CN116816826A - Pneumatic clutch duty ratio control method and device, vehicle and storage medium - Google Patents
Pneumatic clutch duty ratio control method and device, vehicle and storage medium Download PDFInfo
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- CN116816826A CN116816826A CN202310838030.9A CN202310838030A CN116816826A CN 116816826 A CN116816826 A CN 116816826A CN 202310838030 A CN202310838030 A CN 202310838030A CN 116816826 A CN116816826 A CN 116816826A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D25/00—Fluid-actuated clutches
- F16D25/12—Details not specific to one of the before-mentioned types
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
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- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
The invention discloses a pneumatic clutch duty ratio control method, a device, a vehicle and a storage medium. The pneumatic clutch duty ratio control method comprises the following steps: acquiring the actual displacement of the pneumatic clutch, controlling the pneumatic clutch to execute separation operation, and performing open-loop control according to the lower limit value of the duty ratio of the electromagnetic valve and the upper limit value of the duty ratio of the electromagnetic valve respectively; after the open-loop control is carried out within the set time, whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch are changed or not is respectively judged, and the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch are determined; and mapping the first duty ratio of the pneumatic clutch electromagnetic valve and the second duty ratio of the pneumatic clutch electromagnetic valve with a calibration interval of the pneumatic clutch electromagnetic valve to obtain a calibration MAP of the pneumatic clutch electromagnetic valve. The invention expands the linear space range of the duty ratio of the pneumatic clutch, reduces the calibration difficulty of the duty ratio of the pneumatic clutch and enhances the software coverage.
Description
Technical Field
The invention relates to the technical field of pneumatic clutch control, in particular to a pneumatic clutch duty ratio control method, a device, a vehicle and a storage medium.
Background
The P2 hybrid system is a parallel hybrid system, where P represents the Position of the drive motor in the hybrid system and "2" represents after the internal combustion engine and before the transmission. Control of the pneumatic clutch of the parallel hybrid system is important, and comfort and service life of the clutch are concerned.
At present, the pneumatic clutch control generally receives a clutch target position through a controller, controls the duty ratio of a pneumatic clutch electromagnetic valve based on a difference value between the clutch target position and an actual clutch position measured by a clutch displacement sensor, and when the clutch target position is larger than the actual clutch position, the clutch electromagnetic valve is opened in a valve separating way, the valve closing way is opened, so that the actual clutch position is controlled to the clutch target position, and when the clutch target position is smaller than the actual clutch position, the clutch closing way is opened, the valve separating way is closed, so that the actual clutch position is controlled to the clutch target position. However, specific values of the linear intervals of the solenoid valve duty cycle of different pneumatic clutches need to be determined according to manual tests, and the linear intervals of the solenoid valve duty cycle are too small, so that the calibration of engineers is relatively difficult.
Disclosure of Invention
The invention provides a pneumatic clutch duty ratio control method, a pneumatic clutch duty ratio control device, a vehicle and a storage medium, and aims to solve the problem that the pneumatic clutch duty ratio is too small in linear interval through manual calibration, so that the calibration of engineers is relatively difficult.
According to an aspect of the present invention, there is provided a pneumatic clutch duty ratio control method including:
acquiring the actual displacement of a pneumatic clutch of the pneumatic clutch, controlling the pneumatic clutch to execute separation operation, and performing open-loop control according to the lower limit value of the duty ratio of the electromagnetic valve and the upper limit value of the duty ratio of the electromagnetic valve respectively;
after the open-loop control is carried out within the set time, whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch are changed or not is respectively judged, and the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch are determined based on the result of whether the change is respectively judged;
and mapping the first duty ratio of the pneumatic clutch electromagnetic valve, the second duty ratio of the pneumatic clutch electromagnetic valve and the calibration interval of the pneumatic clutch electromagnetic valve to obtain the calibration MAP of the pneumatic clutch electromagnetic valve.
