CN116181899B

CN116181899B - Gear shifting control method, device, equipment and medium

Info

Publication number: CN116181899B
Application number: CN202310458644.4A
Authority: CN
Inventors: 曹珊; 马岩; 宁甲奎
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-04-26
Filing date: 2023-04-26
Publication date: 2023-07-18
Anticipated expiration: 2043-04-26
Also published as: CN116181899A

Abstract

The embodiment of the invention discloses a gear shifting control method, a gear shifting control device, gear shifting control equipment and a gear shifting control medium. The invention relates to the technical field of vehicles. Wherein the method comprises the following steps: acquiring the speed, the accelerator pedal position variation, the double clutch driving and driven disc rotation speed information and the gear transmission ratio of a target vehicle; determining a shift intention according to the accelerator pedal position and the accelerator pedal position variation; determining a double clutch pressure value according to the gear shifting intention and the rotating speed information of the double clutch main driven disc; determining a dual clutch pressure value correction value based on a gear ratio and a vehicle speed; correcting the double clutch pressure value based on the double clutch pressure value correction value to obtain a corrected double clutch pressure value; and performing gear shifting control based on the corrected double clutch pressure value. According to the technical scheme, gear shifting impact can be avoided under different running environments, and the requirements of stability and rapidness in the gear shifting process of the automobile are met, so that the automobile has good gear shifting quality.

Description

Gear shifting control method, device, equipment and medium

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a gear shift control method, device, apparatus, and medium.

Background

Double clutch automatic transmissions (DualClutchTransmission, DCT) have been known for nearly 70 years. By the cooperation of the two groups of clutches, gear switching is completed, and compared with a traditional single-clutch transmission, the problem of gear shifting power interruption is solved. And has higher efficiency than the conventional torque converter type automatic transmission.

Because the double clutch control problem has the characteristics of nonlinearity, time variation, strong coupling and difficult modeling, the conventional control method is difficult to meet the gear shifting requirement. In the vehicle gear shifting process, the clutch control problem has the characteristics of nonlinearity, time-varying property, strong coupling and difficulty in modeling, and has the variability of gear shifting intention, vehicle condition and road condition, gear shifting impact is easy to cause under different running environments, and the stability in the vehicle gear shifting process is difficult to meet.

Disclosure of Invention

The invention provides a gear shifting control method, a gear shifting control device, gear shifting control equipment and a gear shifting control medium, which can avoid gear shifting impact under different running environments, meet the requirements of stability and rapidness in the gear shifting process of an automobile and enable the automobile to have good gear shifting quality.

According to an aspect of the present invention, there is provided a shift control method including:

acquiring the speed, the accelerator pedal position variation, the double clutch driving and driven disc rotation speed information and the gear transmission ratio of a target vehicle; wherein, the double clutch driving and driven disc rotational speed information includes: the clutch drives and drives the disc speed difference and speed difference change rate;

Determining a shift intention from the accelerator pedal position and the accelerator pedal position variation;

determining a double clutch pressure value according to the gear shifting intention and the double clutch main driven disc rotating speed information;

determining a dual clutch pressure value correction based on the gear ratio and the vehicle speed;

correcting the double clutch pressure value based on the double clutch pressure value correction value to obtain a corrected double clutch pressure value;

and performing gear shifting control based on the corrected double clutch pressure value.

Optionally, determining the gear shifting intention according to the accelerator pedal position and the accelerator pedal position variation comprises:

determining a first input fuzzy value corresponding to the accelerator pedal position and the accelerator pedal position variation;

searching a corresponding first output fuzzy value from a pre-established first fuzzy control rule table based on the first input fuzzy value;

a shift intent is determined based on the first output fuzzy value.

Optionally, determining the first input ambiguity value corresponding to the accelerator pedal position and the accelerator pedal position variation includes:

respectively quantizing the accelerator pedal position and the accelerator pedal position variation to obtain a first quantized value;

Determining a first fuzzy domain corresponding to the first quantized value;

and determining a first input fuzzy value corresponding to the accelerator pedal position and the accelerator pedal position change amount based on the first fuzzy theory domain.

Optionally, determining the dual clutch pressure value according to the gear shifting intention and the dual clutch main driven disc rotation speed information includes:

respectively quantizing the gear shifting intention and the double clutch driving and driven disc rotating speed information to obtain a second quantized value;

determining a second fuzzy theory domain corresponding to the second quantized value;

determining a second input fuzzy value corresponding to the gear shifting intention and the double clutch driving and driven disc rotating speed information based on a second fuzzy universe;

searching a corresponding second output fuzzy value from a second fuzzy control rule table established in advance based on the second input fuzzy value;

a dual clutch pressure value is determined based on the second output fuzzy value.

Optionally, the dual clutch driving and driven disc rotation speed information includes an engaging clutch driving and driven disc rotation speed information and a disengaging clutch driving and driven disc rotation speed information.

