CN113586686B - Self-adaptive adjustment method and device for clutch characteristic curve - Google Patents
Self-adaptive adjustment method and device for clutch characteristic curve Download PDFInfo
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- CN113586686B CN113586686B CN202111016911.XA CN202111016911A CN113586686B CN 113586686 B CN113586686 B CN 113586686B CN 202111016911 A CN202111016911 A CN 202111016911A CN 113586686 B CN113586686 B CN 113586686B
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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
- F16H48/00—Differential gearings
- F16H48/06—Differential gearings with gears having orbital motion
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Abstract
The invention provides a clutch characteristic curve self-adaptive adjustment method and device of a hybrid power transmission, wherein the method comprises the following steps: sampling the clutch pressure and the clutch transmission torque when the clutch works in different torque ranges; when the data volume of the sampling processing reaches the preset requirement, fitting is carried out by utilizing the sampled data to obtain the linear gain g of the clutch characteristic curve; based on the linear gain g and a preset stored initial linear gain g 0 Obtaining a linear gain variation value delta g (n); judging whether the clutch characteristic curve needs to be corrected or not based on the linear gain change value delta g (n); if the clutch characteristic curve needs to be corrected, the method is based on the linear gain change value delta g (n) and a preset stored initial linear gain g 0 And correcting the clutch characteristic curve.
Description
Technical Field
The invention relates to the field of hybrid power transmissions, in particular to a clutch characteristic curve self-adaptive adjustment method and device.
Background
The automatic transmission adopts the torque of a clutch transmission power assembly, and the characteristics (P-T curve) of the pressure and the transmission torque of the clutch are used as control parameters to directly influence the control performance of the transmission, including starting, creeping, gear shifting and the like. When the automatic transmission is offline, the transmission control unit TCU (Transmission Control Unit) uses a default P-T curve to control the clutches, but the P-T curve of each transmission varies due to assembly, manufacturing and other errors, and a single P-T curve cannot guarantee consistency of control performance. Furthermore, as the range of use of the vehicle increases, the wear of the clutch will increase and the P-T curve will change as well. If the vehicle fails to recognize the corresponding change, the control performance of the transmission will deteriorate, thereby reducing the drivability and comfort of the vehicle. Therefore, a vehicle equipped with an automatic transmission has a clutch having an adaptive function to ensure that the transmission maintains stable control performance throughout the life cycle.
In the existing clutch P-T self-adapting technology, a point searching method is adopted, namely, clutch pressure and transmission torque thereof are recorded to form data points, so that points corresponding to a P-T curve are updated. However, the torque precision of the power assembly in the low torque region is low, and the P-T curve can be greatly deviated in the low torque region by adopting a point searching self-adaptive method, so that the self-adaptive effect is poor.
Disclosure of Invention
According to the clutch characteristic curve self-adaptive adjustment method and device of the hybrid power transmission, the linear gain is obtained by recording the operating condition points (torque, pressure, slip, oil temperature and the like) of the clutch operation and utilizing the least square fitting method, and then the correction coefficient is calculated to correct the clutch characteristic curve, so that the clutch characteristic curve has the self-adaptive characteristic of gradual iteration.
The technical scheme of the invention is as follows:
the invention provides a clutch characteristic curve self-adaptive adjustment method, which comprises the following steps:
sampling the clutch pressure and the clutch transmission torque when the clutch works in different torque ranges;
when the data volume of the sampling processing reaches the preset requirement, fitting is carried out by utilizing the sampled data to obtain the linear gain g of the clutch characteristic curve;
based on the linear gain g and a preset stored initial linear gain g 0 Obtaining a linear gain variation value delta g (n);
judging whether the clutch characteristic curve needs to be corrected or not based on the linear gain change value delta g (n);
if the clutch characteristic curve needs to be corrected, the method is based on the linear gain change value delta g (n) and a preset stored initial linear gain g 0 And correcting the clutch characteristic curve.
Preferably, before performing the step of sampling clutch pressure and clutch transfer torque when the clutch is operating in different torque ranges, the method further comprises:
judging whether to trigger the self-adaptive adjustment of the clutch characteristic curve based on the running state of the whole vehicle;
and executing the step of sampling the clutch pressure and the clutch transmission torque when the clutch works in different torque ranges after determining the self-adaptive adjustment of the trigger clutch characteristic curve.