Optionally, after performing open-loop control within a set time, determining whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change, and determining the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch based on the result of determining whether the actual displacement and the displacement change rate of the pneumatic clutch change, respectively, including:
after the open-loop control is carried out within the set time, the actual displacement of the pneumatic clutch is judged to be changed, and a pneumatic clutch combination instruction is generated;
and controlling the pneumatic clutch based on the pneumatic clutch combination instruction, reducing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the lower limit value of the duty ratio of the electromagnetic valve to the first duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the first duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Optionally, the pneumatic clutch duty cycle control method further includes:
after the open-loop control is carried out within the set time, if the actual displacement of the pneumatic clutch is judged to be unchanged, the duty ratio of the pneumatic clutch electromagnetic valve is increased and adjusted from the lower limit value of the duty ratio of the electromagnetic valve to the first duty ratio of the pneumatic clutch electromagnetic valve, and the displacement of the pneumatic clutch corresponding to the first duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Optionally, after performing open-loop control within a set time, determining whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change, and determining the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch based on the result of determining whether the actual displacement and the displacement change rate of the pneumatic clutch change, respectively, including:
after the open-loop control is carried out within the set time, judging that the displacement change rate of the pneumatic clutch is changed, and generating a pneumatic clutch combination instruction;
and controlling the pneumatic clutch based on the pneumatic clutch combination instruction, reducing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Optionally, the pneumatic clutch duty cycle control method further includes:
after the open-loop control is carried out within the set time, the change rate of the displacement of the pneumatic clutch is judged to be unchanged, the duty ratio of the pneumatic clutch electromagnetic valve is increased and adjusted from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the pneumatic clutch electromagnetic valve, and the displacement of the pneumatic clutch corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Optionally, before determining whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change respectively, the method further includes:
and determining the displacement change rate of the pneumatic clutch based on a change relation table of the opening degree of the electromagnetic valve of the pneumatic clutch and the displacement change rate of the pneumatic clutch.
Optionally, the pneumatic clutch electromagnetic valve is any one of a fast-closing valve, a slow-closing valve, a fast-separating valve and a slow-separating valve.
According to another aspect of the present invention, there is provided a pneumatic clutch duty control device including:
the open-loop control module is used for executing and acquiring the actual displacement of the pneumatic clutch, controlling the pneumatic clutch to execute the separation operation, and executing open-loop control according to the lower limit value of the duty ratio of the electromagnetic valve and the upper limit value of the duty ratio of the electromagnetic valve respectively;
the duty ratio determining module is used for respectively judging whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change after the open-loop control is carried out within the set time, and determining the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch based on the result of respectively judging whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change;
And the duty ratio calibration module is used for performing mapping between the first duty ratio of the pneumatic clutch electromagnetic valve and the second duty ratio of the pneumatic clutch electromagnetic valve and the calibration interval of the pneumatic clutch electromagnetic valve to obtain the calibration MAP of the pneumatic clutch electromagnetic valve.
According to another aspect of the present invention, there is provided a vehicle including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the pneumatic clutch duty cycle control method of 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 pneumatic clutch duty cycle control method according to any one of the embodiments of the present invention.
According to the technical scheme, the pneumatic clutch actual displacement of the pneumatic clutch is obtained, the pneumatic clutch is controlled to execute separation operation, and open-loop control is carried out according to the lower limit value of the electromagnetic valve duty ratio and the upper limit value of the electromagnetic valve duty ratio respectively; after the open-loop control is carried out within the set time, whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch are changed or not is respectively judged, and the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch are determined based on the result of whether the change is respectively judged; and mapping the first duty ratio of the pneumatic clutch electromagnetic valve, the second duty ratio of the pneumatic clutch electromagnetic valve and the calibration interval of the pneumatic clutch electromagnetic valve to obtain the calibration MAP of the pneumatic clutch electromagnetic valve. The invention solves the problem that the linear interval of the pneumatic clutch duty ratio is too small through manual calibration, thereby causing relative difficulty in engineer calibration, realizes the expansion of the linear space range of the pneumatic clutch duty ratio, reduces the calibration difficulty of the pneumatic clutch duty ratio, and enhances the software coverage.
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 method for controlling the duty cycle of a pneumatic clutch according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of determining a first duty cycle of a pneumatic clutch solenoid according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of determining a second duty cycle of a pneumatic clutch solenoid according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a duty cycle control device for a pneumatic clutch according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a vehicle implementing a pneumatic clutch duty control method according to an 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.
