CN114857261A - Automatic transmission gear shifting motor overcurrent protection method based on maximum heat - Google Patents
Automatic transmission gear shifting motor overcurrent protection method based on maximum heat Download PDFInfo
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- CN114857261A CN114857261A CN202210559986.0A CN202210559986A CN114857261A CN 114857261 A CN114857261 A CN 114857261A CN 202210559986 A CN202210559986 A CN 202210559986A CN 114857261 A CN114857261 A CN 114857261A
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- gear shifting
- heat
- motor
- shifting motor
- current
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005540 biological transmission Effects 0.000 title claims abstract description 11
- 230000017525 heat dissipation Effects 0.000 claims abstract description 13
- 238000004364 calculation method Methods 0.000 claims abstract description 12
- 238000010438 heat treatment Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 6
- 238000005070 sampling Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000009825 accumulation Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 4
- 238000011217 control strategy Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000020169 heat generation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0854—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load responsive to rate of change of current, couple or speed, e.g. anti-kickback protection
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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
- F16H2061/326—Actuators for range selection, i.e. actuators for controlling the range selector or the manual range valve in the transmission
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Protection Of Generators And Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses an automatic transmission gear shifting motor overcurrent protection method based on maximum heat, which comprises the following steps of: calculating the heat dissipation power of the gear shifting motor under the stable operation condition according to a preset current limit value; calculating the heat accumulated when the gear shifting motor operates; calculating the allowable maximum heat quantity of the gear shifting motor; and when the accumulated heat during the operation of the gear shifting motor exceeds the maximum heat allowable by the gear shifting motor, adjusting the target current to a preset current limit value, and adjusting the operation time of the gear shifting motor to a calculation time limit value corresponding to the preset current limit. The invention adopts the mode of overcurrent limitation by heat accumulation, can allow a larger current to pass in a short time, and can meet the control requirement of the gear shifting dynamic process on the premise of ensuring the overcurrent protection of the motor.
Description
Technical Field
The invention belongs to the field of vehicle control, and particularly relates to an automatic transmission gear shifting motor overcurrent protection method based on maximum heat.
Background
At present, a BLDC gear shifting motor is adopted by a gear shifting executing mechanism of partial DCT, AMT and multi-gear hybrid power transmission to drive a gear shifting drum to rotate through a gear train, a cam-like mechanism consisting of a gear shifting drum groove and a gear shifting fork converts the rotating motion of the gear shifting drum into the linear reciprocating motion of the gear shifting fork, and the gear shifting fork shifts gears through a synchronizer. And the TCU finds out the target gear shifting drum angular position according to the calculated target gear and the gear-gear shifting drum position corresponding table, then drives the gear shifting motor to rotate to a target angle, and stops the gear shifting motor after the gear shifting is finished.
From the above, the control target gear actually controls the angular position of the shift drum or the shift motor, and the control strategy is designed as a whole: and calculating a target torque of the gear shifting motor by taking the position difference between the target gear shifting drum and the actual gear shifting drum as the input of a PID algorithm, obtaining a target current of the motor by combining a motor-current characteristic curve, obtaining the limited target current through flow protection calculation, and finally calculating a target duty ratio based on the current supply voltage, the counter electromotive force and the equivalent resistance of the motor so as to drive the gear shifting motor to rotate.
According to the control strategy, if the calculated motor target current is too large due to factors such as control parameter calibration and large mechanical friction and mechanical clamping stagnation in the gear shifting synchronization process, the continuous large current can cause overheating and damage of a TCU motor driving circuit and even a motor body, and therefore certain limitation needs to be performed on the motor working current.
Disclosure of Invention
The invention aims to provide an automatic transmission gear shifting motor overcurrent protection method based on maximum heat, which adopts a mode of heat accumulation to limit overcurrent, can allow a large current to pass in a short time, has small resistance of a gear shifting drum after the gear shifting drum starts to rotate and before a synchronizer starts, can drive the gear shifting drum to rotate only by consuming a small current, and can ensure that the accumulated heat is continuously reduced, so that the gear shifting drum can still allow a large gear shifting motor current to realize quick synchronization when reaching a gear shifting synchronization point, thereby quickly and reliably finishing gear shifting. Therefore, overcurrent protection of the motor can be realized, and the control requirement of the shifting dynamic process can be met.