Preferably, the specific conditions for triggering the self-adaptive adjustment of the clutch characteristic curve are that the whole vehicle is in a gear running state, the clutch is in a micro-slip control mode, the transmission oil temperature is in a preset oil temperature range, the clutch plate temperature is at a first preset temperature, the clutch pressure fluctuation is smaller than a first preset pressure value, the total torque of the power assembly is larger than the first preset torque, and the transmission is in a preset gear.
Preferably, the step of sampling clutch pressure and clutch transfer torque when the clutch is operating in different clutch torque ranges comprises:
sampling and filtering clutch pressure and clutch transmission torque when the clutch works in different clutch torque ranges;
obtaining N clutch pressures and clutch transmission torques through continuous filtering, namely carrying out clutch pressure average value calculation and clutch transmission torque average value calculation once;
based on a plurality of storage sections divided in advance according to the torque range, the calculated clutch pressure average value and the clutch transmission torque average value are stored as a set of data into the corresponding storage sections.
Preferably, when the sampled data amount reaches a preset requirement, the step of fitting by using the sampled data to obtain the linear gain of the clutch characteristic curve includes:
when the number of the data sets stored in each storage interval respectively reaches the corresponding preset required number, performing least square fitting by utilizing the data sets stored in each storage interval to obtain the linear gain g of the clutch characteristic curve;
the number of preset requirements corresponding to different storage intervals is different.
Preferably based onThe linear gain g and the initial linear gain g stored in advance 0 The step of obtaining the linear gain variation value Δg (n) includes:
using the formula:
Δg(n)＝Δg(n-1)+α(g-g 0 -Δg(n-1))
performing iterative calculation to obtain a linear gain variation value delta g (n); wherein, delta g (n-1) is the linear gain change value obtained after the last clutch characteristic curve correction; alpha is an iteration factor, and alpha is a preset constant value; g is the linear gain; g 0 Is an initial linear gain;
when the clutch characteristic is first adapted, Δg (n-1) is zero.
Preferably, the step of determining whether the clutch characteristic curve needs to be corrected based on the linear gain variation value includes:
and if the linear gain variation value delta g (n) is in a preset variation range, determining that the clutch characteristic curve needs to be corrected.
Preferably, if the clutch characteristic curve is required to be modified, the method is based on the linear gain variation value delta g (n) and a preset stored initial linear gain g 0 The step of correcting the clutch characteristic curve includes:
using the formula:
calculating a correction coefficient F;
and correcting the clutch characteristic curve by using the correction coefficient F.
Preferably, the method further comprises:
the obtained linear gain variation value deltag (n) is stored and used for the next adaptive adjustment of the clutch characteristic curve.
The invention also provides a clutch characteristic curve self-adaptive adjusting device, which comprises:
the sampling processing module is used for sampling and processing clutch pressure and clutch transmission torque when the clutch works in different torque ranges;
the fitting module is used for fitting by using the sampled data when the sampled data quantity reaches the preset requirement to obtain the linear gain g of the clutch characteristic curve;
a calculation module for presetting the stored initial linear gain g based on the linear gain g 0 Obtaining a linear gain variation value delta g (n);
the judging module is used for judging whether the clutch characteristic curve needs to be corrected or not based on the linear gain change value delta g (n);
and the correction module is used for correcting the clutch characteristic curve based on the linear gain change value delta g (n) and the preset stored initial linear gain g if the clutch characteristic curve is required to be corrected.
The beneficial effects of the invention are as follows:
compared with the prior art, the method provided by the invention corrects the clutch characteristic curve, can avoid larger deviation of the clutch characteristic curve in a low torque area, and has the characteristic of gradual iteration which is easier to obtain stable self-adaptive effect.
Drawings
FIG. 1 is a schematic illustration of a hybrid powertrain incorporating a dual clutch transmission of the present invention;
FIG. 2 is a flow chart of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a clutch torque and pressure fitting method applied to the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings, but embodiments thereof are merely examples, and other embodiments may take various alternative forms.
The invention provides a clutch characteristic curve self-adaptive adjustment method which is applied to a hybrid power system with a double-clutch transmission, wherein the system has two driving modes of pure electric driving mode and hybrid power driving mode. As shown in fig. 1, in the hybrid system in the electric-only mode, the clutch C0 is opened, the engine E is not operated, and the torque of the motor EM can be input into the transmission G through the outer clutch C1 or the inner clutch C2 and then transmitted to the wheels W through the differential D; while the hybrid system is in hybrid mode, with clutch C0 engaged, the torque of engine E and electric machine EM will be transferred to wheels W in the same manner. In addition, the transmission control unit TCU can control the pressure of the clutches C0, C1 and C2 by controlling the current level of the solenoid valve inside the hydraulic system H, thereby completing the opening and engagement of the clutches.
