CN115059756A - Clutch control method and device, TCU and storage medium - Google Patents
Clutch control method and device, TCU and storage medium Download PDFInfo
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- CN115059756A CN115059756A CN202210463181.6A CN202210463181A CN115059756A CN 115059756 A CN115059756 A CN 115059756A CN 202210463181 A CN202210463181 A CN 202210463181A CN 115059756 A CN115059756 A CN 115059756A
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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
- F16H61/04—Smoothing ratio shift
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
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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
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/50—Inputs being a function of the status of the machine, e.g. position of doors or safety belts
- F16H59/56—Inputs being a function of the status of the machine, e.g. position of doors or safety belts dependent on signals from the main clutch
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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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
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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
- F16H61/04—Smoothing ratio shift
- F16H2061/0459—Smoothing ratio shift using map for shift parameters, e.g. shift time, slip or pressure gradient, for performing controlled shift transition and adapting shift parameters by learning
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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
- F16H61/04—Smoothing ratio shift
- F16H2061/0474—Smoothing ratio shift by smoothing engagement or release of positive clutches; Methods or means for shock free engagement of dog clutches
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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
- F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
- F16H2061/1256—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected
- F16H2061/1276—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures characterised by the parts or units where malfunctioning was assumed or detected the failing part is a friction device, e.g. clutches or brakes
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a clutch control method and device, a TCU and a storage medium. The control method comprises the following steps: acquiring different actual positions of the clutch in real time; determining different target positions of a clutch under different states of the vehicle; judging and processing different interval ranges of the target position and the actual position; outputting different first duty ratio signals according to the judged and processed target position and the judged and processed actual position; controlling different clutch actuators to act according to the first duty ratio signal so as to enable the clutch to be separated; outputting different second duty ratio signals according to the target position and the actual position after judgment and processing; controlling different clutch actuators to act according to the second duty ratio signal so as to enable the clutches to be combined; wherein, different clutch actuators comprise a separating slow valve, a separating fast valve, a combining slow valve and a combining fast valve. According to the scheme, the problem of accurate control of the clutch of the AMT transmission in the starting and gear shifting processes is solved, and the smoothness and the speed of the starting and gear shifting processes are improved.
Description
Technical Field
The embodiment of the invention relates to a clutch technology, in particular to a clutch control method, a clutch control device, a TCU and a storage medium.
Background
The existing AMT automatic transmission is developed by additionally arranging various sensors, a transmission control unit, an electric control gear selecting and shifting actuating mechanism and a clutch actuating mechanism on the basis of an MT manual transmission, and has the advantages of low cost and high transmission efficiency compared with other automatic transmission schemes. The automatic transmission can release a driver from frequent clutch operation and gear shifting operation, and can intelligently select a proper gear and a driving mode according to road conditions and driver input, so that the burden of the driver is greatly reduced.
With the popularization of AMT transmissions, the comfort requirements of drivers for vehicles are gradually increased, which leads to the increasing requirements for clutch control during starting and gear shifting. In the prior art, the control precision of the clutch is not high, the clutch is too fast to be jointed, jointing impact is generated, the running smoothness of a vehicle is influenced, or the clutch is too slow to be jointed, so that the power response of the vehicle is not timely or an engine is overspeed to cause unnecessary noise.
Disclosure of Invention
The invention provides a clutch control method and device, a TCU (transmission control unit) and a storage medium, which are used for solving the problem of accurate control of a clutch in the starting and gear shifting processes of an AMT (automated mechanical transmission) and improving the smoothness and speed of the starting and gear shifting processes.
In a first aspect, an embodiment of the present invention provides a clutch control method, where the clutch control method includes:
acquiring different actual positions of the clutch in real time;
determining different target positions of a clutch under different states of the vehicle;
carrying out different interval range judgment processing on the target position and the actual position;
outputting different first duty ratio signals according to the target position after judgment and the actual position after judgment;
controlling different clutch actuators to act according to the first duty ratio signal so as to enable the clutch to be separated;
outputting different second duty ratio signals according to the target position and the actual position after judgment processing;
controlling different clutch actuators to act according to the second duty ratio signal so as to enable the clutch to be combined;
wherein, different clutch actuators comprise a separating slow valve, a separating fast valve, a combining slow valve and a combining fast valve.
