CN112879555A - Gear self-learning verification method, device, equipment, storage medium and product - Google Patents
Gear self-learning verification method, device, equipment, storage medium and product Download PDFInfo
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- CN112879555A CN112879555A CN202110007316.3A CN202110007316A CN112879555A CN 112879555 A CN112879555 A CN 112879555A CN 202110007316 A CN202110007316 A CN 202110007316A CN 112879555 A CN112879555 A CN 112879555A
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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
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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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
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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
- F16H2061/0068—Method or means for testing of transmission controls or parts thereof
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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
- F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
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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
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Transmission Device (AREA)
- Testing Of Devices, Machine Parts, Or Other Structures Thereof (AREA)
Abstract
The embodiment of the invention provides a gear self-learning verification method, a gear self-learning verification device, gear self-learning verification equipment, a storage medium and a product, wherein the method comprises the following steps: monitoring a gear self-learning process of the gearbox; if the neutral position of the gearbox is monitored to finish self-learning, controlling a motor controller to output corresponding torque according to a preset torque set value, and determining a self-learning verification result according to a first rotating speed of the motor; and if the situation that the self-learning of the gearbox is finished at the gear position is monitored, acquiring a preset torque value, controlling a motor controller to output a corresponding torque according to the preset torque value, and determining a self-learning verification result according to a second rotating speed of the motor. According to the gear self-learning verification method provided by the embodiment of the invention, after the self-learning is finished, whether the gear self-learning is effective or not can be verified according to the operation condition by detecting the operation condition among the motor controller, the gearbox and the motor, so that the verification accuracy is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicles, in particular to a gear self-learning verification method, device, equipment, storage medium and product.
Background
With the continuous development of the vehicle industry, at present, most vehicle models are provided with automatic transmissions, a driving computer judges when the gears should be shifted according to the driving habits of drivers, and the process of recording the driving habits of the drivers by the driving computer is the self-learning process of the automatic gearbox.
When the automatic gearbox shifts self-learns, the effectiveness of the self-learning position is generally judged based on the mechanical design initial value, the mode mainly judges whether the shifts meet the design initial value from the mechanical structure of the gearbox, and whether the shift errors involved in the internal program exist after the self-learning is finished cannot be verified. When the self-learning is wrong, the mistake can be found only after the vehicle is driven through gear engaging.
Therefore, the existing self-learning verification mode has low self-learning verification accuracy.
Disclosure of Invention
The invention provides a gear self-learning verification method, a gear self-learning verification device, gear self-learning verification equipment, a storage medium and a product, which are used for solving the problem that the self-learning verification accuracy is low in the conventional self-learning verification mode.
The first aspect of the embodiment of the invention provides a gear self-learning verification method, which comprises the following steps:
monitoring a gear self-learning process of the gearbox;
if the neutral position of the gearbox is monitored to finish self-learning, controlling a motor controller to output corresponding torque according to a preset torque set value, and determining a self-learning verification result according to a first rotating speed of the motor;
and if the situation that the self-learning of the gearbox is finished at the gear position is monitored, acquiring a preset torque value, controlling a motor controller to output a corresponding torque according to the preset torque value, and determining a self-learning verification result according to a second rotating speed of the motor.
Further, the method as described above, wherein determining the self-learning check result according to the first rotation speed of the motor comprises:
after the shaking eliminating time is preset, a first rotating speed of the motor is obtained, and if the first rotating speed is determined to be larger than zero, the self-learning verification result of the neutral position is effective;
and if the first rotating speed is determined to be equal to zero, the self-learning verification result of the neutral position is invalid.
Further, the method as described above, wherein obtaining the preset torque value includes:
acquiring a pre-tightening torque of a motor controller and a gear transmission ratio corresponding to a gear position;
and calculating a ratio between the pre-tightening torque and the gear transmission ratio, and determining the ratio as a preset torque value.
Further, the method as described above, the determining the self-learning check result according to the second rotation speed of the motor includes:
after the shaking eliminating time is preset, a second rotating speed of the motor is obtained, and if the second rotating speed is determined to be equal to zero, the self-learning verification result of the gear position is effective;
and if the second rotating speed is determined to be greater than zero, the self-learning verification result of the gear position is invalid.
Further, the method as described above, before the monitoring the gear self-learning process of the transmission, further includes:
if the gearbox is monitored to be in a neutral position, controlling the motor controller to output gradually increased output torque;
determining the corresponding output torque as a torque set value when the third rotating speed of the motor reaches a preset threshold value, and controlling the gearbox to perform a gear self-learning process when gear self-learning conditions are met;
and calculating a difference value between the output torque and the pre-tightening torque, if the difference value is greater than zero and the third rotating speed of the motor is zero, sending out neutral gear fault information of the gearbox, and controlling the gearbox to stop the self-learning process of the gear.
