CN114312729A - Internal friction torque compensation method and device based on no-separation clutch gear shifting - Google Patents
Internal friction torque compensation method and device based on no-separation clutch gear shifting Download PDFInfo
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Abstract
The application provides an internal friction torque compensation method and device based on no-separation clutch gear shifting, the current rotating speed of an engine is obtained, an internal friction torque compensation value output by a motor controller is determined according to the current rotating speed and a first corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of a transmission system of a vehicle after speed regulation is finished in the no-separation clutch gear shifting process, and the first corresponding relation is obtained by self-learning training through a training rotating speed and the training internal friction torque compensation value. That is to say, according to the embodiment of the application, the internal friction torque compensation value required to be output by the motor controller can be determined without using the internal friction torque value output by the engine controller, and the internal friction torque compensation value required to be output by the motor controller can be determined only according to the current rotating speed of the engine and the first corresponding relation obtained by pre-training, so that the internal friction torque of the vehicle can be compensated, and the accuracy of the internal friction torque compensation of the transmission system of the vehicle is improved.
Description
Technical Field
The invention relates to the field of vehicles, in particular to an internal friction torque compensation method and device based on no-separation clutch gear shifting.
Background
In the current power vehicle, after speed regulation is completed in the non-clutch gear shifting process, an engine controller (Electronic Control Unit, ECU) outputs an internal friction torque value, and then a Motor Controller (MCU) outputs an internal friction torque compensation value with the same value as the internal friction torque compensation value of the transmission system of the vehicle.
However, the internal friction torque value output by the engine ECU is inaccurate, so that the internal friction torque compensation value output by the motor MCU is also inaccurate, and the accuracy of the internal friction torque compensation of the transmission system of the vehicle is reduced.
Disclosure of Invention
In view of the above, an object of the present invention is to provide an internal friction torque compensation method and device based on clutch-less shifting, which can determine an accurate internal friction torque compensation value and improve the accuracy of internal friction torque compensation of a transmission system of a vehicle.
The embodiment of the application provides an internal friction torque compensation method based on no-separation clutch gear shifting, which comprises the following steps:
acquiring the current rotating speed of the engine;
and determining an internal friction torque compensation value output by the motor controller according to the current rotating speed and a first corresponding relation, wherein the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the clutch-free gear shifting process, and the first corresponding relation is obtained by carrying out self-learning training by utilizing the training rotating speed and the training internal friction torque compensation value.
Optionally, the method further comprises:
acquiring the current engine oil temperature of the engine;
and determining an internal friction torque compensation value output by the motor controller according to the current rotating speed, the current engine oil temperature and a second corresponding relation, wherein the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the clutch-free gear shifting process, and the second corresponding relation is obtained by carrying out self-learning training by utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value.
Optionally, the method further comprises:
controlling a motor to drive the engine to rotate at a first training rotating speed;
acquiring a first training engine oil temperature and an engine oil temperature interval corresponding to the first training engine oil temperature;
acquiring a first training internal friction torque compensation value corresponding to the engine oil temperature interval;
establishing the second corresponding relationship of the first training rotation speed, the first training engine oil temperature and the first training internal friction torque compensation value.
Optionally, the method further comprises:
and monitoring whether the friction torque compensation value in the first training is larger than a torque compensation value threshold value, and if so, stopping the vehicle.
Optionally, before the self-learning training using the training rotation speed and the training internal friction torque compensation value to obtain the first corresponding relationship, the method further includes:
and detecting whether the vehicle speed of the vehicle is less than a preset vehicle speed threshold value, and if so, continuing to perform self-learning training by using the training rotating speed and the training internal friction torque compensation value to obtain the first corresponding relation.
Optionally, before the self-learning training using the training rotation speed and the training internal friction torque compensation value to obtain the first corresponding relationship, the method further includes:
detecting whether the hand brake of the vehicle is in a pulling-up state, if so, continuing to perform self-learning training by using a training rotating speed and a training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
detecting whether the gear of a gearbox of the vehicle is in a neutral gear, if so, continuing to perform self-learning training by using a training rotating speed and a training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
detecting whether a clutch of the vehicle is in an engagement state, if so, continuing to perform self-learning training by using a training rotating speed and a training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
and detecting whether the air source pressure of the vehicle is greater than a pressure threshold value, if so, continuing to perform self-learning training by using the training rotating speed and the training internal friction torque compensation value to obtain the first corresponding relation.
