CN115263947A - Clutch control method and device, electronic equipment and storage medium - Google Patents
Clutch control method and device, electronic equipment and storage medium Download PDFInfo
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- CN115263947A CN115263947A CN202210905318.9A CN202210905318A CN115263947A CN 115263947 A CN115263947 A CN 115263947A CN 202210905318 A CN202210905318 A CN 202210905318A CN 115263947 A CN115263947 A CN 115263947A
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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
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2054—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed by controlling transmissions or 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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/11—Application
- F16D2500/1107—Vehicles
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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
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/702—Look-up tables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
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- Arrangement And Driving Of Transmission Devices (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a clutch control method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: determining a motor drive torque corresponding to the target vehicle; determining a pending mode corresponding to a pending clutch in the target vehicle based on the motor drive torque; wherein the pending mode comprises a clutch engagement process or a clutch disengagement process; based on the to-be-processed mode, axially moving the to-be-adjusted clutch until the clutch state between the to-be-adjusted clutch and a front axle motor of the target vehicle is a target clutch state; wherein the target clutch state includes a disengaged state or an engaged state. The problem that multiple times of motor mode switching is needed when the clutch is controlled and the engagement and the disengagement of the clutch cannot be accurately controlled is solved, and the effect of accurately controlling the engagement and the disengagement of the clutch is achieved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a clutch control method and apparatus, an electronic device, and a storage medium.
Background
The front shaft and the rear shaft of the electric automobile are respectively driven by a motor, and a dog clutch is arranged between the front motor and the driving shaft and used for outputting and cutting off the power of the front shaft.
At present, when the output and the cut-off of the front axle power are controlled based on the dog clutch, a normal controller and a motor controller in a vehicle are generally required to switch a motor control mode for many times through rotating speed and torque, communication between the two controllers may have delay, calculation results are influenced, meanwhile, fluctuation of the torque and the rotating speed is caused, and the engagement and the disengagement of the clutch cannot be well controlled.
In order to better control the engagement and disengagement of a clutch in a vehicle, improvements in the method of controlling the clutch are needed.
Disclosure of Invention
The invention provides a clutch control method, a clutch control device, electronic equipment and a storage medium, and aims to solve the problems that multiple times of motor mode switching are needed when a clutch is controlled, and the engagement and the disengagement of the clutch cannot be accurately controlled.
In a first aspect, an embodiment of the present invention provides a clutch control method, including:
determining a motor drive torque corresponding to the target vehicle;
determining a pending mode corresponding to a pending clutch in the target vehicle based on the motor drive torque; the waiting mode comprises a clutch engaging mode or a clutch disengaging mode;
based on the to-be-processed mode, axially moving the to-be-adjusted clutch until the clutch state between the to-be-adjusted clutch and a front axle motor of the target vehicle is a target clutch state; wherein the target clutch state includes a disengaged state or an engaged state.
In a second aspect, an embodiment of the present invention further provides a clutch control apparatus, including:
a motor drive torque determination module to determine a motor drive torque corresponding to a target vehicle;
a pending mode determination module for determining a pending mode corresponding to a pending clutch in the target vehicle based on the motor drive torque; the waiting mode comprises a clutch engaging mode or a clutch disengaging mode;
the clutch adjusting module is used for axially moving the clutch to be adjusted based on the to-be-processed mode until the clutch state between the clutch to be adjusted and a front axle motor of the target vehicle is a target clutch state; wherein the target clutch state includes a disengaged state or an engaged state.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the clutch control method according to any of the embodiments of the present invention.
In a fourth aspect, the embodiment of the present invention further provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are configured to enable a processor to implement the clutch control method according to any embodiment of the present invention when executed.