Further, according to the method, if the self-learning check result of the neutral position or the in-gear position is invalid, the motor controller is controlled to stop outputting the torque, and the gear self-learning process corresponding to the neutral position or the in-gear position is restarted.
The second aspect of the embodiments of the present invention provides a gear self-learning calibration apparatus, including:
the monitoring module is used for monitoring the gear self-learning process of the gearbox;
the neutral self-learning checking module is used for controlling the motor controller to output corresponding torque according to a preset torque set value if the neutral position of the gearbox is monitored to complete self-learning, and determining a self-learning checking result according to the first rotating speed of the motor;
the gear-in self-learning verification module is used for acquiring a preset torque value if the situation that the gear position of the gearbox is monitored to complete self-learning is monitored, controlling the motor controller to output corresponding torque according to the preset torque value, and determining a self-learning verification result according to the second rotating speed of the motor.
Further, in the above apparatus, when determining the self-learning check result according to the first rotation speed of the motor, the neutral self-learning check module is specifically configured to:
after the shaking eliminating time is preset, a first rotating speed of the motor is obtained, and if the first rotating speed is determined to be larger than zero, the self-learning verification result of the neutral position is effective; and if the first rotating speed is determined to be equal to zero, the self-learning verification result of the neutral position is invalid.
Further, according to the above apparatus, when the in-gear self-learning verification module obtains the preset torque value, it is specifically configured to:
acquiring a pre-tightening torque of a motor controller and a gear transmission ratio corresponding to a gear position; and calculating a ratio between the pre-tightening torque and the gear transmission ratio, and determining the ratio as a preset torque value.
Further, according to the above-mentioned apparatus, when the in-gear self-learning check module determines the self-learning check result according to the second rotation speed of the electric machine, it is specifically configured to:
after the shaking eliminating time is preset, a second rotating speed of the motor is obtained, and if the second rotating speed is determined to be equal to zero, the self-learning verification result of the gear position is effective; and if the second rotating speed is determined to be greater than zero, the self-learning verification result of the gear position is invalid.
Further, the apparatus as described above, further comprising:
the self-learning control module is used for controlling the motor controller to output gradually increased output torque if the gearbox is monitored to be in a neutral position; determining the corresponding output torque as a torque set value when the third rotating speed of the motor reaches a preset threshold value, and controlling the gearbox to perform a gear self-learning process when gear self-learning conditions are met; and calculating a difference value between the output torque and the pre-tightening torque, if the difference value is greater than zero and the third rotating speed of the motor is zero, sending out neutral gear fault information of the gearbox, and controlling the gearbox to stop the self-learning process of the gear.
Further, the apparatus as described above, further comprising: and the checking result processing module is used for controlling the motor controller to stop outputting the torque and restarting a gear self-learning process corresponding to the neutral position or the gear position if the self-learning checking result of the neutral position or the gear position is invalid.
A third aspect of embodiments of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;
the processor, the memory and the transceiver are interconnected through a circuit;
the memory stores computer-executable instructions; the transceiver is used for sending an output torque instruction to the motor controller and receiving rotating speed information sent by the motor controller;
wherein the processor is configured to execute the gear self-learning verification method of any of the first aspects by the processor.
A fourth aspect of the embodiments of the present invention provides a computer-readable storage medium, where computer-executable instructions are stored, and when the computer-executable instructions are executed by a processor, the computer-executable instructions are configured to implement the gear self-learning verification method according to any one of the first aspect.
A fifth aspect of the embodiments of the present invention provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the gear self-learning verification method according to any one of the first aspects.