Optionally, the control method further includes:
detecting a fault condition of a different one of the clutch actuators;
controlling different clutch actuators to act according to the first duty cycle signal so as to enable the clutch to be separated, and the method comprises the following steps:
controlling different clutch actuators to act according to the first duty ratio signal and the fault state so as to enable the clutch to be separated;
controlling different clutch actuators to act according to the second duty cycle signal so as to enable the clutch to be combined, wherein the method comprises the following steps:
and controlling different clutch actuators to act according to the second duty ratio signal and the fault state so as to enable the clutch to be combined.
Optionally, after controlling different clutch actuators to act according to the second duty cycle signal to engage the clutch, the method further includes:
acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction;
acquiring the rotating speed of an input shaft;
when the actual position of the current clutch is smaller than the maximum separation position threshold value and the rotating speed of the input shaft is larger than the preset rotating speed, the actual position of the current clutch obtained through self-learning is a half-joint point correction target position;
and when the actual position of the current clutch is smaller than the maximum combination position threshold value and the actual position change rate of the current clutch is 0, self-learning is carried out to obtain that the actual position of the current clutch is the maximum combination correction target position.
Optionally, after controlling different clutch actuators to act according to the first duty cycle signal to disengage the clutch, the method further includes:
acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction;
when the actual position of the current clutch is larger than the maximum separation position threshold value and the actual position change rate of the current clutch is 0, self-learning is carried out to obtain that the actual position of the current clutch is the maximum separation correction target position;
optionally, after outputting different first duty ratio signals according to the target position after the determination processing and the actual position after the determination processing, the method further includes:
superimposing a first dither signal to the first duty cycle signal and outputting a first modified duty cycle signal;
after outputting different second duty ratio signals according to the target position and the actual position after the judgment processing, the method further comprises the following steps:
and superposing a second flutter signal to the second duty ratio signal, and outputting a second correction duty ratio signal.
In a second aspect, an embodiment of the present invention further provides a clutch control apparatus, including:
the acquisition module is used for acquiring different actual positions of the clutch in real time;
the target position determining module is used for determining different target positions of the clutch under different states of the vehicle;
the processing module is used for judging and processing different interval ranges of the target position and the actual position;
the first signal output module is used for outputting different first duty ratio signals according to the target position after judgment and the actual position after judgment;
the separation control module is used for controlling different clutch actuators to act according to the first duty ratio signal so as to separate the clutch;
the second signal output module is used for outputting different second duty ratio signals according to the target position and the actual position after judgment processing;
the combination control module is used for controlling different clutch actuators to act according to the second duty ratio signal so as to combine the clutches;
wherein, different clutch actuators comprise a slow separating valve, a fast separating valve, a slow combining valve and a fast combining valve.
Optionally, the method further includes: the fault state detection module is used for detecting fault states of different clutch actuators;
the first signal output module is specifically configured to control different clutch actuators to act according to the first duty ratio signal and the fault state, so as to disengage the clutch;
the second signal output module is specifically configured to control different clutch actuators to act according to the second duty ratio signal and the fault state, so that the clutches are combined.
Optionally, the method further includes: a maximum combination position self-learning module;
the maximum combination correction target position self-learning module is used for acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction; and when the actual position of the current clutch is smaller than the maximum combination position threshold value and the actual position change rate of the current clutch is 0, self-learning is carried out to obtain that the actual position of the current clutch is the maximum combination correction target position.
In a third aspect, an embodiment of the present invention further provides a TCU, where the TCU includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the clutch control method according to the first aspect.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the clutch control method according to the first aspect.
According to the embodiment of the invention, different actual positions of the clutch are obtained in real time; determining different target positions of the clutch under different states of the vehicle; then, judging and processing different interval ranges of the target position and the actual position; outputting different first duty ratio signals according to the judged and processed target position and the judged and processed actual position; controlling different clutch actuators to act according to the first duty ratio signal so as to enable the clutch to be separated; outputting different second duty ratio signals according to the target position and the actual position after judgment and processing; controlling different clutch actuators to act according to the second duty ratio signal so as to enable the clutches to be combined; wherein, different clutch actuators comprise a separating slow valve, a separating fast valve, a combining slow valve and a combining fast valve. Therefore, by outputting different first duty ratio signals and then outputting the first duty ratio signals to different clutch actuators, the control precision and the control speed of the clutch in the gear shifting and separating control process are improved; by outputting different second duty ratio signals, each second duty ratio signal is output to different clutch actuators, and the control precision and the control speed of the clutch in the starting combination control process are improved.