According to the technical scheme of the embodiment, the motor driving torque corresponding to the target vehicle is determined, the information to be used corresponding to the target vehicle, namely the opening degree of an accelerator pedal and the current vehicle speed of the target vehicle, is obtained, and the motor driving torque corresponding to the information to be used is inquired in the target mapping table. Determining a pending mode corresponding to a to-be-adjusted clutch in the target vehicle based on the motor driving torque, determining the pending mode as a clutch engagement processing mode when the motor driving torque is greater than an upper limit driving torque, and determining the pending mode as a clutch disengagement processing mode when the motor driving torque is less than a lower limit driving torque. And based on the to-be-processed mode, axially moving the to-be-adjusted clutch until the clutch state between the to-be-adjusted clutch and a front axle motor of the target vehicle is the target clutch state, and sending a clutch control instruction to a control system of the target vehicle so that the control system controls the to-be-adjusted clutch to axially move according to the clutch control instruction until the clutch state of the to-be-adjusted clutch is the target clutch state. The problem of need motor mode switching many times when controlling the clutch, and can't accurately control the joint and the separation of clutch is solved, get accurate the effect of controlling the joint and the separation of clutch.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a method for controlling a clutch according to an embodiment of the present invention;
FIG. 2 is a flow chart of a clutch control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a clutch control device according to a fourth embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing the clutch control method according to the embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
Before the technical scheme is elaborated, an application scenario of the technical scheme is introduced to make the technical scheme more clearly understood. In the pure electric vehicle, a front shaft and a rear shaft of the vehicle are respectively provided with a motor, and a dog clutch is arranged between the front motor and a driving shaft and can be used for outputting and cutting off the power of the front shaft. When a clutch in a vehicle needs to be engaged and disengaged during driving of the vehicle, it is generally necessary for a vehicle controller to transmit a rotation speed control mode and a target rotation speed to a motor controller, so that the clutch is engaged with a front axle motor after the motor reaches the target rotation speed, and then transmit a torque control mode and a target control torque to the motor controller after the engagement, so that torque driving of the motor is desired. In this process, the motor control mode of the vehicle is continuously switched, and meanwhile, the communication delay between the two controllers causes the fluctuation of torque and rotating speed, thereby causing impact in the switching process. In order to solve the problems, the technical scheme can be adopted to control the clutch in the vehicle so as to enable the clutch to be quickly engaged or disengaged, and the driving requirements of the vehicle are met.
Example one
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 a case where a clutch of an electric vehicle is controlled to engage and disengage, and the method may be executed by a clutch control device, where the clutch control device may be implemented in a form of hardware and/or software, and the clutch control device may be configured in a computing device that may execute the clutch control method.
As shown in fig. 1, the method includes:
and S110, determining the motor driving torque corresponding to the target vehicle.
The target vehicle is a vehicle that needs to adjust and control the clutch, and the technical solution is described by way of example only, and the vehicle is not limited, and the target vehicle may be a pure electric vehicle. In the technical scheme, the motor driving torque can be understood as the driving torque output to the vehicle based on the front motor of the target vehicle.
Specifically, the motor drive torque of the target vehicle may be determined by the current vehicle speed and the accelerator pedal opening degree. Optionally, obtaining information to be used of the target vehicle; based on the target map, a motor drive torque corresponding to the information to be used is determined.
The information to be used comprises the opening degree of an accelerator pedal and the current speed of the target vehicle. The target mapping table comprises at least one piece of information to be matched and motor driving torque corresponding to each piece of information to be matched. The information to be matched can be understood as information to be used recorded in the target mapping table, and each information to be matched comprises an accelerator pedal opening degree and vehicle speed information, namely, the accelerator pedal and the vehicle speed information are combined to obtain the information to be matched.
Specifically, a target mapping table is preset, and at least one piece of information to be matched and a motor driving torque corresponding to each piece of information to be matched are recorded in the target mapping table. In other words, different accelerator pedal opening degrees and vehicle speed information are combined, and the motor driving torque corresponding to different combinations is different. After the opening degree of an accelerator pedal and the current speed corresponding to the target vehicle at the current moment are obtained, the target mapping table is inquired, and the motor driving torque corresponding to the opening degree of the accelerator pedal and the current speed at the current moment is determined to be the motor driving torque of the target vehicle. Note that the motor drive torque here is a motor drive torque determined in accordance with actual conditions.
And S120, determining a pending mode corresponding to the to-be-adjusted clutch in the target vehicle based on the motor driving torque.
The oncoming clutch may be understood to be a clutch in the target vehicle, for example, a dog clutch. The pending mode includes a clutch engagement mode or a clutch disengagement mode.
Specifically, the method for processing the clutch to be adjusted is different according to different motor driving torques of the target vehicle, so that the motor driving torque needs to be judged, and when the motor driving torque meets a certain judgment condition, the clutch to be adjusted adopts a response waiting processing method.
For example, different torque thresholds may be set, and the magnitude relationship between the motor driving torque and the torque threshold may be determined, and if the motor driving torque is greater than the torque threshold, the clutch engagement processing mode may be adopted, and if the motor driving torque threshold is less than the torque threshold, the clutch disengagement processing mode may be adopted.