The embodiment of the invention provides a gear self-learning verification method, a gear self-learning verification device, gear self-learning verification equipment, a gear self-learning verification storage medium and a gear self-learning verification product, wherein the method comprises the following steps: monitoring a gear self-learning process of the gearbox; if the neutral position of the gearbox is monitored to finish self-learning, controlling a motor controller to output corresponding torque according to a preset torque set value, and determining a self-learning verification result according to a first rotating speed of the motor; and if the situation that the self-learning of the gearbox is finished at the gear position is monitored, acquiring a preset torque value, controlling a motor controller to output a corresponding torque according to the preset torque value, and determining a self-learning verification result according to a second rotating speed of the motor. According to the gear self-learning verification method, the gear self-learning process of the gearbox is monitored in real time through being combined with the gear self-learning process, when the neutral position of the gearbox is monitored to be self-learned, the motor controller is controlled to output the corresponding torque according to the preset torque set value, and when the motor controller outputs the torque set value, the rotating speed of the motor can rotate or stop rotating according to the self-learning result, so that the self-learning verification result can be determined through detecting the operating states among the motor controller, the gearbox and the motor, and similarly, if the gear position of the gearbox is monitored to be self-learned, the preset torque value is obtained, the motor controller is controlled to output the corresponding torque according to the preset torque value, and the self-learning verification result can be determined according to the second rotating speed of the motor. Therefore, the effect of checking the self-learning position in the gear self-learning process is achieved, meanwhile, after the self-learning is completed, whether the gear self-learning is effective or not can be checked according to the operation condition by detecting the operation condition among the motor controller, the gearbox and the motor, and the checking accuracy is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
FIG. 1 is a diagram of a scenario in which a gear self-learning verification method according to an embodiment of the present invention may be implemented;
FIG. 2 is a schematic flow chart of a gear self-learning verification method according to a first embodiment of the present invention;
FIG. 3 is a schematic flow chart of a gear self-learning verification method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a gear of a transmission according to a gear self-learning verification method provided by a second embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a gear self-learning checking device according to a third embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a gear self-learning checking device according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention.
With the above figures, certain embodiments of the invention have been illustrated and described in more detail below. The drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it by those skilled in the art with reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the invention, as detailed in the appended claims.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
For a clear understanding of the technical solutions of the present application, a detailed description of the prior art solutions is first provided. With the continuous development of the vehicle industry, at present, most vehicle models are provided with automatic transmissions, a driving computer judges when the gears should be shifted according to the driving habits of drivers, and the process of recording the driving habits of the drivers by the driving computer is the self-learning process of the automatic gearbox. At present, when the automatic gearbox gear self-learning is carried out, the verification of the self-learning effectiveness is generally carried out. The method mainly comprises the step of judging whether the design initial value is met or not from the mechanical structure of the gearbox, for example, judging whether the gear position is on the corresponding gear after the self-learning is finished. And when the gear position is on the corresponding gear, judging that the self-learning is effective. And when the gear position is not on the corresponding gear, judging that the self-learning is invalid. At present, the self-learning effect can only be preliminarily verified on the mechanical structure in the verification mode, the condition that whether the vehicle has errors due to other errors generated in gear self-learning during actual running cannot be verified, and the accuracy is low.
Therefore, aiming at the technical problem of low accuracy of the checking mode in the prior art, the inventor finds that the gear self-learning result can be checked by checking the running conditions among the motor controller, the motor and the gearbox after the gear self-learning is finished. First, a gear self-learning process of the gearbox is monitored. And if the neutral position of the gearbox is monitored to finish self-learning, controlling the motor controller to output corresponding torque according to a preset torque set value, and determining a self-learning verification result according to the first rotating speed of the motor. And if the situation that the self-learning of the gearbox is finished at the gear position is monitored, acquiring a preset torque value, controlling the motor controller to output a corresponding torque according to the preset torque value, and determining a self-learning verification result according to the second rotating speed of the motor. The gear self-learning verification method of the embodiment monitors the gear self-learning process of the gearbox in real time by combining with the gear self-learning process, and controls the motor controller to output corresponding torque according to a preset torque set value after monitoring that the neutral position of the gearbox completes self-learning. Therefore, the effect of checking the self-learning position in the gear self-learning process is achieved, meanwhile, after the self-learning is completed, whether the gear self-learning is effective or not can be checked according to the operation condition by detecting the operation condition among the motor controller, the gearbox and the motor, and the checking accuracy is improved.
The inventor proposes a technical scheme of the application based on the creative discovery.
An application scenario of the gear self-learning verification method provided by the embodiment of the invention is described below. As shown in fig. 1, 1 is an electronic device, 2 is a transmission, 3 is a motor controller, and 4 is a motor. The network architecture of the application scene corresponding to the gear self-learning verification method provided by the embodiment of the invention mainly comprises an electronic device 1, a gearbox 2, a motor controller 3 and a motor 4. The electronic device 1 can control the motor controller 3 and the gearbox 2 to operate, and can also control the motor 4 to operate through the motor controller 2. At the same time, the electronic device 1 can acquire the real-time rotating speed of the motor 4 and the self-learning process of the gearbox 2. In practical application, the electronic device 1 monitors a gear self-learning process of the gearbox 2 in real time, and if the neutral position of the gearbox 2 is monitored to complete self-learning, the motor controller 3 is controlled to output a corresponding torque according to a preset torque set value, and a self-learning verification result is determined according to the first rotating speed of the motor 4. If the situation that the self-learning of the gearbox 2 is finished at the gear position is monitored, a preset torque value is obtained, the motor controller 3 is controlled to output corresponding torque according to the preset torque value, and a self-learning verification result is determined according to the second rotating speed of the motor 4.
