CN113803461B - Gear position determining method, device and equipment based on self-learning and storage medium - Google Patents
Gear position determining method, device and equipment based on self-learning and storage medium Download PDFInfo
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- CN113803461B CN113803461B CN202111148460.5A CN202111148460A CN113803461B CN 113803461 B CN113803461 B CN 113803461B CN 202111148460 A CN202111148460 A CN 202111148460A CN 113803461 B CN113803461 B CN 113803461B
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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
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
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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
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
- F16H63/42—Ratio indicator devices
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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
- F16H2061/0062—Modifying an existing transmission control from a manufacturer for improvement or adaptation, e.g. by replacing a valve or an electric part
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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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Abstract
The invention relates to the technical field of self-learning, and discloses a gear position determining method, device and equipment based on self-learning, and a storage medium, wherein the method comprises the following steps: triggering the current motor to rotate according to a preset rotation direction according to a self-learning instruction sent by the upper computer or the ECU to obtain a corresponding rotation limit position; obtaining the central position of the target gear based on the duty ratio corresponding to the rotation limit position; calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value; according to the invention, the current motor is triggered to rotate according to the preset rotation direction by the self-learning instruction sent by the upper computer or the ECU, and the position of each gear of the target vehicle is calculated according to the rotation limit position obtained by rotation and the preset gear difference value relationship.
Description
Technical Field
The present invention relates to the field of self-learning technologies, and in particular, to a method, an apparatus, a device, and a storage medium for determining a gear position based on self-learning.
Background
With the development of automobile technology, consumers have increasingly demanded driving comfort, and the application of technology by replacing manpower with electronics and electricity has become more common; in addition, the occurrence of intelligent driving is also a necessary trend due to the fact that an electromechanical component replaces traditional mechanical operation, electronic gear shifting is a product of the development trend, particularly, electronic gear shifting adopts a stop lever to act to drive the output of a Hall sensor in the stop lever to change, the structure of a voltage dividing circuit is changed to transmit different combined high and low levels to the outside, PWM waves corresponding to required gears can be output to control a gear shifting motor to act to complete gear shifting after the high and low levels are converted by a controller, due to the fact that accuracy errors exist in the Hall sensor near an executing motor and mechanical size errors exist in a gear shifting system, the accuracy of determining the positions of the gears is low, the existing common technical scheme for determining the positions of the gears is used for independently learning all gears to determine the range of duty ratio values corresponding to each gear and the accurate midpoint position, and due to the fact that independent learning and comparison are carried out one by one, the operation of the whole determination of the positions of the gears is extremely complex, and the loss of the motor is large.
The foregoing is provided merely for the purpose of facilitating understanding of the technical solutions of the present invention and is not intended to represent an admission that the foregoing is prior art.
Disclosure of Invention
The invention mainly aims to provide a gear position determining method, device and equipment based on self-learning and a storage medium, and aims to solve the technical problem that the prior art is complex in gear position determining operation and causes large motor loss.
In order to achieve the above object, the present invention provides a gear position determining method based on self-learning, the gear position determining method based on self-learning comprising the steps of:
acquiring a self-learning instruction sent by an upper computer or an ECU;
triggering the current motor to rotate according to a preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position;
obtaining the central position of the target gear based on the duty ratio corresponding to the rotation limit position;
calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value;
and correcting the preset gear position according to the position of each gear.
Optionally, the triggering the current motor to rotate according to the preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position includes:
triggering a current motor to rotate according to a specified rotation direction according to the self-learning instruction, and obtaining a first rotation limit position when the current motor is blocked;
triggering the current motor to rotate in the direction opposite to the designated rotation direction according to the self-learning instruction, and obtaining a second rotation limit position when an invalid value appears in the numerical value of the target gear for the first time.
Optionally, the triggering the current motor to rotate according to the specified rotation direction according to the self-learning instruction, when the current motor is locked, obtaining a first rotation limit position includes:
triggering the current motor to rotate according to the appointed rotation direction according to the self-learning instruction;
the armature current of the rotating current motor is monitored in real time;
and when the value of the armature current exceeds a current threshold for judging stalling, judging that the current motor is stalled, and taking the position of the current motor as a first rotation limit position.