Optionally, the pending mode is a clutch engagement processing mode, and the determining of the pending mode corresponding to the to-be-adjusted clutch in the target vehicle based on the motor driving torque includes: if the motor driving torque is larger than the upper limit driving torque, determining a target driving torque corresponding to the front axle motor; adjusting the wheel speed of the target vehicle based on the target driving torque until the wheel speed reaches the target speed; and a clutch engagement mode corresponding to the clutch to be adjusted is obtained, and the clutch to be adjusted and the front axle motor are engaged according to the clutch engagement mode.
In the technical scheme, in order to better control the clutch to be adjusted, an upper limit driving torque and a lower limit driving torque can be set as torque thresholds of the motor driving torque. The upper limit driving torque may be understood as a highest threshold value of the preset motor driving torque, and the lower limit driving torque may be understood as a lowest threshold value of the preset motor driving torque. The target drive torque may be understood as a motor drive torque output based on a front axle motor of the target vehicle for controlling the target vehicle to travel according to the target drive torque. The target rotational speed may be understood as the desired rotation to be achieved by the wheels of the target vehicle. The clutch engagement mode can be understood as a process mode for connecting the clutch to be adjusted with the front axle motor.
It should be noted that the upper limit driving torque and the lower limit driving torque are not fixed values, and may be customized by a developer of the vehicle in a development stage, for example, different vehicle models or differently configured vehicles may adopt different upper limit driving torques and lower limit driving torques. When the motor driving torque is larger than the upper limit driving torque, a clutch connection processing mode is adopted, and when the motor driving torque is smaller than the lower limit driving torque, a clutch disconnection processing mode is adopted.
Specifically, the motor driving torque of the target vehicle is obtained, and if the motor driving torque is greater than the upper limit driving torque, the target driving torque corresponding to the front axle motor needs to be determined according to the motor driving torque, and the specific determination process is described in detail in embodiment two below. After the target driving torque is determined, the target torque is sent to the motor controller, so that the motor controller controls the front axle motor to adjust the wheel rotating speed of the target vehicle to the target rotating speed according to the target torque. And after the wheel rotating speed reaches the target rotating speed, a clutch engaging mode corresponding to the clutch to be adjusted is adjusted, so that the clutch to be adjusted is connected with a front axle motor of the target vehicle, and clutch engaging processing is carried out.
For example, when the wheel speed of the target vehicle does not reach the target speed, the clutch to be adjusted of the target vehicle is in a disengaged state, namely, a two-drive driving mode, and the motor driving torque is provided for the target vehicle only by the rear axle motor. When the wheel rotating speed of the target vehicle reaches the target rotating speed, the to-be-adjusted clutch is connected with the front axle motor based on a clutch connection mode, the target vehicle is adjusted from a two-wheel drive mode to a four-wheel drive mode, and the front axle motor and the rear axle motor of the target vehicle jointly provide motor drive torque for the target vehicle.
Optionally, the waiting mode is a clutch release mode, and the method further includes: if the motor driving torque is smaller than the lower limit driving torque, adjusting the driving torque to be used to a preset driving torque so as to transfer the front engine torque of the front axle motor to the rear axle motor, so that the rear axle motor can combine the front engine torque with the rear axle torque of the rear axle motor; and a clutch separation mode corresponding to the clutch to be regulated is obtained, and the clutch to be regulated and the front axle motor are separated based on the clutch separation mode.
The drive torque to be used is understood to be a feed-forward torque of the target vehicle, i.e. a motor torque determined by a feed-forward control system of the target vehicle as a function of the torque or a change in a given torque. The preset drive torque may be set to 0.
Specifically, when the motor driving torque is smaller than the lower limit driving torque, the clutch to be adjusted and the front axle motor need to be separated. Before the separation processing, the front engine torque of the front axle motor needs to be gradually reduced to the preset driving torque, and the reduction is gradually transferred to the rear axle motor in the process, so that the total torque value of the front engine torque and the rear engine torque of the target vehicle is ensured to be unchanged in the torque transfer process. After the front engine torque is completely transferred to the rear axle motor, a clutch separation mode corresponding to the clutch to be regulated is called, so that the clutch to be regulated and the front axle motor are separated.
And S130, based on the to-be-processed mode, axially moving the to-be-processed clutch until the clutch state between the to-be-processed clutch and a front axle motor of the target vehicle is a target clutch state.
Wherein the target clutch state includes a disengaged state or an engaged state.
Specifically, after the to-be-processed mode corresponding to the to-be-adjusted clutch is determined, the to-be-adjusted clutch is moved axially, so that the clutch state between the to-be-adjusted clutch and the front axle motor is adjusted until the clutch state is the target clutch state.
