CN116025700A - Transmission meshing point position self-learning method, controller, electronic device and medium - Google Patents

Abstract

The invention belongs to the field of gear position self-learning of a gearbox, and discloses a gear position self-learning method, a controller, electronic equipment and a medium for a gearbox, wherein learning times are counted, whether the learning times reach a first preset value is judged, the maximum value of the stroke of a multi-learning gear shifting actuating mechanism is taken as the meshing point position, the rotation angle difference between a target meshing gear ring and a target meshing gear sleeve is changed before each learning, the rotation angle difference between the meshing gear ring and the meshing gear sleeve is finely adjusted through a driving end motor, the rotation angle difference between the meshing gear ring and the meshing gear sleeve is considered in the self-learning of the meshing point position, and the learned meshing point position is close to the ideal meshing point position, so that the actual gear shifting process of the gearbox is smoother and safer.

Description

Transmission meshing point position self-learning method, controller, electronic device and medium

Technical Field

The application relates to the field of gear position self-learning of gearboxes, in particular to a gearbox meshing point position self-learning method, a controller, electronic equipment and a medium.

Background

The mechanical motor-gearbox direct connection system has been increasingly used in electric automobiles due to the advantages of high transmission efficiency, compact structure, easy arrangement, low manufacturing cost and the like. During a transmission shift, a transmission control unit (Transmission Control Unit, abbreviated as TCU) needs to know the corresponding positions of the respective gear positions and the positions of the current shift fingers to effectively shift gears, but because of production consistency problems, the installation initial positions of the gear selection shift actuators of each transmission cannot be completely the same, and manual calibration of the positions of the respective gear positions of each transmission is impossible, so that a control system is required to automatically identify the positions.

However, in the actual gear shifting self-learning process, the driving end and the load end still keep higher rotation speed difference, and the rotation speed rotation angle difference learned each time is different, if the rotation angle difference is not considered, the learned meshing point position and the actual meshing point position have larger deviation, so that the transmission is easy to be meshed in the actual running process, the gear shifting is unsmooth, and even the meshing teeth are broken and fail. In addition, the self-learning method in the prior art cannot effectively judge the starting engagement position or the starting disengagement position, and cannot accurately judge whether the gear is successfully switched in the gear shifting process.

Disclosure of Invention

The application aims to provide a transmission meshing point position self-learning method, a controller, electronic equipment and a medium, which can solve the problems in the background technology.

In a first aspect, an embodiment of the present application provides a transmission engagement point position self-learning method, including the steps of: controlling a gear shifting executing mechanism of the transmission to push a target engaging gear sleeve to move towards a target engaging gear ring, recording the limit position of the target engaging gear sleeve when the target engaging gear sleeve cannot move continuously, and controlling the gear shifting executing mechanism of the transmission to push the target engaging gear sleeve to be separated from the target engaging gear ring, so that one-time learning is completed; counting the learning times and judging whether the learning times reach a first preset value or not: when the learning times are smaller than a first preset value, controlling the driving end motor to adjust the rotation angle of the target engagement gear ring, so that the rotation angle difference between the target engagement gear ring and the target engagement gear sleeve is changed, and restarting the learning for the first time; and when the learning times are equal to a first preset value, taking the maximum value of the limit positions of the target engaging tooth sleeves obtained in each learning as the engaging point position.

In some embodiments, the self-learning method further comprises the steps of: judging whether the meshing point position is between a meshing point lower limit position value and a meshing point upper limit position value of the transmission: when the position of the meshing point is larger than or equal to the lower limit position value of the meshing point and smaller than or equal to the upper limit position value of the meshing point, determining that the position of the meshing point is proper; and when the position of the meshing point is smaller than the lower limit position value of the meshing point or larger than the upper limit position value of the meshing point, determining that the position of the meshing point is wrong, discarding self-learning and reporting the mistake.

In some embodiments, the self-learning method further comprises the steps of: a start-to-disengage position or a start-to-engage position of a target engaging ring gear and a target engaging sleeve of the transmission is acquired.

In some embodiments, the self-learning method, the step of obtaining a start-to-disengage position or start-to-engage position of the target engaged ring gear and the target engaged sleeve of the transmission includes the steps of: controlling a driving end motor to enable a target engagement tooth sleeve and a target engagement tooth ring to be in a complete separation position, and adjusting the relative position of engagement tooth angles of the target engagement tooth sleeve and the target engagement tooth ring to enable tooth tips of the target engagement tooth sleeve and tooth tips of the target engagement tooth ring to be opposite; the shift actuator is controlled to push the target engaging sleeve toward the target engaging ring gear, and the limit position of the target engaging sleeve when the target engaging sleeve cannot be pushed further is taken as the start-off position or start-on position of the target engaging sleeve and the target engaging ring gear.

In some embodiments, the self-learning method, controlling the drive end motor to bring the target engaging sleeve and the target engaging ring gear into the fully disengaged position includes the steps of: controlling the drive end motor to apply a first torque, wherein the gear shifting resistance generated by the first torque is smaller than the power provided by the gear shifting executing mechanism to the target engaging gear sleeve; and the gear shifting executing mechanism of the transmission is controlled to push the target engaging gear sleeve to be separated from the engaging point position and simultaneously monitor the relative rotation angle of the target engaging gear sleeve and the target engaging gear ring, and when the relative rotation angle of the target engaging gear sleeve and the target engaging gear ring is larger than a first relative rotation angle preset value, the target engaging gear sleeve and the target engaging gear ring are in a complete separation position.