Optionally, the triggering the current motor to rotate according to the direction opposite to the designated rotation direction according to the self-learning instruction, when the value of the target gear first appears an invalid value, obtaining a second rotation limit position includes:
triggering the current motor to rotate in the direction opposite to the designated rotating direction according to the self-learning instruction;
monitoring the numerical curve of the target gear in real time;
and when an invalid value appears in the numerical curve for the first time, controlling the current motor to stop rotating according to a preset stop instruction, and taking the position of the current motor as a second rotation limit position.
Optionally, the obtaining the center position of the target gear based on the duty ratio corresponding to the rotation limit position includes:
obtaining a corresponding duty ratio according to the rotation limit position, wherein the duty ratio comprises a first duty ratio and a second duty ratio;
and carrying out average calculation on the first duty ratio and the second duty ratio to obtain the central position of the target gear.
Optionally, the calculating the position of each gear of the target vehicle according to the relationship between the center position of the target gear and the preset gear difference value includes:
obtaining the duty ratio difference value between each gear in the target vehicle and the target gear according to the relation between the central position of the target gear and the preset gear difference value;
and calculating the position of each gear of the target vehicle according to the central position and the duty ratio difference value.
Optionally, the correcting the preset gear position according to the position of each gear includes:
acquiring gear correction requirements and total driving mileage of a target vehicle;
correcting the preset gear position according to the gear correction requirement and the position of each gear;
or (b)
And correcting the position of the preset gear by the position of each gear when the total number of the driving mileage reaches a preset mileage threshold.
In addition, in order to achieve the above object, the present invention also proposes a gear position determining device based on self-learning, the gear position determining device based on self-learning comprising:
the acquisition module is used for acquiring a self-learning instruction sent by the upper computer or the ECU;
the rotation module is used for triggering the current motor to rotate according to the preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position;
the acquisition module is further used for acquiring the central position of the target gear based on the duty ratio corresponding to the rotation limit position;
the calculating module is used for calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value;
and the correction module corrects the preset gear position according to the position of each gear.
In addition, in order to achieve the above object, the present invention also proposes a self-learning-based gear position determining apparatus including: the system includes a memory, a processor, and a self-learning based gear position determination program stored on the memory and executable on the processor, the self-learning based gear position determination program configured to implement the self-learning based gear position determination method as described above.
In addition, in order to achieve the above object, the present invention also proposes a storage medium having stored thereon a self-learning-based gear position determining program which, when executed by a processor, implements the self-learning-based gear position determining method as described above.
According to the gear position determining method based on self-learning, the self-learning instruction sent by the upper computer or the ECU is obtained; triggering the current motor to rotate according to a preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position; obtaining the central position of the target gear based on the duty ratio corresponding to the rotation limit position; calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value; and correcting the preset gear position according to the position of each gear. According to the invention, the current motor is triggered to rotate according to the preset rotation direction by the self-learning instruction sent by the upper computer or the ECU, and the position of each gear of the target vehicle is calculated according to the rotation limit position obtained by rotation and the preset gear difference value relationship.
Drawings
FIG. 1 is a schematic diagram of a self-learning based gear position determination device of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart of a first embodiment of a self-learning-based gear position determination method according to the present invention;
FIG. 3 is a flowchart of a second embodiment of a self-learning-based gear position determination method according to the present invention;
FIG. 4 is a schematic diagram of the overall structure of an embodiment of a self-learning-based gear position determining method according to the present invention;
FIG. 5 is a flowchart of a third embodiment of a self-learning-based gear position determination method according to the present invention;
fig. 6 is a schematic functional block diagram of a first embodiment of the gear position determining device based on self-learning according to the present invention.
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a gear position determining device based on self-learning in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the self-learning-based gear position determining apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further 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 high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 1 does not constitute a limitation of the self-learning based gear position determining apparatus, and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a self-learning-based gear position determination program may be included in the memory 1005 as one storage medium.
In the gear position determining apparatus based on self-learning 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 self-learning-based gear position determining apparatus of the present invention may be provided in the self-learning-based gear position determining apparatus, which invokes the self-learning-based gear position determining program stored in the memory 1005 through the processor 1001 and executes the self-learning-based gear position determining method provided by the embodiment of the present invention.
Based on the hardware structure, the embodiment of the gear position determining method based on self-learning is provided.
Referring to fig. 2, fig. 2 is a flowchart of a first embodiment of a self-learning-based gear position determining method according to the present invention.
In a first embodiment, the self-learning-based gear position determination method includes the steps of:
step S10, acquiring a self-learning instruction sent by the upper computer or the ECU.