Optionally, the method further comprises:
and detecting whether the training engine oil temperature of the vehicle is greater than a first temperature threshold value, and if so, sending a flameout instruction to an engine controller.
The embodiment of the application provides an internal friction torque compensation device based on not separating separation and reunion and shifting, includes:
the first acquisition unit is used for acquiring the current rotating speed of the engine;
the first determining unit is used for determining an internal friction torque compensation value output by the motor controller according to the current rotating speed and a first corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the non-clutch shifting process, and the first corresponding relation is obtained by carrying out self-learning training by using the training rotating speed and the training internal friction torque compensation value.
Optionally, the method further comprises:
the second acquisition unit is used for acquiring the current engine oil temperature of the engine;
and the second determination unit is used for determining an internal friction torque compensation value output by the motor controller according to the current rotating speed, the current engine oil temperature and a second corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the non-separate clutch gear shifting process, and the second corresponding relation is obtained by carrying out self-learning training by utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value.
Optionally, the method further comprises:
the control unit is used for controlling the motor to drag the engine to rotate at a first training rotating speed;
the third acquisition unit is used for acquiring a first training engine oil temperature and an engine oil temperature interval corresponding to the first training engine oil temperature;
the fourth acquisition unit is used for acquiring a first training internal friction torque compensation value corresponding to the engine oil temperature interval;
and the establishing unit is used for establishing the second corresponding relation among the first training rotating speed rotation, the first training engine oil temperature and the first training internal friction torque compensation value.
According to the internal friction torque compensation method based on the non-separate clutch gear shifting, the current rotating speed of an engine is obtained, an internal friction torque compensation value output by a motor controller is determined according to the current rotating speed and a first corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of a transmission system of a vehicle after speed regulation is finished in the non-separate clutch gear shifting process, and the first corresponding relation is obtained by self-learning training through a training rotating speed and the training internal friction torque compensation value. That is to say, according to the embodiment of the application, the internal friction torque compensation value required to be output by the motor controller can be determined without using the internal friction torque value output by the engine controller, and the internal friction torque compensation value required to be output by the motor controller can be determined only according to the current rotating speed of the engine and the first corresponding relation obtained by pre-training, so that the internal friction torque of the vehicle can be compensated, and the accuracy of the internal friction torque compensation of the transmission system of the vehicle is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method for compensating internal friction torque based on a non-clutched shift according to an embodiment of the present application;
fig. 2 shows a structural block diagram of an internal friction torque compensation device based on a non-clutch-to-clutch shift according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the current power vehicle, after speed regulation is completed in the non-clutch gear shifting process, an engine controller (Electronic Control Unit, ECU) outputs an internal friction torque value, and then a Motor Controller (MCU) outputs an internal friction torque compensation value with the same value as the internal friction torque compensation value of the transmission system of the vehicle.
However, the internal friction torque value output by the engine ECU is converted from an actual measurement value of the engine on the dynamometer, and because the dynamometer has an error and the engine has specificity, the friction torque between engines of the same type may be different, and finally the internal friction torque sent by the engine ECU is inaccurate, and accordingly, the internal friction torque compensation value output by the motor MCU also has an error, the motor MCU outputs the same internal friction torque compensation value according to the internal friction torque value sent by the engine ECU, and thus the internal friction compensation of the transmission system cannot be completely realized in practice, and the accuracy of the internal friction torque compensation of the transmission system of the vehicle is reduced.
Based on the above, according to the internal friction torque compensation method based on no-separation clutch gear shifting provided by the embodiment of the application, the current rotating speed of the engine is obtained, the internal friction torque compensation value output by the motor controller is determined according to the current rotating speed and a first corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of a transmission system of a vehicle after speed regulation is completed in the no-separation clutch gear shifting process, and the first corresponding relation is obtained by performing self-learning training by using the training rotating speed and the training internal friction torque compensation value. That is to say, according to the embodiment of the application, the internal friction torque compensation value required to be output by the motor controller can be determined without using the internal friction torque value output by the engine controller, and the internal friction torque compensation value required to be output by the motor controller can be determined only according to the current rotating speed of the engine and the first corresponding relation obtained by pre-training, so that the internal friction torque of the vehicle can be compensated, and the accuracy of the internal friction torque compensation of the transmission system of the vehicle is improved.