Optionally, based on the pending mode, the method includes axially moving the clutch to be adjusted until the clutch state of the clutch to be adjusted is the target clutch state: and sending a clutch control instruction to a control system of the target vehicle so that the control system controls the clutch to be adjusted to axially move according to the clutch control instruction until the clutch state of the clutch to be adjusted is the target clutch state.
The clutch control command can be understood as a command for axially adjusting the clutch to be adjusted, and the clutch control command can be a clutch release command or a clutch engagement command.
Specifically, according to different waiting modes, corresponding clutch control instructions are sent to a controller system of the target vehicle, so that the controller system controls the clutch to be adjusted to axially move according to the clutch control instructions until the clutch state is the target clutch state.
Illustratively, taking the case where the oncoming clutch is a dog clutch as an example, when the oncoming clutch is a clutch engagement processing mode, a clutch engagement command is sent to the controller system to control the driving ring gear and the driven gear of the oncoming clutch to be combined based on the controller system, i.e., to bring the driving ring gear and the driven gear of the dog clutch into full mesh to combine the motor drive torques output from the front-axle motor and the rear-axle motor.
Illustratively, when the pending mode is a clutch disengagement mode, a clutch disengagement command is sent to the controller system to control disengagement of the driving ring gear and the driven gear of the on-coming clutch, i.e., to disengage the driving ring gear and the driven gear of the dog clutch, based on the controller system, to cut off the output of the motor torque of the front axle motor.
The advantage that sets up like this lies in, only needs to send the controller system according to the pending mode of the clutch of target vehicle, and the controller system can be according to the pending mode and to treat that the clutch of adjusting carries out the axial adjustment, need not carry out a lot of to the motor mode and switch over.
According to the technical scheme, the motor driving torque corresponding to the target vehicle is determined, the information to be used corresponding to the target vehicle, namely the opening degree of an accelerator pedal and the current vehicle speed of the target vehicle, is obtained, and the motor driving torque corresponding to the information to be used is inquired in the target mapping table. Determining a pending mode corresponding to a to-be-adjusted clutch in the target vehicle based on the motor driving torque, determining the pending mode as a clutch engagement processing mode when the motor driving torque is greater than an upper limit driving torque, and determining the pending mode as a clutch disengagement processing mode when the motor driving torque is less than a lower limit driving torque. And based on the waiting mode, axially moving the clutch to be adjusted until the clutch state between the clutch to be adjusted and the front axle motor of the target vehicle is the target clutch state, and sending a clutch control instruction to a control system of the target vehicle so that the control system controls the clutch to be adjusted to axially move according to the clutch control instruction until the clutch state of the clutch to be adjusted is the target clutch state. The problem of need motor mode switching many times when controlling the clutch, and can't accurately control the joint and the separation of clutch is solved, get accurate the effect of controlling the joint and the separation of clutch.
Example two
Fig. 2 is a flowchart of a clutch control method according to a second embodiment of the present invention, and optionally, details a pending mode determined to correspond to a to-be-adjusted clutch in a target vehicle based on a motor driving torque.
As shown in fig. 2, the method includes:
and S210, determining the motor driving torque corresponding to the target vehicle.
And S220, if the motor driving torque is larger than the upper limit driving torque, determining a target driving torque corresponding to the front axle motor.
Optionally, determining a target driving torque corresponding to the front axle motor comprises: determining a driving torque to be used corresponding to a front axle motor based on a vehicle speed and torque information table; determining a driving torque to be determined corresponding to a front axle motor according to a target rotating speed and an actual rotating speed corresponding to a target vehicle; a target drive torque corresponding to the front axle motor is determined based on a sum of the drive torque to be used and the drive torque to be determined.
The vehicle speed and torque information table comprises at least one piece of vehicle speed information and motor driving torque corresponding to each piece of vehicle speed information. The actual rotational speed can be understood as the rotational speed of the wheels of the target vehicle at the present time. The drive torque to be determined may be understood as a drive torque determined on the basis of the target rotational speed and the actual rotational speed.
Specifically, the current speed information of the target vehicle is collected based on a speed collector in the target vehicle, and the motor driving torque matched with the current speed information is inquired in a speed and torque information table and is used as the driving torque to be used. When determining the driving torque to be determined according to the target rotating speed and the actual rotating speed of the target vehicle, optionally, determining the rotating speed to be used of the target vehicle according to the average value of the rotating speed of the front wheels and the rotating speed of the rear wheels of the target vehicle; determining the predicted rotating speed of the target vehicle according to the current vehicle speed and the current acceleration of the target vehicle; determining a target rotating speed corresponding to the target vehicle based on the sum of the rotating speed to be used and the predicted rotating speed; and acquiring the actual rotating speed of the target vehicle, and processing the target rotating speed and the actual rotating speed based on the torque determination function to obtain the driving torque to be determined corresponding to the front axle motor. Further, the driving torque to be used and the driving torque to be determined are superposed, so that a target driving torque corresponding to the front axle motor can be obtained.
