CN113002547A - Vehicle backlash fitting control method, device, equipment and storage medium - Google Patents
Vehicle backlash fitting control method, device, equipment and storage medium Download PDFInfo
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- CN113002547A CN113002547A CN202110353646.8A CN202110353646A CN113002547A CN 113002547 A CN113002547 A CN 113002547A CN 202110353646 A CN202110353646 A CN 202110353646A CN 113002547 A CN113002547 A CN 113002547A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention belongs to the technical field of electric automobiles, and discloses a method, a device, equipment and a storage medium for controlling the gear backlash fit of a vehicle. The method comprises the following steps: when a specified gear shifting signal is detected, acquiring a pedal control opening degree; detecting the motor rotating speed of the current motor, and filtering the motor rotating speed to obtain a first index rotating speed and a second index rotating speed; judging whether a torque control condition is met or not according to the gear shifting signal, the pedal control opening and the second index rotating speed; and if the torque control condition is met, performing torque control on the current motor according to the torque execution coefficient. Through the mode, the impact caused by the transmission mechanism in the gear shifting process is continuously kept at a lower level. Because corresponding torque control is carried out on the motor in the gear shifting process, the stability of the vehicle in the gear shifting process is improved, the conditions of shaking, impact or abnormal sound of the vehicle are reduced, and the driving experience of a driver is improved.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a method, a device, equipment and a storage medium for controlling the gear backlash fit of a vehicle.
Background
With the continuous development of battery technology, electric vehicles have broken through the technical bottleneck and enter the era of high-speed development, and along with the explosive growth of electric vehicles, a great deal of problems also exist in the control technology of electric vehicles and need to be improved.
In a scene of electric automobile drivability, when a vehicle stops, shifts gears, changes a forward/backward direction, and starts to run, the motor is not reasonably controlled, so that the driver experience is influenced. Can involve the change that the motor turned to and the reduction gear turns to in this kind of scene, motor and reduction gear are splined connection simultaneously, the inside gear engagement that is of reduction gear, the in-process that commutates can have a plurality of binding faces laminating unstable condition, in the in-process of "laminating, break away from, move, the speed reduction stops and reforms the laminating" specifically, if can't control the motion of each drive mechanism of this in-process, thereby can cause two flank of tooth fast collision to cause abnormal sound or shake, and then destroyed driver's driving experience, also can increase the motor, the reduction gear and the damage risk of the drive mechanism of connecting in the middle of.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method, a device and equipment for controlling the gear backlash fit of a vehicle and a storage medium, and aims to solve the technical problem that abnormal sound or vibration caused by rapid collision of two gear surfaces in a transmission mechanism connected with a motor cannot be avoided in the prior art.
In order to achieve the above object, the present invention provides a method for controlling backlash take-up of a vehicle, the method comprising the steps of:
detecting a gear shifting signal of a current vehicle;
when an appointed gear shifting signal is detected, obtaining the pedal control opening, wherein the appointed gear shifting signal comprises a parking forward gear shifting signal or a parking reverse gear shifting signal;
detecting the motor rotating speed of a current motor, and filtering the motor rotating speed to obtain a first index rotating speed and a second index rotating speed;
judging whether a torque control condition is met or not according to the gear shifting signal, the pedal control opening and the second index rotating speed;
if the torque control condition is met, determining a torque execution coefficient according to the first index rotating speed;
and carrying out torque control on the current motor according to the torque execution coefficient.
Optionally, the determining a torque execution coefficient according to the first index rotation speed includes:
acquiring a rotating speed-torque execution coefficient mapping relation table, wherein the rotating speed-torque execution coefficient mapping relation table comprises at least three groups of corresponding relations;
inquiring the rotating speed-torque execution coefficient mapping relation table to determine the rotating speed range of the first index rotating speed in the rotating speed-torque execution coefficient mapping relation table;
and determining a corresponding torque execution coefficient according to the rotating speed range.
Optionally, before the step of obtaining the speed-torque execution coefficient mapping table, the method further includes:
controlling a first index rotating speed of the motor to reach an initial rotating speed threshold value;
increasing the torque until the speed reducer starts to rotate and recording an initial torque execution coefficient at the moment;
controlling a first index rotating speed of the motor to reach a first rotating speed threshold value;
increasing the torque until the first index rotating speed reaches a preset calibration rotating speed threshold value and recording a first torque execution coefficient at the moment;
controlling the first index rotating speed of the motor to reach a second rotating speed threshold value;
increasing the torque until the second index rotating speed reaches a preset index rotating speed threshold value and recording a second torque execution coefficient at the moment;
and establishing a rotating speed range according to the first rotating speed threshold, the second rotating speed threshold and the initial rotating speed threshold, and establishing a rotating speed-torque execution coefficient mapping relation table according to the corresponding first torque execution coefficient, the second torque execution coefficient and the initial torque execution coefficient.