The gear self-learning verification method of the embodiment monitors the gear self-learning process of the gearbox in real time by combining with the gear self-learning process, and for the verification of the neutral position, because the rotating speed of the motor can rotate or stop rotating according to the self-learning result when the motor controller outputs the set torque value, the self-learning verification result can be determined by detecting the operating states among the motor controller, the gearbox and the motor, and similarly, for the verification of the gear position, the self-learning verification result can also be determined according to the second rotating speed of the motor. Therefore, the effect of checking the self-learning position in the gear self-learning process is achieved, meanwhile, after the self-learning is completed, whether the gear self-learning is effective or not can be checked according to the operation condition by detecting the operation condition among the motor controller, the gearbox and the motor, and the checking accuracy is improved.
The embodiments of the present invention will be described with reference to the accompanying drawings.
Fig. 2 is a schematic flow chart of a gear self-learning verification method according to a first embodiment of the present invention, and as shown in fig. 2, in this embodiment, an execution main body according to an embodiment of the present invention is a gear self-learning verification device, and the gear self-learning verification device may be integrated in an electronic device, such as a vehicle control unit. The gear self-learning verification method provided by the embodiment comprises the following steps:
and step S101, monitoring a gear self-learning process of the gearbox.
In this embodiment, the operation process of the transmission CAN be obtained in real time through a CAN (chinese is a bus Controller Area Network, which is fully called Controller Area Network) bus and a signal line of the vehicle, so as to monitor the gear self-learning process of the transmission in real time.
In this embodiment, the transmission mainly refers to an automatic transmission, and the automatic transmission may be a hydraulic automatic transmission, a mechanical stepless automatic transmission, an electric control mechanical automatic transmission, or a dual clutch automatic transmission.
And S102, if the neutral position of the gearbox is monitored to finish self-learning, controlling the motor controller to output corresponding torque according to a preset torque set value, and determining a self-learning verification result according to the first rotating speed of the motor.
In this embodiment, the preset torque set value may be obtained by measurement before the gear self-learning process is started, or the corresponding torque set value may be recorded in a preset database, so as to obtain the corresponding torque set value in the database, and meanwhile, the torque set value may be set to 40m.m, 50n.m, and the like, which is not limited in this embodiment.
In this embodiment, because the motor controller, the motor, and the transmission have an operational relationship with each other, when the motor controller is controlled to output a corresponding torque according to a preset torque set value, the first rotation speed of the motor may also be changed correspondingly according to a self-learning result of the transmission, or the operation has a rotation speed or stops. Thus, the self-learning check result may be determined based on the first rotational speed of the motor.
And S103, if the situation that the gear position of the gearbox is monitored to finish self-learning is monitored, acquiring a preset torque value, controlling the motor controller to output corresponding torque according to the preset torque value, and determining a self-learning verification result according to the second rotating speed of the motor.
In this embodiment, the preset torque value may be obtained from corresponding data before the gear self-learning process is started, so as to be determined by calculation, or the corresponding preset torque value may be recorded in a preset database, so as to obtain the corresponding preset torque value through the database, which is not limited in this embodiment.
In this embodiment, because the motor controller, the motor, and the transmission have an operational relationship with each other, when the motor controller is controlled to output a corresponding torque according to a preset torque value, the second rotation speed of the motor may also be changed correspondingly according to a self-learning result of the transmission, or the motor may rotate or stop operating. Thus, the self-learning check result may be determined based on the second rotational speed of the electric machine.
The embodiment of the invention provides a gear self-learning verification method, which comprises the following steps: and monitoring the gear self-learning process of the gearbox. And if the neutral position of the gearbox is monitored to finish self-learning, controlling the motor controller to output corresponding torque according to a preset torque set value, and determining a self-learning verification result according to the first rotating speed of the motor. And if the situation that the self-learning of the gearbox is finished at the gear position is monitored, acquiring a preset torque value, controlling the motor controller to output a corresponding torque according to the preset torque value, and determining a self-learning verification result according to the second rotating speed of the motor. According to the gear self-learning verification method, the gear self-learning process of the gearbox is monitored in real time through being combined with the gear self-learning process, when the neutral position of the gearbox is monitored to be self-learned, the motor controller is controlled to output the corresponding torque according to the preset torque set value, and when the motor controller outputs the torque set value, the rotating speed of the motor can rotate or stop rotating according to the self-learning result, so that the self-learning verification result can be determined through detecting the operating states among the motor controller, the gearbox and the motor, and similarly, if the gear position of the gearbox is monitored to be self-learned, the preset torque value is obtained, the motor controller is controlled to output the corresponding torque according to the preset torque value, and the self-learning verification result can be determined according to the second rotating speed of the motor. Therefore, the effect of checking the self-learning position in the gear self-learning process is achieved, meanwhile, after the self-learning is completed, whether the gear self-learning is effective or not can be checked according to the operation condition by detecting the operation condition among the motor controller, the gearbox and the motor, and the checking accuracy is improved.