It should be noted that the execution body of the present embodiment is a gear position determining device based on self-learning, and may be other devices that can implement the same or similar functions, such as a vehicle controller, etc., and this embodiment is not limited thereto, and in the present embodiment, a vehicle controller is taken as an example for explanation.
It should be understood that the self-learning instruction refers to an instruction for driving the vehicle controller to perform gear position autonomous learning, and a transmitting end of the self-learning instruction may be an upper computer, or may be other electronic control units (Electronic Control Unit, ECU), for example, a gearbox control unit (Transmission Control Unit, TCU), an engine control module (Engine Control Module, ECM), etc., and for a mass-produced vehicle model, the transmitting timing of the self-learning instruction may be set to a target driving range, and then the target driving range may be set to be 100 km after the vehicle is first powered up but the engine is not started.
And step S20, triggering the current motor to rotate according to the preset rotation direction according to the self-learning instruction, and obtaining a corresponding rotation limit position.
It is understood that the preset rotation direction refers to a direction in which the current motor rotates, and is divided into a designated rotation direction and a direction opposite to the designated rotation direction.
It should be understood that the rotation limit position is a position where a stall condition occurs in the rotation process of the current motor or an invalid value occurs in the gear, after receiving the self-learning instruction, the assembly controller of the target vehicle provides corresponding torque to drive the current motor to rotate, and controls the current motor to rotate according to the torque and a preset rotation direction, namely, controls the current motor to rotate according to the appointed rotation direction for the first time, and controls the current motor to rotate according to the opposite direction of the appointed rotation direction for the second time when the stall occurs in the current motor.
In specific implementation, after receiving a self-learning instruction, the vehicle controller controls the current motor to rotate according to a preset rotation direction, and records the rotation limit position in the rotation process of the current motor.
And step S30, obtaining the central position of the target gear based on the duty ratio corresponding to the rotation limit position.
It should be understood that the duty ratio refers to a time ratio of a high level in a PWM wave of the current motor in a unit period, for example, the time ratio of the high level in the unit period is 50%, the duty ratio at this time is 0.5, the duty ratio value of the PWM waveform directly reflects the current position of the motor, the duty ratio corresponding to the central position of the current gear is obtained by averaging the duty ratio values of the first rotation limit position and the second rotation limit position, and the central position is the most accurate position where the target gear is located.
Further, step S30 includes: obtaining a corresponding duty ratio according to the rotation limit position, wherein the duty ratio comprises a first duty ratio and a second duty ratio; and carrying out average calculation on the first duty ratio and the second duty ratio to obtain the central position of the target gear.
It can be understood that, since the current motor is divided into a positive direction and a negative direction in the current rotation direction of the target, the obtained rotation limit position is divided into a first rotation limit position and a second rotation limit position, the first rotation limit position and the second rotation limit position are represented by corresponding duty ratios, the duty ratios are the first duty ratio and the second duty ratio, the first duty ratio and the second duty ratio at this time are a set of duty ratios obtained by performing the current generator according to the positive direction and the negative direction test multiple times, for example, the first obtained duty ratio is y1 and z1, that is, the first obtained duty ratio is x1=1/2 (y1+z1), the second obtained duty ratio is y2 and z2, that is, the second obtained duty ratio is x2=1/2 (y1+z1), and the nth central position is xn=1/2 (yn+zn), and the central position of the target gear obtained by performing the average calculation is x=1/N (x1+x2+xn), which is implemented in this embodiment.
And step S40, calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value.
It is understood that the preset gear difference relationship refers to a duty ratio difference value between each gear in the target vehicle, and after the target vehicle leaves the factory, the preset gear difference relationship determines the positions of other gears through the central position of the target gear and the preset gear difference value, for example, the duty ratio difference value between the P gear and the R gear is a, the duty ratio difference value between the R gear and the N gear is b, the duty ratio difference value between the N gear and the D gear is c, the target gear at this time is the P gear, the central position of the P gear is x, the position of the R gear is x+a+a+b, the position of the N gear is x+a+b+c, and the position of the D gear is x+a+b+c.
And S50, correcting the preset gear position according to the position of each gear.
It should be understood that the preset gear position refers to a position where a gear is currently located in the target vehicle, and when the calculated position of each gear is inconsistent with the preset gear position, the calculated position of each gear needs to be used for correcting the preset gear position.