Optionally, the determining whether the torque control condition is met according to the gear shift signal, the pedal control opening degree and the second index rotation speed includes:
judging whether the current vehicle enters a braking state or not according to the pedal control opening degree;
if the current vehicle enters a braking state, judging whether the second index rotating speed is smaller than a preset rotating speed or not;
and if the second index rotating speed is less than the preset rotating speed, judging whether a gear shifting torque request exists according to the gear shifting signal so as to judge whether a torque control condition is met.
Optionally, after the step of performing torque control on the current motor according to the torque execution coefficient, the method further includes:
monitoring the first index rotating speed when torque control is started;
judging whether the first index rotating speed within the first preset time of torque control reaches a preset first index rotating speed threshold value or not;
if the first index rotating speed within the first preset time of torque control does not reach the preset first index rotating speed threshold value, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a first preset strategy.
Optionally, after the step of performing torque control on the current motor according to the torque execution coefficient, the method further includes:
monitoring the first index rotating speed when torque control is started;
judging whether the time for the first index rotating speed to reach the first rotating speed threshold value from a preset second index rotating speed threshold value is greater than second preset time or not;
if the time for the first index rotating speed to reach the first rotating speed threshold value from the preset second index rotating speed threshold value is longer than second preset time, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a second preset strategy.
Optionally, after the step of performing torque control on the current motor according to the torque execution coefficient, the method further includes:
monitoring the first index rotating speed when torque control is started;
judging whether the first index rotating speed exceeds a preset third index rotating speed threshold value in torque control;
if the first index rotating speed exceeds a preset third index rotating speed threshold value in the torque control, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a third preset strategy.
Further, in order to achieve the above object, the present invention provides a vehicle backlash take-up control device including:
the detection module is used for detecting a gear shifting signal of a current vehicle;
the system comprises a processing module, a control module and a control module, wherein the processing module is used for acquiring pedal control opening when a specified gear shifting signal is detected, and the specified gear shifting signal comprises a parking forward gear shifting signal or a parking reverse gear shifting signal;
the processing module is further used for detecting the motor rotating speed of the current motor and filtering the motor rotating speed to obtain a first index rotating speed and a second index rotating speed;
the processing module is further used for judging whether a torque control condition is met according to the gear shifting signal, the pedal control opening and the second index rotating speed;
the processing module is further used for determining a torque execution coefficient according to the first index rotating speed if a torque control condition is met;
and the control module is used for carrying out torque control on the current motor according to the torque execution coefficient.
Further, to achieve the above object, the present invention also proposes a vehicle backlash take-up control apparatus comprising: a memory, a processor, and a vehicle backlash take-up control program stored on the memory and executable on the processor, the vehicle backlash take-up control program configured to implement a vehicle backlash take-up control method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having a vehicle backlash take-up control program stored thereon, which when executed by a processor, implements the vehicle backlash take-up control method as described above.
The invention detects the gear shifting signal of the current vehicle; when an appointed gear shifting signal is detected, obtaining the pedal control opening, wherein the appointed gear shifting signal comprises a parking forward gear shifting signal or a parking reverse gear shifting signal; detecting the motor rotating speed of a current motor, and filtering the motor rotating speed to obtain a first index rotating speed and a second index rotating speed; judging whether a torque control condition is met or not according to the gear shifting signal, the pedal control opening and the second index rotating speed; if the torque control condition is met, determining a torque execution coefficient according to the first index rotating speed; and carrying out torque control on the current motor according to the torque execution coefficient. The impact caused by the transmission mechanism in the gear shifting process is continuously kept at a low level. Because the motor is correspondingly controlled by torque in the gear shifting process, the speed change process can be controlled in a very stable state, the stability of the vehicle in the gear changing process is improved, the conditions of shaking, impact or abnormal sound of the vehicle are reduced, and the driving experience of a driver is improved.
Drawings
FIG. 1 is a schematic structural diagram of a vehicle backlash compliance control device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a first embodiment of a method for controlling backlash in a vehicle according to the present invention;
FIG. 3 is a schematic diagram illustrating a backlash fit flow of an embodiment of a method for controlling backlash fit of a vehicle according to the present invention;
FIG. 4 is a schematic diagram illustrating a determination of backlash fit control conditions according to an embodiment of a method for controlling backlash fit of a vehicle according to the present invention;
FIG. 5 is a schematic diagram of backlash fit control logic according to an embodiment of the method for controlling backlash fit of a vehicle of the present invention;
FIG. 6 is a schematic diagram of a control parameter automatic correction logic according to an embodiment of the method for controlling backlash take-up of a vehicle;
FIG. 7 is a flowchart illustrating a backlash take-up control method for a vehicle according to a second embodiment of the present invention;
fig. 8 is a block diagram showing the structure of the first embodiment of the backlash take-up control apparatus for a vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a vehicle backlash fit control device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the vehicle backlash take-up control apparatus may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in FIG. 1 does not constitute a limitation of a vehicle backlash compliance control apparatus and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and a vehicle backlash take-up control program.