Optionally, when the clutch master-slave disc rotation speed information is engaged, after determining the second input ambiguity value corresponding to the shift intention and the dual clutch master-slave disc rotation speed information, the method further includes:

And optimizing and adjusting parameters in the second fuzzy control rule table based on a set optimization algorithm so as to search a corresponding second output fuzzy value from the adjusted second fuzzy control rule table.

Optionally, determining a dual clutch pressure value correction value based on the gear transmission ratio and the vehicle speed includes:

respectively quantizing the gear transmission ratio and the vehicle speed to obtain a third quantized value;

determining a third fuzzy domain corresponding to the third quantized value;

determining a third input fuzzy value corresponding to the gear transmission ratio and the vehicle speed based on a third fuzzy theory domain;

searching a corresponding third output fuzzy value from a pre-established third fuzzy control rule table based on the third input fuzzy value;

and determining a double clutch pressure value correction value based on the third output fuzzy value.

According to another aspect of the present invention, there is provided a shift control device including:

the information acquisition module is used for acquiring the speed, the accelerator pedal position variation, the rotating speed information of the double clutch driving and driven disc and the gear transmission ratio of the target vehicle; wherein, the double clutch driving and driven disc rotational speed information includes: the clutch drives and drives the disc speed difference and speed difference change rate;

A shift intention determination module for determining a shift intention from the accelerator pedal position and the accelerator pedal position variation;

the double clutch pressure value determining module is used for determining a double clutch pressure value according to the gear shifting intention and the double clutch main driven disc rotating speed information;

the correction value determining module is used for determining a double clutch pressure value correction value based on the gear transmission ratio and the vehicle speed;

the pressure value correction module is used for correcting the double clutch pressure value based on the double clutch pressure value correction value to obtain a corrected double clutch pressure value;

and the gear shifting control module is used for performing gear shifting control based on the corrected double clutch pressure value.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; the method comprises the steps of,

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 shift control method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a shift control method according to any one of the embodiments of the present invention.

According to the technical scheme, the speed, the accelerator pedal position variation, the double clutch driving and driven disc rotation speed information and the gear transmission ratio of the target vehicle are obtained; determining a shift intention according to the accelerator pedal position and the accelerator pedal position variation; determining a double clutch pressure value according to the gear shifting intention and the rotating speed information of the double clutch main driven disc; determining a dual clutch pressure value correction value based on a gear ratio and a vehicle speed; correcting the double clutch pressure value based on the double clutch pressure value correction value to obtain a corrected double clutch pressure value; and performing gear shifting control based on the corrected double clutch pressure value. According to the technical scheme, gear shifting impact can be avoided under different running environments, and the requirements of stability and rapidness in the gear shifting process of the automobile are met, so that the automobile has good gear shifting quality.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a flow chart of a shift control method according to a first embodiment of the present invention;

fig. 2 is a schematic structural view of a gear shift control device according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Embodiment one:

fig. 1 is a flowchart of a shift control method according to a first embodiment of the present invention, which is applicable to a case of shift control of a vehicle, and the method may be performed by a shift control device, which may be implemented in hardware and/or software, and which may be configured in an electronic apparatus having data processing capability. As shown in fig. 1, the method includes:

The method can be executed by a hydraulic control system, the intention of a driver can be obtained through fuzzy control of the position of an accelerator pedal and the variation of the position of the accelerator pedal, then the oil pressure increment in a piston cavity of a wet clutch engagement and disengagement clutch is obtained through fuzzy control of the intention of the driver, the rotation speed difference and the variation rate of a clutch master-slave drive disc, and the parameters of an upshift engagement fuzzy controller are optimized by using a genetic algorithm; and the output quantity of the dual clutch disengagement fuzzy control system is quantitatively corrected by utilizing the change of the gear transmission ratio, so that the gear shifting disengagement combination speed of the clutch is controlled to achieve the purpose of stable gear shifting under different working conditions.

S110, acquiring the speed, the accelerator pedal position variation, the double clutch driving and driven disc rotating speed information and the gear transmission ratio of the target vehicle.

Wherein, the double clutch driving and driven disc rotation speed information can include: the clutch drives and drives the disc speed difference and speed difference change rate; the dual clutch may include an on-coming clutch and an off-going clutch. The clutch master-slave disc speed differential may be determined by the difference between the actual speed of the engine and the engaged or disengaged clutch. Wherein the clutch speed and the actual engine speed may be obtained by an engine speed sensor. The target vehicle may be understood as a vehicle having a shift control demand. The accelerator pedal position may be understood as a position of the accelerator pedal, and may be a position of a degree of depression of the accelerator pedal when the driver drives the target vehicle in this embodiment. The accelerator pedal position change amount can be understood as a change amount of the accelerator pedal position per unit time. The accelerator pedal signal in this embodiment may be received by a CAN signal, and the accelerator pedal position change amount may be derived from an accelerator pedal position value.

