CN114857261B - 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
- Publication number
- CN114857261B CN114857261B CN202210559986.0A CN202210559986A CN114857261B CN 114857261 B CN114857261 B CN 114857261B CN 202210559986 A CN202210559986 A CN 202210559986A CN 114857261 B CN114857261 B CN 114857261B
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- Prior art keywords
- gear shifting
- heat
- motor
- shifting motor
- current
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000005540 biological transmission Effects 0.000 title claims abstract description 10
- 230000017525 heat dissipation Effects 0.000 claims abstract description 13
- 238000004364 calculation method Methods 0.000 claims abstract description 11
- 238000010438 heat treatment Methods 0.000 claims description 10
- 238000004590 computer program Methods 0.000 claims description 8
- 238000005070 sampling Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 abstract description 4
- 238000009825 accumulation Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 238000009413 insulation 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
- 230000007423 decrease Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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
-
- 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
-
- 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
Abstract
The invention discloses an automatic transmission gear shifting motor overcurrent protection method based on maximum heat, which comprises the following steps: calculating the heat dissipation power of the gear shifting motor under the stable operation condition according to the preset current limit value; calculating accumulated heat during the running of the gear shifting motor; calculating the allowable maximum heat of the gear shifting motor; when the accumulated heat quantity exceeds the allowable maximum heat quantity of the gear shifting motor during the operation of 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 value. The invention adopts the mode of heat accumulation to limit the overcurrent, can allow 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 a part of DCT, AMT and multi-gear hybrid power transmission to drive a gear shifting drum to rotate through a gear train, and a cam-like mechanism consisting of a gear shifting drum groove and a gear shifting fork converts the rotation motion of the gear shifting drum into the linear reciprocating motion of the gear shifting fork, and the gear shifting fork shifts a synchronizer to shift gears. Each gear corresponds to a fixed gear shifting drum angle position, the TCU searches the target gear shifting drum angle position according to the calculated target gear and the gear shifting drum position corresponding table, and then drives the gear shifting motor to rotate to a target angle, namely, after gear shifting is completed, the gear shifting motor stops running.
From the above, the control target gear is actually the angular position of the shift drum or the shift motor, and the control strategy is generally designed: and calculating the target torque of the gear shifting motor according to the position difference between the target gear shifting drum and the actual gear shifting drum position as the input of a PID algorithm, obtaining the target current of the motor by combining a motor-current characteristic curve, obtaining the limited target current through flow protection calculation, and finally calculating the target duty ratio based on the current power supply voltage, counter electromotive force and 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 possibly too large due to factors such as larger mechanical friction, mechanical clamping stagnation and the like in the control parameter calibration and gear shifting synchronization process, the continuous large current can cause the overheating of the TCU motor drive circuit and even the motor body to damage the TCU motor drive circuit, so that the motor working current needs to be limited to a certain extent.
Disclosure of Invention
The invention aims to provide an overcurrent protection method for a gear shifting motor of an automatic transmission based on maximum heat, which adopts a mode of accumulating heat to carry out overcurrent limitation, can allow larger current to pass in a short time, has smaller resistance to the gear shifting drum along with the fact that the gear shifting drum starts to rotate to the front of a synchronizer, and can drive the gear shifting drum to rotate only by consuming smaller current, and the accumulated heat is continuously reduced at the moment, so that when the gear shifting drum reaches a gear shifting synchronization point, the larger current of the gear shifting motor can still be allowed to realize quick synchronization, and gear shifting is completed quickly and reliably. Therefore, the motor overcurrent protection can be achieved, and the control requirement of the gear 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 the preset current limit value;
calculating accumulated heat during the running of the gear shifting motor;
calculating the allowable maximum heat of the gear shifting motor;
when the accumulated heat quantity exceeds the allowable maximum heat quantity of the gear shifting motor during the operation of 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 value.
The accumulated heat calculation mode during the operation of the gear shifting motor is as follows: and calculating to obtain heating power through the target current output in 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 accumulated heat when the gear shifting motor in the current period operates.
The maximum allowable heat for the shift motor is set at 730J.
The preset current limit values are set to 20, 30, 40, 50, 60, 70 and 80, respectively, in a unit of a, wherein when the target current is less than or equal to the minimum preset current limit value 20A, the shift motor can be regarded as stably operated for a long time without adjusting the current level.
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, characterized in that the processor implements the steps of the method according to any of the preceding claims when executing the computer program.
There is also provided a computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any of the preceding claims.
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts the mode of heat accumulation to limit overcurrent, can allow larger current to pass in a short time, has smaller resistance to the shift drum along with the fact that the shift drum starts to rotate and before the synchronizer starts, and the shift motor only consumes smaller current to drive the shift drum to rotate, at the moment, the accumulated heat is continuously reduced, and when the shift drum reaches a shift synchronization point, the larger current of the shift motor can be still allowed to realize quick synchronization, so that the shift can be quickly and reliably completed. Therefore, the motor overcurrent protection can be achieved, and the control requirement of the gear 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 graph illustrating current limiting of a shift motor in accordance with an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. 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. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Because of the thermal effect phenomenon of the current, when the current passes through the motor coil, heat is generated, and meanwhile, the heat is radiated to the surrounding environment, if the generated heat and the radiating heat reach thermal balance, the heat cannot be accumulated, the temperature of the motor coil winding is kept unchanged, and the motor can work normally. Otherwise, if the heat generated by the current increase exceeds the heat dissipation capacity, the heat is accumulated continuously, the temperature of the coil winding of the motor is increased gradually, the coil insulation layer is aged rapidly, the insulation effect is lost in severe cases, and the motor is burnt out due to short circuit. Thus, motor over-current protection may be embodied by thermal protection of the motor. According to the idea, specific calculation logic and strategy are 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 the motor can be considered to be in a thermal balance state at the moment, namely, the heating power is equal to the radiating power. The calculation formula of the reference current thermal effect: p=i 2 And R, the heat dissipation power of the motor can be calculated. Taking table 1 as an example, and assuming that the motor equivalent resistance is 0.0625 Ω, the heat dissipation power is 25W.