In the vehicle backlash take-up control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the vehicle backlash take-up control apparatus of the present invention may be provided in a vehicle backlash take-up control apparatus that calls a vehicle backlash take-up control program stored in the memory 1005 by the processor 1001 and executes a vehicle backlash take-up control method provided by an embodiment of the present invention.
An embodiment of the present invention provides a method for controlling a backlash in a vehicle, and referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a method for controlling a backlash in a vehicle according to the present invention.
In this embodiment, the vehicle backlash adhesion control method includes the steps of:
step S10: a shift signal of a current vehicle is detected.
It should be understood that the execution main body of the embodiment is a vehicle backlash joint control system, and the vehicle backlash joint control system may be a control system composed of a vehicle control unit and a motor controller, or may be a device having the same or similar function to the vehicle backlash joint control system.
It can be understood that the embodiment is used for a vehicle gear shifting control link, and mainly solves the problems of impact, vibration or abnormal sound caused by backlash fitting after the electric vehicle is stopped and shifts a forward gear or a reverse gear. Such as the spline/gear mesh transmission process diagram illustrated in fig. 3. Backlash engagement is the process of engagement between a series of transmission mechanisms from the motor to the tyre, said transmission mechanisms having: the motor shaft and reduction gear spline, the inside one-level of reduction gear, secondary gear, differential mechanism gear, reduction gear and transmission shaft spline transmission shaft and universal joint transmission shaft and wheel hub spline etc. two face clashes can lead to the vehicle to have impact sense, shake when the laminating. The output shaft of the motor, the speed reducer and the driving half shaft. Generally, when a vehicle outputs torque from a rotor shaft of a motor and the torque acts on wheels, the following steps are performed: the transmission device comprises a motor shaft, a spline of a speed reducer, a primary gear, a secondary gear, a differential gear, a spline transmission shaft of the speed reducer and a transmission shaft, a spline transmission shaft of a universal joint transmission shaft and a hub and the like in the speed reducer, all clearances existing in a series of transmissions need to be considered during torque reversing, the clearances are comprehensively used for causing the process that one section of motor rotor rotates but torque is not transmitted to a wheel during gear shifting (torque reversing), the whole resistance in the process is small, when the torque is transmitted to the wheel, the resistance is suddenly increased, the condition of rotation speed change can occur, and the wheel shakes, impacts or abnormal sounds. The present embodiment aims to solve this problem and improve the driving experience of the driver in the shift scenario as a whole.
It is understood that the shift signal is a signal of vehicle gear change information received when the vehicle shifts gears, for example: the parking range is switched to a reverse range signal. In this embodiment, the detected action is a vehicle gear signal sent from the vehicle control unit to the sensor.
Step S20: and when a specified gear shifting signal is detected, acquiring the pedal control opening, wherein the specified gear shifting signal comprises a parking forward gear shifting signal or a parking reverse gear shifting signal.
The designated shift signal refers to a shift signal including a parking shift forward signal or a parking shift reverse signal, and other shift change signals.
In addition, the pedal opening degree comprises an accelerator pedal opening degree and a brake pedal opening degree, so that the power required by the driver can be acquired according to the control pedal opening degree, and the motor is controlled according to the control pedal opening degree.
Step S30: and detecting the motor rotating speed of the current motor, and filtering the motor rotating speed to obtain a first index rotating speed and a second index rotating speed.
It can be understood that the motor rotation speed is the instantaneous rotation speed calculated by the motor controller obtaining the angle change of the motor rotor through the rotation change.
It should be noted that the first index rotation speed and the second index rotation speed are both motor rotation speeds obtained through low-pass filtering, and the difference is that time constants used during low-pass filtering are different, the motor controller obtains angle change of a motor rotor through rotation change, instantaneous rotation speed is obtained through calculation, the instantaneous rotation speed is subjected to low-pass filtering with a time constant of T1 to obtain speed1 (first index rotation speed), the speed1 is subjected to low-pass filtering with a time constant of T2 to obtain speed2 (second index rotation), and the first index rotation speed and the second index rotation speed are motor rotation speeds subjected to shallow filtering and deep filtering. Furthermore, the time constant T1 of shallow filtering is generally 2-4 ms, the time constant T2 of deep filtering is generally 20-30 ms, and the difference between the two is 8-10 times.
It should be understood that, in the present embodiment, the first index rotation speed and the second index rotation speed are both the absolute value of the first index rotation speed and the absolute value of the second index rotation speed when the first index rotation speed and the second index rotation speed are used for performing the logical judgment, because the logical judgment amount only relates to the rotation speed, and there is no direct relationship between the follow-up rotation direction and the change trend of the signal.
Step S40: and judging whether a torque control condition is met or not according to the gear shifting signal, the pedal control opening and the second index rotating speed.