For a better understanding of the technical solutions and effects of the present application, specific embodiments will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, a flowchart of an internal friction torque compensation method based on a non-clutch shift according to an embodiment of the present application is shown.
The internal friction torque compensation method based on the non-clutch-to-clutch shifting provided by the embodiment comprises the following steps:
and S101, acquiring the current rotating speed of the engine.
In the embodiment of the application, the motor is a motor of a vehicle, the motor can drag the engine to rotate, and after the engine rotates, the current rotating speed of the engine can be acquired by using the sensor.
And S102, determining an internal friction torque compensation value output by the motor controller according to the current rotating speed and the first corresponding relation.
In the embodiment of the application, an internal friction torque compensation value output by a motor controller can be determined according to the current rotating speed of an engine and a first corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of a transmission system of a vehicle after speed regulation is finished in the non-separating clutch gear shifting process, and the first corresponding relation is obtained by self-learning training through a training rotating speed and the training internal friction torque compensation value.
That is, self-learning training is performed by detecting a training internal friction torque value corresponding to each of a plurality of training rotational speeds, and a first corresponding relationship between the training rotational speed and the training internal friction torque compensation value is obtained.
Therefore, the internal friction torque compensation value required to be output by the motor controller can be determined according to the current rotating speed of the engine and the first corresponding relation obtained through the pre-self-learning training without determining the internal friction torque compensation value required to be output by the motor controller by using the internal friction torque value output by the engine controller, the internal friction torque of the vehicle can be compensated, and the accuracy of the internal friction torque compensation of the transmission system of the vehicle is improved.
In the embodiment of the application, when the current rotating speed of the engine is obtained, the current engine oil temperature of the engine can be obtained, and then the internal friction torque compensation value output by the motor controller is determined according to the current rotating speed, the current engine oil temperature and a second corresponding relation, wherein the second corresponding relation is obtained by performing self-learning training by using the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value.
That is, the internal friction torque compensation value output by the motor controller may be further determined using the current oil temperature of the engine and the current rotation speed of the engine.
When the second corresponding relation is obtained through the specific self-learning training, the training can be carried out through the following steps:
and controlling the motor to drive the engine to rotate at a first training rotating Speed, namely controlling the motor to drive the engine to rotate at a preset rotating Speed change rate ACC _ C to a preset rotating Speed Speed _ C _ i in a rotating Speed control mode and stably operating for a preset time T _ C.
After the rotating speed reaches the preset rotating speed, whether the first training internal friction torque compensation value output by the motor controller is larger than a torque compensation value threshold value D _ C or not can be monitored simultaneously, if so, the vehicle stops running, namely the motor and the engine are stopped, and the self-learning training process is exited.
And if the first training internal friction torque compensation value output by the motor controller is smaller than the torque compensation value threshold value D _ C, continuing the self-learning training process.
And then acquiring the first training engine oil temperature and an engine oil temperature interval corresponding to the first training engine oil temperature, namely acquiring the current engine oil temperature as the first training engine oil temperature in the self-learning process, wherein the first training engine oil temperature corresponds to the current rotating speed.
And acquiring a first training internal friction torque compensation value corresponding to the engine oil temperature interval, namely acquiring a first training internal friction torque compensation value measured in the current engine oil temperature interval, wherein the first training internal friction torque compensation value is the current internal friction torque compensation value in the self-learning process.
And establishing a second corresponding relation of the first training rotating speed, the first training engine oil temperature and the first training internal friction torque compensation value by utilizing self-learning.
In the embodiment of the application, before the training speed and the training internal friction torque compensation value are used for self-learning training to obtain the first corresponding relation, whether the vehicle speed of the vehicle is smaller than a preset vehicle speed threshold value A _ C or not can be detected, if so, the vehicle is in a parking mode in the self-learning process, namely, the vehicle is not in a driving stage, so that the safety problem brought to a user by self-learning in the driving stage is avoided, and the training speed and the training internal friction torque compensation value can be continuously used for self-learning training to obtain the first corresponding relation in the parking stage.
In the embodiment of the present application, it can be further determined whether the vehicle is in the parking mode by using other determination conditions:
in a first possible implementation manner, whether a hand brake of the vehicle is in a pull-up state or not is detected, if so, the vehicle is in a parking mode in a self-learning process, and the self-learning training is continuously carried out by utilizing the training rotating speed and the training internal friction torque compensation value to obtain a first corresponding relation or the self-learning training is continuously carried out by utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value to obtain a second corresponding relation.