Further, step S50 includes: acquiring gear correction requirements and total driving mileage of a target vehicle; correcting the preset gear position according to the gear correction requirement and the position of each gear; or correcting the position of the preset gear by the position of each gear when the total number of the driving mileage reaches a preset mileage threshold value.
It can be understood that the total number of driving mileage is the total number of the odometer of the target vehicle in the driving process, before the target vehicle leaves the factory, the manufacturer can correct the gear of the target vehicle to ensure that the gear is positioned at the most accurate center position, after the target user purchases the target vehicle, if the gear correction requirement exists, the current position is corrected through the positions of the gears, and if the total number of driving mileage of the target vehicle reaches the preset mileage threshold value, the current position is corrected directly through the positions of the gears, namely the fixed mileage correction.
The embodiment obtains the self-learning instruction sent by the upper computer or the ECU; triggering the current motor to rotate according to a preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position; obtaining the central position of the target gear based on the duty ratio corresponding to the rotation limit position; calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value; and correcting the preset gear position according to the position of each gear. According to the embodiment, the self-learning instruction sent by the upper computer or the ECU triggers the current motor to rotate according to the preset rotation direction, and the position of each gear of the target vehicle is calculated according to the rotation limit position obtained by rotation and the preset gear difference value relation.
In an embodiment, as shown in fig. 3, a second embodiment of the self-learning gear position determining method according to the present invention is provided based on the first embodiment, and the step S20 includes:
step 201, triggering a current motor to rotate according to a specified rotation direction according to the self-learning instruction, and obtaining a first rotation limit position when the current motor is blocked.
It should be understood that the first rotation limit position is a position at which a locked rotation occurs in a process of rotating the current motor in the specified rotation direction, and the rotation direction of the current motor of the target vehicle is set at the time of shipment of the target vehicle, for example, the first rotation direction is the specified rotation direction, and the second rotation direction is a direction opposite to the specified rotation direction.
Further, step S201 includes: triggering the current motor to rotate according to the appointed rotation direction according to the self-learning instruction; the armature current of the rotating current motor is monitored in real time; and when the value of the armature current exceeds a current threshold for judging stalling, judging that the current motor is stalled, and taking the position of the current motor as a first rotation limit position.
It can be understood that the condition that whether the current motor rotates according to the designated rotation direction or not is whether the armature current of the current motor exceeds the current threshold for judging the rotation blocking is judged, if so, the current motor is judged to have the rotation blocking, otherwise, the current motor is judged to have no rotation blocking.
It should be understood that the armature current refers to a current of a component capable of converting electric energy into mechanical energy in a current motor, the component can be a rotor of the current motor or other components, a current threshold value for determining stalling is n times of rated current of the motor, n varies according to actual working conditions, n is not less than 5 and not more than 10, when the current motor stalls, the value of the armature current increases rapidly, namely exceeds a target current value, and the current position of the current motor at the moment of the current motor stalling is determined to be a first rotation limit position.
Step S202, triggering the current motor to rotate in the direction opposite to the designated rotation direction according to the self-learning instruction, and obtaining a second rotation limit position when an invalid value appears in the numerical value of the target gear for the first time.
It will be understood that the invalid value refers to a value in the gear numerical curve, where the value does not match the current gear, for example, the target gear is P gear, where the values in the gear numerical curve are P types, i.e., P1 and p2..
Further, step S202, triggering the current motor to rotate according to the direction opposite to the designated rotation direction according to the self-learning instruction; monitoring the numerical curve of the target gear in real time; and when an invalid value appears in the numerical curve for the first time, controlling the current motor to stop rotating according to a preset stop instruction, and taking the position of the current motor as a second rotation limit position.
It should be understood that the preset stop command refers to a command for controlling the current motor of the target vehicle to stop rotating, a gear number value curve is monitored in real time in the process that the current motor rotates in the reverse direction, the gear number value curve includes values of various gears of the target vehicle, when an invalid value appears in the value curve of the target gear for the first time, the preset stop command is used for controlling the current motor to stop rotating, and at the moment, the position where the current motor is located is the second rotation limit position.