Fig. 1 is a flowchart of a pneumatic clutch duty cycle control method according to an embodiment of the present invention, where the pneumatic clutch duty cycle control method may be implemented by a pneumatic clutch duty cycle control device, and the pneumatic clutch duty cycle control device may be implemented in hardware and/or software, and the pneumatic clutch duty cycle control device may be configured in a vehicle that activates a pneumatic clutch. As shown in fig. 1, the pneumatic clutch duty cycle control method includes:
s110, acquiring the actual displacement of the pneumatic clutch, controlling the pneumatic clutch to execute separation operation, and performing open-loop control according to the lower limit value of the duty ratio of the electromagnetic valve and the upper limit value of the duty ratio of the electromagnetic valve respectively.
The working principle of the pneumatic clutch is as follows: after the electromagnetic valve is powered on, compressed air enters an air cylinder air chamber of the clutch through the air guide faucet, the piston moves axially to push the friction plate, the middle disc and the plane of the belt pulley to be pressed into engagement, and if the air pressure is gradually increased, the working machine is started flexibly to achieve stable operation; when the electromagnetic valve is closed, the air pressure disappears, the pneumatic clutch is controlled to be separated and engaged through the air pressure, the pressurizing and sucking operation is carried out, and the pressure-relief separation friction plate is quickly restored by the spring to achieve complete separation. The solenoid valve is opened for inflating, the closing valve is opened for exhausting, and when the duty ratio is larger, the speed of the clutch approaching the target position is faster, otherwise, the speed is slower.
The actual displacement of the pneumatic clutch is the displacement of the axial movement of the piston, and the actual displacement of the pneumatic clutch can be obtained by a displacement sensor but is not limited to the actual displacement of the pneumatic clutch.
Specifically, the actual displacement of the pneumatic clutch is received through the TCU (Transmission Control Unit, i.e., an automatic transmission control unit), while the pneumatic clutch is automatically controlled to perform a disengaging operation.
The pneumatic clutch actuating mechanism comprises a fast closing valve, a slow closing valve, a fast separating valve and a slow separating valve, when the fast closing valve and the slow closing valve are opened, the pneumatic clutch is operated to exhaust, the pneumatic clutch is engaged, when the fast separating valve and the slow separating valve are opened, the pneumatic clutch is operated to inflate, the pneumatic clutch is separated, and when the fast closing valve, the slow closing valve, the fast separating valve and the slow separating valve are simultaneously opened and the duty ratio is large, the action is faster, otherwise, the action is slower.
When the pneumatic clutch electromagnetic valve is smaller than the lower limit value of the duty ratio of the electromagnetic valve, the pneumatic clutch executing mechanism does not act; when the pneumatic clutch solenoid valve exceeds the upper limit value of the solenoid valve duty cycle, the pneumatic clutch actuator has reached the maximum drive capacity of the solenoid valve and is no longer active. Alternatively, the solenoid valve duty cycle lower limit value is 16%, the solenoid valve duty cycle upper limit value is 30%, and the solenoid valve duty cycle lower limit value and the solenoid valve duty cycle upper limit value are not limited in this embodiment.
In this embodiment, the first duty ratio of the solenoid valve for the pneumatic clutch is determined by performing open-loop control according to the lower limit value of the duty ratio of the solenoid valve, and the second duty ratio of the solenoid valve for the pneumatic clutch is determined by performing open-loop control according to the upper limit value of the duty ratio of the solenoid valve.
And S120, after the open-loop control is carried out within the set time, judging whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch are changed or not respectively, and determining the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch based on the result of judging whether the actual displacement and the displacement change rate of the pneumatic clutch are changed or not respectively.
The calibration time is an open loop control time, and the calibration time can be set by a person skilled in the art according to actual requirements, which is not limited in this embodiment. Alternatively, the calibration time is 2s.
The first duty cycle of the pneumatic clutch solenoid valve may be understood as the minimum duty cycle of the solenoid valve, as shown in fig. 2, and the process of determining the first duty cycle of the pneumatic clutch solenoid valve specifically includes:
s210, acquiring the actual displacement of the pneumatic clutch, controlling the pneumatic clutch to execute separation operation, and performing open-loop control according to the lower limit value of the duty ratio of the electromagnetic valve.