In a second possible implementation manner, whether a gear of a gearbox of the vehicle is in a neutral gear is detected, if so, the vehicle is in a parking mode in a self-learning process, and the self-learning training is continuously carried out by utilizing the training rotating speed and the training internal friction torque compensation value to obtain a first corresponding relation or the self-learning training is continuously carried out by utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value to obtain a second corresponding relation.
In a third possible implementation manner, whether a clutch of the vehicle is in an engaged state or not is detected, if so, the vehicle is in a parking mode in the self-learning process, and the self-learning training is continuously carried out by utilizing the training rotating speed and the training internal friction torque compensation value to obtain the first corresponding relation or the self-learning training is continuously carried out by utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value to obtain the second corresponding relation.
And detecting whether the air source pressure of the vehicle is greater than a pressure threshold value B _ C or not, if so, representing that the vehicle is in a stop mode in the self-learning process, continuously utilizing the training rotating speed and the training internal friction torque compensation value to perform self-learning training to obtain a first corresponding relation, or continuously utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value to perform self-learning training to obtain a second corresponding relation.
In practical applications, the above conditions and the condition of determining whether the vehicle speed is less than the predetermined vehicle speed threshold value a _ C may be determined simultaneously, and the conditions are used together to determine that the vehicle is in the parking mode.
In the embodiment of the present application, the engine oil temperature may be divided into a plurality of engine oil temperature intervals, and each engine oil temperature interval has a temperature threshold C _ i corresponding to the engine oil temperature interval.
And when the training engine oil temperature of the vehicle is lower than the temperature threshold C _ C _ i corresponding to the engine oil temperature interval, the engine ECU is started to control the motor to enter a power generation mode, and the engine is dragged to reach a certain training rotating speed, so that the training engine oil temperature of the transmitter reaches the engine oil temperature interval corresponding to the temperature threshold C _ C _ i, and the training internal friction torque compensation value corresponding to the training engine oil temperature is continuously measured.
As an example, it is detected whether the training oil temperature of the vehicle is greater than a first temperature threshold value C _0, and if so, a misfire command is sent to the engine ECU, the injection of the fuel into the engine cylinder is prohibited, and the detection of the training oil temperature and the compensation value of the friction torque in the training corresponding to the first temperature interval determined by the training oil temperature is started. If the training engine oil temperature of the vehicle is smaller than the temperature threshold value C _ C _0, the engine can be started, the motor is controlled to enter a power generation mode, the engine is dragged to reach a certain training rotating speed, so that the training engine oil temperature of the transmitter reaches an engine oil temperature interval corresponding to the first temperature threshold value C _ C _0, and the training internal friction torque compensation value corresponding to the training engine oil temperature is continuously measured.
It should be noted that the training engine oil temperature of the engine in the self-learning process can be detected in real time, if the internal friction torque compensation value is not updated in the self-learning process and the training engine oil temperature is greater than the target temperature threshold value C _ C, it represents that the engine oil temperature is too high in the self-learning process of the vehicle, which is easy to cause danger, and at this time, a flameout instruction is sent to the engine ECU, and the fuel injection in the engine cylinder is forbidden.
If the training engine oil temperature of the engine in the self-learning process is always smaller than the target temperature threshold value C _ C, whether the training engine oil temperature is smaller than the temperature threshold value C _ C _ i of the engine oil temperature interval can be sequentially judged according to the sequence of the training engine oil temperature period, so that the internal friction torque compensation values of a plurality of engine oil temperature intervals can be obtained through self-learning, and finally the second corresponding relation of the training rotating speed, the training engine oil temperature and the training internal friction torque compensation values is obtained.
As can be seen from the above description, the embodiment of the present application provides an internal friction torque compensation method based on no-separation clutch shifting, which obtains a current rotation speed of an engine, and determines an internal friction torque compensation value output by a motor controller according to the current rotation speed and a first corresponding relationship, where the internal friction torque compensation value is used to compensate an internal friction torque of a transmission system of a vehicle after speed regulation is completed in a no-separation clutch shifting process, and the first corresponding relationship is obtained by performing self-learning training using a training rotation speed and the training internal friction torque compensation value. That is to say, according to the embodiment of the application, the internal friction torque compensation value required to be output by the motor controller can be determined without using the internal friction torque value output by the engine controller, and the internal friction torque compensation value required to be output by the motor controller can be determined only according to the current rotating speed of the engine and the first corresponding relation obtained by pre-training, so that the internal friction torque of the vehicle can be compensated, and the accuracy of the internal friction torque compensation of the transmission system of the vehicle is improved.