It will be appreciated that referring to fig. 4, fig. 4 is a schematic overall structure of an embodiment, specifically: when the current motor rotates according to the appointed rotation direction for the first time, and the locked rotation occurs, the position of the current motor is at the y position, namely a first limit rotation position is obtained, the current motor is controlled to change the rotation direction at the moment, namely the second rotation direction is the opposite direction of the appointed rotation direction, an invalid value occurs for the first time in the gear curve value, the current motor is controlled to stop rotating through a preset stop instruction, the position of the current motor is at the z position at the moment, a second limit rotation position is obtained, the target gear is the P gear, and the duty ratio difference value of each gear of the target vehicle is: the duty ratio difference between the P and R ranges is a, the duty ratio difference between the R and N ranges is b, and the duty ratio difference between the N and D ranges is c.
According to the embodiment, the current motor is triggered to rotate according to the specified rotation direction according to the self-learning instruction, and a first rotation limit position is obtained when the current motor is blocked; triggering the current motor to rotate in the direction opposite to the designated rotation direction according to the self-learning instruction, and obtaining a second rotation limit position when an invalid value appears in the numerical value of the target gear for the first time. According to the embodiment, the current motor is controlled to rotate in the direction opposite to the designated rotation direction in sequence, and the accuracy of the rotation limit position of the current motor can be effectively improved according to whether the current motor is blocked or not and whether an invalid value appears for the first time.
In an embodiment, as shown in fig. 5, a third embodiment of the self-learning gear position determining method according to the present invention is provided based on the first embodiment, and the step S40 includes:
and step S401, obtaining the duty ratio difference value between each gear in the target vehicle and the target gear according to the relation between the central position of the target gear and the preset gear difference value.
It is understood that the duty ratio difference is a difference in duty ratio between gears in the target vehicle, and the preset gear difference relationship refers to a duty ratio relationship between respective current gears of the target vehicle, where the preset gear difference relationship is set before the target vehicle leaves the factory, for example, the duty ratio difference between the P gear and the R gear is a, the duty ratio difference between the R gear and the N gear is b, and the duty ratio difference between the N gear and the D gear is c.
And step S402, calculating the position of each gear of the target vehicle according to the central position and the duty ratio difference value.
It is understood that after the duty ratio difference between the center position of the target gear and each gear of the target vehicle is obtained, the positions of the other gears are calculated based on the center position and the duty ratio difference, for example, the target gear is the P gear, the center position of the P gear is x, the center position of the R gear is x+a, the position of the N gear is x+a+b, and the position of the D gear is x+a+b+c.
According to the embodiment, the duty ratio difference value between each gear in the target vehicle and the target gear is obtained according to the relation between the central position of the target gear and the preset gear difference value; and calculating the position of each gear of the target vehicle according to the central position and the duty ratio difference value. According to the embodiment, the corresponding duty ratio difference value is obtained through the relation between the central position of the target gear and the preset gear difference value, and the position of each gear is calculated according to the central position and the duty ratio difference value, so that the accuracy of obtaining the gear position is effectively improved.
In addition, the embodiment of the invention also provides a storage medium, wherein the storage medium stores a self-learning gear position determining program, and the self-learning gear position determining program realizes the steps of the self-learning gear position determining method when being executed by a processor.
Because the storage medium adopts all the technical schemes of all the embodiments, the storage medium has at least all the beneficial effects brought by the technical schemes of the embodiments, and the description is omitted here.
In addition, referring to fig. 6, an embodiment of the present invention further provides a gear position determining device based on self-learning, where the gear position determining device based on self-learning includes:
and the acquisition module 10 is used for acquiring the self-learning instruction sent by the upper computer or the ECU.
It should be understood that the self-learning instruction refers to an instruction for driving the vehicle controller to perform gear position autonomous learning, and a transmitting end of the self-learning instruction may be an upper computer, or may be other electronic control units (Electronic Control Unit, ECU), for example, a gearbox control unit (Transmission Control Unit, TCU), an engine control module (Engine Control Module, ECM), etc., and for a mass-produced vehicle model, the transmitting timing of the self-learning instruction may be set to a target driving range, and then the target driving range may be set to be 100 km after the vehicle is first powered up but the engine is not started.
And the rotation module 20 is used for triggering the current motor to rotate according to the preset rotation direction according to the self-learning instruction, so as to obtain a corresponding rotation limit position.
It is understood that the preset rotation direction refers to a direction in which the current motor rotates, and is divided into a designated rotation direction and a direction opposite to the designated rotation direction.
It should be understood that the rotation limit position is a position where a stall condition occurs in the rotation process of the current motor or an invalid value occurs in the gear, after receiving the self-learning instruction, the assembly controller of the target vehicle provides corresponding torque to drive the current motor to rotate, and controls the current motor to rotate according to the torque and a preset rotation direction, namely, controls the current motor to rotate according to the appointed rotation direction for the first time, and controls the current motor to rotate according to the opposite direction of the appointed rotation direction for the second time when the stall occurs in the current motor.