Fig. 3 is a schematic flow chart of a gear self-learning verification method according to a second embodiment of the present invention, and as shown in fig. 3, the gear self-learning verification method according to the present embodiment is further refined in each step based on the gear self-learning verification method according to the previous embodiment of the present invention. The gear self-learning verification method provided by the embodiment comprises the following steps.
In this embodiment, optionally, if it is monitored that the transmission is in the neutral position, the motor controller is controlled to output gradually increasing output torque.
And determining the corresponding output torque as a torque set value when the third rotating speed of the motor reaches a preset threshold value, and controlling the gearbox to perform a gear self-learning process when gear self-learning conditions are met.
And calculating a difference value between the output torque and the pre-tightening torque, if the difference value is greater than zero and the third rotating speed of the motor is zero, sending out neutral gear fault information of the gearbox, and controlling the gearbox to stop the self-learning process of the gear.
In this embodiment, after the gear self-learning process is stopped, the position of the transmission can be controlled again to enter the secondary neutral self-learning, and if the gear self-learning process does not succeed the second time and does not succeed the third time, the whole self-learning process is prohibited. The reason for this is that neutral self-learning is unsuccessful, and neutral self-learning is not mentioned, so that the whole self-learning process is prohibited if neutral self-learning is unsuccessful 3 times. The preset threshold may be 100rpm, i.e. 100 revolutions per minute, 100rpm being selected because the neutral gear has a plurality, which may include three neutral gears N0, N1 and N2, as shown in fig. 4. In determining the torque set point, one of the neutral gears is typically selected for determination, such as is typically determined using N0. In this case, if the rotation speed is too low, it is not possible to ensure that the self-learning effect can be verified as accurately according to the torque set value even at other neutral positions, and if the rotation speed is too high, the torque set value is likely to cause vehicle malfunction because of exceeding the pre-tightening torque, and it is also not possible to detect whether the transmission has a neutral fault.
In this embodiment, the monitoring that the transmission is in the neutral position may be performed by controlling the motor controller to output a certain torque, and then checking whether the motor has a specific corresponding rotation speed, thereby determining whether the transmission is in the neutral position. The torque that the motor controller initially outputs may be 10 n.m. In practical application, the motor controller may output a torque of 10n.m at the beginning, then check whether the third rotation speed of the motor reaches a preset threshold, and if the third rotation speed of the motor does not reach the preset threshold, the motor controller gradually increases the output torque until the third rotation speed of the motor reaches the preset threshold, at this time, determine the corresponding output torque as the torque set value.
In this embodiment, the pre-tightening torque refers to a torque corresponding to a torque output by the motor controller when the vehicle generates a malfunction. When the output torque is gradually increased to be larger than the pre-tightening torque, if the motor still has no rotating speed at the moment, namely the third rotating speed of the motor is zero, at the moment, the situation represents that the neutral gear of the gearbox is in failure.
Step S201, monitoring a gear self-learning process of the gearbox.
In this embodiment, the implementation manner of step 201 is similar to that of step 101 in the previous embodiment of the present invention, and is not described in detail here.
It should be noted that steps 202, 204 and 207 are further refinements of step 102.
And S202, if the neutral position of the gearbox is monitored to finish self-learning, controlling the motor controller to output corresponding torque according to a preset torque set value. Step 204 is then performed.
In this embodiment, the implementation manner of step 202 is similar to that of step 102 in the previous embodiment of the present invention, and is not described herein again.
It should be noted that steps 203, 208 and 211 are further detailed for step 103.
And step S203, if the situation that self-learning of the gearbox is finished at the gear position is monitored, the pre-tightening torque of the motor controller and the gear transmission ratio corresponding to the gear position are obtained, the ratio between the pre-tightening torque and the gear transmission ratio is calculated, and the ratio is determined as a preset torque value. Step 208 is then performed.