In a second aspect, there is provided with the present application an engagement point position self-learning controller for a transmission, comprising: the primary learning control module is used for controlling a gear shifting executing mechanism of the transmission to push a target engaging gear sleeve to move towards a target engaging gear ring, recording the limit position of the target engaging gear sleeve when the target engaging gear sleeve cannot move, and then controlling the gear shifting executing mechanism of the transmission to push the target engaging gear sleeve to be separated from the target engaging gear ring, so that primary learning is completed; the learning frequency judging module is used for counting the learning frequency and judging whether the learning frequency reaches a first preset value, and when the learning frequency is smaller than the first preset value, a first control signal is sent to the relearning module; when the learning times are equal to the first preset value, a third control signal is sent to the meshing point position acquisition module; the relearning module is used for controlling the driving end motor to adjust the rotation angle of the target engagement gear ring to change the rotation angle difference between the target engagement gear ring and the target engagement gear sleeve, sending a second control signal to the primary learning control module, and restarting primary learning; and the meshing point position acquisition module is used for taking the maximum value of the limit positions of the target meshing tooth sleeves obtained in each learning as the meshing point position.

In some embodiments, the self-learning controller further comprises an engagement point position determination module configured to determine whether an engagement point position is between an engagement point lower limit position value and an engagement point upper limit position value of the transmission: when the position of the meshing point is larger than or equal to the lower limit position value of the meshing point and smaller than or equal to the upper limit position value of the meshing point, determining that the position of the meshing point is proper; and when the position of the meshing point is smaller than the lower limit position value of the meshing point or larger than the upper limit position value of the meshing point, determining that the position of the meshing point is wrong, discarding self-learning and reporting the mistake.

In some embodiments, the self-learning controller further comprises a start-to-disengage or start-to-engage position acquisition module for controlling the drive end motor to bring the target engaging sleeve and the target engaging ring gear to a fully disengaged position, adjusting the engaging tooth angle relative positions of the target engaging sleeve and the target engaging ring gear to bring the tooth tips of the target engaging sleeve and the tooth tips of the target engaging ring gear into opposition; the shift actuator is controlled to push the target engaging sleeve toward the target engaging ring gear, and the limit position of the target engaging sleeve when the target engaging sleeve cannot be pushed further is taken as the start-off position or start-on position of the target engaging sleeve and the target engaging ring gear.

In some embodiments, the self-learning controller further comprises a fully disengaged position determination module for controlling the drive end motor to apply a first torque that produces a shift resistance less than the power provided by the shift actuator to the target engagement sleeve; and the gear shifting executing mechanism of the transmission is controlled to push the target engaging gear sleeve to be separated from the engaging point position and simultaneously monitor the relative rotation angle of the target engaging gear sleeve and the target engaging gear ring, and when the relative rotation angle of the target engaging gear sleeve and the target engaging gear ring is larger than a first relative rotation angle preset value, the target engaging gear sleeve and the target engaging gear ring are in a complete separation position.

In a third aspect, an embodiment of the present application provides an electronic device, including: the system comprises a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, the processor and the memory communicate through the bus when the electronic device is running, and the machine-readable instructions when executed by the processor perform a transmission engagement point position self-learning method according to any of the embodiments.

In a fourth aspect, the present application provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs a transmission engagement point position self-learning method as described in any of the embodiments above.

Compared with the prior art, the beneficial effect that this application technical scheme obtained:

according to the self-learning method and the controller for the meshing point position of the transmission, the learning times are counted, whether the learning times reach a first preset value is judged, the maximum value of the limiting position of the target meshing tooth sleeve which is learned for many times is taken as the meshing point position, the corner difference between the target meshing gear ring and the target meshing tooth sleeve is changed before each learning, the corner difference between the meshing gear ring and the meshing tooth sleeve is finely adjusted through the driving end motor, the self-learning of the meshing point position considers the corner difference between the meshing gear ring and the meshing tooth sleeve, the meshing point position obtained through learning is similar to the ideal meshing point position, and therefore the actual gear shifting process of the transmission is smoother and safer. In addition, in some technical schemes of the application, whether the obtained meshing point position is suitable can be judged according to priori knowledge, the position range of the meshing point of the transmission of each manufacturer is different, and whether the meshing point position is between the meshing point lower limit position and the meshing point upper limit position of the transmission can be judged, so that whether the meshing point position is suitable is determined, the meshing point position learning error is determined if the meshing point position is unsuitable, the self-learning is abandoned, the error is reported, the incorrect meshing point position is avoided, and meanwhile, the self-learning of the meshing point position is avoided from being incorrect and falling into infinite error self-learning circulation. In addition, in some technical schemes of the application, the starting engagement position or the starting disengagement position can be effectively judged, when the gear is located between the starting engagement position (or the starting disengagement position) and the engagement point position, the gear can be judged to be successfully switched in the gear shifting process, otherwise, the gear is located outside the starting engagement position (or the starting disengagement position) and the engagement point position, the gear is judged to be not successfully switched, and whether the gear is successfully switched in the gear shifting process can be accurately judged.