It should be noted that the shift signal and the pedal control opening are used for generating a control command of the motor, and when the backlash fit control is not required, the motor controller generates corresponding power according to the above model to drive the vehicle to run.
In the present embodiment, it is determined whether the current vehicle enters a braking state according to the pedal control opening degree as shown in fig. 4; if the current vehicle enters a braking state, judging whether the second index rotating speed is smaller than a preset rotating speed or not; and if the second index rotating speed is less than the preset rotating speed, judging whether a gear shifting torque request exists according to the gear shifting signal so as to judge whether a torque control condition is met.
In specific implementation, whether the current vehicle enters a braking state is judged according to the pedal control opening degree, the braking state is that the vehicle enters a deceleration or parking state, and the vehicle can shift to advance or reverse after entering the braking state, so that backlash fitting control is needed to be performed on the vehicle.
Furthermore, the second index rotating speed shows whether the change of the rotating speed of the vehicle motor is smooth and reliable, and when the second index rotating speed is overlarge, the rotating speed of the vehicle motor changes suddenly. Therefore, when the second index rotating speed is too large, the vehicle does not finish the parking action, so a preset rotating speed needs to be set, the second index rotating speed is judged, and when the second index rotating speed of the vehicle is smaller than the preset rotating speed, the vehicle finishes the parking brake. In general, the second indicator speed is an absolute value of the second indicator speed in this process, and the preset speed threshold is set at about 100rpm, for example: and if the absolute value of the second index rotating speed is less than or equal to 100rpm, the next step of judging the gear shifting signal is carried out, and if the absolute value of the second index rotating speed is more than 100rpm, the last step of braking judgment is returned.
And finally, judging whether a gear shifting torque request exists according to the gear shifting signal, namely when the parking gear is braked, the vehicle can give a fixed torque, judging whether the torque request of the vehicle is the gear shifting torque or not through the fixed torque, and entering backlash control when the gear shifting torque occurs.
Step S50: and if the torque control condition is met, determining a torque execution coefficient according to the first index rotating speed.
It should be noted that the first index rotation speed is a rotation speed obtained by low-pass filtering an instantaneous rotation speed through a time constant of T1, and the first index rotation speed represents a real-time rotation speed of the motor after filtering, and the first index rotation speed can know in which rotation speed interval the current first index rotation speed exists through table lookup, the corresponding rotation speed interval should correspond to different torque execution coefficients, the torque execution coefficient is a torque execution coefficient multiplied on the basis of an actual torque request of the vehicle, and then the output torque of the motor is controlled according to an obtained result, so as to achieve the purpose of smooth gear shifting.
In a specific implementation, as shown in fig. 5, a rotation speed-torque execution coefficient mapping table may be established according to a parameter calibrated in advance, and then a table is looked up to obtain in which rotation speed interval the first index rotation speed exists, so as to obtain a corresponding execution coefficient. In the present embodiment, an initial torque execution coefficient K0 and torque execution coefficients K1, K2, and K3 corresponding to three rotational speed thresholds are taken as an example for explanation, the three rotational speed thresholds are SPD1, SPD2, and SPD3, respectively, and a specific calibration process related to the rotational speed-torque execution coefficient mapping table is explained in detail in the second embodiment.
Step S60: and carrying out torque control on the current motor according to the torque execution coefficient.
It should be noted that the required torque of the entire vehicle can be obtained according to the opening degree of the control pedal and the gear shifting signal, but if the required torque is not controlled, the vehicle collision or the vehicle shake can be caused by directly outputting the corresponding torque, so that the backlash control needs to be performed on the basis, and the torque control of the motor according to the torque execution coefficient is that the torque value originally requested by the entire vehicle is multiplied by the torque execution coefficient to obtain a lower output torque so that each mechanism in the transmission mechanism is fully combined to rotate to output the torque value originally requested by the entire vehicle.
It can be understood that, since the vehicle usage scenario or environment may be different from the calibration environment, the vehicle condition may also change with time, and therefore, the parameters in the speed-torque execution coefficient mapping table need to be adjusted according to the actual usage situation. In the embodiment, parameters in the mapping relation table of the rotating speed-torque execution coefficients are adjusted in the following manner, and the main adjusted parameters are the execution torque coefficients K0 and K3, and are recorded and adjusted through a local intelligent terminal or a remote intelligent terminal.
In the present embodiment, the first index rotational speed is monitored at the time of entering the torque control as shown in fig. 6; judging whether the first index rotating speed within the first preset time of torque control reaches a preset first index rotating speed threshold value or not; if the first index rotating speed within the first preset time of torque control does not reach the preset first index rotating speed threshold value, recording in a storage device; and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a first preset strategy.