Further, the fuzzy controller in the embodiment can collect the position of the accelerator pedal through a position sensor arranged on the accelerator pedal, and the change rate of the position of the accelerator pedal can be calculated through the change value of the position of the accelerator pedal in unit time. In the embodiment, the gear transmission ratio corresponding to the target vehicle can be directly obtained.

In the embodiment, the speed, the accelerator pedal position variation, the double clutch driving and driven disc rotation speed information and the gear transmission ratio of the target vehicle are obtained.

And S120, determining gear shifting intention according to the accelerator pedal position and the accelerator pedal position change amount.

The gear shifting intention can be subjective consciousness of a driver, is uncertain, but is accumulated in driving experience of the driver, so that the driver intention can be identified through fuzzy theory. The driver's intent may be determined from the accelerator pedal signal. The accelerator pedal is stepped deep, so that the clutch release and combination speed is increased; otherwise, if the pedal is shallow, the clutch release and engagement speed should be slowed down. For example, if the difference in rotational speed of the clutch driving and driven discs is large, the clutch may be considered to be in the initial stage of slipping, at which time the clutch disengagement should be suitably slow. When the rotational speed difference of the driving and driven plates is small and even tends to be equal, the clutch driving and driven plates can be considered to be in a synchronous state, and the clutch disengaging and engaging speed should be increased. If the change rate of the rotational speed difference of the clutch driving and driven discs increases, the clutch disengagement speed is slowed down, otherwise, the clutch disengagement speed is increased. Thus, the shift intention of the driver is determined by collecting and analyzing the accelerator pedal position and the accelerator pedal position change rate.

In this embodiment, optionally, determining the gear shift intention according to the accelerator pedal position and the accelerator pedal position variation includes: determining a first input fuzzy value corresponding to the accelerator pedal position and the accelerator pedal position variation; searching a corresponding first output fuzzy value from a pre-established first fuzzy control rule table based on the first input fuzzy value; a shift intent is determined based on the first output fuzzy value.

The first input fuzzy value may be understood as an input fuzzy value corresponding to the accelerator pedal position and the accelerator pedal position variation determined by the fuzzy control technique. The first fuzzy control rule table may be pre-established. The first fuzzy control rule table in the embodiment may be understood as a fuzzy control rule table of gear shifting intention, and may be summarized and summarized according to experience of excellent drivers, a control rule prototype is generated, and a real vehicle test is performed; and modifying the control rule prototype according to the data obtained in the test to prepare a fuzzy control rule table. The first output fuzzy value mayCorresponding searching is carried out from a pre-established first fuzzy control rule table according to the first input fuzzy value. In this embodiment, the shift intention is determined based on the first output fuzzy value by applying a scale factor to the first output fuzzy value The shift intent is determined by mapping from the fuzzy universe to the basic universe.

In addition, the gear shifting intention fuzzy controller in the embodiment can adopt a two-input single-output fuzzy control mode, and the gear shifting intention fuzzy controller is used for receiving the position of the accelerator pedal and the change quantity of the position of the accelerator pedal and carrying out quantitative mapping to a domain; and outputting quantized gear shifting intention of the driver by using the driver intention fuzzy rule control table.

In this embodiment, the shift intention may be determined according to the accelerator pedal position and the accelerator pedal position variation amount fuzzy control, specifically, by determining first input fuzzy values corresponding to the accelerator pedal position and the accelerator pedal position variation amount respectively; searching corresponding first output fuzzy values from a pre-established first fuzzy control rule table based on the first input fuzzy values by adopting a scale factor to the first output fuzzy valuesThe shift intent is determined by mapping from the fuzzy universe to the basic universe. With such a setting in the present embodiment, the shift intention of the driver can be determined by the fuzzy control manner, facilitating the subsequent determination of the pressure value of the clutch.

In this embodiment, optionally, determining the first input ambiguity value corresponding to the accelerator pedal position and the accelerator pedal position variation includes: respectively quantizing the accelerator pedal position and the accelerator pedal position variation to obtain a first quantized value; determining a first fuzzy domain corresponding to the first quantized value; and determining a first input fuzzy value corresponding to the accelerator pedal position and the accelerator pedal position change amount based on the first fuzzy theory domain.

Wherein the first quantized value may be a pass quantized factorSonAnd->And respectively quantifying the accelerator pedal position and the accelerator pedal position variation. The quantization factor may be determined based on basic domains, i.e. physical quantities and domains. The fuzzy theory may be understood as a fuzzy aggregation theory in fuzzy control. In this embodiment, the first fuzzy theory domain corresponding to the first quantized value may be determined by mapping the quantized value to the fuzzy set theory domain. The first input ambiguity may be determined based on a membership function of a first ambiguity domain selection triangle distribution function, where the accelerator pedal position and the first input ambiguity value corresponds to an accelerator pedal position variation. In this embodiment, a triangle distribution function may be selected as the membership function of the fuzzy controller.

In this embodiment, the first quantization value may be determined by performing quantization operation in fuzzy control on the accelerator pedal position and the accelerator pedal position variation, and the fuzzy domain corresponding to the first quantization value may be determined.