S220, after the open-loop control is performed within the set time, judging whether the actual displacement of the pneumatic clutch is changed, if so, executing the step S230, and if not, executing the step S250.
S230, generating a pneumatic clutch combination instruction, controlling the pneumatic clutch based on the pneumatic clutch combination instruction, and executing step S240.
S240, the duty ratio of the pneumatic clutch electromagnetic valve is reduced and adjusted to be the first duty ratio of the pneumatic clutch electromagnetic valve from the lower limit value of the duty ratio of the electromagnetic valve, and the pneumatic clutch displacement corresponding to the first duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
After the duty ratio of the pneumatic clutch solenoid valve is reduced and adjusted from the lower limit value of the duty ratio of the solenoid valve to the first duty ratio of the pneumatic clutch solenoid valve, the open-loop control is performed for a period of time according to the first duty ratio of the pneumatic clutch solenoid valve so as to ensure that the pneumatic clutch displacement corresponding to the first duty ratio of the pneumatic clutch solenoid valve is not changed any more.
The period of time for which the open-loop control is performed according to the first duty cycle of the pneumatic clutch solenoid valve at this time may be, but is not limited to, calibration setting by those skilled in the art according to actual needs, and the present embodiment is not limited in any way. Alternatively, the period of time for open loop control is 2s in accordance with the first duty cycle of the pneumatic clutch solenoid valve.
Specifically, when the actual displacement of the pneumatic clutch changes, a pneumatic clutch combination instruction is sent, at the moment, the quick-closing valve and the slow-closing valve of the pneumatic clutch are directly output according to the maximum duty ratio (namely the corresponding lower limit value of the duty ratio of the electromagnetic valve), the slow-separating valve is ensured to start to be reduced from the original combination displacement position for restarting, namely the duty ratio of the electromagnetic valve of the pneumatic clutch is reduced and adjusted to the first duty ratio of the electromagnetic valve of the pneumatic clutch from the lower limit value of the duty ratio of the electromagnetic valve until the displacement of the pneumatic clutch is not changed any more, and the displacement of the pneumatic clutch corresponding to the first duty ratio of the electromagnetic valve of the pneumatic clutch obtained at the moment is not changed any more.
It will be appreciated that the first duty cycle of the pneumatic clutch solenoid valve at this point is less than the lower limit of the duty cycle of the solenoid valve, and optionally, the first duty cycle of the pneumatic clutch solenoid valve at this point is 15%.
It should be noted that, the first duty cycle of the pneumatic clutch solenoid valve at this time may be stored in a corresponding storage module (such as an EEPROM electrically-erasable programmable read-only memory) as the minimum value of the duty cycle of the next pneumatic clutch actuation.
S250, increasing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the lower limit value of the duty ratio of the electromagnetic valve to the first duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the first duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Specifically, when the lower limit value of the duty ratio of the electromagnetic valve cannot change the displacement of the pneumatic clutch, the duty ratio of the electromagnetic valve is continuously increased, namely, the duty ratio of the electromagnetic valve of the pneumatic clutch is increased and adjusted from the lower limit value of the duty ratio of the electromagnetic valve to the first duty ratio of the electromagnetic valve of the pneumatic clutch until the displacement of the clutch is not changed any more, namely, the displacement of the pneumatic clutch corresponding to the first duty ratio of the electromagnetic valve of the pneumatic clutch obtained at the moment is not changed any more.
It will be appreciated that the first duty cycle of the pneumatic clutch solenoid valve at this point is greater than the lower limit of the duty cycle of the solenoid valve, and optionally, the first duty cycle of the pneumatic clutch solenoid valve at this point is 17%.
After the duty ratio of the pneumatic clutch solenoid valve is increased and adjusted from the lower limit value of the duty ratio of the solenoid valve to the first duty ratio of the pneumatic clutch solenoid valve, the open-loop control is performed for a period of time according to the first duty ratio of the pneumatic clutch solenoid valve at the moment so as to ensure that the pneumatic clutch displacement corresponding to the first duty ratio of the pneumatic clutch solenoid valve is not changed any more.