Wherein the torque determination function may be a PID control function, and the torque determination function may be represented by the following formula:
where T _ pi represents a driving torque to be determined, p represents a preset constant, V _ act represents an actual rotation speed, and V _ target represents a target rotation speed.
And S230, adjusting the wheel rotating speed of the target vehicle based on the target driving torque until the wheel rotating speed reaches the target rotating speed.
And S240, a clutch engagement mode corresponding to the clutch to be adjusted is called, and the clutch to be adjusted and the front axle motor are engaged according to the clutch engagement mode.
And S250, axially moving the clutch to be adjusted based on the to-be-processed mode until the clutch state between the to-be-adjusted clutch and the front axle motor of the target vehicle is the target clutch state.
According to the technical scheme of the embodiment, if the motor driving torque is larger than the upper limit driving torque, the target driving torque corresponding to the front axle motor is determined, the driving torque to be used corresponding to the front axle motor is determined according to the vehicle speed and torque information table, meanwhile, the driving torque to be determined corresponding to the front axle motor is determined, and the target driving torque is determined based on the sum of the driving torque to be used and the driving torque to be determined. The problem of inaccurate determination of the target driving torque is solved, and the effect of accurately determining the motor driving torque of the front axle motor is achieved.
EXAMPLE III
In one specific example, an accelerator pedal opening degree and a current vehicle speed of a target vehicle are acquired, and a motor driving torque corresponding to the target vehicle is determined based on the accelerator pedal opening degree and the current vehicle speed.
When the motor drive torque is greater than the upper limit drive torque, it is determined that a dog clutch (i.e., an oncoming clutch) in the subject vehicle is in a clutch engagement process with the front axle motor. Specifically, the vehicle speed information of the target vehicle is collected based on the vehicle speed collector, and the motor driving torque corresponding to the vehicle speed information is inquired in the vehicle speed and torque information table and is used as the feedforward torque (i.e., the driving torque to be used). Wherein the higher the vehicle speed, the greater the feed forward torque. Meanwhile, the left front wheel transition and the right front wheel rotation speed of the target vehicle are acquired, and the average rotation speed (i.e., the rotation speed to be used) is obtained based on the two rotation speeds. Further, the actual rotating speed and the current acceleration of the target vehicle are obtained, the matched predicted rotating speed is determined through table lookup, and the target rotating speed corresponding to the target vehicle is obtained based on the sum of the rotating speed to be used and the predicted rotating speed. And acquiring the actual rotating speed of the target vehicle, processing the actual rotating speed and the target rotating speed based on the torque determination function to obtain the target driving torque, and adjusting the rotating speed of the wheels of the target vehicle to the target vehicle speed based on the target driving torque. When the wheel rotating speed of the target vehicle reaches the target rotating speed, the dog clutch is controlled to move axially, so that a driving gear ring and a driven gear of the dog clutch are connected and are in a reverse connection state, the whole vehicle control unit receives the connection state and then carries out torque transfer, namely, the rear axle motor torque of the target vehicle is transferred to the front axle motor, and the target vehicle is adjusted from a two-wheel drive mode to a four-wheel drive mode, so that the front axle motor and the rear axle motor jointly carry out torque output on the target vehicle.
When the motor drive torque is less than the lower limit drive torque, it is determined that a dog clutch (i.e., an oncoming clutch) in the target vehicle is clutch-disengaged from the front axle motor. Before the separation process is performed, the motor torque of the front axle motor (i.e., the driving torque to be used) of the target vehicle is adjusted to the preset driving torque, for example, the driving torque to be used is gradually decreased to 0. The reduction amount is gradually transferred to the rear axle motor in the process, so that the total torque value of the front engine torque and the rear engine torque of the target vehicle is kept unchanged in the torque transfer process. After the front engine torque is completely transferred to the rear axle motor, a clutch separation mode corresponding to the clutch to be regulated is called, so that the clutch to be regulated is separated from the front axle motor.