In this embodiment, when the motor controller outputs the torque, the motor rotates according to the output torque, and then outputs power after passing through the rear axle and being amplified by the transmission ratio corresponding to the shift position of the transmission case. The predetermined torque value is set as the ratio between the pretensioning torque and the gear transmission ratio because the transmission ratio of most gears is greater than 1, as shown in fig. 4, and in 1, 2, 3, 4, 5, 6, and reverse gears among the gears, the transmission ratios of 1-5 and reverse gears are all greater than 1. When the torque output by the motor controller is the pre-tightening torque, the vehicle is easy to generate abnormal motion after the transmission ratio is amplified, and meanwhile, the result of gear-shifting self-learning of the gearbox cannot be verified even if the torque is too large. When the preset torque value is set as a ratio between the pre-tightening torque and the gear transmission ratio, if the gear self-learning position is effective, the motor is in a state without rotating speed, and if the gear self-learning position is ineffective, the motor is in a running state with rotating speed.
Step S204, after the preset shake elimination time, acquiring a first rotating speed of the motor.
In this embodiment, the jitter elimination time refers to a short mechanical jitter generated by the motor when the motor controller outputs torque due to a mechanical gap between the rear axle and the transmission gear of the transmission case, and the jitter elimination time is the jitter elimination time. After the jitter elimination time, the jitter process is finished, and the detected motor rotating speed is not influenced by mechanical jitter, so that the detection accuracy is improved.
In step S205, it is determined whether the first rotation speed is greater than zero.
In this embodiment, after neutral self-learning is completed, under normal conditions, when the motor controller outputs a torque set value, if the self-learning gear position is correct, the motor will generate a rotation speed, and if the self-learning gear position is incorrect, the motor will not generate a rotation speed.
And step S206, if yes, the self-learning verification result of the neutral position is valid.
In this embodiment, after the self-learning neutral position is verified to be valid, the torque of the motor controller can be removed, so that the gearbox is controlled to perform self-learning of the next gear.
And step S207, if not, the self-learning verification result of the neutral position is invalid. Then, step 212 is performed.
In the embodiment, after the self-learning neutral position is verified to be invalid, the torque of the motor controller can be cleared, so that subsequent self-learning process operation is facilitated.
And S208, controlling the motor controller to output corresponding torque according to a preset torque value, and acquiring a second rotating speed of the motor after preset shake elimination time.
In this embodiment, in the present embodiment, the jitter elimination time refers to a mechanical jitter generated by the motor when the motor controller outputs torque due to a mechanical gap between the rear axle and the transmission gear of the transmission case, and the jitter elimination time is the jitter elimination time. After the jitter elimination time, the jitter process is finished, and the detected motor rotating speed is not influenced by mechanical jitter, so that the detection accuracy is improved.
In step S209, it is determined whether the second rotation speed is greater than zero.
In this embodiment, after the gear self-learning is completed, under a normal condition, since the preset torque value is smaller than the pre-tightening torque, when the motor controller outputs the preset torque value, if the self-learning gear position is correct, the motor does not have the rotating speed, and if the self-learning gear position is incorrect, the motor generates the rotating speed.
In step S210, the self-learning verification result in the gear position is valid.
In this embodiment, after the verification self-learning is effective in the gear, the torque of the motor controller may be removed, so as to control the transmission to perform the self-learning of the next gear.
In step S211, the self-learning verification result of the in-gear position is invalid. At the same time, step 212 is performed.
In the embodiment, after the verification self-learning is invalid in the gear position, the torque of the motor controller can be removed, so that the subsequent re-self-learning process operation is facilitated
And step S212, controlling the motor controller to stop outputting the torque, and restarting a gear self-learning process corresponding to the neutral gear position or the gear position.
The gear self-learning verification method provided by the embodiment of the invention is combined with a gear self-learning process to monitor the gear self-learning process of the gearbox in real time, when the neutral position of the gearbox is monitored to finish self-learning, the motor controller is controlled to output corresponding torque according to a preset torque set value, and when the motor controller outputs the torque set value, the rotating speed of the motor can rotate or stop rotating according to the self-learning result, so that the self-learning verification result can be determined by detecting the operating states among the motor controller, the gearbox and the motor, and similarly, if the gear position of the gearbox is monitored to finish self-learning, the preset torque value is obtained to control the motor controller to output the corresponding torque according to the preset torque value, and the self-learning verification result can be determined according to the second rotating speed of the motor. Therefore, the effect of checking the self-learning position in the gear self-learning process is achieved, meanwhile, after the self-learning is completed, whether the gear self-learning is effective or not can be checked according to the operation condition by detecting the operation condition among the motor controller, the gearbox and the motor, and the checking accuracy is improved.
