CN112682504A - Gear position identification method, device and system and automobile - Google Patents
Gear position identification method, device and system and automobile Download PDFInfo
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Abstract
The embodiment of the invention provides a gear position identification method, a gear position identification device, a gear position identification system and an automobile, and relates to the technical field of automatic transmissions. The method is applied to a gear control system, the gear control system comprises a gear shifting execution component, and the gear shifting execution component executes gear shifting actions by changing the position of the gear shifting execution component, and the method comprises the following steps: reading a historical position of a gear shifting execution component; determining an amount of change in position of the shift execution member relative to the historical position in a case where the historical position is determined to be valid; and determining the actual position of the gear shifting execution component in the current gear according to the historical position and the position variation. According to the technical scheme, the actual position of the gear shifting execution component is determined based on the historical position of the gear shifting execution component and the position variation of the gear shifting execution component relative to the historical position, so that an additional position sensor is not needed when the actual position of the gear shifting execution component is identified, and the cost is reduced.
Description
Technical Field
The invention relates to the technical field of automatic transmissions, in particular to a gear position identification method, a gear position identification device, a gear position identification system and an automobile.
Background
At present, a gear shifting system of the automatic transmission is mostly used for controlling a gear shifting fork to realize the switching between different gears through hydraulic pressure or a motor system. Only when the gear position, namely the position of a shifting fork, is correctly identified, the automatic transmission can accurately execute a shifting command; if the gear position can not be accurately identified due to the fault of the position sensor, the vehicle can not normally run, even traffic accidents are caused, and the life of personnel is threatened. At present, for discernment position of keeping off a position, often detect the position of the shift fork of shifting through increasing position sensor in that the derailleur is inside, to the derailleur of many fender position, many shift forks, just need a plurality of position sensor, increased manufacturing cost on the one hand, on the other hand, the position through increasing the sensor detection shift fork has improved the complexity of system, and then leads to the system fault rate to increase.
Disclosure of Invention
The embodiment of the invention aims to provide a gear position identification method, a gear position identification device, a gear position identification system and an automobile, and aims to solve the problem that a position sensor needs to be additionally arranged in the conventional gear position identification.
In order to achieve the above object, in a first aspect of the present invention, there is provided a gear position identification method applied to a gear control system including a shift execution member that performs a shift action by changing a position thereof, the method including:
reading a historical position of the shift execution component;
determining an amount of change in position of the shift execution member relative to the historical position if it is determined that the historical position is valid;
and determining the actual position of the gear shifting execution component in the current gear according to the historical position and the position variation.
Optionally, the historical position is an actual position of the shift execution unit in a current gear when the gear control system is powered down last time.
Optionally, the method further comprises:
and in the case that the historical position is determined to be invalid, determining the actual position of the gear shifting execution component in the current gear through gear self-learning.
Optionally, the gear control system further includes a shift motor and a transmission component, the shift motor controls a change in position of the shift execution component through the transmission component to execute a shift action, and the determining a change amount of the position of the shift execution component relative to the historical position includes:
acquiring a Hall signal of the gear shifting motor;
determining the accumulated rotation angle variation of the gear shifting motor according to the Hall signal of the gear shifting motor;
and determining the position variation of the gear shifting execution component relative to the historical position according to the accumulated rotation angle variation of the gear shifting motor and the transmission ratio of the transmission component.
Optionally, determining that the historical location is valid comprises:
and when the historical position is read successfully, the variation of the current absolute rotation angle of the gear shifting motor relative to the absolute rotation angle of the gear shifting motor at the last power-off is not larger than a preset threshold value, and the historical position is an effective value, determining that the historical position is effective.
Optionally, after determining the actual position of the shift execution member according to the historical position and the position variation, the method further includes:
when the gear control system is normally powered off, taking the actual position of the gear shifting execution component at the current gear as the history position read next time, and generating a state identifier representing that the history position read next time is effective;
and when the gear control system is abnormally powered off, generating a state identifier which represents that the historical position read next time is invalid.
Optionally, determining the historical location as a valid value includes:
acquiring a state identifier corresponding to the historical position;
and when the historical position is judged to be effective according to the state identifier, determining the historical position to be an effective value.
In a second aspect of the present invention, there is provided a gear position identification device, to which the above-mentioned gear position identification method is applied, the device including:
a data acquisition module configured to acquire a historical position of the shift execution component;
a first calculation module configured to determine an amount of change in position of the shift execution member relative to the historical position if it is determined that the historical position is valid;
and the second calculation module is configured to determine the actual position of the gear shifting execution component in the current gear according to the historical position and the position variation.