And after the pending mode is determined, sending a corresponding clutch control instruction to a control system of the target vehicle so as to control the clutch to be adjusted to axially move based on the control system according to the clutch control instruction until the clutch state of the clutch to be adjusted is the target clutch state.
According to the technical scheme of the embodiment, the motor driving torque corresponding to the target vehicle is determined, the information to be used corresponding to the target vehicle, namely the opening degree of an accelerator pedal and the current vehicle speed of the target vehicle, is obtained, and the motor driving torque corresponding to the information to be used is inquired in the target mapping table. And determining a pending mode corresponding to a to-be-adjusted clutch in the target vehicle based on the motor driving torque, determining the pending mode as a clutch engagement processing mode when the motor driving torque is greater than an upper limit driving torque, and determining the pending mode as a clutch disengagement processing mode when the motor driving torque is less than a lower limit driving torque. And based on the to-be-processed mode, axially moving the to-be-adjusted clutch until the clutch state between the to-be-adjusted clutch and a front axle motor of the target vehicle is the target clutch state, and sending a clutch control instruction to a control system of the target vehicle so that the control system controls the to-be-adjusted clutch to axially move according to the clutch control instruction until the clutch state of the to-be-adjusted clutch is the target clutch state. The problem of need motor mode switching many times when controlling the clutch, and can't accurately control the joint and the separation of clutch is solved, get accurate the effect of controlling the joint and the separation of clutch.
Example four
Fig. 3 is a schematic structural diagram of a clutch control device according to a fourth embodiment of the present invention. As shown in fig. 3, the apparatus includes: a motor drive torque determination module 310, a pending mode determination module 320, and a clutch adjustment module 330.
Wherein the motor driving torque determining module 310 is configured to determine a motor driving torque corresponding to the target vehicle;
a pending mode determination module 320 for determining a pending mode corresponding to a pending clutch in the target vehicle based on the motor drive torque; the waiting mode comprises a clutch engaging mode or a clutch disengaging mode;
the clutch adjusting module 330 is configured to axially move the clutch to be adjusted based on the pending mode until a clutch state between the clutch to be adjusted and a front axle motor of the target vehicle is a target clutch state; wherein the target clutch state includes a disengaged state or an engaged state.
According to the technical scheme, the motor driving torque corresponding to the target vehicle is determined, the information to be used corresponding to the target vehicle, namely the opening degree of an accelerator pedal and the current vehicle speed of the target vehicle, is obtained, and the motor driving torque corresponding to the information to be used is inquired in the target mapping table. Determining a pending mode corresponding to a to-be-adjusted clutch in the target vehicle based on the motor driving torque, determining the pending mode as a clutch engagement processing mode when the motor driving torque is greater than an upper limit driving torque, and determining the pending mode as a clutch disengagement processing mode when the motor driving torque is less than a lower limit driving torque. And based on the to-be-processed mode, axially moving the to-be-adjusted clutch until the clutch state between the to-be-adjusted clutch and a front axle motor of the target vehicle is the target clutch state, and sending a clutch control instruction to a control system of the target vehicle so that the control system controls the to-be-adjusted clutch to axially move according to the clutch control instruction until the clutch state of the to-be-adjusted clutch is the target clutch state. The problem of need motor mode switching many times when controlling the clutch, and can't accurately control the joint and the separation of clutch is solved, get accurate the effect of controlling the joint and the separation of clutch.
Optionally, the motor drive torque determination module comprises: the to-be-used information acquisition submodule is used for acquiring to-be-used information of the target vehicle; the information to be used comprises the opening degree of an accelerator pedal and the current speed of the target vehicle;
the motor driving torque sub-determination module is used for determining the motor driving torque corresponding to the information to be used based on the target mapping table; the target mapping table comprises at least one piece of information to be matched and motor driving torque corresponding to each piece of information to be matched.
Optionally, the to-be-processed mode determining module includes: the target driving torque determining submodule is used for determining the target driving torque corresponding to the front axle motor if the motor driving torque is larger than the upper limit driving torque;
the wheel rotating speed adjusting submodule is used for adjusting the wheel rotating speed of the target vehicle based on the target driving torque until the wheel rotating speed reaches the target rotating speed;
and the clutch engagement submodule is used for acquiring a clutch engagement mode corresponding to the to-be-adjusted clutch and performing engagement processing on the to-be-adjusted clutch and the front axle motor based on the clutch engagement mode.