Specifically, the present embodiment may set a basic domain of the accelerator pedal position and a fuzzy domain of the accelerator pedal position; setting a basic domain of the accelerator pedal position change rate and a fuzzy domain of the accelerator pedal position change rate, and calculating a quantization factor of the accelerator pedal position And a quantization factor of the rate of change of the accelerator pedal position +.>。

Illustratively, the fuzzy subset of accelerator pedal position a is { VSA, SA, RSA, MA, RBA, BA, VBA }, and the fuzzy subset of accelerator pedal position variation is ac { NB, NM, NS, Z, PS, PM, PB }.

The basic argument of accelerator pedal position a is [0,100]Physical quantity is 0-100%, and the domain is [0,1,2,3,4,5,6,7,8,9,10,11,12,13,14 ]]Quantization factorBasic domains of the accelerator pedal position change amount ac [ -50,50]The discourse domain is [ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6]Quantization factor。

The first fuzzy control rules in the driver's shift intention are shown in table 1 below:

TABLE 1 first fuzzy control rule Table in driver's shift intent

The driver's shift intention I fuzzy set may be VSI, SI, MI, BI, VBI. { slow, normal, fast }; basic domain of discussion [0,100]The domain of discussion is [0,1,2,3,4,5,6,7,8,9,10 ]]Then the scale factor。

In this embodiment, the input fuzzy values corresponding to the accelerator pedal position and the accelerator pedal position variation may be determined by separately quantizing the accelerator pedal position and the accelerator pedal position variation according to a quantization manner in the fuzzy control and mapping the quantized values to the theory domain of the fuzzy set. With such a setting in the present embodiment, the input fuzzy value thereof can be determined by the quantization operation, so that the corresponding output quantity thereof is indeed determined based on the fuzzy control rule table, facilitating the determination of the final output shift intention thereof.

S130, determining a double clutch pressure value according to the gear shifting intention and the double clutch main driven disc rotating speed information.

The double clutch pressure value is understood to mean the pressure value of the engaging clutch and the pressure value of the disengaging clutch, which can also be referred to as the oil pressure increase in the clutch piston chamber. In the embodiment, the pressure value of the clutch, namely the oil pressure increment value in the piston cavity of the wet clutch engagement and disengagement clutch, can be determined through fuzzy control according to the gear shifting intention, the rotation speed difference of the master-slave disc of the clutch and the change rate of the rotation speed difference.

In this embodiment, optionally, determining the dual clutch pressure value according to the gear shifting intention and the dual clutch driving and driven disc rotation speed information includes: respectively quantizing the gear shifting intention and the double clutch driving and driven disc rotating speed information to obtain a second quantized value; determining a second fuzzy theory domain corresponding to the second quantized value; determining a second input fuzzy value corresponding to the gear shifting intention and the double clutch driving and driven disc rotating speed information based on a second fuzzy universe; searching a corresponding second output fuzzy value from a second fuzzy control rule table established in advance based on the second input fuzzy value; a dual clutch pressure value is determined based on the second output fuzzy value.

The second quantization value is understood as a value obtained by performing quantization on the shift intention and the double clutch driving and driven disc rotation speed information by using quantization factors according to a fuzzy control mode. Specifically, the quantization factor may be determined based on basic domains, that is, physical quantities and domains. The fuzzy theory may be understood as a fuzzy aggregation theory in fuzzy control. In this embodiment, the second fuzzy theory domain corresponding to the second quantized value may be determined by mapping the quantized value to the fuzzy set theory domain. The second input fuzzy value can be used for determining the second input fuzzy value corresponding to the gear shifting intention and the rotating speed information of the double-clutch driving and driven disc based on the membership function of the second fuzzy domain selection triangle distribution function. In this embodiment, a triangle distribution function may be selected as the membership function of the fuzzy controller. The second fuzzy control rule table may be pre-established. The second fuzzy control rule table in this embodiment may be understood as a fuzzy control rule table of the dual clutch, and may be characterized as a fuzzy control rule table of the engaged clutch or a fuzzy control rule table of the disengaged clutch. The fuzzy control rule table can be determined according to fuzzy sets of gear shifting intentions of a driver, the rotation speed difference of the double clutch driving and driven discs and fuzzy data of the change rate of the rotation speed difference of the driving and driven discs. The second output fuzzy value may be correspondingly found from a second fuzzy control rule table established in advance according to the second input fuzzy value.

In this embodiment, the dual clutch pressure value is determined based on the second output fuzzy value by mapping the second output fuzzy value from the fuzzy domain to the basic domain using a scaling factor.

In this embodiment, optionally, the dual clutch master-slave rotational speed information includes an engaging clutch master-slave rotational speed information and a disengaging clutch master-slave rotational speed information.