In a third aspect of the present invention, there is provided a gear position identification system comprising:
the above-described gear position identifying device; and
a memory for storing a historical position of the shift execution member in a current gear.
In a fourth aspect of the invention, a vehicle is provided, comprising the above-mentioned gear position identification system.
According to the technical scheme, the actual position of the gear shifting execution component is determined based on the historical position of the gear shifting execution component and the position variation of the gear shifting execution component relative to the historical position, so that an additional position sensor is not needed when the actual position of the gear shifting execution component is identified, and the cost is reduced.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a flowchart of a method for identifying a gear position according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of a hub position identification process provided in the preferred embodiment of the present invention;
FIG. 3 is a flowchart of an abnormal power down determination provided by the preferred embodiment of the present invention;
fig. 4 is a schematic block diagram of a gear position recognition device according to a preferred embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1 and fig. 2, in a first aspect of the present invention, there is provided a gear position identification method applied to a gear control system, the gear control system including a shift execution component, the shift execution component executing a shift action by changing its position, the method including:
reading the historical position of a gear shifting execution component in the current gear; determining an amount of change in position of the shift execution member relative to the historical position in a case where the historical position is determined to be valid; and determining the actual position of the gear shifting execution component in the current gear according to the historical position and the position variation.
In this way, the present embodiment determines the actual position of the shift actuator based on the historical position of the shift actuator and the amount of change in the position of the shift actuator relative to the historical position, thereby eliminating the need for an additional position sensor to identify the actual position of the shift actuator and reducing costs.
Specifically, the gear control system of this embodiment can be automatic transmission system, the executive component that shifts is the shift fork of shifting, this automatic transmission system includes the controller, the controller is TCU (automatic transmission control unit), gear shifting motor, drive disk assembly, change the hub and shift fork of shifting in this embodiment, wherein, gear shifting motor can be brushless DC motor, TCU is used for control drive gear shifting motor, gear shifting motor drives through drive disk assembly and changes the hub rotation, along with the rotation of changeing the hub, under the effect of molded lines, shift fork along the axial displacement of selector shaft, stir synchronizer and the gear engagement that shifts that corresponds, realize gear shift control. It can be understood that when the transmission is in different gears, the absolute position of the hub corresponds to different angular ranges, for example, when the absolute position of the hub is a1, the shift fork shift synchronizer is engaged with the gear wheel of the gear 1, and the transmission is in the gear 1; when the absolute position of the rotating hub is a2, the shifting fork shifts the synchronizer to be meshed with the gear wheel of the gear 2, and the transmission is in the gear 2. Taking the application of the embodiment to the TCU as an example for explanation, when a vehicle is started, after an automatic transmission system is powered on, before no gear shifting action and before a gear shifting motor acts, a historical position of a hub pre-stored in a memory is read as an initial value of the position of the hub in the current power-on period; after the gear shifting action is executed, the actual position of the rotating hub is the initial position value of the rotating hub plus the variable quantity of the angle of the rotating hub after the gear shifting action. Meanwhile, when the system is powered off, the determined actual position of the hub is stored in an NVM (nonvolatile memory), the stored value is taken as the historical position read when the system is powered on next time, and the historical position read when the system is powered on each time is the actual position of the hub determined when the system is powered off last time, so that the TCU can effectively ensure that the actual position of the hub in the current gear can be accurately identified when the system is powered on each time. The initial value of the position of the rotating hub can be determined through a gear self-learning function of the vehicle, gear self-learning is the prior art, and the implementation process of gear self-learning is not repeated here. For example, when the vehicle is started, the TCU first reads a pre-stored historical position of the hub, which is the actual position of the hub angle stored when the power was last removed; secondly, determining whether the read historical position is valid, for example, the TCU may fail to successfully read the historical position of the hub due to abnormal power-off of the system, abnormal reset of the TCU, or a reading error, or the TCU fails to effectively store the actual position of the hub determined when the system was powered off last time in the NVM, and thus the historical position read by the TCU is not the historical position updated after the system was powered off last time, in the above case, the historical position read by the TCU is invalid, and the position of the hub cannot be accurately identified, so that the position of the hub can be accurately identified only when the historical position read by the TCU needs to be determined to be valid, for example, determining whether the current read historical position is valid by judging whether the TCU successfully reads the data of the historical position; when the read historical position is effective, further determining the variation of the position of the rotating hub after the TCU is electrified, for example, the historical position angle a of the rotating hub read from the NVM after the TCU is electrified is effective, at the moment, the absolute position of the rotating hub is a, after the TCU is electrified, the initial value of the relative position of the rotating hub is an angle A, the relative position of the rotating hub after the gear shifting action is changed from the angle A to an angle B, and after the gear shifting action is executed, the absolute position of the rotating hub is a + (B-A), so that the actual position of the rotating hub can be accurately identified based on the angle variation of the rotating hub relative to the historical position under the condition that the historical position of the rotating hub is effective, and further, the vehicle can be ensured to accurately execute the gear shifting action in; when the system is powered down, e.g., after the vehicle is parked with the vehicle off, the TCU stores the actual position of the hub in NVM and uses that position as the historical position of the hub that is read the next time the system is powered up.