In order to solve the technical problems, the technical scheme of the invention is as follows: an automatic transmission gear shifting motor overcurrent protection method based on maximum heat comprises the following steps:
calculating the heat dissipation power of the gear shifting motor under the stable operation condition according to a preset current limit value;
calculating the heat accumulated when the gear shifting motor operates;
calculating the allowable maximum heat quantity of the gear shifting motor;
and when the accumulated heat during the operation of the gear shifting motor exceeds the maximum heat allowable by the gear shifting motor, adjusting the target current to a preset current limit value, and adjusting the operation time of the gear shifting motor to a calculation time limit value corresponding to the preset current limit.
The calculation mode of the accumulated heat when the gear shifting motor operates is as follows: calculating to obtain heating power through the target current output by the previous period and the equivalent resistance of the gear shifting motor, calculating to obtain the heat generated by the gear shifting motor in the current period through the working time of the difference value of the heating power and the heat dissipation power of the gear shifting motor in the current period, and summing the heat generated by the gear shifting motor in the current period and the accumulated heat calculated in the previous sampling period to obtain the heat accumulated when the gear shifting motor in the current period operates.
The maximum allowable heat of the shift motor is set to 730J.
The preset current limits are set to 20, 30, 40, 50, 60, 70 and 80, respectively, in units of a, wherein when the target current is less than or equal to the minimum preset current limit 20A, it is considered that the target current is at which the shift motor can be stably operated for a long time without adjusting the current magnitude.
There is also provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method according to any one of the preceding claims are implemented when the computer program is executed by the processor.
There is also provided a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of the preceding claims.
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts a mode of heat accumulation to limit overcurrent, can allow larger current to pass in a short time, has smaller resistance of the shift drum along with the fact that the shift drum starts to rotate and before the synchronizer starts to rotate, can drive the shift drum to rotate only by consuming smaller current by the shift motor, and can still allow larger current of the shift motor to realize quick synchronization when the shift drum reaches a shift synchronization point, thereby quickly and reliably finishing shifting. Therefore, overcurrent protection of the motor can be realized, and the control requirement of the shifting dynamic process can be met.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention;
fig. 2 is a current limit diagram of a shift motor in an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Because of the heat effect phenomenon of the current, when the current passes through the motor coil, heat can be generated, and meanwhile, the heat is radiated to the surrounding environment, if the generated heat and the radiated heat reach heat balance, the heat can not be accumulated, the temperature of the winding of the motor coil can be kept unchanged, and the motor can work normally. Otherwise, if the heat generated by the increased current exceeds the heat dissipation capacity, the heat is accumulated continuously, the temperature of the coil winding of the motor rises gradually, the insulating layer of the coil is aged more quickly, and the insulating effect is lost seriously, so that the motor is burnt out due to short circuit. Thus, motor overcurrent protection can be embodied by thermal protection of the motor. According to the idea, the specific computation logic & strategy is designed as follows:
step1 calculating heat dissipation power of gear shifting motor
The gear shifting motor can continuously and stably run for a long time under a certain current, and at the moment, the motor can be considered to be in a heat balance state, namely the heating power is equal to the heat dissipation power. Calculation formula of reference current thermal effect: p ═ I 2 And R, calculating the heat dissipation power of the motor. Taking table 1 as an example, and assuming that the equivalent resistance of the motor is 0.0625 Ω, the heat dissipation power is 25W.