The engaging clutch driving and driven disc rotation speed information may include an engaging clutch driving and driven disc rotation speed difference and a difference change rate thereof. The difference between the engaged clutch speed and the actual engine speed is the difference between the engaged clutch driving and driven disc speeds. The clutch-off master-slave disc rotational speed information may include a clutch-off master-slave disc rotational speed difference and a difference rate of change thereof; the difference between the rotating speed of the separating clutch and the actual rotating speed of the engine is the rotating speed difference of the driving disc and the driven disc of the separating clutch and the change rate of the difference. The dual clutch master-slave rotational speed information in this embodiment may include the rotational speed information of the engaging clutch master-slave disk and the rotational speed information of the disengaging clutch master-slave disk. By such an arrangement, the pressure values of the on-coming clutch and the off-going clutch can be controlled, respectively, for better gear shift control.

Further, in the case of an engaged clutch in a dual clutch, determining an input to a shift engaged clutch fuzzy controller: comprises a gear shifting intention I of a driver, a difference value between the rotating speed of a separation clutch and the actual rotating speed of an engine, namely a rotating speed difference of a main driven discAnd the difference rate +.>The method comprises the steps of carrying out a first treatment on the surface of the Respectively using quantization factors->、And->Driver intention I, difference in rotational speed of driving and driven discs of engagement clutch +.>And clutch-engaged master-slave disc speed difference rate of change +.>Quantization is carried out, and the quantization is mapped to a fuzzy aggregation domain; selecting triangular distribution as membership function of the fuzzy controller to obtain respective fuzzy values; formulating a fuzzy control rule table of the upshift engagement clutch; the engagement clutch in the embodiment can also be based on optimization and online adjustment of model controller parameters of a genetic algorithm; output of upshift engagement clutch fuzzy rule decision is with scaling factor +.>Mapping from fuzzy theory to basic theory, outputting the value of the change of the upshift engagement clutch pressure +.>。

For example, the driver's shift intent I fuzzy set may be { VSI, SI, MI, BI, VBI }; can be expressed as { very slow, normal, fast }. Basic domain of discussion [0,100]Physical value 0-100%. The domain of discussion is [0,1,2,3,4,5,6,7,8,9,10 ] ]Then the scale factor. The shift intention I of the driver may be ambiguous as set VSI, SI, MI, BI, VBI in this embodiment. Clutch-engaged master-slave disc speed difference +.>The fuzzy subset of (2) is { VSW, SW, MW, BW, VBW }, the change rate of the rotational speed difference of the clutch-engaged master-slave disc +.>The fuzzy subset { NB, NS, Z, PS, PB }. Difference in rotation speed of driving and driven discs>Is [0, 2000 ]]The domain of discussion is [0,1,2,3,4,5,6,7,8,9,10,11,12 ]]Quantization factorClutch master-slave disc speed difference rate of change of engagement +.>Basic domain [ -20,20]The discourse domain is [ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6]Quantization factor->。

The second fuzzy control rule table for the engaged clutch is shown in table 2 below:

TABLE 2 fuzzy control rules table for oncoming clutch

A fuzzy set of engaged clutch pressure values VSP, SP, MP, BP, VBP. Basic domains [0,25 ]]The argument is {0,1,2,3,4,5,6,7,8,9,10}, the scale factor. After the output variable is converted into an accurate quantity by a maximum membership method, the accurate quantity is scaled to an actual output range, and then the accurate quantity is multiplied by a scale factor +.>To obtain the oil pressure increment of the piston cylinder of the upshift engagement clutch, namely the engagement clutch pressure value +.>。

Further, in the case of a disconnect clutch in a dual clutch, determining an input to a shift disconnect clutch fuzzy controller: comprises a gear shifting intention I of a driver, a difference value between the rotating speed of a separation clutch and the actual rotating speed of an engine, namely a rotating speed difference of a main driven disc And the difference rate +.>The method comprises the steps of carrying out a first treatment on the surface of the Respectively using quantization factors->、And->Driver intention I, speed difference of the clutch driving and driven discs>And clutch-off master-slave disc speed difference rate of change +.>Quantization is carried out, and the quantization is mapped to a fuzzy aggregation domain; selecting triangular distribution as membership function of the fuzzy controller to obtain respective fuzzy values; formulating a fuzzy control rule table of the upshift release clutch; output of upshift engagement clutch fuzzy rule decision is with scaling factor +.>Mapping from fuzzy theory to basic theory, outputting the value of the change of the upshift disconnect clutch pressure +.>。

Illustratively, the driver's shift intention I is fuzzy set VSI, SI, MI, BI, VBI. Clutch-disengaging master-slave disc speed differenceThe fuzzy subset of (2) is { VSW, SW, MW, BW, VBW }, the change rate of the rotational speed difference of the clutch-separating master-slave disc +.>Fuzzy subset { NB, NS, Z, PS, PB }; master and slaveDisc speed difference->Is [0, 2000 ]]The domain of discussion is [0,1,2,3,4,5,6,7,8,9,10,11,12 ]]Quantization factor->Rate of change of rotational speed difference between main and driven discsBasic domain of theory [ -20,20]The discourse domain is [ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6]Quantization factor。