Drawings
FIG. 1 is a flow chart of a clutch control method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of another clutch control method provided by an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a clutch control device according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a TCU according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a clutch control method according to an embodiment of the present invention, where the present embodiment is applicable to controlling clutch engagement and disengagement conditions, and the method may be executed by a clutch control apparatus, and specifically includes the following steps:
and S110, acquiring different actual positions of the clutch in real time.
The AMT can acquire different actual positions of the clutch from a maximum combination position, a half combination point to a maximum separation position through a displacement sensor in a starting or gear shifting process.
And S120, determining different target positions of the clutch under different states of the vehicle.
In the embodiment, the different states of the vehicle comprise two states of vehicle starting and vehicle gear shifting; determining different target positions of the clutch in two states of vehicle starting and vehicle gear shifting specifically comprises: when the self-learning function is started, different target positions of the clutch are determined according to the table lookup; when the non-self-learning function is started, different target positions of the clutch in different states are calculated according to control algorithms under different working conditions; in the starting stage, the clutch target position is obtained by converting the clutch demand torque calculated according to the target impact degree through the torque displacement characteristic; in the gear shifting process, the target position of the clutch is obtained through torque displacement characteristic conversion according to the torque reduction target torque and the torque increase target torque, and the torque displacement characteristic is obtained through a bench test. It should be noted here that the vehicle is in a parking state, the vehicle can receive a self-learning instruction sent by an upper computer or a diagnostic instrument, and a self-learning function is started at the moment; when the self-learning function is activated, different corrected target positions of the clutch are learned based on different actual positions of the clutch.
And S130, judging the ranges of the target position and the actual position in different sections.
Wherein, different interval ranges can be determined according to the value difference between the maximum separation actual position threshold value x and the maximum combination actual position threshold value x1 (close to 0), the clutch control precision and the clutch control speed; specifically, it is determined whether the target position is in different interval ranges, and the different interval ranges may be: (x1, x-7), (x-7, x), (x, infinity); judging whether the actual position is in different interval ranges, wherein the different interval ranges can be [ x-7, x ], [ x, + ∞ ], [ x1, x ]; x +3, x + 1), [ x-6, x-3 ], [ 5, x-6 ], [ 3,5 ], [ x1+0.1,3 ], [ x1, x1+ 0.5).
And S140, outputting different first duty ratio signals according to the target position after the judgment processing and the actual position after the judgment processing.
And S150, controlling different clutch actuators to act according to the first duty ratio signal so as to enable the clutch to be separated.
Wherein, different clutch actuators comprise a separating slow valve, a separating fast valve, a combining slow valve and a combining fast valve; when the target position meets any range of (x1, x-7), (x-7, x) and (x, infinity) in different intervals, and the actual position meets any range of (x1, x), (x-7, x) and (x, infinity) in different intervals, different first duty ratio signals are output, and different first duty ratio signals drive different clutch actuators to act; the first duty ratio signals which are judged in a segmented mode and output in different modes can drive different clutch actuators to act so as to control the clutch to be separated, and the clutch is integrally controlled to be separated at the position of the maximum separation position at a higher speed and lower in precision; specifically, on the premise that the target position changes from the maximum combination position to the maximum separation position, namely the clutch changes from torque transmission to torque non-transmission, when the target position meets the requirement that x1 and x-7, because the actual position changes slowly compared with the target position, the difference value between the target position and the actual position is larger than 0, the fast separation valve and the slow separation valve are controlled to act according to a PID control principle, and the slow combination valve and the fast combination valve do not act, so that the fast separation control speed is ensured;
when the target position meets (x-7, x) and the actual position meets (x-7, x), wherein the (x-7, x) comprises a half-joint position, and the difference value between the target position and the actual position is greater than 0, controlling both the separation slow valve and the separation fast valve to act, and controlling both the combination slow valve and the combination fast valve to not act; it should be noted here that, when the target position satisfies (x-7, x), the actual position satisfies (x-7, x), if the difference between the target position and the actual position is less than 0, the separation slow valve and the separation fast valve are controlled not to act, and the combination slow valve and the combination fast valve are controlled to act, so as to ensure higher separation control precision;
when the target position meets [ x, infinity), and the actual position meets [ x, infinity), determining that the clutch actually reaches the maximum separation position, and controlling the slow separation valve, the fast separation valve, the slow combination valve and the fast combination valve to be inactive;
when the target position meets [ x, infinity ]), and the actual position meets (x1, x), the fast separating valve and the slow separating valve are controlled to meet the uniform action, and the slow combining valve and the fast combining valve are not controlled to act, so that the fast separating control speed is ensured. Therefore, when the clutch is close to the maximum separation position, the clutch needs to act faster, and the control precision can be slightly reduced; the speed is slow and the control precision is high when the middle position of the motion stroke, namely the vicinity of the half joint, is approached.