In a specific implementation, the preset parameters may be set according to specific requirements of the vehicle, the data provided in this embodiment is only for reference, and does not represent limitation on the preset parameters, the preset first index rotational speed threshold is generally about 10rmp, the first preset time is about 100ms, and if the first index rotational speed within the first preset time of torque control does not reach the preset first index rotational speed threshold, the preset first index rotational speed threshold is set. The initial torque execution coefficient K0 needs to be increased if the motor cannot drive the transmission mechanism by using the initial torque execution coefficient K0 after the gear backlash joint is started, accidental situations can be eliminated if the situation occurs for a plurality of times within a certain time, the size of K0 is increased, the first preset strategy is that the initial torque execution coefficient in the rotating speed-torque execution coefficient mapping relation table is increased according to the judgment logic, and the increase range is set according to the actual situation. For example: if the first index rotating speed can not exceed 10rpm within 100ms after 3 times within 10 days, K0 is adjusted to 1.1 times of the original K0.
In the present embodiment, the first index rotational speed is monitored at the time of entering the torque control as shown in fig. 6; judging whether the time for the first index rotating speed to reach the first rotating speed threshold value from a preset second index rotating speed threshold value is greater than second preset time or not; if the time for the first index rotating speed to reach the first rotating speed threshold value from the preset second index rotating speed threshold value is longer than second preset time, recording in a storage device; and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a second preset strategy.
In a specific implementation, the preset parameters may be set according to specific requirements of the vehicle, the data provided in this embodiment is only for reference, and does not represent limitation on the preset parameters, the preset second index rotational speed threshold is generally about 2rmp, the second preset time is about 1T0 × 1.3, that is, T0 × 1.3 in fig. 6 is the second preset time, T0 is an actual measurement value after calibration is a known parameter, and if the time when the first index rotational speed reaches the first rotational speed threshold from the preset second index rotational speed threshold is greater than the second preset time, it should be noted that the first rotational speed threshold is the SPD3 in the rotational speed-torque execution coefficient mapping table as shown in fig. 5. The initial torque execution coefficient K0 is too large after the gear backlash joint is entered, collision or vibration is easy to cause, accidental situations can be eliminated if the situation occurs for a plurality of times within a certain time, the size of K0 is reduced, the second preset strategy is that the initial torque execution coefficient in the rotating speed-torque execution coefficient mapping relation table is reduced according to the judgment logic, and the small amplitude is set according to the actual situation. For example: and if the time of the first index rotating speed reaching SP3 from the moment of exceeding 2rpm is more than 500ms for 3 times within 10 days, adjusting the K0 to be 0.95 times of the original K0.
In the present embodiment, the first index rotational speed is monitored at the time of entering the torque control as shown in fig. 6; judging whether the first index rotating speed exceeds a preset third index rotating speed threshold value in torque control; if the first index rotating speed exceeds a preset third index rotating speed threshold value in the torque control, recording in a storage device; and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a third preset strategy.
In a specific implementation, the preset parameters may be set according to specific requirements of a vehicle, data provided in this embodiment is only for reference, and does not represent limitation on the preset parameters, the third index rotational speed threshold is generally 15rmp-20rmp, if the first index rotational speed exceeds 20rpm before the backlash joint control is exited, it is indicated that the torque for starting the backlash joint control is too large, and the preset adjustment policy is to adjust the size of the execution torque threshold K3, for example: if the first index rotation speed exceeds 20rpm before the backlash control is exited 3 times within 10 days, K3 is adjusted to 0.90 times of the original rotation speed.
The embodiment detects the gear shifting signal of the current vehicle; when an appointed gear shifting signal is detected, obtaining the pedal control opening, wherein the appointed gear shifting signal comprises a parking forward gear shifting signal or a parking reverse gear shifting signal; detecting the motor rotating speed of a current motor, and filtering the motor rotating speed to obtain a first index rotating speed and a second index rotating speed; judging whether a torque control condition is met or not according to the gear shifting signal, the pedal control opening and the second index rotating speed; if the torque control condition is met, determining a torque execution coefficient according to the first index rotating speed; and carrying out torque control on the current motor according to the torque execution coefficient. The impact caused by the transmission mechanism in the gear shifting process is continuously kept at a low level. Because the motor is correspondingly controlled by torque in the gear shifting process, the speed change process can be controlled in a very stable state, the stability of the vehicle in the gear changing process is improved, the conditions of shaking, impact or abnormal sound of the vehicle are reduced, and the driving experience of a driver is improved.
Referring to fig. 7, fig. 7 is a flowchart illustrating a method for controlling backlash in a vehicle according to a second embodiment of the present invention.
Based on the first embodiment, the method for controlling vehicle backlash adhesion in this embodiment specifically includes, before the step S50:
and step S51, obtaining a speed-torque execution coefficient mapping relation table, wherein the speed-torque execution coefficient mapping relation table comprises at least three groups of corresponding relations.