In order to make the above objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of a transmission construction in accordance with the present application;

FIG. 2 is a schematic structural view of a power transmission assembly of the transmission of the present application;

FIG. 3 is a schematic illustration of a path of a first gear power transmission of the present application;

FIG. 4 is a schematic illustration of a power transfer assembly of a first gear power transfer of the transmission of the present application;

FIG. 5 is a schematic path diagram of a second gear power transfer of one of the transmissions of the present application;

FIG. 6 is a schematic illustration of a power transmission assembly for a second gear power transmission of the present application;

FIG. 7 is a flow chart of a transmission engagement point position self-learning method according to the present application;

fig. 8 is a flow chart of a method for learning the position of the engagement point of the transmission to obtain the start engagement position and the start disengagement position.

FIG. 9 is a schematic flow chart of a method of self-learning the position of a meshing point of a transmission of the present application for controlling a drive end motor to bring a target engaging sleeve and a target engaging ring gear into a fully disengaged position;

FIG. 10 is a schematic view of the target engaging sleeve and target engaging ring gear tooth tip versus tooth tip in the present application capturing the start engaged position and start disengaged position;

FIG. 11 is a schematic circuit diagram of a self-learning transmission engagement point position controller according to the present application;

fig. 12 is a schematic structural view of an electronic device for an automobile in the present application;

wherein: 1-drive end, 2-engaged ring gear, 3-engaged sleeve, 4-spline hub, 5-shift actuator, 6-stroke position sensor, 7-engaged sleeve sensor, 8-engaged ring gear sensor, 9-load end, 10-first gear, 11-second gear, 12-drive shaft, 1101-one-time learning control module, 1102-learning number judgment module, 1103-relearning module, 1104-engagement point position acquisition module, 1105-engagement point position determination module, 1106-start-to-disengage or start-to-engage position acquisition module, 1107-fully disengaged position judgment module, 1200-electronic device, 1201-processor, 1203-communication interface, 1204-memory, 1202-communication bus.

Detailed Description

For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, which are generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, as provided in the accompanying drawings, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the present application.

Example 1:

in the application, it has been found that the driving end and the load end still maintain a higher rotation speed difference in the actual self-learning process of gear shifting, and the rotation speed rotation angle difference learned each time is different, if the rotation angle difference is not considered, the position of the engagement point obtained by learning has a larger deviation from the position of the actual engagement point, so that the transmission is easy to strike teeth in the actual running process, and even the engagement teeth are broken and fail. In addition, the self-learning method in the prior art cannot effectively judge the starting engagement position or the starting disengagement position, and cannot accurately judge whether the gear is successfully switched in the gear shifting process.

In order to solve the above-found problems, the present application provides a self-learning method for the position of a meshing point of a transmission, and the transmission can be driven by an electric motor to rotate a power transmission assembly. The gearbox at least comprises a power transmission assembly, a transmission shaft and a gear shifting executing mechanism for driving the power transmission assembly to be connected and disconnected. The power transmission assembly includes at least an engaging ring gear, an engaging sleeve, and a spline hub.

As shown in fig. 1, a stroke position sensor 6 is provided on the shift actuator 5, and can measure the stroke position of the shift actuator 5 in real time and acquire the position of the target engaging sleeve 3 in real time. The power transmission assembly comprises an engaged ring gear 2, an engaged sleeve 3 and a splined hub 4 between a first gear 10 and a second gear 11. The engaging tooth sleeve 3 is provided with an engaging tooth sleeve sensor 7, the engaging tooth ring 2 is provided with an engaging tooth ring sensor 8, and the engaging tooth sleeve sensor 7 and the engaging tooth ring sensor 8 may be rotation angle sensors, such as encoders (may be optical encoder sensors, magnetic encoders, etc.), for example, hall-type rotation angle sensors, rotary transformers, etc., so that the rotation angles of the engaging tooth ring 2 and the engaging tooth sleeve 3 may be measured in real time. The drive end 1, for example a power motor, is connected to the input shaft end, and the load end 9, for example the end connected to the wheel, is connected to the output shaft end.

The engaging ring gear 2 and the engaging sleeve 3 constitute an engaging tooth pair, and the same engaging sleeve 3 may constitute a different engaging tooth pair with a different engaging ring gear 2. The engaging sleeve 3 is axially movable along the drive shaft 12 on the spline hub 4 of the drive shaft 12 under the drive of the shift actuator 5, and power can be transmitted through the engaging teeth pair when the engaging sleeve 3 is engaged with the engaging ring gear 2, and power transmitted along the engaging teeth pair can be disconnected when the engaging sleeve 3 is disengaged from the engaging ring gear 2. The set of engagement teeth and the ring gear that are required to be engaged are referred to as a target set of engagement teeth and a target ring gear, respectively, and may also be referred to as a target pair of engagement teeth. In addition, the start engagement position and the start disengagement position of the target engagement sleeve and the target engagement ring gear are the same position.

As shown in fig. 1 and 2, the engaging ring gear 2 and the engaging sleeve 3 are separated, and the transmission path from the drive end to the load end is interrupted.

As shown in fig. 3 to 4, the power transmission path of the engagement of the engaging sleeve 3 and the engaging ring gear 2 of the first-stage gear 10 is shown by the broken line with the arrow in the drawing.

As shown in fig. 5 to 6, the power transmission path of the engagement sleeve 3 and the engagement ring gear 2 of the second-stage gear 11, the broken line with the arrow in the drawing indicates the path of the power transmission.

