steps that a vehicle driving wheel is kept a fixed preset distance away from the ground, a position sensor is additionally arranged on the vehicle driving wheel to acquire the moving distance of the vehicle driving wheel, and the moving distance is compared with the preset moving distance to identify whether the vehicle driving force moves to a target state or not, so that whether the current torque is the target torque or not is determined; the moving distance is a target distance generated by a vehicle driving wheel when the vehicle is in a D gear or an R gear and a driver steps on a brake pedal, and the torque of a control motor is gradually increased from 0 at a minimum torque resolution until the position sensor detects that the vehicle driving wheel generates;
the step of identifying the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal comprises the following steps:
and if the vehicle speed signal is lower than a preset vehicle speed threshold value, the brake pedal opening degree signal is larger than a preset angle, and the gear signal is a driving gear or a reverse gear, the current vehicle state meets the preset vehicle state.
2. The method of claim 1, wherein prior to the step of identifying a current vehicle state based on the vehicle speed signal, the gear signal, and the brake pedal opening signal, the method further comprises:
the method comprises the steps that a vehicle speed signal sent by a vehicle stability controller is received through a controller area network CAN network, wherein the vehicle speed signal is obtained by converting a wheel speed signal collected by a wheel speed sensor of a vehicle through the vehicle stability controller.
3. The method of claim 1, wherein prior to the step of identifying a current vehicle state based on the vehicle speed signal, the gear signal, and the brake pedal opening signal, the method further comprises:
and receiving the gear signals collected by the sensor through a Controller Area Network (CAN).
4. The method of claim 3, wherein prior to the step of identifying a current vehicle state based on the vehicle speed signal, the gear signal, and the brake pedal opening signal, the method further comprises:
and receiving a brake pedal opening signal acquired by a brake pedal opening sensor through a Controller Area Network (CAN).
5. An apparatus for eliminating driveline lash generated noise, the apparatus comprising:
the identification module is used for identifying the current vehicle state according to the vehicle speed signal, the gear signal and the brake pedal opening degree signal;
the determining module is used for determining a target torque when the current vehicle state meets a preset vehicle state, wherein the preset vehicle state comprises a state from parking to a reversing state and a state from parking to a driving state, and the target torque is used for overcoming the friction force of a transmission system and the rotational inertia between a motor and a meshed gear;
the output module is used for sending the target torque to a motor controller so as to enable the motor controller to output the target torque and eliminate noise generated by the transmission system clearance;
the determining module is further used for gradually increasing the motor from a preset torque value by a preset torque resolution ratio when the current vehicle state meets a preset vehicle state, and determining the target torque, wherein the target torque enables a vehicle driving wheel to generate a preset moving distance, and the preset moving distance comprises 1mm or 2 mm; the method comprises the steps that a vehicle driving wheel is kept a fixed preset distance away from the ground, a position sensor is additionally arranged on the vehicle driving wheel to acquire the moving distance of the vehicle driving wheel, and the moving distance is compared with the preset moving distance to identify whether the vehicle driving force moves to a target state or not, so that whether the current torque is the target torque or not is determined; the moving distance is a target distance generated by a vehicle driving wheel when the vehicle is in a D gear or an R gear and a driver steps on a brake pedal, and the torque of a control motor is gradually increased from 0 at a minimum torque resolution until the position sensor detects that the vehicle driving wheel generates;
the identification module is further used for judging whether the current vehicle state meets the preset vehicle state or not if the vehicle speed signal is lower than a preset vehicle speed threshold value, the brake pedal opening degree signal is larger than a preset angle and the gear signal is a driving gear or a reverse gear.
6. An electronic device comprising a memory and a processor, wherein the memory stores a computer program operable on the processor, and wherein the processor implements the steps of the method of any of claims 1 to 4 when executing the computer program.
7. A machine-readable storage medium having stored thereon machine-executable instructions which, when invoked and executed by a processor, cause the processor to perform the steps of the method of any of claims 1 to 4.
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| JP5700955B2 (en) * | 2010-05-31 | 2015-04-15 | 日産自動車株式会社 | Electric vehicle backlash control device |
| CN104670213A (en) * | 2013-11-27 | 2015-06-03 | 上海汽车集团股份有限公司 | Torque control method for eliminating jitter caused in gaps of car transmission system |
| CN105091830A (en) * | 2015-08-05 | 2015-11-25 | 安徽巨一自动化装备有限公司 | Gear clearance measurement component based on displacement sensor |
| CN106183890B (en) * | 2016-08-09 | 2019-03-08 | 潍柴动力股份有限公司 | The control system and its pre- method for starting that pure electric automobile is started to walk in advance |
| CN107117070A (en) * | 2017-04-21 | 2017-09-01 | 阿尔特汽车技术股份有限公司 | Electric automobile starting pretension force control method |
| CN107044842A (en) * | 2017-05-22 | 2017-08-15 | 吴明 | The detection method of automotive transmission clearance angle |
| CN109624726B (en) * | 2018-10-18 | 2021-04-06 | 广汽本田汽车有限公司 | Control method, device and system for eliminating gear clearance and new energy automobile |
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