It should be understood that, as shown in fig. 5, at least one initial execution torque coefficient K0 and its corresponding first indicator speed interval and two other execution torque coefficients and their corresponding first indicator speed intervals are included, and in the present embodiment, one initial execution torque coefficient K0 and its corresponding first indicator speed interval are a region smaller than the first speed threshold SPD3 and three other execution torque coefficients K1, K2 and K3 and their corresponding first indicator speed intervals, K3 corresponds to the second speed threshold SPD2 to the first speed threshold SPD3, K2 corresponds to the third speed threshold SPD1 to the second speed threshold SPD2, and K3 corresponds to a region larger than the third speed threshold SPD 1.
In the embodiment, the first index rotating speed of the motor is controlled to reach the initial rotating speed threshold value; increasing the torque until the speed reducer starts to rotate and recording an initial torque execution coefficient at the moment; controlling a first index rotating speed of the motor to reach a first rotating speed threshold value; increasing the torque until the first index rotating speed reaches a preset calibration rotating speed threshold value and recording a first torque execution coefficient at the moment; controlling the first index rotating speed of the motor to reach a second rotating speed threshold value; increasing the torque until the second index rotating speed reaches a preset index rotating speed threshold value and recording a second torque execution coefficient at the moment; and establishing a rotating speed range according to the first rotating speed threshold, the second rotating speed threshold and the initial rotating speed threshold, and establishing a rotating speed-torque execution coefficient mapping relation table according to the corresponding first torque execution coefficient, the second torque execution coefficient and the initial torque execution coefficient.
It should be noted that, in the case that the motion condition of the speed reducer cannot be directly detected, the motion condition of the speed reducer can be obtained by analyzing the rotation speed of the motor, so as to calibrate the initial torque execution coefficient.
It should be appreciated that the initial speed threshold, i.e., the motor speed used to calibrate the initial torque execution factor K0, is typically relatively small. The 3 intervals can be obtained through the first rotating speed threshold value and the second rotating speed threshold value, the initial torque execution coefficient K0 can be put into the interval smaller than the first rotating speed threshold value because the initial rotating speed threshold value is smaller than the first rotating speed threshold value, the first torque execution coefficient and the second torque execution coefficient are corresponding to the first rotating speed threshold value, the second rotating speed threshold value and the area larger than the second rotating speed threshold value, the two rotating speed threshold values are taken for convenience of explanation, more rotating speed threshold values can be set according to the grading requirement, more rotating speed threshold values can be calibrated according to the rotating speed threshold values, and the grading control is more refined.
In the specific implementation, three rotational speed thresholds are taken as an example, and correspond to 4 execution coefficients respectively, as shown in fig. 5, where SPD1> SPD2> SPD3, and K1< K2< K3< K0, for example: SPD1 ═ 18, SPD2 ═ 13, SPD3 ═ 8, K1 ═ 0.05, K2 ═ 0.13, K3 ═ 0.44, K0 ═ 1.05; the calibration method of each parameter comprises the following steps: 1) SPDs 1-3 are typically less than 20; 2) firstly, K0 is calibrated, the parameter needs to ensure that the actual torque executed by the motor can enable the reducer to rotate under various conditions, but the parameter cannot be too large, and the parameter is too large to cause difficulty in limiting the tooth gap fitting rotating speed; 3) sequentially calibrating K1-K3 to ensure that the second index rotating speed value does not exceed 15rpm in the gear shifting backlash fitting process;
and step S52, inquiring the rotating speed-torque execution coefficient mapping table to determine the rotating speed range of the first index rotating speed in the rotating speed-torque execution coefficient mapping table.
It should be noted that the first index rotation speed, that is, the first index rotation speed, may be obtained by performing table lookup, where the first index rotation speed is in which threshold interval, so as to obtain the current torque execution coefficient, and perform torque control.
And step S53, determining a corresponding torque execution coefficient according to the rotating speed range.
It will be appreciated that the corresponding torque coefficient may be determined after the speed range is obtained.
The embodiment obtains a mapping relation table of a rotating speed-torque execution coefficient, wherein the mapping relation table of the rotating speed-torque execution coefficient comprises at least three groups of corresponding relations; inquiring the rotating speed-torque execution coefficient mapping relation table to determine the rotating speed range of the first index rotating speed in the rotating speed-torque execution coefficient mapping relation table; and determining a corresponding torque execution coefficient according to the rotating speed range. The core of the control method is that the entering judgment condition and the control strategy of gear shifting starting backlash fit are simplified, the robustness is high, the parameter calibration is simple, and the calibration period can be obviously shortened.
Furthermore, an embodiment of the present invention also provides a storage medium having a vehicle backlash take-up control program stored thereon, where the vehicle backlash take-up control program, when executed by a processor, implements the steps of the vehicle backlash take-up control method as described above.
Referring to fig. 8, fig. 8 is a block diagram showing a first embodiment of the backlash take-up control apparatus for a vehicle according to the present invention.
As shown in fig. 8, a backlash take-up control device for a vehicle according to an embodiment of the present invention includes:
the detection module 10 is used for detecting a gear shifting signal of a current vehicle.