Since the three clutches C0, C1 and C2 of the hybrid system described above differ in function, the P-T adaptation requirements will vary accordingly. The clutch C0 has the main function of starting the engine, and is small in sliding friction work and cooling flow rate in design, and open-loop control is adopted, so that the clutch C0 does not need to consider self-adaption. The clutches C1 and C2 have the characteristics of large sliding friction work and large cooling flow, the P-T curve of the clutches is greatly deviated along with time variation, the influence on drivability is great, and the self-adaption is necessary. In view of this, the clutch characteristic curve adaptive adjustment method in the embodiment of the invention is applicable only to clutches C1 and C2.
Further, as shown in fig. 2, the specific content of the characteristic curve adaptive strip method applied to the clutches C1 and C2 in the embodiment of the present invention includes the following steps:
step S10: checking whether the running state of the whole vehicle meets the triggering condition of self-adaptive adjustment of the clutch characteristic curve or not; if the triggering condition is satisfied, step S20 is executed, otherwise, the clutch characteristic adaptive adjustment is exited.
The triggering conditions include: the whole vehicle runs in gear, and the clutch is in a microslip control mode; the transmission oil temperature is within a preset oil temperature range (e.g., within the range of [50 ℃ -95 ℃); the clutch plate temperature is below a first predetermined temperature (e.g., 250 ℃); clutch pressure fluctuations are less than a first preset pressure value (e.g., 0.5 bar); the total torque of the powertrain (in this embodiment, specifically, the engine E and the motor EM) is greater than a first preset torque (e.g., 20 Nm); the transmission is in a preset gear (the preset gear is the high gear), preferably 3, 4, 5 and 6.
The micro slip control mode of the clutch means that the clutch maintains a micro slip of 20rpm or less by the transmission control unit TCU through closed loop feedback control while the clutch transmits the torque of the engine E and the motor EM.
The clutch pressure fluctuation refers to the pressure difference between the current clutch pressure and the pressure before the preset period, and in the embodiment, the priority is 5 periods.
Step S20: and after the running state of the whole vehicle meets the self-adaptive adjustment triggering of the clutch characteristic curve, the clutch pressure and the clutch transmission torque are sampled and filtered.
Specifically, the process includes: the clutch pressure and clutch transfer torque are sampled when the clutch is operating in different torque ranges.
The sampled clutch pressure and clutch transfer torque are filtered. Then, for the clutch pressure and clutch torque in which the clutch operates in the same torque range, the average value of N consecutive sampling points is calculated to obtain the clutch pressure average value and clutch transmission torque average value required in the present embodiment, 10 sampling points are preferred.
In this embodiment, the clutch transmission torque is the total torque of the engine E and the motor EM without considering the inertia torque.
Step S30: the calculated clutch pressure average value and clutch transmission torque average value are stored as a set of data in a storage section in the transmission control unit TCU in order of magnitude according to the clutch transmission torque average value. In particular, it is stored in its non-volatile memory NVM.
The transmission control unit TCU has a plurality of memory sections, which are divided based on the clutch transmission torque, and one memory section corresponds to each clutch transmission torque range. Therefore, when storing a set of data, the set of data is stored in the corresponding storage interval.
In this embodiment, a linear fitting method is used to calculate the linear gain g of the clutch characteristic, and the accuracy of the fitting is related to the distribution of the data points. If the stored data points are more concentrated, the accuracy of the fit is difficult to ensure. Therefore, the present embodiment will store the data described in step S30, preferably three NVM spaces, depending on the magnitude of the transfer torque.
Specifically, if the clutch transfer torque is less than T1, storing data in the low torque zone NVM space; if the clutch transfer torque is within the [ T1T 2] range, storing data in a medium torque zone NVM space; if the clutch transfer torque is greater than T2, storing data in the high torque zone NVM space; t1 is preferably 150Nm, and T2 is preferably 300Nm.
Step S40: and checking whether the data quantity in each storage space reaches the preset required quantity, if so, executing the step S50, otherwise, carrying out self-adaption, and not carrying out fitting.
In this embodiment, if the fitting condition is to be satisfied, the number of data points stored in the storage space of the low torque area is required to be not less than M1, the number of data points stored in the storage space of the medium torque area is not less than M2, and the number of data points stored in the storage space of the high torque area is not less than M3; m1, M2, M3 are preferably 8, 4.
Step S50: and extracting the data in each storage space for fitting so as to calculate the linear gain g of the clutch characteristic curve.