In specific implementation, after receiving a self-learning instruction, the vehicle controller controls the current motor to rotate according to a preset rotation direction, and records the rotation limit position in the rotation process of the current motor.
The obtaining module 10 is further configured to obtain a center position of the target gear based on a duty cycle corresponding to the rotation limit position.
It should be understood that the duty ratio refers to a time ratio of the high level in the PWM wave of the current motor in a unit period, for example, the time ratio of the high level in the unit period is 50%, the duty ratio at this time is 0.5, a corresponding duty ratio is obtained according to the rotation limit position, a center position of the target gear is obtained according to the duty ratio, and the center position is the most accurate position where the target gear is located.
Further, the obtaining module is further configured to obtain a corresponding duty cycle according to the rotation limit position, where the duty cycle includes a first duty cycle and a second duty cycle;
and carrying out average calculation on the first duty ratio and the second duty ratio to obtain the central position of the target gear.
It can be understood that, since the current motor is divided into a positive direction and a negative direction in the current rotation direction of the target, the obtained rotation limit position is divided into a first rotation limit position and a second rotation limit position, the first rotation limit position and the second rotation limit position are represented by corresponding duty ratios, the duty ratios are the first duty ratio and the second duty ratio, the first duty ratio and the second duty ratio at this time are a set of duty ratios obtained by performing the current generator according to the positive direction and the negative direction test multiple times, for example, the first obtained duty ratio is y1 and z1, that is, the first obtained duty ratio is x1=1/2 (y1+z1), the second obtained duty ratio is y2 and z2, that is, the second obtained duty ratio is x2=1/2 (y1+z1), and the nth central position is xn=1/2 (yn+zn), and the central position of the target gear obtained by performing the average calculation is x=1/N (x1+x2+xn), which is implemented in this embodiment.
And the calculating module 30 is used for calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value.
It is understood that the preset gear difference relationship refers to a duty ratio difference value between each gear in the target vehicle, and after the target vehicle leaves the factory, the preset gear difference relationship determines the positions of other gears through the central position of the target gear and the preset gear difference value, for example, the duty ratio difference value between the P gear and the R gear is a, the duty ratio difference value between the R gear and the N gear is b, the duty ratio difference value between the N gear and the D gear is c, the target gear at this time is the P gear, the central position of the P gear is x, the position of the R gear is x+a+a+b, the position of the N gear is x+a+b+c, and the position of the D gear is x+a+b+c.
And the correction module 40 is used for correcting the preset gear position according to the position of each gear.
It should be understood that the current position refers to a position where a gear is currently located in the target vehicle, and when the current position is inconsistent with the position of each gear, the current position needs to be corrected by the position of each gear.
Further, the correction module 40 is further configured to obtain a gear correction requirement and a total driving range of the target vehicle; correcting the preset gear position according to the gear correction requirement and the position of each gear; or correcting the position of the preset gear by the position of each gear when the total number of the driving mileage reaches a preset mileage threshold value.
It can be understood that the total number of driving mileage is the total number of the odometer of the target vehicle in the driving process, before the target vehicle leaves the factory, the manufacturer can correct the gear of the target vehicle to ensure that the gear is positioned at the most accurate center position, after the target user purchases the target vehicle, if the gear correction requirement exists, the current position is corrected through the positions of the gears, and if the total number of driving mileage of the target vehicle reaches the preset mileage threshold value, the current position is corrected directly through the positions of the gears, namely the fixed mileage correction.
The embodiment obtains the self-learning instruction sent by the upper computer or the ECU; triggering the current motor to rotate according to a preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position; obtaining the central position of the target gear based on the duty ratio corresponding to the rotation limit position; calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value; and correcting the preset gear position according to the position of each gear. According to the embodiment, the self-learning instruction sent by the upper computer or the ECU triggers the current motor to rotate according to the preset rotation direction, and the position of each gear of the target vehicle is calculated according to the rotation limit position obtained by rotation and the preset gear difference value relation.
It should be noted that the above-described working procedure is merely illustrative, and does not limit the scope of the present invention, and in practical application, a person skilled in the art may select part or all of them according to actual needs to achieve the purpose of the embodiment, which is not limited herein.