In order to ensure accurate position of the engagement point of the transmission, normal power transmission, smooth and safe gear shifting, the application provides a self-learning method of the position of the engagement point of the transmission, as shown in fig. 7, which comprises the following steps:

step S01: setting the required learning times as a first preset value, wherein the first preset value is set according to the self-learning requirement of the transmission, for example, the first preset value can be 10-100 times;

step S02: a primary learning control step of controlling a gear shift executing mechanism of the transmission to push a target engaging gear sleeve to move towards a target engaging gear ring, recording the limit position of the target engaging gear sleeve when the target engaging gear sleeve cannot move (the position information of the target engaging gear sleeve at the moment can be acquired according to a stroke position sensor of the gear shift executing mechanism), and then controlling the gear shift executing mechanism of the transmission to push the target engaging gear sleeve to be separated from the target engaging gear ring, so as to complete primary learning;

step S03: counting the learning times and judging whether the learning times reach a first preset value or not: when the learning times are smaller than a first preset value, entering step S04; when the learning times are equal to the first preset value, step S05 is carried out; when the learning times are greater than the first preset value, the self-learning process is in error, and the step S07 is entered;

Step S04: controlling a driving end motor to adjust the rotation angle of the target engagement gear ring to change the rotation angle difference between the target engagement gear ring and the target engagement gear sleeve, and entering into step S02, and restarting one-time learning;

step S05: taking the maximum value of the limit position of the target engaging tooth sleeve obtained in each learning as the engaging point position;

step S06: judging whether the meshing point position is between a meshing point lower limit position value and a meshing point upper limit position value of the transmission: when the position of the meshing point is greater than or equal to the lower limit position value of the meshing point and less than or equal to the upper limit position value of the meshing point, the step S08 is entered; when the position of the engagement point is smaller than the lower limit position value of the engagement point or larger than the upper limit position value of the engagement point, the step S07 is performed;

step S07: determining that the meshing point position learning is wrong, discarding self-learning and reporting the error (sending out a graphic display prompt or an audio prompt on a central control display screen), and waiting for processing;

step S08: the engagement point position is determined to be appropriate, and further, the engagement start position and the disengagement start position are acquired.

In step S04, the rotation angle difference between the target engaged ring gear and the target engaged ring gear is changed, and there may be various ways of changing the rotation angle difference, for example, the rotation angle difference between the target engaged ring gear and the target engaged ring gear may be increased by a fixed value for each adjustment, for example, when the number of teeth of the engaged ring gear and the engaged ring gear is 18, a rotation angle difference period is 20 ° (the rotation angle difference is changed by 0 ° to 20 ° (there is necessarily a position to be correctly engaged), and the sum of the gaps between the teeth and the tooth grooves when the engaged ring gear and the engaged ring gear is engaged is about 2 ° (the specific gap is related to the actual design value), that is, the rotation angle difference error is within ±1°, if the first preset value of the learning number is 40, the rotation angle difference between the target engaged ring gear and the target engaged ring gear may be increased by a rotation angle difference within 0.5 ° each time, and then the engagement may be smoothly performed at least 4 times in the learning process. For example, the manner of adjustment may be such that each adjustment adjusts the rotational angle difference of the target engaging ring gear and the target engaging sleeve to 2 times the rotational angle difference of the target engaging ring gear and the target engaging sleeve the last time, but once the cumulative rotational angle difference is found to exceed one rotational angle difference period, the direction of rotation is changed to be opposite, and the rotational angle difference initial value is reset to the original value. For example, the rotation angle difference between the target engaging ring gear and the target engaging sleeve may be randomly generated by sampling the rotation angle difference data between the target engaging ring gear and the target engaging sleeve.

The step of determining in step S08 that the meshing point position is appropriate when the target engaging sleeve and the target engaging ring gear tooth tip and tooth slot mesh at the meshing point position, the step of obtaining the start engaging position and the start disengaging position, as shown in fig. 8, includes:

step S081: controlling a driving end motor to enable a target engagement tooth sleeve and a target engagement tooth ring to be in a complete separation position, and adjusting the relative position of engagement tooth angles of the target engagement tooth sleeve and the target engagement tooth ring to enable tooth tips of the target engagement tooth sleeve and tooth tips of the target engagement tooth ring to be opposite;

step S082: the shift actuator is controlled to push the target engaging sleeve toward the target engaging ring gear, and the stroke position of the shift actuator when the target engaging sleeve cannot be pushed further is taken as the start disengaging position or the start engaging position of the target engaging sleeve and the target engaging ring gear.

A step of controlling the drive-end motor to bring the target engaging sleeve and the target engaging ring gear into the fully disengaged position in step S081, as shown in fig. 9, includes:

step S08101: controlling the drive end motor to apply a first torque, wherein the gear shifting resistance generated by the first torque is smaller than the power provided by the gear shifting executing mechanism to the target engaging gear sleeve;

Step S08102: the shift actuator of the transmission is controlled to push the target engaging sleeve out of the target engaging ring gear from the engagement point position (the shift actuator supplies a shift power to the engaging sleeve that is greater than a mechanical friction force between the engaging sleeve and the engaging ring gear) while monitoring the relative magnitudes of the rotational angles of the target engaging sleeve and the target engaging ring gear, and when the relative magnitudes of the rotational angles of the target engaging sleeve and the target engaging ring gear are greater than a first relative rotational angle preset value, the target engaging sleeve and the target engaging ring gear are in the completely disengaged position.

The first torque in step S08101 is a small torque that generates a shift resistance that must be less than the shift power provided by the motor of the shift actuator, which would otherwise be locked up and unable to drive the disengagement of the target engaging sleeve and the target engaging ring gear. The shift actuator provides a shift power to the engaging sleeve that is greater than the mechanical friction between the engaging sleeve and the engaging ring gear, otherwise the shift actuator cannot push the engaging sleeve and the engaging ring gear apart.