The fitting calculation uses a linear least squares method, as shown in fig. 3.
Specifically, all data points stored in each memory space are unified into the same coordinate system, denoted as (xi, yi), i=1, 2,3, …, k, where xi represents clutch pressure, yi represents clutch transfer torque, and k is the total number of data points. Setting the fitted functional expression to be y=f+gx, the following matrix equation can be obtained:
to this end, the linear gain g calculated by the linear least square method will satisfy the following expression:
in this embodiment, considering the ramp characteristic of the clutch characteristic curve, after the linear gain g obtained by fitting, an iterative method may be used to calculate the adaptive gain value g (n), so as to satisfy the following:
g(n)＝g(n-1)+α*(g-g(n-1))
where g (n-1) is the linear gain obtained after the previous adaptation, and α is an iteration factor, in this embodiment, α is preferably 0.1.
Step S60: for ease of initialization, the linear gain variation value Δg (n) is calculated to be stored instead of the gain value g (n).
The gain change value Δg (n) refers to the gain value g (n) obtained by the current iteration and the initial gain g in the transmission control unit TCU 0 Is a difference between (a) and (b).
Likewise, the gain variation value is calculated in an iterative manner, which satisfies the following relation:
Δg(n)＝Δg(n-1)+α*(g-g 0 -Δg(n-1))
wherein, delta g (n-1) is the linear gain change value obtained after the last clutch characteristic curve correction; alpha is an iteration factor, and alpha is a preset constant value; g is the linear gain; g 0 Is the initial linear gain.
Wherein, when the clutch characteristic curve is adaptively adjusted for the first time, Δg (n-1) is zero.
Step S70: judging whether the gain change value delta g (n) is in a preset change range, if so, determining that the clutch characteristic curve needs to be corrected, and further executing step S80, otherwise, exiting self-adaption, and not correcting the clutch characteristic curve.
The preferred preset variation range in this embodiment is [ -1 ] Nm/bar.
Step S80: the clutch characteristic curve is corrected for pressure control of the clutch.
The correction method is to calculate a correction coefficient F to correct a clutch characteristic curve in a transmission control unit TCU, wherein the correction coefficient F meets the following conditions:
step S90: after power-down, the gain change value Δg (n) at this time is stored for the next adaptive adjustment of the clutch characteristic curve.
In the next clutch characteristic curve correction, the gain change value Δg (n) calculated at this time is Δg (n-1) used in the next calculation.
By implementing the steps S10 to S90 described above, the clutch characteristic curve can be corrected stepwise, so that it can be ensured that the transmission can maintain stable control performance throughout the entire life cycle, satisfying the object of the present invention.
It should be noted that the above embodiments are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A method for adaptively adjusting a characteristic curve of a clutch, comprising:
judging whether to trigger the self-adaptive adjustment of the clutch characteristic curve based on the running state of the whole vehicle; the specific conditions for triggering the self-adaptive adjustment of the clutch characteristic curve are that the whole vehicle runs in a gear, the clutch is in a microslip control mode, the oil temperature of the transmission is in a preset oil temperature range, the temperature of a clutch plate is at a first preset temperature, the pressure fluctuation of the clutch is smaller than a first preset pressure value, the total torque of the power assembly is larger than a first preset torque, and the transmission is in a preset gear;
when the self-adaptive adjustment of the characteristic curve of the trigger clutch is determined, sampling the clutch pressure and the clutch transmission torque when the clutch works in different torque ranges;
when the data volume of the sampling processing reaches the preset requirement, fitting is carried out by utilizing the sampled data to obtain the linear gain g of the clutch characteristic curve;
based on the linear gain g and a preset stored initial linear gain g 0 Obtaining a linear gain variation value delta g (n);
judging whether the clutch characteristic curve needs to be corrected or not based on the linear gain change value delta g (n);
if the clutch characteristic curve needs to be corrected, the method is based on the linear gain change value delta g (n) and a preset stored initial linear gain g 0 Correcting the clutch characteristic curve;
based on the linear gain g and a preset stored initial linear gain g 0 The step of obtaining the linear gain variation value Δg (n) includes:
using the formula:
△g(n)＝△g(n-1)+α(g-g 0 -△g(n-1))
performing iterative calculation to obtain a linear gain variation value delta g (n); wherein, deltag (n-1) is the linear gain change value obtained after the last time of clutch characteristic curve correction; alpha is an iteration factor, and alpha is a preset constant value; g is the linear gain; g 0 Is an initial linear gain;
when the clutch characteristic curve is adaptively adjusted for the first time, Δg (n-1) is zero;
if the clutch characteristic curve needs to be corrected, the method is based on the linear gain change value delta g (n) and a preset stored initial linear gain g 0 The step of correcting the clutch characteristic curve includes:
using the formula:
calculating a correction coefficient F;
and correcting the clutch characteristic curve by using the correction coefficient F.