And S160, outputting different second duty ratio signals according to the target position and the actual position after the judgment processing. S170, controlling different clutch actuators to act according to the second duty ratio signal so as to enable the clutches to be combined;
when each actual position meets any range of different interval ranges of (x-3, x + 1), [ x-6, x-3), [ 5, x-6), [ 3,5), [ x1+0.1,3), [ x1, x1+0.5), different second duty ratio signals are output according to the target position and the actual position after judgment processing, and different second duty ratio signals drive different clutch actuators to act; the second duty ratio signals which are judged in a segmented mode and output in different modes can drive different clutch actuators to act so as to achieve clutch combination, the speed and the precision of the clutch combined to the maximum combination position are controlled integrally to be high, and the speed and the precision of the clutch combined to the half combination point position are controlled integrally to be low; specifically, when the target position changes from the maximum separation target position to the maximum combination target position, namely the clutch changes from torque non-transmission to torque transmission, and the actual position meets the requirement of x-3 and x +1, because the actual position changes slowly compared with the target position at the moment and the difference value between the target position and the actual position is less than 0, the combination fast valve is controlled to act, the combination slow valve does not act, and the separation slow valve and the separation fast valve do not act, so that the faster combination control speed is ensured;
when the actual position meets the requirement of x-6 and x-3, the actual position changes slowly than the target position, and the difference value between the target position and the actual position is less than 0, the combined slow valve is controlled to act, the combined fast valve does not act, and the separated slow valve and the separated fast valve do not act, so that higher combined control precision is ensured;
when the actual position meets the requirement of (5, x-6) or (3, 5), wherein the position of a half-binding point is included in the (3, x-6); and the difference between the target position and the actual position is less than 0, the combined slow valve and the combined fast valve are controlled to act, and the separated slow valve and the separated fast valve are controlled not to act; it should be noted here that when the actual position satisfies [ 5, x-6) or [ 3,5), if the difference between the target position and the actual position is greater than 0, both the slow separating valve and the fast separating valve are controlled to operate, and both the slow combining valve and the fast combining valve are controlled to not operate; thus, higher combination control precision and faster combination control speed are ensured;
when the actual position meets the requirement of x1+0.1,3), as the actual position changes slowly than the target position, and the difference value between the target position and the actual position is less than 0, the control is combined with the slow valve action, combined with the fast valve action, and controlled to separate the slow valve and the fast valve without action, thereby ensuring faster combined control speed;
when the actual position meets the conditions of x1, x1+0.5), the clutch is determined to actually reach the maximum combination position, and the combination slow valve, the combination fast valve, the separation slow valve and the separation fast valve are controlled to be not actuated. Thus, when the clutch approaches the maximum separation and maximum engagement positions, the clutch is required to act faster, and the speed is increased along with approaching the maximum engagement position, so that the control precision can be slightly reduced; the speed is slow and the control precision is high when the middle position of the motion stroke, namely the vicinity of the half joint point, is approached. According to the scheme, the target position and the actual position are subjected to different interval range judgment processing, the clutch is controlled to be separated according to the judged target position and the judged actual position, and the clutch is controlled to be combined according to the judged actual position and the judged target position, so that the smoothness and the speed of the starting and gear shifting processes of the AMT are improved.