Optionally, the target driving torque determination submodule includes: a to-be-used driving torque determination unit for determining a to-be-used driving torque corresponding to the front axle motor based on the vehicle speed and torque information table; the vehicle speed and torque information table comprises at least one piece of vehicle speed information and motor driving torque corresponding to each piece of vehicle speed information;
a to-be-determined driving torque determination unit for determining a to-be-determined driving torque corresponding to the front axle motor according to a target rotation speed and an actual rotation speed corresponding to the target vehicle;
a target driving torque determination unit for determining a target driving torque corresponding to the front axle motor based on a sum of the driving torque to be used and the driving torque to be determined.
Optionally, the to-be-determined driving torque determining unit includes: the to-be-used rotating speed determining subunit is used for determining the to-be-used rotating speed of the target vehicle according to the average value of the rotating speed of the front wheels and the rotating speed of the rear wheels of the target vehicle;
the estimated rotating speed determining subunit is used for determining the estimated rotating speed of the target vehicle according to the current vehicle speed and the current acceleration of the target vehicle;
a target rotation speed determination subunit for determining a target rotation speed corresponding to the target vehicle based on the rotation speed to be used and the predicted rotation speed;
and the to-be-determined driving torque determining subunit is used for acquiring the actual rotating speed of the target vehicle, and processing the target rotating speed and the actual rotating speed based on the torque determining function to obtain the to-be-determined driving torque corresponding to the front axle motor.
Optionally, the module for determining a to-be-processed mode further includes: the torque engagement submodule is used for adjusting the driving torque to be used to the preset driving torque if the motor driving torque is smaller than the lower limit driving torque so as to transfer the front engine torque of the front axle motor to the rear axle motor and enable the rear axle motor to engage the front engine torque with the rear axle torque of the rear axle motor;
and the clutch separation determining submodule is used for calling a clutch separation mode corresponding to the to-be-regulated clutch and separating the to-be-regulated clutch from the front axle motor based on the clutch separation mode.
Optionally, the clutch adjusting module is configured to send a clutch control instruction to a control system of the target vehicle, so that the control system controls the to-be-adjusted clutch to move axially according to the clutch control instruction until the clutch state of the to-be-adjusted clutch is the target clutch state; wherein the clutch control command comprises a clutch release command or a clutch engagement command.
The clutch control device provided by the embodiment of the invention 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.
EXAMPLE five
Fig. 4 shows a schematic structural diagram of the electronic device 10 of the embodiment of the present invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
In some embodiments, the clutch control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the clutch control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the clutch control method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the clutch control method of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user may provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the Internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above, reordering, adding or deleting steps, may be used. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired result of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A clutch control method, characterized by comprising:
determining a motor drive torque corresponding to the target vehicle;
determining a pending mode corresponding to a pending clutch in the target vehicle based on the motor drive torque; the waiting mode comprises a clutch engaging mode or a clutch disengaging mode;
based on the to-be-processed mode, axially moving the to-be-adjusted clutch until the clutch state between the to-be-adjusted clutch and a front axle motor of the target vehicle is a target clutch state; wherein the target clutch state includes a disengaged state or an engaged state.
2. The method of claim 1, wherein said determining a motor drive torque corresponding to a target vehicle comprises:
acquiring information to be used of the target vehicle; the information to be used comprises the opening degree of an accelerator pedal and the current speed of the target vehicle;
determining a motor driving torque corresponding to the information to be used based on a target mapping table; the target mapping table comprises at least one piece of information to be matched and motor driving torque corresponding to each piece of information to be matched.
3. The method of claim 1, wherein the pending mode is the clutch engagement mode, and the determining the pending mode corresponding to the oncoming clutch in the target vehicle based on the motor drive torque comprises:
if the motor driving torque is larger than the upper limit driving torque, determining a target driving torque corresponding to the front axle motor;
adjusting a wheel speed of the target vehicle based on the target drive torque until the wheel speed reaches a target speed;
and a clutch engagement mode corresponding to the to-be-adjusted clutch is adjusted, and the to-be-adjusted clutch and the front axle motor are engaged according to the clutch engagement mode.
4. The method of claim 3, wherein determining a target drive torque corresponding to the front axle motor if the motor drive torque is greater than an upper limit drive torque comprises:
determining a driving torque to be used corresponding to the front axle motor based on a vehicle speed and torque information table; the vehicle speed torque information table comprises at least one piece of vehicle speed information and motor driving torque corresponding to each piece of vehicle speed information;
determining a driving torque to be determined corresponding to the front axle motor according to a target rotating speed and an actual rotating speed corresponding to the target vehicle;
determining a target driving torque corresponding to the front axle motor based on a sum of the driving torque to be used and the driving torque to be determined.