The first relative rotation angle preset value in step S08102 may be a gap between teeth and tooth grooves between the engaged ring gear and the engaged sleeve or a gap between teeth and tooth grooves larger than the gap between teeth and tooth grooves of the engaged ring gear and the engaged sleeve when engaged, for example, the actual gap between teeth of both the engaged sleeve and the engaged ring gear is generally within ±1° (for example, a gap of 1 ° on one side of both teeth and a gap of 2 ° between teeth and tooth grooves), and then the first relative rotation angle preset value may be a relative rotation angle of 2 °, or may be a relative rotation angle of more than 2 °, for example, 2.5 °, 4 °, 40 °, 180 °, or 360 °.

As shown in fig. 10, the tooth tip of the target engaging sleeve and the tooth tip of the target engaging ring gear are opposed, and the target engaging sleeve cannot be pushed further, at which time the limit position of the target engaging sleeve serves as the start-disengaging position or the start-engaging position of the target engaging sleeve and the target engaging ring gear.

In this embodiment, although there is a certain deviation in making the tooth tip of the target engaging sleeve and the tooth tip of the target engaging ring gear opposite to each other, the resulting start disengaging position or start engaging position is also of a certain reference value within a reasonable error range, and can be used to determine whether the shift is successful during the shifting.

According to the self-learning method for the meshing point position of the transmission in the embodiment 1, the actuating mechanism is controlled to push the engaging tooth sleeve to the engaging tooth ring, meanwhile, the relative position of the rotating angle of the engaging tooth of the target engaging tooth is adjusted through the driving motor, the maximum value of the limit position of each target engaging tooth sleeve is recorded under different relative rotating angles of the engaging tooth sleeve and the engaging tooth ring, namely the target engaging tooth engaging position (meshing point position), and the relative position of the rotating angle of the engaging tooth is recorded at the target engaging tooth engaging position, namely the synchronous position of the engaging tooth to the rotating angle. The actuating mechanism is controlled to push the engaging tooth sleeve away from the engaging gear ring, meanwhile, the relative position of the target engaging tooth pair is adjusted through the driving motor, when the engaging tooth pair is in an engaged state, the relative position of the engaging tooth pair cannot be changed, and when the relative position of the engaging tooth pair is changed, the target engaging tooth pair is separated. The relative position of the rotation angle of the target engaging teeth to the engaging teeth is adjusted to the position opposite to the synchronous position (namely, the relative position of the tooth tips of the target engaging teeth and the tooth tip) by the driving motor, and the engaging tooth sleeve is pushed to the engaging gear ring by the control actuating mechanism. The self-learning of the meshing point position of the embodiment considers the angle difference between the engaged gear ring and the engaged gear sleeve, so that the learned meshing point position is closer to the ideal meshing point position, and the actual gear shifting process of the transmission is smoother and safer. In addition, whether the obtained meshing point position is suitable or not can be judged according to priori knowledge, if the meshing point position is unsuitable, the meshing point position learning error is determined, the self-learning is abandoned, the error is reported, the incorrect meshing point position is avoided, and meanwhile, the phenomenon that the self-learning of the meshing point position is incorrect and falls into infinite error self-learning circulation is avoided. In addition, the starting engagement position or the starting disengagement position can be effectively judged, when the gear is located between the starting engagement position (or the starting disengagement position) and the engagement point position, the gear can be judged to be successfully switched in the gear shifting process, otherwise, the gear is located outside the starting engagement position (or the starting disengagement position) and the engagement point position, the gear is judged to be not successfully switched, and whether the gear is successfully switched in the gear shifting process can be accurately judged.

The two-gear transmission in this embodiment 1 is used to describe a transmission engagement point position self-learning method provided in this embodiment, and it should be understood that the transmission engagement point position self-learning method provided in this application is also applicable to a 1-gear or multi-gear transmission, and achieves the corresponding effects.

Example 2:

as shown in fig. 11, there is also provided a meshing point position self-learning controller of a transmission, including: a one-time learning control module 1101, a learning number judgment module 1102, a relearning module 1103, an engagement point position acquisition module 1104, an engagement point position determination module 1105, a start-to-disengage or start-to-engage position acquisition module 1106, a complete disengagement position judgment module 1107.

And a primary learning control module 1101, configured to control a shift actuator of the transmission to push the target engaging sleeve to move toward the target engaging ring gear, record a limit position of the target engaging sleeve when the target engaging sleeve cannot move (i.e., a stroke position of the shift actuator when the target engaging sleeve cannot move continuously), and then control the shift actuator of the transmission to push the target engaging sleeve to disengage from the target engaging ring gear, so as to complete primary learning.

The learning number judgment module 1102 is configured to count the learning number and judge whether the learning number reaches a first preset value, and send a first control signal to the relearning module when the learning number is smaller than the first preset value; when the learning times are equal to the first preset value, a third control signal is sent to the meshing point position acquisition module; the first preset value is set according to the self-learning requirement of the transmission, for example, the first preset value can be 10-100 times.