The period of time for which the open-loop control is performed according to the first duty cycle of the pneumatic clutch solenoid valve at this time may be, but is not limited to, calibration setting by those skilled in the art according to actual needs, and the present embodiment is not limited in any way. Alternatively, the period of time for open loop control is 2s in accordance with the first duty cycle of the pneumatic clutch solenoid valve.
The second duty cycle of the pneumatic clutch solenoid valve can be understood as the maximum duty cycle of the solenoid valve, as shown in fig. 3, and the process of determining the second duty cycle of the pneumatic clutch solenoid valve specifically includes:
s310, acquiring the actual displacement of the pneumatic clutch, controlling the pneumatic clutch to execute the separation operation, and performing open-loop control according to the upper limit value of the duty ratio of the electromagnetic valve.
S320, after the open loop control is performed within the set time, whether the change rate of the displacement of the pneumatic clutch is changed is judged, if yes, the step S330 is executed, and if not, the step S350 is executed.
Specifically, for an example in which the solenoid valve duty cycle lower limit value is 16% and the solenoid valve duty cycle upper limit value is 30%, the pneumatic clutch displacement change rate is determined based on a change relation table of the pneumatic clutch solenoid valve opening and the pneumatic clutch displacement change rate shown in table 1. After the opening of the electromagnetic valve of the pneumatic clutch is more than 30%, the displacement change rate of the pneumatic clutch is basically unchanged.
Table 1 table of the variation relationship of the opening degree of the solenoid valve of the pneumatic clutch and the variation rate of the displacement of the pneumatic clutch
S330, generating a pneumatic clutch combination instruction, controlling the pneumatic clutch based on the pneumatic clutch combination instruction, and executing step S340.
And S340, reducing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Specifically, when the displacement change rate of the pneumatic clutch changes, a pneumatic clutch combination instruction is sent, at the moment, the quick-closing valve and the slow-closing valve of the pneumatic clutch are directly output according to the maximum duty ratio (namely the upper limit value of the duty ratio of the electromagnetic valve is correspondingly used), the slow-separating valve is guaranteed to start to be reduced from the original combination displacement position for restarting, namely, the duty ratio of the electromagnetic valve of the pneumatic clutch is reduced and adjusted to be the second duty ratio of the electromagnetic valve of the pneumatic clutch from the upper limit value of the duty ratio of the electromagnetic valve until the displacement of the pneumatic clutch is not changed any more, and the pneumatic clutch displacement corresponding to the second duty ratio of the electromagnetic valve of the pneumatic clutch is not changed at the moment.
It will be appreciated that the second duty cycle of the pneumatic clutch solenoid valve at this point is less than the upper limit of the duty cycle of the solenoid valve, and optionally, the second duty cycle of the pneumatic clutch solenoid valve at this point is 29%.
After the duty ratio of the pneumatic clutch solenoid valve is adjusted to the second duty ratio of the pneumatic clutch solenoid valve by the upper limit value of the duty ratio of the solenoid valve, the open-loop control is performed for a period of time according to the second duty ratio of the pneumatic clutch solenoid valve, so that the pneumatic clutch displacement corresponding to the second duty ratio of the pneumatic clutch solenoid valve is ensured not to change any more.
The period of time for which the open-loop control is performed according to the second duty cycle of the pneumatic clutch solenoid valve at this time may be, but is not limited to, calibration setting by those skilled in the art according to actual demands, and the present embodiment is not limited in any way. Alternatively, the period of time for open loop control is 2s in accordance with the second duty cycle of the pneumatic clutch solenoid valve.
S350, increasing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Specifically, when the upper limit value of the duty ratio of the electromagnetic valve cannot change the displacement of the pneumatic clutch, the duty ratio of the electromagnetic valve is continuously increased, namely, the duty ratio of the electromagnetic valve of the pneumatic clutch is increased and adjusted from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the electromagnetic valve of the pneumatic clutch until the displacement of the clutch is not changed any more, namely, the displacement of the pneumatic clutch corresponding to the second duty ratio of the electromagnetic valve of the pneumatic clutch obtained at the moment is not changed any more.