And the processing module 20 is configured to obtain the pedal control opening degree when a specified shift signal is detected, where the specified shift signal includes a parking shift forward gear signal or a parking shift reverse gear signal.
The processing module 20 is further configured to detect a motor speed of the current motor, and perform filtering processing on the motor speed to obtain a first index speed and a second index speed.
The processing module 20 is further configured to determine whether a torque control condition is satisfied according to the shift signal, the pedal control opening degree, and the second index rotation speed.
The processing module 20 is further configured to determine a torque execution coefficient according to the first index rotation speed if a torque control condition is satisfied.
And the control module 30 is used for carrying out torque control on the current motor according to the torque execution coefficient.
The present embodiment detects a shift signal of a current vehicle through the detection module 10; the processing module 20 acquires the pedal control opening degree when detecting a specified gear shifting signal, wherein the specified gear shifting signal comprises a parking forward gear shifting signal or a parking reverse gear shifting signal; the detection module 20 detects the motor rotating speed of the current motor and performs filtering processing on the motor rotating speed to obtain a first index rotating speed and a second index rotating speed; the processing module 20 judges whether a torque control condition is met according to the gear shifting signal, the pedal control opening and the second index rotating speed; if the processing module 20 meets the torque control condition, determining a torque execution coefficient according to the first index rotating speed; the control module 30 performs torque control on the current motor according to the torque execution coefficient. The impact caused by the transmission mechanism in the gear shifting process is continuously kept at a low level. Because the motor is correspondingly controlled by torque in the gear shifting process, the speed change process can be controlled in a very stable state, the stability of the vehicle in the gear changing process is improved, the conditions of shaking, impact or abnormal sound of the vehicle are reduced, and the driving experience of a driver is improved.
In an embodiment, the processing module 20 is further configured to obtain a speed-torque execution coefficient mapping table, where the speed-torque execution coefficient mapping table includes at least three sets of corresponding relationships;
inquiring the rotating speed-torque execution coefficient mapping relation table to determine the rotating speed range of the first index rotating speed in the rotating speed-torque execution coefficient mapping relation table;
and determining a corresponding torque execution coefficient according to the rotating speed range.
In an embodiment, the processing module 20 is further configured to control a first index rotation speed of the motor to reach an initial rotation speed threshold;
increasing the torque until the speed reducer starts to rotate and recording an initial torque execution coefficient at the moment;
controlling a first index rotating speed of the motor to reach a first rotating speed threshold value;
increasing the torque until the first index rotating speed reaches a preset calibration rotating speed threshold value and recording a first torque execution coefficient at the moment;
controlling the first index rotating speed of the motor to reach a second rotating speed threshold value;
increasing the torque until the second index rotating speed reaches a preset index rotating speed threshold value and recording a second torque execution coefficient at the moment;
and establishing a rotating speed range according to the first rotating speed threshold, the second rotating speed threshold and the initial rotating speed threshold, and establishing a rotating speed-torque execution coefficient mapping relation table according to the corresponding first torque execution coefficient, the second torque execution coefficient and the initial torque execution coefficient.
In an embodiment, the processing module 20 is further configured to determine whether the current vehicle enters a braking state according to the pedal control opening degree;
if the current vehicle enters a braking state, judging whether the second index rotating speed is smaller than a preset rotating speed or not;
and if the second index rotating speed is less than the preset rotating speed, judging whether a gear shifting torque request exists according to the gear shifting signal so as to judge whether a torque control condition is met.
In an embodiment, the processing module 20 is further configured to monitor the first index rotational speed when entering the torque control;
judging whether the first index rotating speed within the first preset time of torque control reaches a preset first index rotating speed threshold value or not;
if the first index rotating speed within the first preset time of torque control does not reach the preset first index rotating speed threshold value, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a first preset strategy.
In an embodiment, the processing module 20 is further configured to monitor the first index rotational speed when entering the torque control;
judging whether the time for the first index rotating speed to reach the first rotating speed threshold value from a preset second index rotating speed threshold value is greater than second preset time or not;
if the time for the first index rotating speed to reach the first rotating speed threshold value from the preset second index rotating speed threshold value is longer than second preset time, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a second preset strategy.
In an embodiment, the processing module 20 is further configured to monitor the first index rotational speed when entering the torque control;
judging whether the first index rotating speed exceeds a preset third index rotating speed threshold value in torque control;
if the first index rotating speed exceeds a preset third index rotating speed threshold value in the torque control, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a third preset strategy.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment can be referred to the method for controlling the backlash take-up of the vehicle according to any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A vehicle backlash take-up control method, characterized by comprising:
detecting a gear shifting signal of a current vehicle;
when an appointed gear shifting signal is detected, obtaining the pedal control opening, wherein the appointed gear shifting signal comprises a parking forward gear shifting signal or a parking reverse gear shifting signal;
detecting the motor rotating speed of a current motor, and filtering the motor rotating speed to obtain a first index rotating speed and a second index rotating speed;
judging whether a torque control condition is met or not according to the gear shifting signal, the pedal control opening and the second index rotating speed;
if the torque control condition is met, determining a torque execution coefficient according to the first index rotating speed;
and carrying out torque control on the current motor according to the torque execution coefficient.