TABLE 1
Step2 calculating heat accumulated when the shift motor runs
Calculating to obtain heating power based on the target current of the motor and the equivalent resistance after the last limiting, wherein the heat of a difference value of the heating power and the cooling power in a sampling period of software is the heat finally generated by the motor in the current period, and then summing the heat with the accumulated heat calculated in the last sampling period to obtain the total heat accumulated at the moment, wherein the total heat can be expressed by the following formula:
q (t) ═ Q (t-1) + (heat generation power-heat dissipation power) × sampling period
Step3 calculating the maximum allowable heat of the gear shifting motor
The scheme is designed to limit the target working current of the motor when the accumulated heat of the gear shifting motor reaches the allowable maximum value. The current limit calculated based on the maximum heat is needed to meet the current limiting requirements of the motor as shown in table 1. To ensure that the time that the motor can continuously operate under the maximum allowable heat does not exceed the required time limit as much as possible, the heating power corresponding to each current limit and the heat accumulated in the required time limit are calculated (see table 2), the maximum allowable heat of the motor cannot exceed the heat of the required limit, here, the maximum heat is 730J, and the time that different current limits can be maintained can be calculated based on the maximum allowable heat, see the last column of table 2. In order to analyze the current limit more intuitively and clearly, a relation curve of the current limit and the required time and the calculation time limit is drawn, wherein linear interpolation is carried out among different limit points, and the relation curve is shown in figure 2. Therefore, the calculated current limit curve does not exceed the required current limit in the whole motor working current interval, and the overcurrent protection effect can be achieved. Of course, the maximum heat limit may be based on the actual situation. If a more conservative current limit is desired, a smaller maximum heat limit may be desired, whereas a larger maximum heat limit may be desired.
TABLE 2
Step4 calculating target current after overcurrent limitation of the gear shifting motor
When the accumulated heat of the gear shifting motor reaches the maximum allowable heat limit value, the final output target current cannot exceed the current when the motor is in thermal balance, namely the current after overcurrent limitation is the current calculated based on the heat dissipation power and the unrestricted target current, and the limited target current is 20A based on the current limiting requirement of the motor in the table 1.
By combining the above calculations, when the target current of the gear shifting motor which is not limited is lower than the heat balance current of the motor, the heating power of the motor is lower than the heat dissipation power, and the current limitation is not needed. On the contrary, if the unrestricted target current is higher than the heat balance current, the heating power of the motor is higher than the heat dissipation power, the heat begins to be accumulated, and then if the target current is still higher than the heat balance current, the heat continues to be accumulated until the maximum allowable heat, so that the current overcurrent limitation is triggered to limit the current to the heat balance current, and then the heat is not accumulated any more, and the maximum allowable heat is maintained. However, if the current drops below the thermal equilibrium current, the accumulated heat is gradually reduced until the heat is reset to 0, and the over-current limit calculation is performed again. According to the analysis and calculation steps, a logic diagram of the overcurrent limit calculation is drawn, as shown in fig. 1.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. The overcurrent protection method for the gear shifting motor of the automatic transmission based on the maximum heat is characterized by comprising the following steps of:
calculating the heat dissipation power of the gear shifting motor under the stable operation condition according to a preset current limit value;
calculating the heat accumulated when the gear shifting motor operates;
calculating the allowable maximum heat quantity of the gear shifting motor;
and when the accumulated heat during the operation of the gear shifting motor exceeds the maximum heat allowable by the gear shifting motor, adjusting the target current to a preset current limit value, and adjusting the operation time of the gear shifting motor to a calculation time limit value corresponding to the preset current limit.
2. The maximum heat based overcurrent protection method for the shift motor of the automatic transmission according to claim 1, wherein the calculation mode of the accumulated heat during the operation of the shift motor is as follows: and calculating to obtain heating power through the target current output by the previous period and the equivalent resistance of the gear shifting motor, calculating to obtain the heat generated by the gear shifting motor in the current period through the working time of the difference value of the heating power and the heat dissipation power of the gear shifting motor in the current period, and summing the heat generated by the gear shifting motor in the current period and the accumulated heat calculated in the previous sampling period to obtain the heat accumulated when the gear shifting motor in the current period operates.