It will be appreciated that the second duty cycle of the pneumatic clutch solenoid valve at this point is greater than the upper limit of the duty cycle of the solenoid valve, and optionally, the second duty cycle of the pneumatic clutch solenoid valve at this point is 31%.
After the duty ratio of the pneumatic clutch electromagnetic valve is increased and adjusted to be the second duty ratio of the pneumatic clutch electromagnetic valve from the upper limit value of the duty ratio of the electromagnetic valve, the open-loop control is carried out for a period of time according to the second duty ratio of the pneumatic clutch electromagnetic valve so as to ensure that the pneumatic clutch displacement corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Here, the period of time for which the open-loop control is performed according to the second duty ratio of the pneumatic clutch solenoid valve may be, but not limited to, calibration setting by those skilled in the art according to actual needs, which is not limited in this embodiment. Alternatively, the period of time for open loop control is 2s in accordance with the second duty cycle of the pneumatic clutch solenoid valve.
It should be noted that, the second duty cycle of the pneumatic clutch solenoid valve at this time may be stored in a corresponding storage module (such as an EEPROM electrically-erasable programmable read-only memory) as the maximum value of the duty cycle of the next pneumatic clutch actuation.
And S130, mapping the first duty ratio of the pneumatic clutch electromagnetic valve, the second duty ratio of the pneumatic clutch electromagnetic valve and the calibration interval of the pneumatic clutch electromagnetic valve to obtain the calibration MAP of the pneumatic clutch electromagnetic valve.
For example, taking a pneumatic clutch solenoid valve as a slow-split valve as an example, taking a solenoid valve duty ratio lower limit value as 16% and a solenoid valve duty ratio upper limit value as 30% as an example, if the minimum duty ratio of the pneumatic clutch solenoid valve for the displacement operation is the first duty ratio pwm1 of the pneumatic clutch solenoid valve and the maximum duty ratio is the second duty ratio pwm2 of the pneumatic clutch solenoid valve, mapping is performed by using the correspondence relation of the following table 2, and the corresponding relation of [ pwm1, pwm2] is [0,100% ], namely, the calibration MAP of the pneumatic clutch solenoid valve is obtained.
Table 2 shows the corresponding relation between the calibration MAP and the actual duty cycle, and the actual calibration interval from the 16% of the lower limit value of the duty cycle of the original electromagnetic valve to the 30% of the upper limit value of the duty cycle of the electromagnetic valve is mapped to be 0-100% of the duty cycle action interval, so that the electromagnetic valve calibration of the pneumatic clutch is convenient for engineers.
| Calibration interval (%) | 0 | 10 | 20 | 30 | 40 | 50 | 60 | 70 | 80 | 90 | 100 |
| Duty cycle interval (%) | 15 | 16 | 17 | 18 | 19 | 20 | 22 | 23 | 24 | 25 | 30 |
Table 2 mapping relationship table of second duty ratio of pneumatic clutch solenoid valve and calibration interval of pneumatic clutch solenoid valve
It can be understood that by judging the position of the pneumatic clutch actuating mechanism, testing the small duty ratio, automatically identifying the minimum duty ratio capable of driving the duty ratio to act according to the position of the pneumatic clutch actuating mechanism, judging the maximum duty ratio according to the position acting speed of the pneumatic clutch actuating mechanism (namely the displacement change rate of the pneumatic clutch), determining the linear interval of the duty ratio of the electromagnetic valve of the pneumatic clutch, interpolating and correspondingly (namely the generation of a mapping relation table shown in the table 2), expanding the duty ratio calibration range of the electromagnetic valve of the pneumatic clutch, leading the duty ratio calibration of the electromagnetic valve of the pneumatic clutch at the front end to meet the duty ratio calibration habit of a calibration engineer, reducing the duty ratio calibration difficulty of the electromagnetic valve of the pneumatic clutch and enhancing the software coverage.