In addition, technical details not described in detail in the present embodiment may refer to the self-learning-based gear position determining method provided in any embodiment of the present invention, which is not described herein.
In an embodiment, the rotation module 20 is further configured to set the preset rotation direction to include a specified rotation direction and a direction opposite to the specified rotation direction; triggering a current motor to rotate according to a specified rotation direction according to the self-learning instruction, and obtaining a first rotation limit position when the current motor is blocked; triggering the current motor to rotate in the direction opposite to the designated rotation direction according to the self-learning instruction, and obtaining a second rotation limit position when an invalid value appears in the numerical value of the target gear for the first time.
In an embodiment, the rotation module 20 is further configured to trigger the current motor to rotate according to the specified rotation direction according to the self-learning instruction; the armature current of the rotating current motor is monitored in real time; and when the value of the armature current exceeds a current threshold for judging stalling, judging that the current motor is stalled, and taking the position of the current motor as a first rotation limit position.
In an embodiment, the rotation module 20 is further configured to trigger, according to the self-learning instruction, the current motor to rotate in a direction opposite to the designated rotation direction; monitoring the numerical curve of the target gear in real time; and when an invalid value appears in the numerical curve for the first time, controlling the current motor to stop rotating according to a preset stop instruction, and taking the position of the current motor as a second rotation limit position.
In an embodiment, the obtaining module 30 is further configured to obtain a corresponding duty cycle according to the rotation limit position, where the duty cycle includes a first duty cycle and a second duty cycle; and carrying out average calculation on the first duty ratio and the second duty ratio to obtain the central position of the target gear.
In an embodiment, the calculating module 40 is further configured to obtain a duty ratio difference between each gear in the target vehicle and the target gear according to the center position of the target gear and a preset gear difference relationship; and calculating the position of each gear of the target vehicle according to the central position and the duty ratio difference value.
In one embodiment, the correction module 50 is further configured to obtain a gear correction requirement and a total number of mileage of the target vehicle; correcting the preset gear position according to the gear correction requirement and the position of each gear; or correcting the position of the preset gear by the position of each gear when the total number of the driving mileage reaches a preset mileage threshold value.
Other embodiments of the gear position determining device based on self-learning or the implementation method thereof can refer to the above method embodiments, and are not redundant here.
Furthermore, it should 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 one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. Read Only Memory)/RAM, magnetic disk, optical disk) and including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the invention, but rather is intended to cover any equivalents of the structures or equivalent processes disclosed herein or in the alternative, which may be employed directly or indirectly in other related arts.
Claims (9)
1. A self-learning-based gear position determining method, characterized in that the self-learning-based gear position determining method comprises the steps of:
acquiring a self-learning instruction sent by an upper computer or an ECU;
triggering the current motor to rotate according to a preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position;
obtaining the central position of the target gear based on the duty ratio corresponding to the rotation limit position;
calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value;
correcting the preset gear position according to the position of each gear;
the preset rotation direction comprises a designated rotation direction and a direction opposite to the designated rotation direction;
triggering the current motor to rotate according to a preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position, wherein the method comprises the following steps of:
triggering the current motor to rotate according to the appointed rotation direction according to the self-learning instruction, and obtaining a first rotation limit position when the current motor is blocked, wherein the condition for judging whether the current motor is blocked is that whether the armature current of the current motor exceeds a current threshold value of blocked rotation;
triggering the current motor to rotate in the direction opposite to the designated rotation direction according to the self-learning instruction, and obtaining a second rotation limit position when an invalid value appears in the numerical value of the target gear for the first time.
2. The self-learning gear position determining method according to claim 1, wherein the triggering the current motor to rotate according to the specified rotation direction according to the self-learning instruction, when the current motor is locked, obtains a first rotation limit position, includes:
triggering the current motor to rotate according to the appointed rotation direction according to the self-learning instruction;
the armature current of the rotating current motor is monitored in real time;
and when the value of the armature current exceeds a current threshold for judging stalling, judging that the current motor is stalled, and taking the position of the current motor as a first rotation limit position.
3. The method for determining a gear position based on self-learning according to claim 1, wherein triggering the current motor to rotate in a direction opposite to the designated rotation direction according to the self-learning instruction, when the value of the target gear first appears an invalid value, obtaining a second rotation limit position includes:
triggering the current motor to rotate in the direction opposite to the designated rotating direction according to the self-learning instruction;
monitoring the numerical curve of the target gear in real time;
and when an invalid value appears in the numerical curve for the first time, controlling the current motor to stop rotating according to a preset stop instruction, and taking the position of the current motor as a second rotation limit position.