And before the gear self-learning of the gearbox, whether the gearbox has the fault before the self-learning can be further accurately detected by determining a set torque value and detecting whether the gearbox has the neutral fault according to the set torque value. And then, the preset torque value is set as the ratio of the pre-tightening torque to the transmission ratio corresponding to the gear, so that the validity of the self-learning position of the gear can be verified more accurately, and the abnormal movement of the vehicle during the verification self-learning process can be further prevented. Further improving the accuracy of self-learning verification.
Fig. 5 is a schematic structural diagram of a gear self-learning verification apparatus according to a third embodiment of the present invention, and as shown in fig. 5, in this embodiment, the gear self-learning verification apparatus 300 includes:
and the monitoring module 301 is used for monitoring the gear self-learning process of the gearbox.
And the neutral self-learning verification module 302 is used for controlling the motor controller to output corresponding torque according to a preset torque set value if the neutral position of the gearbox is monitored to complete self-learning, and determining a self-learning verification result according to the first rotating speed of the motor.
The in-gear self-learning verification module 303 is configured to acquire a preset torque value if it is monitored that the self-learning of the transmission is completed at the gear position, control the motor controller to output a corresponding torque according to the preset torque value, and determine a self-learning verification result according to the second rotation speed of the motor.
The gear self-learning verification device provided in this embodiment may implement the technical solution of the method embodiment shown in fig. 2, and the implementation principle and technical effect of the device are similar to those of the method embodiment shown in fig. 2, which are not described in detail herein.
Meanwhile, fig. 6 is a schematic structural diagram of a gear self-learning checking device according to a fourth embodiment of the present invention, and as shown in fig. 6, in this embodiment, another embodiment of the gear self-learning checking device according to the present invention further refines the gear self-learning checking device 400 on the basis of the gear self-learning checking device according to the previous embodiment.
Optionally, in this embodiment, when determining the self-learning check result according to the first rotation speed of the motor, the neutral self-learning check module 302 is specifically configured to:
and after the shake elimination time is preset, acquiring a first rotating speed of the motor, and if the first rotating speed is determined to be greater than zero, determining that a self-learning verification result of the neutral position is effective. If the first rotating speed is determined to be equal to zero, the self-learning verification result of the neutral position is invalid.
Optionally, in this embodiment, when the gear self-learning verification module 303 acquires the preset torque value, it is specifically configured to:
and acquiring the pre-tightening torque of the motor controller and the gear transmission ratio corresponding to the gear position. And calculating a ratio between the pre-tightening torque and the gear transmission ratio, and determining the ratio as a preset torque value.
Optionally, in this embodiment, when the gear-shift self-learning verification module 303 determines the self-learning verification result according to the second rotation speed of the motor, it is specifically configured to:
and after the shake elimination time is preset, acquiring a second rotating speed of the motor, and if the second rotating speed is determined to be equal to zero, the self-learning verification result of the gear position is effective. If the second rotating speed is determined to be greater than zero, the self-learning verification result of the gear position is invalid.
Optionally, in this embodiment, the method further includes:
and the self-learning control module is used for controlling the motor controller to output gradually increased output torque if the gearbox is monitored to be in a neutral position. And determining the corresponding output torque as a torque set value when the third rotating speed of the motor reaches a preset threshold value, and controlling the gearbox to perform a gear self-learning process when gear self-learning conditions are met. And calculating a difference value between the output torque and the pre-tightening torque, if the difference value is greater than zero and the third rotating speed of the motor is zero, sending out neutral gear fault information of the gearbox, and controlling the gearbox to stop the self-learning process of the gear.
Optionally, in this embodiment, the method further includes: and the verification result processing module 401 is configured to control the motor controller to stop outputting the torque and restart the gear self-learning process corresponding to the neutral position or the gear position if the self-learning verification result of the neutral position or the gear position is invalid.
The gear self-learning verification device provided in this embodiment may implement the technical solutions of the method embodiments shown in fig. 2 to 4, and the implementation principles and technical effects thereof are similar to those of the method embodiments shown in fig. 2 to 4, and are not described in detail here.
The invention also provides an electronic device, a computer readable storage medium and a computer program product according to the embodiments of the invention.
As shown in fig. 7, fig. 7 is a schematic structural diagram of an electronic device according to a fifth embodiment of the present invention. Electronic devices are intended for various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 7, the electronic apparatus includes: a processor 501, a memory 502, and a transceiver 503. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device.
The transceiver 503 is used for sending an output torque instruction to the motor controller and receiving the rotation speed information sent by the motor controller.