Optionally, based on the foregoing embodiment, further optimization is performed, and fig. 2 is a flowchart of another clutch control method provided in the embodiment of the present invention, as shown in fig. 2, where the method includes the following steps:
and S210, acquiring different actual positions of the clutch in real time.
And S220, determining different target positions of the clutch under different states of the vehicle.
And S230, judging the range of different sections of the target position and the actual position.
And S240, outputting different first duty ratio signals according to the target position after judgment processing and the actual position after judgment processing.
And S250, superposing the first flutter signal to the first duty ratio signal, and outputting a first correction duty ratio signal.
The first flutter signal is superposed to the first duty ratio signal, and the first correction duty ratio signal is output, so that different clutch actuators can be accurately controlled to act according to the first correction duty ratio signal, and the precision of clutch separation control is improved.
And S260, detecting fault states of different clutch actuators.
And S270, controlling different clutch actuators to act according to the first corrected duty ratio signal and the fault state so as to enable the clutch to be separated.
Wherein, after the action of different clutch actuators is controlled according to the first correction duty ratio signal and the fault state so as to separate the clutch, the method further comprises the following steps:
acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction;
when the actual position of the current clutch is larger than the maximum separation position threshold value and the actual position change rate of the current clutch is 0, the actual position of the current clutch obtained through self-learning is the maximum separation correction target position;
and under the condition of triggering a self-learning control instruction, namely when a self-learning function is started, self-learning obtains a maximum separation correction target position, the maximum separation correction target position is used as a maximum separation target position for next control, and the clutch is controlled to be separated according to the actual maximum separation position and the maximum separation target position. Meanwhile, the maximum separation correction target position can also be used as an actual position to judge the maximum separation actual position threshold value in the processing process of different interval ranges, and the maximum separation position threshold value in the next self-learning starting process is calculated according to the maximum separation actual position threshold value. The maximum separated position threshold is the maximum separated actual position threshold minus an offset value. And S280, outputting different second duty ratio signals according to the target position and the actual position after the judgment processing.
And S290, superposing the second flutter signal to a second duty ratio signal, and outputting a second correction duty ratio signal.
The second flutter signal is superposed to the second duty ratio signal, and the second correction duty ratio signal is output, so that different clutch actuators can be accurately controlled to act according to the second correction duty ratio signal, and the precision of clutch combination control is improved.
And S300, controlling different clutch actuators to act according to the second corrected duty ratio signal and the fault state so as to enable the clutch to be combined.
The fault states of different clutch actuators can be detected through the sensors, the clutch is controlled to be separated by referring to the fault states of the different clutch actuators and the first correction duty ratio signal, the clutch is controlled to be combined by referring to the fault states of the clutch actuators and the second correction duty ratio signal, and the control precision of the clutch is further improved.
Wherein, after controlling different clutch executor actions to make the clutch combine according to second correction duty ratio signal and fault state, still include:
acquiring the rotating speed of an input shaft;
when the actual position of the current clutch is smaller than the maximum separation position threshold value and the rotating speed of the input shaft is larger than the preset rotating speed, the actual position of the current clutch obtained through self-learning is a half-joint correction target position;
and when the actual position of the current clutch is smaller than the maximum combination position threshold value and the actual position change rate of the current clutch is 0, self-learning obtains that the actual position of the current clutch is the maximum combination correction target position.
Under the condition of triggering a self-learning control instruction, namely when a self-learning function is started, self-learning obtains a half-combination point correction target position and a maximum combination point correction target position, the half-combination point correction target position is used as a half-combination point target position for next control, and clutch combination is controlled according to the actual position of the half-combination point and the half-combination point target position; and taking the maximum combination correction target position as the maximum combination target position of the next control, and controlling the clutch to be combined according to the maximum combination actual position and the maximum combination target position. Meanwhile, the maximum combination correction target position can also be used as an actual position to judge the maximum combination actual position threshold in different interval ranges, and the maximum combination position threshold in the next self-learning starting process is calculated according to the maximum combination actual position threshold. The maximum combined position threshold is the maximum combined actual position threshold plus an offset value.