If it is determined that the read historical position is invalid, the actual position of the hub in the current gear needs to be determined again, and therefore, the method of the embodiment further includes:
in the event that the determination of the historical position is not valid, the actual position of the shift execution element in the current gear is determined by means of gear self-learning. Then, at the end of the gear self-learning, the actual position of the rotating hub is the preset initial position value of the rotating hub, and then the absolute position of the rotating hub is changed based on the initial position value, for example: the self-learning end moment the hub is located at-15 deg., the absolute position of the hub is 0 deg. when the hub has rotated by a change of 15 deg. after the gear shifting action has been performed with respect to the self-learning end moment. The initial position values of the absolute positions of the rotating hubs corresponding to different gears can be preset according to the actual design of different transmissions, so that the actual positions of the rotating hubs under the current gear can be determined by acquiring the position variation of the rotating hubs during the gear shifting action based on the initial position values of the rotating hubs based on gear self-learning, and the actual absolute positions of the rotating hubs determined based on the gear self-learning are stored in the NVM and serve as the historical positions read after the system is powered off.
The shift motor of the present embodiment is a brushless dc motor, and the relative angle of rotation of the rotor of the brushless dc motor can be determined by obtaining the hall signal in the brushless dc motor, and then the amount of change in the position of the shift execution component with respect to the historical position is determined, including:
acquiring a Hall signal of a gear shifting motor; determining the accumulated rotation angle variation of the gear shifting motor according to the Hall signal of the gear shifting motor; and determining the position variation of the gear shifting executing component relative to the power-on initial position according to the accumulated rotation angle variation of the gear shifting motor and the transmission ratio of the transmission component.
After the system is electrified, when a gear shifting action is executed, the power output of the gear shifting motor is acted on the rotating hub through a transmission part such as a speed reducer to drive the rotating hub to rotate, and then under the action of the molded lines, the gear shifting fork moves along the axial direction of the gear shifting shaft, and the shifting synchronizer is meshed with the corresponding gear shifting gear. Therefore, the variation of the angular position of the hub can be determined by determining the relative rotation angle of the rotor of the shift motor when the system is powered on, for example, the rotation angle and the number of turns of the rotor of the shift motor can be determined by calculating the number of pulses output by the hall sensor inside the shift motor after the system is powered on, wherein the accumulated rotation angle variation of the shift motor can be an accumulated angle corresponding to the number of turns of the electronic rotor of the shift motor after the system is powered on, for example, i turns of the rotor are rotated, and the accumulated rotation angle is 360 ° × i. In this way, the position variation of the rotating hub relative to the historical position after the system is powered on can be determined according to the accumulated rotating angle of the gear shifting motor and the transmission ratio of the transmission component, wherein the position variation is the accumulated rotating angle multiplied by the transmission ratio of the transmission component. Then, the absolute position of the hub in the current gear is the sum of the historical position read from the NVM and the relative position change after the system is powered on. It should be understood that, depending on the rotation direction of the rotary hub, the absolute position or relative position thereof has different positive and negative values, for example, the direction of clockwise rotation of the rotary hub may be positive, the direction of counterclockwise rotation may be negative, the absolute position or relative position thereof may have a positive angle value when the rotary hub rotates clockwise, and the absolute position or relative position thereof may have a negative angle value when the rotary hub rotates counterclockwise.
In order to ensure the accuracy of the position of the hub in the current gear, which is determined each time the system is powered on, it is required to ensure that the historical position of the hub, which is read by the TCU each time the system is powered on, is a value that is correctly updated last time, and therefore, in this embodiment, after determining the actual position of the shift execution component according to the historical position and the position change amount, the method further includes:
when the gear control system is normally powered off, the actual position of the gear shifting execution component in the current gear is stored to a specified position to be used as a history position which is read next time, and a state identifier which represents that the history position which is read next time is effective is generated; and when the gear control system is abnormally powered off, generating a state identifier which represents that the historical position read next time is invalid.
Then, determining the historical location as a valid value includes: acquiring a state identifier corresponding to a historical position; and when the historical position is judged to be effective according to the state identifier, determining the historical position to be an effective value.