4. The self-learning-based gear position determination method according to claim 1, wherein the obtaining the center position of the target gear based on the duty ratio corresponding to the rotation limit position includes:
obtaining a corresponding duty ratio according to the rotation limit position, wherein the duty ratio comprises a first duty ratio and a second duty ratio;
and carrying out average calculation on the first duty ratio and the second duty ratio to obtain the central position of the target gear.
5. The self-learning-based gear position determination method according to claim 1, wherein the calculating the position of each gear of the target vehicle from the center position of the target gear and a preset gear difference relationship includes:
obtaining the duty ratio difference value between each gear in the target vehicle and the target gear according to the relation between the central position of the target gear and the preset gear difference value;
and calculating the position of each gear of the target vehicle according to the central position and the duty ratio difference value.
6. The self-learning-based gear position determination method according to any one of claims 1 to 5, wherein the correcting the preset gear position according to the position of each gear comprises:
acquiring gear correction requirements and total driving mileage of a target vehicle;
correcting the preset gear position according to the gear correction requirement and the position of each gear;
or (b)
And correcting the position of the preset gear by the position of each gear when the total number of the driving mileage reaches a preset mileage threshold.
7. A self-learning-based gear position determining device, characterized by comprising:
the acquisition module is used for acquiring a self-learning instruction sent by the upper computer or the ECU;
the rotation module is used for triggering the current motor to rotate according to the preset rotation direction according to the self-learning instruction to obtain a corresponding rotation limit position;
the acquisition module is further used for acquiring the central position of the target gear based on the duty ratio corresponding to the rotation limit position;
the calculating module is used for calculating the position of each gear of the target vehicle according to the relation between the central position of the target gear and the preset gear difference value;
the correction module corrects the preset gear position according to the position of each gear;
the rotating module is further used for enabling the preset rotating direction to comprise a designated rotating direction and a direction opposite to the designated rotating direction; triggering the current motor to rotate according to the appointed rotation direction according to the self-learning instruction, and obtaining a first rotation limit position when the current motor is blocked, wherein the condition for judging whether the current motor is blocked is that whether the armature current of the current motor exceeds a current threshold value of blocked rotation; triggering the current motor to rotate in the direction opposite to the designated rotation direction according to the self-learning instruction, and obtaining a second rotation limit position when an invalid value appears in the numerical value of the target gear for the first time.
8. A self-learning-based gear position determining apparatus, characterized by comprising: a memory, a processor and a self-learning based gear position determination program stored on the memory and executable on the processor, the self-learning based gear position determination program being configured to implement the self-learning based gear position determination method as claimed in any one of claims 1 to 6.
9. A storage medium having stored thereon a self-learning-based gear position determination program which, when executed by a processor, implements the self-learning-based gear position determination method according to any one of claims 1 to 6.
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| CN202111148460.5A CN113803461B (en) | 2021-09-28 | 2021-09-28 | Gear position determining method, device and equipment based on self-learning and storage medium |
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| CN106763723B (en) * | 2017-01-18 | 2018-09-14 | 广州汽车集团股份有限公司 | Line traffic control selector gear self-learning method, system and line traffic control selector system |
| CN109910864B (en) * | 2017-12-13 | 2020-08-25 | 湖南中车时代电动汽车股份有限公司 | Method, system and related device for determining gear positions of AMT (automated mechanical transmission) |
| CN109519531B (en) * | 2018-02-08 | 2020-08-28 | 南京美均电子科技有限公司 | Gear value learning method of external gear selection actuator of gearbox |
| CN110792765B (en) * | 2018-08-02 | 2020-12-08 | 郑州宇通客车股份有限公司 | Self-learning control method and system for gear position of gearbox |
| CN110056643B (en) * | 2019-03-07 | 2021-12-17 | 广汽零部件有限公司 | Gear self-learning method of knob gear shifter |
| CN112161055B (en) * | 2020-10-16 | 2022-04-01 | 南京奥联汽车电子电器股份有限公司 | Gear detection system and detection method for automobile electronic gear shifter |
| CN112503173B (en) * | 2020-10-30 | 2023-03-07 | 广汽零部件有限公司 | Online gear correction method of line-controlled gear shifting actuator |
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