Based on the internal friction torque compensation method based on the non-separate clutch gear shifting provided by the embodiment, the embodiment of the application also provides an internal friction torque compensation device based on the non-separate clutch gear shifting, and the working principle of the internal friction torque compensation device is described in detail below by combining the attached drawings.
Referring to fig. 2, the structural diagram of an internal friction torque compensation device based on a non-clutch shift according to an embodiment of the present application is shown.
The present embodiment provides an internal friction torque compensation device 200 based on a non-split shift, including:
a first obtaining unit 210 for obtaining a current rotation speed of the engine;
the first determining unit 220 is configured to determine an internal friction torque compensation value output by the motor controller according to the current rotation speed and a first corresponding relationship, where the internal friction torque compensation value is used to compensate an internal friction torque of a vehicle during a non-separating clutch gear shifting process, and the first corresponding relationship is obtained by performing self-learning training using a training rotation speed and the training internal friction torque compensation value.
Optionally, the method further comprises:
the second acquisition unit is used for acquiring the current engine oil temperature of the engine;
and the second determination unit is used for determining an internal friction torque compensation value output by the motor controller according to the current rotating speed, the current engine oil temperature and a second corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the non-separate clutch gear shifting process, and the second corresponding relation is obtained by carrying out self-learning training by utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value.
Optionally, the method further comprises:
the control unit is used for controlling the motor to drag the engine to rotate at a first training rotating speed;
the third acquisition unit is used for acquiring a first training engine oil temperature and an engine oil temperature interval corresponding to the first training engine oil temperature;
the fourth acquisition unit is used for acquiring a first training internal friction torque compensation value corresponding to the engine oil temperature interval;
and the establishing unit is used for establishing the second corresponding relation among the first training rotating speed rotation, the first training engine oil temperature and the first training internal friction torque compensation value.
Optionally, the method further comprises:
and the monitoring unit is used for monitoring whether the friction torque compensation value in the first training is larger than a torque compensation value threshold value, and if so, the vehicle stops running.
Optionally, the method further comprises:
and the first detection unit is used for detecting whether the vehicle speed of the vehicle is less than a preset vehicle speed threshold value, and if so, continuing to perform self-learning training by using the training rotating speed and the training internal friction torque compensation value to obtain the first corresponding relation.
Optionally, the method further comprises: the second detection unit is used for detecting whether the hand brake of the vehicle is in a pull-up state or not, and if so, continuing to perform self-learning training by using the training rotating speed and the training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
the self-learning training device is used for detecting whether the gear of a gearbox of the vehicle is in a neutral gear or not, and if yes, the self-learning training is continuously carried out by utilizing a training rotating speed and a training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
the self-learning training device is used for detecting whether a clutch of the vehicle is in an engagement state or not, and if yes, the self-learning training is continuously carried out by using a training rotating speed and a training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
and the self-learning training device is used for detecting whether the air source pressure of the vehicle is greater than a pressure threshold value, and if so, continuously utilizing the training rotating speed and the training internal friction torque compensation value to perform self-learning training to obtain the first corresponding relation.
Optionally, the method further comprises:
the system is used for detecting whether the temperature of the training engine oil of the vehicle is larger than a first temperature threshold value or not, and if so, sending a flameout instruction to an engine controller.
When introducing elements of various embodiments of the present application, the articles "a," "an," "the," and "said" are intended to mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements.
It should be noted that, as one of ordinary skill in the art would understand, all or part of the processes of the above method embodiments may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when executed, the computer program may include the processes of the above method embodiments. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, it is relatively simple to describe, and reference may be made to some descriptions of the method embodiment for relevant points. The above-described apparatus embodiments are merely illustrative, and the units and modules described as separate components may or may not be physically separate. In addition, some or all of the units and modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The foregoing is merely a preferred embodiment of the present application and, although the present application discloses the foregoing preferred embodiments, the present application is not limited thereto. Those skilled in the art can now make numerous possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the claimed embodiments. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application still fall within the protection scope of the technical solution of the present application without departing from the content of the technical solution of the present application.