When the system is normally powered off, the actual position of the hub in the current gear is stored in the NVM to be used as the historical position read by the TCU when the actual position of the hub in the current gear is determined in the next system power-on process, and meanwhile, a state identifier which shows that the historical position is effective is generated and stored in the NVM to be used as a judgment condition for judging whether the data read from the NVM is effective by the TCU after the system is powered on next time. For example, when the history position is valid, the status flag is 1, and only when the status flag indicating the history position read currently is 1, the current shift position of the hub can be correctly identified. When the system is powered off abnormally, the actual position of the hub determined during power-on cannot be stored in the NVM, and then when the system is powered off abnormally, the state identifier of the actual position of the hub in the current gear is set to be 0, so that when the system is powered on next time to read the historical position of the hub, whether the currently read historical position is effective or not can be judged according to the state identifier. It can be understood that, when the actual position of the rotating hub in the current gear needs to be determined through gear self-learning, after the gear self-learning is successful, the state identifier of the rotating hub in the actual position of the current gear is 1, and if the gear self-learning fails, the state identifier of the rotating hub in the actual position of the current gear is 0.
Wherein determining that the historical location is valid comprises: and when the historical position is successfully read, the current absolute rotation angle of the gear shifting motor is not larger than a preset threshold value relative to the absolute rotation angle of the gear shifting motor in the last power-down process, and the historical position is an effective value, determining that the historical position is effective.
After the system is powered on, after the TCU reads the historical position data in the NVM, whether the historical position data is successfully read is judged, if the system is powered off abnormally last time or errors occur when the historical position data is read, the historical position is judged not to be successfully read, otherwise, the historical position is judged to be successfully read. And when the historical position is successfully read, setting the data reading result state to be 1, otherwise, setting the data reading result state to be 0.
As shown in fig. 3, the method for determining the abnormal power-off of the system includes: the number of times of system abnormal power-down is recorded by a counter, and the number of times of system abnormal power-down is recorded by the counter value of the abnormal power-down counter, for example, whether the TCU is abnormally powered off or not is recorded. Setting an initial value of an abnormal power-off counter value to be 0, when a system is electrified and initialized, reading the abnormal power-off counter value from the NVM by the TCU, adding 1 to the abnormal power-off counter value within 100ms after initialization is completed and storing the abnormal power-off counter value into the NVM, when the TCU is normally powered off, setting the abnormal power-off counter value to be 0 and storing the abnormal power-off counter value into the NVM again, and if the TCU is abnormally powered off, setting the abnormal power-off counter value to be 1. In this way, after the TCU is powered on, when the historical position data in the NVM is read in the initialization stage, the abnormal power-off counter value is simultaneously obtained, and if the value is equal to 0, the last power-off of the TCU is considered as the normal power-off, and the data reading result state is 1; if the value is not equal to 0, the TCU is considered to be abnormally powered down since the last power down, and the data read result state is equal to 0.
And after the historical position is successfully read, acquiring the absolute position of the gear shifting motor corresponding to the read historical position, and acquiring and storing the absolute position when the system is powered off last time. Meanwhile, the current absolute position of the gear shifting motor is obtained, the difference value between the current absolute position of the gear shifting motor and the absolute position of the gear shifting motor corresponding to the read historical position is calculated, if the difference value is larger than a preset threshold value, the position of a rotating hub of the gear shifting motor after the system is powered off last time is judged to be displaced unexpectedly, for example, the allowable difference value range of the absolute position of the gear shifting motor is set to be +/-1 degrees, when the system is powered off last time, the absolute position of the gear shifting motor is 50 degrees, the currently read absolute position of the gear shifting motor is 80 degrees, the gear position is changed greatly, wherein the absolute position of the gear shifting motor is the absolute rotation angle of the gear shifting motor, namely the absolute rotation angle of the gear shifting motor can be any value between 0 and 360 degrees, and the angle can be directly obtained through an encoder of the gear shifting motor, or according to the commutation sequence value of the shifting motor.
Finally, whether the currently read historical position data is valid is judged according to the state identification, for example, when the state identification of the currently read historical position acquired from the NVM is 0, the currently read historical position data is judged to be invalid, and when the state identification of the currently read historical position is 1, the currently read historical position data is judged to be valid.
And determining that the currently read historical position data is valid only when the historical position data is successfully read, the difference between the current absolute position of the shift motor and the absolute position of the shift motor corresponding to the read historical position is not greater than a preset threshold value, and the status flag of the currently read historical position is 1.