The embodiment of the invention also provides a clutch control device, which can execute the clutch control method provided by any embodiment of the invention and has corresponding functional modules and beneficial effects of the execution method. Fig. 3 is a schematic structural diagram of a clutch control device according to an embodiment of the present invention, and as shown in fig. 3, the clutch control device includes:
the acquiring module 10 is used for acquiring different actual positions of the clutch in real time;
the target position determining module 20 is used for determining different target positions of the clutch under different states of the vehicle;
the processing module 30 is used for judging and processing different interval ranges of the target position and the actual position;
the first signal output module 40 is configured to output different first duty ratio signals according to the determined target position and the determined actual position;
the separation control module 50 is used for controlling different clutch actuators to act according to the first duty ratio signal so as to separate the clutch;
a second signal output module 60, configured to output different second duty ratio signals according to the target position and the actual position after the determination processing;
the combination control module 70 is used for controlling different clutch actuators to act according to the second duty ratio signal so as to enable the clutches to be combined;
wherein, different clutch actuators comprise a separating slow valve, a separating fast valve, a combining slow valve and a combining fast valve.
Optionally, the method further includes: the fault state detection module is used for detecting the fault states of different clutch actuators;
the first duty ratio signal output module is specifically used for controlling different clutch actuators to act according to the first duty ratio signal and the fault state so as to separate the clutch;
and the second duty ratio signal output module is specifically used for controlling different clutch actuators to act according to the second duty ratio signal and the fault state so as to combine the clutches.
Optionally, the method further includes: the semi-junction self-learning module is specifically used for:
acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction;
acquiring the rotating speed of an input shaft;
when the actual position of the clutch is smaller than the maximum separation position threshold value and the rotating speed of the input shaft is larger than the preset rotating speed, self-learning is carried out to obtain that the actual position of the clutch is the half-joint correction target position;
further comprising: the maximum combination position self-learning module is specifically used for:
and when the actual position of the current clutch is smaller than the maximum combination position threshold value and the actual position change rate of the current clutch is 0, self-learning is carried out to obtain that the actual position of the current clutch is the maximum combination correction target position.
Further comprising: the maximum separation position self-learning module is specifically used for:
acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction;
and when the actual position of the current clutch is larger than the maximum separation position threshold value and the actual position change rate of the current clutch is 0, self-learning is carried out to obtain that the actual position of the current clutch is the maximum separation correction target position.
Optionally, the correction circuit further comprises a first correction signal output module, wherein the first correction signal output module is specifically configured to superimpose a first dither signal on the first duty cycle signal and output a first corrected duty cycle signal;
the second correction signal output module is specifically configured to superimpose a second dither signal on the second duty cycle signal and output a second corrected duty cycle signal.
Fig. 4 is a schematic structural diagram of a TCU according to an embodiment of the present invention, as shown in fig. 4, the TCU includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of processors 70 in the TCU may be one or more, and one processor 70 is illustrated in fig. 4; the processor 70, memory 71, input device 72, and output device 73 in the TCU may be connected by a bus or other means, as exemplified by the bus connection in fig. 4.
The memory 71 is a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the clutch control method in the embodiment of the present invention. The processor 70 executes various functional applications of the TCU and data processing by executing software programs, instructions, and modules stored in the memory 71, thereby implementing the clutch control method described above.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory remotely located from the processor 70, which may be connected to the TCU through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive entered numeric or character information and to generate key signal inputs relating to user settings and function controls of the TCU. The output device 73 may include a display device such as a display screen.
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a method of clutch control, the method comprising:
acquiring different actual positions of the clutch in real time;
determining different target positions of a clutch under different states of the vehicle;
carrying out different interval range judgment processing on the target position and the actual position;
outputting different first duty ratio signals according to the target position after judgment and the actual position after judgment;
controlling different clutch actuators to act according to the first duty ratio signal so as to enable the clutch to be separated;
outputting different second duty ratio signals according to the target position and the actual position after judgment processing;
controlling different clutch actuators to act according to the second duty ratio signal so as to enable the clutch to be combined;
wherein, different clutch actuators comprise a separating slow valve, a separating fast valve, a combining slow valve and a combining fast valve.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the clutch control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the storage device, the included units and modules are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A clutch control method, comprising:
acquiring different actual positions of the clutch in real time;
determining different target positions of a clutch under different states of the vehicle;
carrying out different interval range judgment processing on the target position and the actual position;
outputting different first duty ratio signals according to the target position after judgment and the actual position after judgment;
controlling different clutch actuators to act according to the first duty ratio signal so as to enable the clutch to be separated;
outputting different second duty ratio signals according to the target position and the actual position after judgment processing;
controlling different clutch actuators to act according to the second duty ratio signal so as to enable the clutch to be combined;
wherein, different clutch actuators comprise a separating slow valve, a separating fast valve, a combining slow valve and a combining fast valve.