2. The method of claim 1, wherein determining a torque execution factor based on the first target speed comprises:
acquiring a rotating speed-torque execution coefficient mapping relation table, wherein the rotating speed-torque execution coefficient mapping relation table comprises at least three groups of corresponding relations;
inquiring the rotating speed-torque execution coefficient mapping relation table to determine the rotating speed range of the first index rotating speed in the rotating speed-torque execution coefficient mapping relation table;
and determining a corresponding torque execution coefficient according to the rotating speed range.
3. The method of claim 2, wherein said step of obtaining a speed-torque execution coefficient map is preceded by the step of:
controlling a first index rotating speed of the motor to reach an initial rotating speed threshold value;
increasing the torque until the speed reducer starts to rotate and recording an initial torque execution coefficient at the moment;
controlling a first index rotating speed of the motor to reach a first rotating speed threshold value;
increasing the torque until the first index rotating speed reaches a preset calibration rotating speed threshold value and recording a first torque execution coefficient at the moment;
controlling the first index rotating speed of the motor to reach a second rotating speed threshold value;
increasing the torque until the second index rotating speed reaches a preset index rotating speed threshold value and recording a second torque execution coefficient at the moment;
and establishing a rotating speed range according to the first rotating speed threshold, the second rotating speed threshold and the initial rotating speed threshold, and establishing a rotating speed-torque execution coefficient mapping relation table according to the corresponding first torque execution coefficient, the second torque execution coefficient and the initial torque execution coefficient.
4. The method of claim 1, wherein said determining whether a torque control condition is satisfied based on said shift signal, a pedal control opening, and a second indicator speed comprises:
judging whether the current vehicle enters a braking state or not according to the pedal control opening degree;
if the current vehicle enters a braking state, judging whether the second index rotating speed is smaller than a preset rotating speed or not;
and if the second index rotating speed is less than the preset rotating speed, judging whether a gear shifting torque request exists according to the gear shifting signal so as to judge whether a torque control condition is met.
5. The method of any of claims 1 to 4, wherein the step of torque controlling the current motor according to the torque execution factor is followed by further comprising:
monitoring the first index rotating speed when torque control is started;
judging whether the first index rotating speed within the first preset time of torque control reaches a preset first index rotating speed threshold value or not;
if the first index rotating speed within the first preset time of torque control does not reach the preset first index rotating speed threshold value, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a first preset strategy.
6. The method of any of claims 1 to 4, wherein the step of torque controlling the current motor according to the torque execution factor is followed by further comprising:
monitoring the first index rotating speed when torque control is started;
judging whether the time for the first index rotating speed to reach the first rotating speed threshold value from a preset second index rotating speed threshold value is greater than second preset time or not;
if the time for the first index rotating speed to reach the first rotating speed threshold value from the preset second index rotating speed threshold value is longer than second preset time, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a second preset strategy.
7. The method of any of claims 1 to 4, wherein the step of torque controlling the current motor according to the torque execution factor is followed by further comprising:
monitoring the first index rotating speed when torque control is started;
judging whether the first index rotating speed exceeds a preset third index rotating speed threshold value in torque control;
if the first index rotating speed exceeds a preset third index rotating speed threshold value in the torque control, recording in a storage device;
and when the recording times reach the preset times, adjusting the rotating speed-torque execution coefficient mapping relation table according to a third preset strategy.
8. A vehicle backlash take-up control device, comprising:
the detection module is used for detecting a gear shifting signal of a current vehicle;
the system comprises a processing module, a control module and a control module, wherein the processing module is used for acquiring pedal control opening when a specified gear shifting signal is detected, and the specified gear shifting signal comprises a parking forward gear shifting signal or a parking reverse gear shifting signal;
the processing module is further used for detecting the motor rotating speed of the current motor and filtering the motor rotating speed to obtain a first index rotating speed and a second index rotating speed;
the processing module is further used for judging whether a torque control condition is met according to the gear shifting signal, the pedal control opening and the second index rotating speed;
the processing module is further used for determining a torque execution coefficient according to the first index rotating speed if a torque control condition is met;
and the control module is used for carrying out torque control on the current motor according to the torque execution coefficient.
9. A vehicle backlash take-up control apparatus, characterized in that the apparatus comprises: a memory, a processor, and a vehicle backlash take-up control program stored on the memory and executable on the processor, the vehicle backlash take-up control program being configured to implement the method of vehicle backlash take-up control as claimed in any one of claims 1 to 7.
10. A storage medium having stored thereon a vehicle backlash take-up control program that, when executed by a processor, implements a method of vehicle backlash take-up control according to any one of claims 1 to 7.
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