The fuzzy control rules for the disconnect clutch are shown in table 3 below,

TABLE 3 disconnect clutch fuzzy control rule TABLE

A fuzzy set of pressure values for the disconnect clutch VSP, SP, MP, BP, VBP. Basic domains [0,25 ]]The argument is {0,1,2,3,4,5,6,7,8,9,10}, the scale factor. After the output variable is converted into an accurate quantity by a maximum membership method, the accurate quantity is scaled to an actual output range, and then the accurate quantity is multiplied by a scale factor +.>To obtain the oil pressure increment of the piston cylinder of the upshift release clutch, namely the pressure change value of the release clutch +.>。/>

In this embodiment, optionally, when the clutch master-slave driven disc rotation speed information is engaged, after determining the second input ambiguity value corresponding to the shift intention and the dual clutch master-slave driven disc rotation speed information, the method further includes: and optimizing and adjusting parameters in the second fuzzy control rule table based on a set optimization algorithm so as to search a corresponding second output fuzzy value from the adjusted second fuzzy control rule table.

The setting optimization algorithm may be any algorithm capable of performing optimization adjustment on parameters in the fuzzy control rule table, and may be preset. The setting optimization algorithm in this embodiment may be a genetic algorithm. In this embodiment, when the information is the rotational speed information of the master and slave discs of the engaged clutch, the parameters in the fuzzy control rule table of the engaged clutch may be optimally adjusted based on a genetic algorithm, so as to find the corresponding second output fuzzy value from the adjusted fuzzy control rule table.

In the fuzzy control system, the performance of the fuzzy controller greatly affects the control characteristic of the system, and the performance of the fuzzy controller depends on the determination of the fuzzy control rule and the adjustability of the fuzzy control rule to a great extent, but in practical application, the fuzzy control rule cannot be changed once determined, so that the fuzzy controller can automatically adjust the fuzzy control rule according to input, and the genetic algorithm is utilized for adjusting the fuzzy control rule and parameters on line. The control rules and control parameters can be automatically modified according to the operation and environment of the process controlled by the control rules and the control parameters so as to obtain the optimal control effect.

Illustratively, the operation steps for optimizing the fuzzy rule base based on the genetic algorithm are as follows:

step 1, coding a fuzzy control rule, namely, fixing three input quantities (driving intention, a clutch-engaged master-slave disc rotating speed difference and a master-slave disc rotating speed difference change rate) in sequence, coding only the output linguistic variable, namely, a control quantity (clutch pressure change value), and representing the linguistic values of the 5 fuzzy linguistic variables in 10 decimal numbers of 1-10 in a designed three-dimensional fuzzy controller. Thus, the established fuzzy control rule is digitally processed to form codes. The digitization rule was further stretched and the following matrix was formed in MATLAB.

Step 2, determining a fitness function:

the controller performance should be a composite indicator of the system output response (transient, steady state accuracy) and output energy. The engine target rotation speed error and the error variation are input values. The clutch engagement process has two basic requirements, namely stable engagement and long service life of the clutch. The impact on the quality of the clutch engagement is generally used as an evaluation index (German definition Standard) And the sliding friction work is adopted as an evaluation index of the service life of the clutch. During clutch engagement, the friction work is converted into heat energy which is absorbed by the clutch, so that the temperature of the clutch is increased, and the clutch temperature value is used for representing the friction work. The objective function J is determined as follows:

；

in the method, in the process of the invention,duration of action of the controller on the object, k-sampling point time, < >>Impact resistance->Clutch temperature->，--，Is used for the weight coefficient of the (c),representing the specific gravity occupied in the individual objective function J. />

The objective function is transformed appropriately into a fitness function, which is as follows:。

step 3, genetic parameter determination:

genetic parameters include: size M of population, termination algebra T, crossover probabilityProbability of mutation- >。

Step 3.1 selecting operators, obtaining fitness by a fitness function, obtaining the replication probability of each individual, wherein the number of the individuals replicated in the next generation is equal to the replication probability multiplied by the population scale, and the probability of each individual being selectedThe method comprises the following steps:

；

wherein,,is the population size, ->Is the fitness of the ith individual in the population.

Step 3.2, crossing operators, wherein in the process of crossing treatment, chromosomes before crossing are subjected to mutation operation, and chromosomes after crossing are subjected to crossing and mutation operation, wherein the crossing probability；

Step 3.3 mutation operator, adopting basic mutation method, cross probability。

Through the arrangement, the fuzzy control rules and parameters can be adjusted on line by using a set optimization algorithm, so that the control rules and the control parameters can be automatically modified along with the operation of the process controlled by the fuzzy control rules and the parameters and the change of the environment, and the optimal control effect is obtained.

And S140, determining a double clutch pressure value correction value based on the gear transmission ratio and the vehicle speed.

The double clutch pressure value correction value can be used for correcting the pressure value of the double clutch. In this embodiment, the correction value for determining the double clutch pressure value may be made based on the gear ratio and the vehicle speed of the target vehicle.