3. The maximum heat based over-current protection method for the shift motor of the automatic transmission according to claim 1, wherein the maximum allowable heat of the shift motor is set to 730J.
4. The maximum heat based overcurrent protection method for a shift motor of an automatic transmission according to claim 1, wherein the predetermined current limits are set to 20, 30, 40, 50, 60, 70, and 80 in units of a, respectively, and wherein when the target current is less than or equal to the minimum predetermined current limit 20A, the shift motor is considered to be stably operated for a long time without adjusting the current level.
5. A computer arrangement comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method according to any of claims 1-4 are implemented when the computer program is executed by the processor.
6. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210559986.0A CN114857261B (en) | 2022-05-23 | 2022-05-23 | Automatic transmission gear shifting motor overcurrent protection method based on maximum heat |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210559986.0A CN114857261B (en) | 2022-05-23 | 2022-05-23 | Automatic transmission gear shifting motor overcurrent protection method based on maximum heat |
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| CN114857261A true CN114857261A (en) | 2022-08-05 |
| CN114857261B CN114857261B (en) | 2024-01-12 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0614574A (en) * | 1992-06-22 | 1994-01-21 | Matsushita Electric Ind Co Ltd | Overheat protector for servo motor |
| CA2714936A1 (en) * | 2009-11-05 | 2011-05-05 | Honda Motor Co., Ltd. | Overheat protection apparatus |
| CN103459876A (en) * | 2011-04-12 | 2013-12-18 | 克莱斯勒集团有限责任公司 | Method for determining wet clutch temperature |
| JP2014222989A (en) * | 2013-05-14 | 2014-11-27 | ダイムラー・アクチェンゲゼルシャフトＤａｉｍｌｅｒ ＡＧ | Regeneration control apparatus for electric automobile |
| US20160169378A1 (en) * | 2014-12-10 | 2016-06-16 | Zf Friedrichshafen Ag | Method and Control Device for Operating an Automatic Transmission |
| CN108146422A (en) * | 2016-12-02 | 2018-06-12 | 上海汽车集团股份有限公司 | Control method, device and the automobile of clutch |
| CN110397731A (en) * | 2018-04-24 | 2019-11-01 | 大陆汽车投资（上海）有限公司 | Synchronizer method for excessive heating protection and device in gearbox |
| CN113922334A (en) * | 2021-09-22 | 2022-01-11 | 重庆智能机器人研究院 | Operation protection method and device for servo motor, storage medium and electronic equipment |
-
2022
- 2022-05-23 CN CN202210559986.0A patent/CN114857261B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0614574A (en) * | 1992-06-22 | 1994-01-21 | Matsushita Electric Ind Co Ltd | Overheat protector for servo motor |
| CA2714936A1 (en) * | 2009-11-05 | 2011-05-05 | Honda Motor Co., Ltd. | Overheat protection apparatus |
| CN103459876A (en) * | 2011-04-12 | 2013-12-18 | 克莱斯勒集团有限责任公司 | Method for determining wet clutch temperature |
| JP2014222989A (en) * | 2013-05-14 | 2014-11-27 | ダイムラー・アクチェンゲゼルシャフトＤａｉｍｌｅｒ ＡＧ | Regeneration control apparatus for electric automobile |
| US20160169378A1 (en) * | 2014-12-10 | 2016-06-16 | Zf Friedrichshafen Ag | Method and Control Device for Operating an Automatic Transmission |
| CN108146422A (en) * | 2016-12-02 | 2018-06-12 | 上海汽车集团股份有限公司 | Control method, device and the automobile of clutch |
| CN110397731A (en) * | 2018-04-24 | 2019-11-01 | 大陆汽车投资（上海）有限公司 | Synchronizer method for excessive heating protection and device in gearbox |
| CN113922334A (en) * | 2021-09-22 | 2022-01-11 | 重庆智能机器人研究院 | Operation protection method and device for servo motor, storage medium and electronic equipment |
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