And a relearning module 1103 for controlling the drive end motor to adjust the rotation angle of the target engagement ring gear, so that the rotation angle difference between the target engagement ring gear and the target engagement sleeve is changed, and sending a second control signal to the primary learning control module 1101 to restart primary learning. The rotation angle difference between the target engaged ring gear and the target engaged sleeve may be changed in various ways, for example, the rotation angle difference between the target engaged ring gear and the target engaged sleeve may be increased by a fixed value each time the rotation angle difference is adjusted, for example, when the number of teeth between the engaged sleeve and the engaged ring gear is 18, a rotation angle difference period is 20 ° (the rotation angle difference is changed from 0 ° to 20 °, there is a position where the rotation angle difference can be properly engaged), and the sum of gaps between teeth and both sides of the tooth slot when the engaged sleeve and the engaged ring gear are engaged is about 2 ° (the specific gap is related to the actual design value), that is, the rotation angle difference error is ±1°, if the first preset value of the learning number is 40, the rotation angle difference between the target engaged ring gear and the target engaged sleeve may be increased by a rotation angle difference within 0.5 ° each time, and then the engagement may be smoothly performed at least 4 times in 40 learning processes. For example, the manner of adjustment may be such that each adjustment adjusts the rotational angle difference of the target engaging ring gear and the target engaging sleeve to 2 times the rotational angle difference of the target engaging ring gear and the target engaging sleeve the last time, but once the cumulative rotational angle difference is found to exceed one rotational angle difference period, the direction of rotation is changed to be opposite, and the rotational angle difference initial value is reset to the original value. For example, the rotation angle difference between the target engaging ring gear and the target engaging sleeve may be randomly generated by sampling the rotation angle difference data between the target engaging ring gear and the target engaging sleeve.

And an engagement point position acquisition module 1104 for taking, as the engagement point position, the maximum value of the limit position of the target engagement sleeve (i.e., the stroke position of the shift actuator when the target engagement sleeve cannot continue to move) obtained in each learning.

An engagement point position determination module 1105 for determining whether an engagement point position is between an engagement point lower limit position value and an engagement point upper limit position value of the transmission: when the position of the meshing point is larger than or equal to the lower limit position value of the meshing point and smaller than or equal to the upper limit position value of the meshing point, determining that the position of the meshing point is proper; and when the position of the meshing point is smaller than the lower limit position value of the meshing point or larger than the upper limit position value of the meshing point, determining that the position of the meshing point is wrong, discarding self-learning and reporting the mistake. The meshing point position of the gearbox of each manufacturer has a certain range, whether the acquired meshing point position is suitable or not can be judged according to the range, if the acquired meshing point position is unsuitable, the error of learning the meshing point position is determined, the self-learning is abandoned, the error is reported, the incorrect meshing point position is avoided, and meanwhile, the self-learning of the meshing point position is avoided, which is incorrect and falls into infinite error self-learning circulation.

A start-to-disengage or start-to-engage position acquisition module 1106 for controlling the drive-end motor to bring the target engaging sleeve and the target engaging ring gear into a fully disengaged position, adjusting the engaging tooth angle relative positions of the target engaging sleeve and the target engaging ring gear to bring the tooth tips of the target engaging sleeve and the tooth tips of the target engaging ring gear into opposition; the shift actuator is controlled to push the target engaging sleeve toward the target engaging ring gear, and the limit position of the target engaging sleeve when the target engaging sleeve cannot be pushed further is taken as the start-off position or start-on position of the target engaging sleeve and the target engaging ring gear.

The start-to-disengage or start-to-engage position acquisition module 1106 further includes a fully disengaged position determination module 1107 for controlling the drive end motor to apply a first torque that generates a shift resistance less than the power provided by the shift actuator to the target engagement sleeve; the shift actuator of the transmission is controlled to push the target engaging sleeve out of the target engaging ring gear from the engagement point position (the shift actuator supplies a shift power to the engaging sleeve that is greater than a mechanical friction force between the engaging sleeve and the engaging ring gear) while monitoring the relative magnitudes of the rotational angles of the target engaging sleeve and the target engaging ring gear, and when the relative magnitudes of the rotational angles of the target engaging sleeve and the target engaging ring gear are greater than a first relative rotational angle preset value, the target engaging sleeve and the target engaging ring gear are in the completely disengaged position. The first relative rotation angle preset value may be a gap between teeth and tooth grooves between the engaged ring gear and the engaged sleeve gear at the time of engagement or a gap between teeth and tooth grooves which is larger than the gap between teeth and tooth grooves of the engaged ring gear and the engaged sleeve gear at the time of engagement, for example, the actual gap between teeth of the engaged sleeve gear and the engaged ring gear at the time of engagement is generally within ±1° (for example, the gap between one side of teeth is 1° and the gap between teeth and tooth grooves is 2 °), and then the first relative rotation angle preset value may be a relative rotation angle of 2 ° or a relative rotation angle of more than 2 °, for example, 2.5 °, 4 °, 40 °, 180 ° or 360 °, since the difference in relative rotation angle between the engaged ring gear and the engaged sleeve gear at the time of engagement between them is larger than the gap between teeth and tooth grooves at the time of engagement between them after the engaged ring gear and the engaged sleeve gear are separated.

According to the meshing point position self-learning controller of the transmission, through the mutual matching of the modules of the one-time learning control module 1101, the learning number judging module 1102, the relearning module 1103, the meshing point position acquiring module 1104, the meshing point position determining module 1105, the starting separation or starting meshing position acquiring module 1106 and the complete separation position judging module 1107, the rotation angle difference between the target meshing gear ring and the target meshing gear sleeve can be changed before each learning, the rotation angle difference between the target meshing gear ring and the meshing gear sleeve is finely adjusted through the driving end motor, the learning number is counted, whether the learning number reaches a first preset value or not is judged, the maximum value of the limit position of the target meshing gear sleeve obtained in each learning is taken as the meshing point position, the rotation angle difference between the meshing gear ring and the meshing gear sleeve is considered in the self-learning of the meshing point position, and the meshing point position obtained through learning is closer to the ideal meshing point position, and therefore the transmission is smoother and safer in the actual gear shifting process.