TABLE 1
Step2 calculating accumulated heat during operation of gear shifting motor
The heat of the difference value between the heat generated by the motor in one sampling period of the software and the heat generated by the motor in the current period is finally generated based on the target current of the motor and the equivalent resistance after the last limitation, and the total heat accumulated at the moment can be obtained by summing the heat generated by the motor in the last sampling period, and can be expressed by the following formula:
sampling period Q (t) =q (t-1) + (heat generating power-heat dissipating power)
Step3 calculating allowable maximum heat of gear shifting motor
The scheme is designed to limit the target operating 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 required to meet the current limit requirement of the motor as shown in table 1. To ensure that the time for which the motor can continuously run under the allowable maximum 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 allowable maximum heat of the motor cannot exceed the required time limit, 730J is taken as the maximum heat, and the time for which different current limits can be maintained is calculated based on the calculated maximum heat, and the last column of table 2 is shown. In order to analyze the current limit more intuitively and clearly, a relation curve of the current limit and the demand time and the calculation time limit is drawn, wherein linear interpolation is carried out between different limiting points, and the relation curve is shown in fig. 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 function can be achieved. Of course, the maximum heat limit may be dependent on the actual situation. If a more conservative current limit is desired, a smaller maximum heat limit may be taken, whereas a larger maximum heat limit may be taken.
TABLE 2
Step4, calculating target current after overcurrent limitation of gear shifting motor
When the accumulated heat of the gear shifting motor reaches the maximum allowable heat limit value, the finally output target current cannot exceed the current of the motor in heat balance, namely, the target current after overcurrent limitation is calculated based on heat dissipation power and is smaller than the unrestricted target current, and the restricted target current is 20A based on the current limiting requirement of the motor in table 1.
In summary, when the unrestricted shift motor target current is lower than the motor heat balance current, the motor heating power is lower than the heat dissipation power, and current restriction is not needed. Otherwise, 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, and then the heat starts to accumulate, if the target current is still higher than the heat balance current, the heat continues to accumulate until the maximum allowable heat, the current overcurrent limit is triggered, the current is limited to the heat balance current, and then the heat does not accumulate any more, so that the maximum allowable heat is maintained. However, if the current drops below the thermal equilibrium current, the accumulated heat gradually decreases until the heat resets to 0, and the overcurrent limiting calculation is performed again. According to the above analysis and calculation steps, an overcurrent limit calculation logic block diagram is drawn, as shown in fig. 1.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The maximum heat-based overcurrent protection method for the automatic transmission gear shifting motor 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 the preset current limit value of the gear shifting motor in the thermal balance state; the gear shifting motor is in a thermal balance state, namely the heating power and the heat dissipation power of the gear shifting motor are equal;
calculating accumulated heat during the running of the gear shifting motor;
calculating the allowable maximum heat of the gear shifting motor;
when the accumulated heat exceeds the allowable maximum heat of the gear shifting motor during the operation of the gear shifting motor, adjusting the target current to a preset current limit value of the gear shifting motor in a thermal balance state;
the accumulated heat calculation mode during the operation of the gear shifting motor 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 accumulated heat when the gear shifting motor in the current period operates;
calculating the heating power corresponding to each preset current limit value and the heat accumulated in the demand time limit value, wherein the allowable maximum heat of the motor cannot exceed the heat of the demand limit value; the heat of the demand limit is accumulated in the demand time limit.
2. The maximum heat-based automatic transmission shift motor overcurrent protection method according to claim 1, wherein the allowable maximum heat of the shift motor is set to 730J.
3. The maximum heat-based automatic transmission shift motor overcurrent protection method according to claim 1, wherein the preset current limit values are respectively set to 20, 30, 40, 50, 60, 70 and 80 in a unit of a, wherein 20A is the preset current limit value of the shift motor in a thermal balance state, and when the target current is less than or equal to 20A, the shift motor can be regarded as stably operating for a long time without adjusting the current.
4. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-3 when the computer program is executed.
5. A computer readable storage medium, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the method according to any of claims 1-3.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
|---|---|
| CN114857261A CN114857261A (en) | 2022-08-05 |
| CN114857261B true CN114857261B (en) | 2024-01-12 |
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| Application Number | Title | Priority Date | Filing Date |
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Citations (7)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014225453A1 (en) * | 2014-12-10 | 2016-06-16 | Zf Friedrichshafen Ag | Method and control device for operating an automatic transmission |
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- 2022-05-23 CN CN202210559986.0A patent/CN114857261B/en active Active
Patent Citations (7)
| 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 |
| 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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