In this embodiment, optionally, the determining the dual clutch pressure value correction value based on the gear transmission ratio and the vehicle speed includes: respectively quantizing the gear transmission ratio and the vehicle speed to obtain a third quantized value; determining a third fuzzy domain corresponding to the third quantized value; determining a third input fuzzy value corresponding to the gear transmission ratio and the vehicle speed based on a third fuzzy theory domain; searching a corresponding third output fuzzy value from a pre-established third fuzzy control rule table based on the third input fuzzy value; and determining a double clutch pressure value correction value based on the third output fuzzy value.

The third quantization value is understood as a value obtained by performing quantization operations on the gear transmission ratio and the vehicle speed by using quantization factors according to a fuzzy control manner. Specifically, the quantization factor may be determined based on basic domains, that is, physical quantities and domains. The fuzzy theory may be understood as a fuzzy aggregation theory in fuzzy control. In this embodiment, the third fuzzy theory domain corresponding to the third quantized value may be determined by mapping the quantized value to the fuzzy set theory domain. And the third input fuzzy value can be used for determining the third input fuzzy value corresponding to the gear transmission ratio and the vehicle speed based on the membership function of the third fuzzy domain selection triangle distribution function. In this embodiment, a triangle distribution function may be selected as the membership function of the fuzzy controller. The third fuzzy control rule table may be pre-established. The third fuzzy control rule table in the present embodiment may be understood as a gear fuzzy control rule table. The fuzzy control law table may be determined based on fuzzy data of gear ratios and vehicle speed. The third output fuzzy value may be correspondingly searched from a pre-established third fuzzy control rule table according to the third input fuzzy value. In this embodiment, the dual clutch pressure value correction value is determined based on the third output fuzzy value by mapping the third output fuzzy value from the fuzzy domain to the basic domain using a scaling factor.

Specifically, in this embodiment, the input of the gear ambiguity correction controller may be determined: the method comprises the steps of changing the current gear transmission ratio and the speed of the vehicle; respectively using quantization factors、Quantizing the current gear transmission ratio and the vehicle speed v, and mapping the quantized current gear transmission ratio and the vehicle speed v to a fuzzy aggregation theory; selecting triangular distribution as membership function of the fuzzy controller to obtain respective fuzzy values; formulating a gear fuzzy correction control rule table; the output of gear fuzzy correction control rule decision is by a scale factor +.>And mapping the fuzzy domain to the basic domain, and outputting the clutch pressure correction value.

In the embodiment, the change of the transmission ratio before and after gear shifting can be obtained according to the current gear transmission ratio. The greater the ratio change before and after a shift, the greater the vehicle longitudinal acceleration and driveline loading caused by the shift, and the clutch disengagement speed should be slowed if the shift quality is to be improved, otherwise the clutch disengagement speed is increased.

Exemplary, the fuzzy subset of vehicle speed v is { VSV, SV, RSV, MV, RBV, BV, VBV }, which may be expressed as { very low, low }Somewhat low, medium, somewhat high, very high }7 blur amounts. Gear ratio change amounts d { NB, NM, NS, Z, PS, PM, PB }. The basic argument of the vehicle speed v is [0, 120 ]The domain of discussion is [0,1,2,3,4,5,6,7,8,9,10,11,12 ]]Quantization factorBasic domains of gear ratio variation [0,20]The discourse domain is [ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6]Quantization factor->。

The gear fuzzy control rules are shown in the following table 4:

table 4 Gear fuzzy control rule table

Fuzzy set of dual clutch pressure value corrections VSP, SP, MP, BP, VBP. Basic domains [0,25 ]]The argument is {0,1,2,3,4,5,6,7,8,9,10}, the scale factor. After the output variable is converted into an accurate quantity by a maximum membership method, the accurate quantity is scaled to an actual output range, and then the accurate quantity is multiplied by a scale factor +.>Obtaining a correction value +_of the pressure value of the double clutch>。

Through such setting in this embodiment, can confirm the pressure value correction value of double clutch based on the change of gear transmission ratio, be convenient for revise the pressure value of double clutch to control clutch gear shift separation combination speed reaches the purpose of steadily shifting at different operating modes.

S150, correcting the double clutch pressure value based on the double clutch pressure value correction value to obtain a corrected double clutch pressure value.

In this embodiment, the dual clutch pressure value may be corrected based on the dual clutch pressure value correction value, so as to obtain a corrected dual clutch pressure value.

Specifically, in this embodiment, the on-coming clutch pressure value and the off-going clutch pressure value may be added based on the dual clutch pressure correction value, respectively, to obtain the corrected on-coming clutch pressure value and the corrected off-going clutch pressure value.