Example 3:

fig. 12 illustrates a structure of an electronic device 1200 for an automobile according to an embodiment of the present invention, where the electronic device 1200 includes: at least one processor 1201, at least one communication interface 1203, a memory 1204, at least one communication bus 1202.

The communication bus 1202 is used to enable connected communication between these components, for example, when the processor 1201 is running, the processor 1201 and the memory 1204 communicate via the communication bus 1202.

Processor 1201 may be a Central Processing Unit (CPU), digital Signal Processor (DSP), or other form of processing unit having data processing and/or program execution capabilities, such as a Field Programmable Gate Array (FPGA), or the like; for example, the Central Processing Unit (CPU) may be an X86 or ARM architecture, or the like. The processor 1201 may be a general purpose processor or a special purpose processor that may control other modules or components of the transmission to implement a transmission engagement point position self-learning method.

The electronic device 1200 may interact with the outside world through a communication interface 1203 (e.g., wifi, 3G/4G/5G, bluetooth, zigbee, RFID, CAN bus, USB, VGA, GPIB, RS/485, modbus interface, etc.), such as information transfer between the electronic device 1200 and the shift actuator, the engaged ring gear sensor, and the engaged sleeve sensor.

Memory 1204 may include read only memory and random access memory, with memory 1204 storing machine readable instructions executable by the processor 1201 and providing instructions and data to the processor 1201. Volatile memory can include, for example, random Access Memory (RAM) and/or cache memory (cache) and the like. The nonvolatile memory may include, for example, read Only Memory (ROM), hard disk, erasable Programmable Read Only Memory (EPROM), portable compact disc read only memory (CD-ROM), USB memory, flash memory (flash), nonvolatile random access memory (NVRAM), and the like. One or more application modules may be stored on the memory 1204 and the processor may be operable with the one or more application modules to implement a method of self-learning the engagement point position of a transmission as described in any of the embodiments above. Various applications and various data, as well as various data used and/or generated by the applications, etc., may also be stored in the memory 1204.

Example 4:

the present application also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs a method of self-learning a meshing point position of a transmission as described in any one of the embodiments above.

In particular, the storage medium can be a general-purpose storage medium, such as a removable disk, a hard disk, or the like, and the computer program on the storage medium can perform a method for learning the engagement point position of the transmission according to any of the foregoing embodiments when executed.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and the units described as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in the embodiments provided in the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

It should be noted that: like reference numerals and letters in the following figures denote like items, and thus once an item is defined in one figure, no further definition or explanation of it is required in the following figures, and furthermore, the terms "first," "second," "third," etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.

Finally, it should be noted that: the foregoing examples are merely illustrative of specific embodiments of the present application, and are not intended to limit the scope of the present application, although the present application is described in detail with reference to the foregoing examples, it will be understood by those skilled in the art that: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or make equivalent substitutions for some of the technical features within the technical scope of the disclosure of the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the corresponding technical solutions. Are intended to be encompassed within the scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (14)

1. The transmission meshing point position self-learning method is characterized by comprising the following steps of:

performing self-learning for multiple times, changing the rotation angle difference between the target engagement gear ring and the target engagement gear sleeve before each self-learning, pushing the target engagement gear sleeve to move towards the target engagement gear ring in each self-learning, and recording the limit position of the target engagement gear sleeve when the target engagement gear sleeve cannot continuously move;

and taking the maximum value of the limit positions of the target engaging tooth sleeves obtained in each learning as the engaging point position.

2. The transmission engagement point position self-learning method of claim 1 further comprising the steps of: judging whether the meshing point position is between a meshing point lower limit position value and a meshing point upper limit position value of the transmission, if the meshing point position is not between the meshing point lower limit position value and the meshing point upper limit position value of the transmission, determining that the meshing point position is in an improper state, self-learning errors, giving up self-learning and prompting errors.

3. A transmission engagement point position self-learning method as claimed in claim 1 or 2, further comprising the steps of: a start-to-disengage position or a start-to-engage position of a target engaging ring gear and a target engaging sleeve of the transmission is acquired.

4. The transmission meshing point position self-learning method is characterized by comprising the following steps of:

controlling a gear shifting executing mechanism of the transmission to push a target engaging gear sleeve to move towards a target engaging gear ring, recording the limit position of the target engaging gear sleeve when the target engaging gear sleeve cannot move continuously, and controlling the gear shifting executing mechanism of the transmission to push the target engaging gear sleeve to be separated from the target engaging gear ring, so that one-time learning is completed;

counting the learning times and judging whether the learning times reach a first preset value or not: when the learning times are smaller than a first preset value, controlling the driving end motor to adjust the rotation angle of the target engagement gear ring, so that the rotation angle difference between the target engagement gear ring and the target engagement gear sleeve is changed, and restarting the learning for the first time; and when the learning times are equal to a first preset value, taking the maximum value of the limit positions of the target engaging tooth sleeves obtained in each learning as the engaging point position.