The memory 502 is a non-transitory computer readable storage medium provided by the present invention. The memory stores instructions executable by the at least one processor to cause the at least one processor to perform the gear self-learning verification method provided by the invention. The non-transitory computer readable storage medium of the present invention stores computer instructions for causing a computer to perform the gear self-learning verification method provided by the present invention.
The memory 502, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the gear self-learning verification method in the embodiment of the present invention (e.g., the monitoring module 301, the neutral self-learning verification module 302, and the in-gear self-learning verification module 303 shown in fig. 5). The processor 501 executes various functional applications and data processing of the server by running non-transitory software programs, instructions and modules stored in the memory 502, namely, implements the gear self-learning verification method in the above method embodiment.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the embodiments of the invention following, in general, the principles of the embodiments of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the embodiments of the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of embodiments of the invention being indicated by the following claims.
It is to be understood that the embodiments of the present invention are not limited to the precise arrangements described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of embodiments of the invention is limited only by the appended claims.
Claims (10)
1. A gear self-learning verification method is characterized by comprising the following steps:
monitoring a gear self-learning process of the gearbox;
if the neutral position of the gearbox is monitored to finish self-learning, controlling a motor controller to output corresponding torque according to a preset torque set value, and determining a self-learning verification result according to a first rotating speed of the motor;
and if the situation that the self-learning of the gearbox is finished at the gear position is monitored, acquiring a preset torque value, controlling a motor controller to output a corresponding torque according to the preset torque value, and determining a self-learning verification result according to a second rotating speed of the motor.
2. The method of claim 1, wherein determining a self-learning check result based on a first rotational speed of the motor comprises:
after the shaking eliminating time is preset, a first rotating speed of the motor is obtained, and if the first rotating speed is determined to be larger than zero, the self-learning verification result of the neutral position is effective;
and if the first rotating speed is determined to be equal to zero, the self-learning verification result of the neutral position is invalid.
3. The method of claim 1, wherein said obtaining a preset torque value comprises:
acquiring a pre-tightening torque of a motor controller and a gear transmission ratio corresponding to a gear position;
and calculating a ratio between the pre-tightening torque and the gear transmission ratio, and determining the ratio as a preset torque value.
4. The method of claim 3, wherein determining the self-learning check result based on the second speed of the motor comprises:
after the shaking eliminating time is preset, a second rotating speed of the motor is obtained, and if the second rotating speed is determined to be equal to zero, the self-learning verification result of the gear position is effective;
and if the second rotating speed is determined to be greater than zero, the self-learning verification result of the gear position is invalid.
5. The method of claim 3, wherein prior to monitoring the gear self-learning process of the transmission, further comprising:
if the gearbox is monitored to be in a neutral position, controlling the motor controller to output gradually increased output torque;
determining the corresponding output torque as a torque set value when the first rotating speed of the motor reaches a preset threshold value, and controlling the gearbox to perform a gear self-learning process when gear self-learning conditions are met;
and calculating a difference value between the output torque and the pre-tightening torque, if the difference value is larger than zero and the first rotating speed of the motor is zero, sending out neutral gear fault information of the gearbox, and controlling the gearbox to stop the self-learning process of the gear.
6. Method according to claim 3 or 4, characterized in that if the result of the self-learning check in neutral position or in gear position is invalid, the electric machine controller is controlled to stop outputting the torque and to restart the gear self-learning process corresponding to neutral position or in gear position.
7. A gear self-learning verification device is characterized by comprising:
the monitoring module is used for monitoring the gear self-learning process of the gearbox;
the neutral self-learning checking module is used for controlling the motor controller to output corresponding torque according to a preset torque set value if the neutral position of the gearbox is monitored to complete self-learning, and determining a self-learning checking result according to the first rotating speed of the motor;
the gear-in self-learning verification module is used for acquiring a preset torque value if the situation that the gear position of the gearbox is monitored to complete self-learning is monitored, controlling the motor controller to output corresponding torque according to the preset torque value, and determining a self-learning verification result according to the second rotating speed of the motor.
8. An electronic device, comprising: a memory, a processor, and a transceiver;
the processor, the memory and the transceiver are interconnected through a circuit;
the memory stores computer-executable instructions; the transceiver is used for sending an output torque instruction to the motor controller and receiving rotating speed information sent by the motor controller;
wherein the processor is configured to execute the gear self-learning verification method of any one of claims 1 to 6 by the processor.
9. A computer-readable storage medium having computer-executable instructions stored thereon, which when executed by a processor, perform the gear self-learning verification method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that the computer program, when being executed by a processor, implements the gear self-learning verification method according to any of the claims 1 to 6.
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