As shown in fig. 4, in a second aspect of the present invention, there is provided a gear position identification apparatus, to which the above-mentioned gear position identification method is applied, the apparatus including:
a data acquisition module configured to acquire a historical position of a shift execution component;
a first calculation module configured to determine an amount of change in position of the shift execution member relative to the historical position if the historical position is determined to be valid;
and the second calculation module is configured to determine the actual position of the gear shifting execution component in the current gear according to the historical position and the position variation.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In a third aspect of the present invention, there is provided a gear position identification system comprising: the above-described gear position identifying device; and a memory for storing a historical position of the shift execution member in the current gear.
In a fourth aspect of the invention, a vehicle is provided, comprising the above-mentioned gear position identification system.
In summary, according to the technical scheme of the present invention, the relative position variation of the hub is determined based on the relative position variation of the shift motor and the transmission ratio of the transmission component, and the actual position of the hub is determined according to the obtained historical position of the hub and the position variation of the hub relative to the historical position under the current gear, so that an additional position sensor is not required to be added when the actual position of the hub is identified, and the cost is reduced.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same shall be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A gear position identification method is applied to a gear control system, the gear control system comprises a gear shifting execution component, and the gear shifting execution component is used for executing gear shifting actions by changing the position of the gear shifting execution component, and the method is characterized by comprising the following steps:
reading a historical position of the shift execution component;
determining an amount of change in position of the shift execution member relative to the historical position if it is determined that the historical position is valid;
and determining the actual position of the gear shifting execution component in the current gear according to the historical position and the position variation.
2. The gear position identification method according to claim 1, characterized in that the historical position is an actual position of the shift execution unit in a current gear when the gear control system was last powered down.
3. The gear position identification method according to claim 2, characterized in that the method further comprises:
and in the case that the historical position is determined to be invalid, determining the actual position of the gear shifting execution component in the current gear through gear self-learning.
4. The gear position identification method according to claim 2, wherein the gear control system further includes a shift motor and a transmission member, the shift motor controls a change in position of the shift execution member through the transmission member to execute a shift action, and the determining an amount of change in position of the shift execution member with respect to the historical position includes:
acquiring a Hall signal of the gear shifting motor;
determining the accumulated rotation angle variation of the gear shifting motor according to the Hall signal of the gear shifting motor;
and determining the position variation of the gear shifting execution component relative to the historical position according to the accumulated rotation angle variation of the gear shifting motor and the transmission ratio of the transmission component.
5. The gear position identification method according to claim 4, wherein determining that the historical position is valid comprises:
and when the historical position is read successfully, the variation of the current absolute rotation angle of the gear shifting motor relative to the absolute rotation angle of the gear shifting motor when the gear shifting control system is powered off last time is not larger than a preset threshold value, and the historical position is determined to be an effective value, determining that the historical position is effective.
6. The gear position identification method according to claim 5, characterized in that after determining the actual position of the shift execution member based on the historical position and the amount of change in position, the method further comprises:
when the gear control system is normally powered off, taking the actual position of the gear shifting execution component at the current gear as the history position read next time, and generating a state identifier representing that the history position read next time is effective;
and when the gear control system is abnormally powered off, generating a state identifier which represents that the historical position read next time is invalid.
7. The gear position identification method according to claim 6, wherein determining the historical position as a valid value comprises:
acquiring a state identifier corresponding to the historical position;
and when the historical position is judged to be effective according to the state identifier, determining the historical position to be an effective value.
8. A gear position identification device, which applies the gear position identification method according to any one of claims 1 to 7, wherein the device comprises:
a data acquisition module configured to acquire a historical position of the shift execution component;
a first calculation module configured to determine an amount of change in position of the shift execution member relative to the historical position if it is determined that the historical position is valid;
and the second calculation module is configured to determine the actual position of the gear shifting execution component in the current gear according to the historical position and the position variation.
9. A gear position identification system, comprising:
the gear position identifying device of claim 8; and
a memory for storing a historical position of the shift execution member in a current gear.
10. A vehicle comprising a gear position identification system according to claim 9.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114035547A (en) * | 2021-11-10 | 2022-02-11 | 潍柴动力股份有限公司 | Hardware-in-loop simulation method and device, electronic equipment and computer storage medium |
| CN116498743A (en) * | 2023-04-10 | 2023-07-28 | 蜂巢传动科技邳州有限公司 | Gear shifting control method and system |
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| CN116498743A (en) * | 2023-04-10 | 2023-07-28 | 蜂巢传动科技邳州有限公司 | Gear shifting control method and system |
| CN116498743B (en) * | 2023-04-10 | 2024-01-16 | 蜂巢传动科技邳州有限公司 | Gear shifting control method and system |
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| CN112682504B (en) | 2022-09-02 |
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