5. The transmission engagement point position self-learning method of claim 4 further comprising the step of: judging whether the meshing point position is between a meshing point lower limit position value and a meshing point upper limit position value of the transmission: when the position of the meshing point is larger than or equal to the lower limit position value of the meshing point and smaller than or equal to the upper limit position value of the meshing point, determining that the position of the meshing point is proper; and when the position of the meshing point is smaller than the lower limit position value of the meshing point or larger than the upper limit position value of the meshing point, determining that the position of the meshing point is wrong, discarding self-learning and reporting the mistake.

6. A transmission engagement point position self-learning method as claimed in claim 4 or 5, further comprising the steps of: a start-to-disengage position or a start-to-engage position of a target engaging ring gear and a target engaging sleeve of the transmission is acquired.

7. The transmission engagement point position self-learning method as claimed in claim 6, wherein the step of acquiring a start-off position or a start-on position of the target engaged ring gear and the target engaged sleeve of the transmission includes:

controlling a driving end motor to enable a target engagement tooth sleeve and a target engagement tooth ring to be in a complete separation position, and adjusting the relative position of engagement tooth angles of the target engagement tooth sleeve and the target engagement tooth ring to enable tooth tips of the target engagement tooth sleeve and tooth tips of the target engagement tooth ring to be opposite;

the shift actuator is controlled to push the target engaging sleeve toward the target engaging ring gear, and the limit position of the target engaging sleeve when the target engaging sleeve cannot be pushed further is taken as the start-off position or start-on position of the target engaging sleeve and the target engaging ring gear.

8. A transmission engagement point position self-learning method as claimed in claim 7, wherein controlling the drive end motor to bring the target engaging sleeve and the target engaging ring gear into the fully disengaged position includes the steps of:

Controlling the drive end motor to apply a first torque, wherein the gear shifting resistance generated by the first torque is smaller than the power provided by the gear shifting executing mechanism to the target engaging gear sleeve;

and the gear shifting executing mechanism of the transmission is controlled to push the target engaging gear sleeve to be separated from the engaging point position and simultaneously monitor the relative rotation angle of the target engaging gear sleeve and the target engaging gear ring, and when the relative rotation angle of the target engaging gear sleeve and the target engaging gear ring is larger than a first relative rotation angle preset value, the target engaging gear sleeve and the target engaging gear ring are in a complete separation position.

9. A meshing point position self-learning controller of a transmission, comprising:

the primary learning control module is used for controlling a gear shifting executing mechanism of the transmission to push the target engaging gear sleeve to move towards the target engaging gear ring, recording the limit position of the target engaging gear sleeve when the target engaging gear sleeve cannot continue to move, and then controlling the gear shifting executing mechanism of the transmission to push the target engaging gear sleeve to be separated from the target engaging gear ring, so that primary learning is completed;

the learning frequency judging module is used for counting the learning frequency and judging whether the learning frequency reaches a first preset value, and when the learning frequency is smaller than the first preset value, a first control signal is sent to the relearning module; when the learning times are equal to the first preset value, a third control signal is sent to the meshing point position acquisition module;

The relearning module is used for controlling the driving end motor to adjust the rotation angle of the target engagement gear ring to change the rotation angle difference between the target engagement gear ring and the target engagement gear sleeve, sending a second control signal to the primary learning control module, and restarting primary learning;

and the meshing point position acquisition module is used for taking the maximum value of the limit positions of the target meshing tooth sleeves obtained in each learning as the meshing point position.

10. The self-learning transmission engagement point position controller of claim 9 further comprising an engagement point position determination module for determining whether an engagement point position is between an engagement point lower limit position value and an engagement point upper limit position value of the transmission. When the position of the meshing point is larger than or equal to the lower limit position value of the meshing point and smaller than or equal to the upper limit position value of the meshing point, determining that the position of the meshing point is proper; and when the position of the meshing point is smaller than the lower limit position value of the meshing point or larger than the upper limit position value of the meshing point, determining that the position of the meshing point is wrong, discarding self-learning and reporting the mistake.

11. A meshing point position self-learning controller for a transmission according to claim 9 or 10, further comprising a start-to-disengage or start-to-engage position acquisition module for controlling the drive end motor to bring the target meshing sleeve and the target meshing ring gear into a fully disengaged position, and adjusting the meshing tooth angle relative positions of the target meshing sleeve and the target meshing ring gear so that the tooth tips of the target meshing sleeve and the tooth tips of the target meshing ring gear are opposed; the shift actuator is controlled to push the target engaging sleeve toward the target engaging ring gear, and the limit position of the target engaging sleeve when the target engaging sleeve cannot be pushed further is taken as the start-off position or start-on position of the target engaging sleeve and the target engaging ring gear.

12. The self-learning transmission engagement point position controller of claim 11 further comprising a fully disengaged position determination module for controlling the drive end motor to apply a first torque that produces a shift resistance less than the power provided by the shift actuator to the target engagement sleeve; and the gear shifting executing mechanism of the transmission is controlled to push the target engaging gear sleeve to be separated from the engaging point position and simultaneously monitor the relative rotation angle of the target engaging gear sleeve and the target engaging gear ring, and when the relative rotation angle of the target engaging gear sleeve and the target engaging gear ring is larger than a first relative rotation angle preset value, the target engaging gear sleeve and the target engaging gear ring are in a complete separation position.

13. An electronic device, comprising: a processor, a memory and a bus, said memory storing machine readable instructions executable by said processor, said processor and said memory communicating via the bus when the electronic device is operating, said machine readable instructions when executed by said processor performing a transmission engagement point position self-learning method according to any one of claims 1-8.

14. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, performs a transmission engagement point position self-learning method according to any one of claims 1-8.

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