Claims (10)
1. An internal friction torque compensation method based on a non-split clutch shift is characterized by comprising the following steps:
acquiring the current rotating speed of the engine;
and determining an internal friction torque compensation value output by the motor controller according to the current rotating speed and a first corresponding relation, wherein the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the clutch-free gear shifting process, and the first corresponding relation is obtained by carrying out self-learning training by utilizing the training rotating speed and the training internal friction torque compensation value.
2. The method of claim 1, further comprising:
acquiring the current engine oil temperature of the engine;
and determining an internal friction torque compensation value output by the motor controller according to the current rotating speed, the current engine oil temperature and a second corresponding relation, wherein the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the clutch-free gear shifting process, and the second corresponding relation is obtained by carrying out self-learning training by utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value.
3. The method of claim 2, further comprising:
controlling a motor to drive the engine to rotate at a first training rotating speed;
acquiring a first training engine oil temperature and an engine oil temperature interval corresponding to the first training engine oil temperature;
acquiring a first training internal friction torque compensation value corresponding to the engine oil temperature interval;
establishing the second corresponding relationship of the first training rotation speed, the first training engine oil temperature and the first training internal friction torque compensation value.
4. The method of claim 3, further comprising:
and monitoring whether the friction torque compensation value in the first training is larger than a torque compensation value threshold value, and if so, stopping the vehicle.
5. The method of claim 1, further comprising, prior to self-learning training the first correspondence using a training rotational speed and a training internal friction torque compensation value:
and detecting whether the vehicle speed of the vehicle is less than a preset vehicle speed threshold value, and if so, continuing to perform self-learning training by using the training rotating speed and the training internal friction torque compensation value to obtain the first corresponding relation.
6. The method of claim 5, further comprising, prior to self-learning training the first correspondence using a training rotational speed and a training internal friction torque compensation value:
detecting whether the hand brake of the vehicle is in a pulling-up state, if so, continuing to perform self-learning training by using a training rotating speed and a training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
detecting whether the gear of a gearbox of the vehicle is in a neutral gear, if so, continuing to perform self-learning training by using a training rotating speed and a training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
detecting whether a clutch of the vehicle is in an engagement state, if so, continuing to perform self-learning training by using a training rotating speed and a training internal friction torque compensation value to obtain the first corresponding relation;
and/or the presence of a gas in the gas,
and detecting whether the air source pressure of the vehicle is greater than a pressure threshold value, if so, continuing to perform self-learning training by using the training rotating speed and the training internal friction torque compensation value to obtain the first corresponding relation.
7. The method of any of claims 2-4, further comprising:
and detecting whether the training engine oil temperature of the vehicle is greater than a first temperature threshold value, and if so, sending a flameout instruction to an engine controller.
8. An internal friction torque compensation device based on non-split clutch shifting, comprising:
the first acquisition unit is used for acquiring the current rotating speed of the engine;
the first determining unit is used for determining an internal friction torque compensation value output by the motor controller according to the current rotating speed and a first corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the non-clutch shifting process, and the first corresponding relation is obtained by carrying out self-learning training by using the training rotating speed and the training internal friction torque compensation value.
9. The apparatus of claim 8, further comprising:
the second acquisition unit is used for acquiring the current engine oil temperature of the engine;
and the second determination unit is used for determining an internal friction torque compensation value output by the motor controller according to the current rotating speed, the current engine oil temperature and a second corresponding relation, the internal friction torque compensation value is used for compensating the internal friction torque of the vehicle in the non-separate clutch gear shifting process, and the second corresponding relation is obtained by carrying out self-learning training by utilizing the training rotating speed, the training engine oil temperature and the training internal friction torque compensation value.
10. The apparatus of claim 9, further comprising:
the control unit is used for controlling the motor to drag the engine to rotate at a first training rotating speed;
the third acquisition unit is used for acquiring a first training engine oil temperature and an engine oil temperature interval corresponding to the first training engine oil temperature;
the fourth acquisition unit is used for acquiring a first training internal friction torque compensation value corresponding to the engine oil temperature interval;
and the establishing unit is used for establishing the second corresponding relation among the first training rotating speed rotation, the first training engine oil temperature and the first training internal friction torque compensation value.
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