2. The clutch control method according to claim 1, further comprising:
detecting a fault condition of a different one of the clutch actuators;
controlling different clutch actuators to act according to the first duty cycle signal so as to enable the clutch to be separated, and the method comprises the following steps:
controlling different clutch actuators to act according to the first duty ratio signal and the fault state so as to enable the clutch to be separated;
controlling different clutch actuators to act according to the second duty cycle signal so as to enable the clutch to be combined, wherein the method comprises the following steps:
and controlling different clutch actuators to act according to the second duty ratio signal and the fault state so as to enable the clutch to be combined.
3. The clutch control method of claim 1, further comprising, after controlling actuation of a different clutch actuator to engage the clutch based on the second duty cycle signal:
acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction;
acquiring the rotating speed of an input shaft;
when the actual position of the clutch is smaller than the maximum separation position threshold value and the rotating speed of the input shaft is larger than the preset rotating speed, self-learning is carried out to obtain that the actual position of the clutch is the half-joint correction target position;
when the actual position of the current clutch is smaller than the maximum combination position threshold value and the actual position change rate of the current clutch is 0, the actual position of the current clutch obtained through self-learning is the maximum combination correction target position.
4. The clutch control method of claim 3, further comprising, after controlling the actuation of the different clutch actuators to disengage the clutch based on the first duty cycle signal:
acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction;
and when the actual position of the current clutch is larger than the maximum separation position threshold value and the actual position change rate of the current clutch is 0, self-learning is carried out to obtain that the actual position of the current clutch is the maximum separation correction target position.
5. The clutch control method according to claim 1, further comprising, after outputting different first duty signals according to the target position after the determination process and the actual position after the determination process:
superposing a first flutter signal to the first duty ratio signal, and outputting a first correction duty ratio signal;
after outputting different second duty ratio signals according to the target position and the actual position after the judgment processing, the method further comprises the following steps:
and superposing a second flutter signal to the second duty ratio signal, and outputting a second correction duty ratio signal.
6. A clutch control apparatus, characterized by comprising:
the acquisition module is used for acquiring different actual positions of the clutch in real time;
the target position determining module is used for determining different target positions of the clutch under different states of the vehicle;
the processing module is used for judging and processing different interval ranges of the target position and the actual position;
the first signal output module is used for outputting different first duty ratio signals according to the target position after judgment and the actual position after judgment;
the separation control module is used for controlling different clutch actuators to act according to the first duty ratio signal so as to separate the clutch;
the second signal output module is used for outputting different second duty ratio signals according to the target position and the actual position after judgment processing;
the combination control module is used for controlling different clutch actuators to act according to the second duty ratio signal so as to combine the clutches;
wherein, different clutch actuators comprise a slow separating valve, a fast separating valve, a slow combining valve and a fast combining valve.
7. The clutch control apparatus according to claim 6, further comprising: the fault state detection module is used for detecting fault states of different clutch actuators;
the first signal output module is specifically configured to control different clutch actuators to act according to the first duty ratio signal and the fault state, so as to disengage the clutch;
the second signal output module is specifically configured to control different clutch actuators to act according to the second duty ratio signal and the fault state, so that the clutches are combined.
8. The clutch control apparatus according to claim 6, further comprising: a maximum combination position self-learning module;
the maximum combination position self-learning module is used for acquiring the current actual positions of the clutches after the actions of different clutch actuators under the trigger self-learning control instruction; and when the actual position of the current clutch is smaller than the maximum combination position threshold value and the actual position change rate of the current clutch is 0, self-learning is carried out to obtain that the actual position of the current clutch is the maximum combination correction target position.
9. A TCU comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements a clutch control method according to any one of claims 1-5.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out a clutch control method according to any one of claims 1-5.
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| CN115059756B (en) | 2023-07-25 |
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