5. The method according to claim 4, wherein the determining a drive torque to be determined corresponding to the front axle motor from a target rotational speed and an actual rotational speed corresponding to the target vehicle comprises:
determining the rotation speed to be used of the target vehicle according to the average value of the rotation speed of the front wheels and the rotation speed of the rear wheels of the target vehicle;
determining the predicted rotating speed of the target vehicle according to the current vehicle speed and the current acceleration of the target vehicle;
determining a target rotation speed corresponding to the target vehicle based on the rotation speed to be used and the predicted rotation speed;
and acquiring the actual rotating speed of the target vehicle, and processing the target rotating speed and the actual rotating speed based on a torque determination function to obtain the driving torque to be determined corresponding to the front axle motor.
6. The method of claim 1, wherein the pending mode is the clutch release mode, further comprising:
if the motor driving torque is smaller than the lower limit driving torque, adjusting the driving torque to be used to a preset driving torque so as to transfer the front engine torque of the front axle motor to the rear axle motor, so that the rear axle motor combines the front engine torque with the rear axle torque of the rear axle motor;
and a clutch separation mode corresponding to the to-be-adjusted clutch is obtained, and separation processing is carried out on the to-be-adjusted clutch and the front axle motor based on the clutch separation mode.
7. The method of claim 1, wherein axially moving the offgoing clutch until the clutching state of the offgoing clutch is a target clutching state based on the oncoming mode comprises:
sending a clutch control instruction to a control system of the target vehicle so that the control system controls the clutch to be adjusted to axially move according to the clutch control instruction until the clutch state of the clutch to be adjusted is the target clutch state; wherein the clutch control command comprises a clutch disengagement command or a clutch engagement command.
8. A clutch control apparatus, characterized by comprising:
a motor drive torque determination module to determine a motor drive torque corresponding to a target vehicle;
a pending mode determination module to determine a pending mode corresponding to a pending clutch in the target vehicle based on the motor drive torque; the waiting mode comprises a clutch engagement processing mode or a clutch disengagement processing mode;
the clutch adjusting module is used for axially moving the clutch to be adjusted based on the to-be-processed mode until the clutch state between the clutch to be adjusted and a front axle motor of the target vehicle is a target clutch state; wherein the target clutch state includes a disengaged state or an engaged state.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the clutch control method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to perform the clutch control method of any one of claims 1-7 when executed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210905318.9A CN115263947A (en) | 2022-07-29 | 2022-07-29 | Clutch control method and device, electronic equipment and storage medium |
| PCT/CN2023/106872 WO2024022103A1 (en) | 2022-07-29 | 2023-07-12 | Clutch control method and apparatus, electronic device, and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210905318.9A CN115263947A (en) | 2022-07-29 | 2022-07-29 | Clutch control method and device, electronic equipment and storage medium |
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| CN202210905318.9A Pending CN115263947A (en) | 2022-07-29 | 2022-07-29 | Clutch control method and device, electronic equipment and storage medium |
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| WO (1) | WO2024022103A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024022103A1 (en) * | 2022-07-29 | 2024-02-01 | 中国第一汽车股份有限公司 | Clutch control method and apparatus, electronic device, and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006096201A (en) * | 2004-09-29 | 2006-04-13 | Nissan Motor Co Ltd | Driving force controller for vehicle |
| JP6379691B2 (en) * | 2014-06-03 | 2018-08-29 | 日産自動車株式会社 | Clutch control device for four-wheel drive vehicle |
| CN112092796A (en) * | 2020-09-22 | 2020-12-18 | 中国第一汽车股份有限公司 | Control method of four-wheel-drive pure electric vehicle power system and vehicle |
| CN112977387B (en) * | 2021-03-10 | 2022-09-16 | 中国第一汽车股份有限公司 | Vehicle control method, device, electronic apparatus, and medium |
| CN114655216A (en) * | 2021-04-08 | 2022-06-24 | 长城汽车股份有限公司 | Vehicle mode switching method and device, storage medium and vehicle |
| CN115263947A (en) * | 2022-07-29 | 2022-11-01 | 中国第一汽车股份有限公司 | Clutch control method and device, electronic equipment and storage medium |
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2022
- 2022-07-29 CN CN202210905318.9A patent/CN115263947A/en active Pending
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- 2023-07-12 WO PCT/CN2023/106872 patent/WO2024022103A1/en unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024022103A1 (en) * | 2022-07-29 | 2024-02-01 | 中国第一汽车股份有限公司 | Clutch control method and apparatus, electronic device, and storage medium |
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