Exemplary, the output clutch pressure correction value of the gear blurring correction blurring controllerPressure change value of upshift engagement clutch>And an upshift disconnect clutch pressure change value +.>Make a correction and quantitatively output the corrected upshift engagement clutch pressure change value +.>And an upshift disconnect clutch pressure change value +.>The method comprises the steps of carrying out a first treatment on the surface of the Can utilize the formulaAnd->And calculating the engagement and disengagement pressure increment of the upshift clutch.

And S160, performing gear shifting control based on the corrected double clutch pressure value.

In the embodiment, gear shifting control can be performed based on the corrected double clutch pressure value, so that the automobile has good gear shifting quality, and riding comfort of a driver and automobile driving safety are improved.

Embodiment two:

fig. 2 is a schematic structural diagram of a gear shift control device according to a second embodiment of the present invention. As shown in fig. 2, the apparatus includes:

the information acquisition module 210 is configured to acquire a speed, an accelerator pedal position variation, double clutch driving and driven disc rotation speed information, and a gear transmission ratio of the target vehicle; wherein, the double clutch driving and driven disc rotational speed information includes: the clutch drives and drives the disc speed difference and speed difference change rate;

a shift intention determination module 220 for determining a shift intention from the accelerator pedal position and the accelerator pedal position variation;

a dual clutch pressure value determining module 230, configured to determine a dual clutch pressure value according to the gear shift intention and the dual clutch driving and driven disc rotation speed information;

a correction value determination module 240 for determining a dual clutch pressure value correction value based on the gear ratio and the vehicle speed;

the pressure value correction module 250 is configured to correct the dual clutch pressure value based on the dual clutch pressure value correction value, so as to obtain a corrected dual clutch pressure value;

the shift control module 260 is configured to perform shift control based on the corrected dual clutch pressure value.

Optionally, the gear shift intention determining module 220 includes:

a first input fuzzy value determining unit configured to determine a first input fuzzy value corresponding to the accelerator pedal position and the accelerator pedal position variation;

a first output fuzzy value determining unit, configured to find a corresponding first output fuzzy value from a first fuzzy control rule table established in advance based on the first input fuzzy value;

and a shift intention determining unit configured to determine a shift intention based on the first output blur value.

Optionally, the first input ambiguity determining unit is specifically configured to:

determining a first fuzzy domain corresponding to the first quantized value;

Optionally, the dual clutch pressure value determination module 230 is configured to:

Optionally, the parameter optimization adjustment unit is configured to:

and when the clutch master-slave disc rotating speed information is the engaged clutch master-slave disc rotating speed information, after determining a second input fuzzy value corresponding to the gear shifting intention and the double clutch master-slave disc rotating speed information, carrying out optimization adjustment on parameters in the second fuzzy control rule table based on a set optimization algorithm so as to search a corresponding second output fuzzy value from the adjusted second fuzzy control rule table.

Optionally, the correction value determining module 240 is configured to:

determining a third fuzzy domain corresponding to the third quantized value;

The gear shifting control device provided by the embodiment of the invention can execute the gear shifting control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Embodiment III:

fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, 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. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may 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.

Various 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, etc.; 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.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a shift control method.

In some embodiments, the shift control method may be implemented as a computer program tangibly embodied on 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. One or more steps of the shift control method described above may be performed when a computer program is loaded into RAM 13 and executed by processor 11. Alternatively, in other embodiments, the processor 11 may be configured to perform the shift control method in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods 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 implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the 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. The 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 portable 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) through which a user can 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 may 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 input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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. The client and server are typically 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 hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A shift control method, characterized by comprising:

performing shift control based on the corrected double clutch pressure value;

determining a dual clutch pressure value correction based on the gear ratio and the vehicle speed, comprising:

determining a third fuzzy domain corresponding to the third quantized value;

2. The shift control method according to claim 1, characterized in that determining a shift intention from the accelerator pedal position and an accelerator pedal position variation amount includes:

a shift intent is determined based on the first output fuzzy value.

3. The shift control method according to claim 2, characterized in that determining the first input blur value corresponding to the accelerator pedal position and the accelerator pedal position change amount includes:

determining a first fuzzy domain corresponding to the first quantized value;

4. The shift control method according to claim 1, characterized in that determining a double clutch pressure value from the shift intention and the double clutch master driven disc rotational speed information includes:

5. The shift control method according to claim 4, wherein the double clutch master-slave rotational speed information includes an engaging clutch master-slave rotational speed information and a disengaging clutch master-slave rotational speed information.

6. The shift control method according to claim 5, characterized by further comprising, when it is the clutch master-slave disc rotation speed information that is engaged, after determining the second input ambiguity value corresponding to the shift intention and the double clutch master-slave disc rotation speed information:

7. A shift control device, characterized by comprising:

the gear shifting control module is used for performing gear shifting control based on the corrected double clutch pressure value;

the correction value determining module is specifically configured to:

Determining a third fuzzy domain corresponding to the third quantized value;

8. An electronic device, the electronic device comprising:

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 shift control method of any one of claims 1-6.

9. A computer readable storage medium storing computer instructions for causing a processor to execute the shift control method according to any one of claims 1-6.