2. The method of claim 1, wherein the step of sampling clutch pressure and clutch transfer torque when the clutch is operating in different clutch torque ranges comprises:
sampling and filtering clutch pressure and clutch transmission torque when the clutch works in different clutch torque ranges;
obtaining N clutch pressures and clutch transmission torques through continuous filtering, namely carrying out clutch pressure average value calculation and clutch transmission torque average value calculation once;
based on a plurality of storage sections divided in advance according to the torque range, the calculated clutch pressure average value and the clutch transmission torque average value are stored as a set of data into the corresponding storage sections.
3. The method of claim 2, wherein the step of fitting using the sampled processed data to obtain the linear gain of the clutch characteristic when the sampled processed data amount meets a preset requirement comprises:
when the number of the data sets stored in each storage interval respectively reaches the corresponding preset required number, performing least square fitting by utilizing the data sets stored in each storage interval to obtain the linear gain g of the clutch characteristic curve;
the number of preset requirements corresponding to different storage intervals is different.
4. The method of claim 1, wherein the step of determining whether a correction to a clutch characteristic is required based on the linear gain variation value comprises:
and if the linear gain variation value delta g (n) is in a preset variation range, determining that the clutch characteristic curve needs to be corrected.
5. The method according to claim 1, wherein the method further comprises:
the obtained linear gain variation value deltag (n) is stored and used for the next adaptive adjustment of the clutch characteristic curve.
6. A clutch characteristic adaptive adjustment device, comprising:
the sampling processing module is used for judging whether to trigger the self-adaptive adjustment of the clutch characteristic curve based on the running state of the whole vehicle; the specific conditions for triggering the self-adaptive adjustment of the clutch characteristic curve are that the whole vehicle runs in a gear, the clutch is in a microslip control mode, the oil temperature of the transmission is in a preset oil temperature range, the temperature of a clutch plate is at a first preset temperature, the pressure fluctuation of the clutch is smaller than a first preset pressure value, the total torque of the power assembly is larger than a first preset torque, and the transmission is in a preset gear; when the self-adaptive adjustment of the characteristic curve of the trigger clutch is determined, sampling the clutch pressure and the clutch transmission torque when the clutch works in different torque ranges;
the fitting module is used for fitting by using the sampled data when the sampled data quantity reaches the preset requirement to obtain the linear gain g of the clutch characteristic curve;
a calculation module for presetting the stored initial linear gain g based on the linear gain g 0 Obtaining a linear gain variation value delta g (n);
the judging module is used for judging whether the clutch characteristic curve needs to be corrected or not based on the linear gain change value delta g (n);
the correction module is used for correcting the clutch characteristic curve based on the linear gain change value delta g (n) and the preset stored initial linear gain g if the clutch characteristic curve is required to be corrected;
the calculation module uses the formula:
△g(n)＝△g(n-1)+α(g-g 0 -△g(n-1))
performing iterative calculation to obtain a linear gain variation value delta g (n); wherein, deltag (n-1) is the linear gain change value obtained after the last time of clutch characteristic curve correction; alpha is an iteration factor, and alpha is a preset constant value; g is the linear gain; g 0 Is an initial linear gain;
when the clutch characteristic curve is adaptively adjusted for the first time, Δg (n-1) is zero;
the correction module uses the formula:
calculating a correction coefficient F;
and correcting the clutch characteristic curve by using the correction coefficient F.
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| CN115451120B (en) * | 2022-10-14 | 2024-02-13 | 上海汽车变速器有限公司 | Method, device, equipment and storage medium for correcting clutch characteristic curve |
| CN115451119B (en) * | 2022-10-14 | 2024-02-13 | 上海汽车变速器有限公司 | Method, device, equipment and storage medium for correcting clutch characteristic curve |
| CN115750781B (en) * | 2022-11-26 | 2024-05-14 | 重庆长安汽车股份有限公司 | Self-learning method and system for QI characteristic data of flow valve of transmission and vehicle |
| CN116085463A (en) * | 2023-01-02 | 2023-05-09 | 重庆长安汽车股份有限公司 | Clutch solenoid valve P-I curve self-learning method and system of hybrid transmission |
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