According to the technical scheme, the pneumatic clutch actual displacement of the pneumatic clutch is obtained, the pneumatic clutch is controlled to execute separation operation, and open-loop control is carried out according to the lower limit value of the electromagnetic valve duty ratio and the upper limit value of the electromagnetic valve duty ratio respectively; after the open-loop control is carried out within the set time, whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch are changed or not is respectively judged, and the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch are determined based on the result of whether the change is respectively judged; and mapping the first duty ratio of the pneumatic clutch electromagnetic valve, the second duty ratio of the pneumatic clutch electromagnetic valve and the calibration interval of the pneumatic clutch electromagnetic valve to obtain the calibration MAP of the pneumatic clutch electromagnetic valve. The invention solves the problem that the linear interval of the pneumatic clutch duty ratio is too small through manual calibration, thereby causing relative difficulty in engineer calibration, realizes the expansion of the linear space range of the pneumatic clutch duty ratio, reduces the calibration difficulty of the pneumatic clutch duty ratio, and enhances the software coverage.
Based on the same inventive concept, fig. 4 is a schematic structural diagram of a pneumatic clutch duty cycle control device according to an embodiment of the present invention. As shown in fig. 4, the pneumatic clutch duty control device includes:
The open-loop control module 410 is configured to perform obtaining an actual displacement of the pneumatic clutch, and control the pneumatic clutch to perform a separation operation, and perform open-loop control according to a lower limit value of a duty cycle of the electromagnetic valve and an upper limit value of the duty cycle of the electromagnetic valve, respectively;
the duty ratio determining module 420 is configured to determine whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change after performing open-loop control within a set time, and determine a first duty ratio of the pneumatic clutch solenoid valve and a second duty ratio of the pneumatic clutch solenoid valve based on the results of determining whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change;
the duty cycle calibration module 430 is configured to perform mapping the first duty cycle of the pneumatic clutch solenoid valve and the second duty cycle of the pneumatic clutch solenoid valve with a calibration interval of the pneumatic clutch solenoid valve, so as to obtain a calibration MAP of the pneumatic clutch solenoid valve.
Optionally, the duty cycle determination module 420 is specifically configured to:
after the open-loop control is carried out within the set time, the actual displacement of the pneumatic clutch is judged to be changed, and a pneumatic clutch combination instruction is generated;
and controlling the pneumatic clutch based on the pneumatic clutch combination instruction, reducing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the lower limit value of the duty ratio of the electromagnetic valve to the first duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the first duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Optionally, the pneumatic clutch duty cycle control device further includes:
and the first duty ratio determining module is used for executing open-loop control within a set time, judging that the actual displacement of the pneumatic clutch is not changed, and increasing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the lower limit value of the duty ratio of the electromagnetic valve to the first duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the first duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Optionally, the duty cycle determination module 420 is specifically configured to:
after the open-loop control is carried out within the set time, judging that the displacement change rate of the pneumatic clutch is changed, and generating a pneumatic clutch combination instruction;
and controlling the pneumatic clutch based on the pneumatic clutch combination instruction, reducing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Optionally, the pneumatic clutch duty cycle control device further includes:
and the second duty ratio determining module is used for executing open-loop control within a set time, judging that the change rate of the pneumatic clutch displacement is not changed, and increasing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
Optionally, the pneumatic clutch duty cycle control device further includes:
and the displacement change rate table look-up module is used for executing a change relation table based on the opening degree of the electromagnetic valve of the pneumatic clutch and the displacement change rate of the pneumatic clutch to determine the displacement change rate of the pneumatic clutch.
Optionally, the pneumatic clutch electromagnetic valve is any one of a fast-closing valve, a slow-closing valve, a fast-separating valve and a slow-separating valve.
The pneumatic clutch duty cycle control device provided by the embodiment of the invention can execute the pneumatic clutch duty cycle control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the pneumatic clutch duty cycle control method.
Based on the same inventive concept, fig. 5 shows a schematic structural diagram of a vehicle 510 that may be used to implement an embodiment of the present invention. Vehicles include digital computers intended to represent various forms, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The vehicle may also include a device representing various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the vehicle 510 includes at least one processor 511, and a memory communicatively connected to the at least one processor 511, such as a read only memory (ROM 512), a random access memory (RAM 513), etc., in which the memory stores computer programs executable by the at least one processor, and the processor 511 may perform various suitable actions and processes according to the computer programs stored in the read only memory (ROM 512) or the computer programs loaded from the storage unit 518 into the random access memory (RAM 513). In the RAM 513, various programs and data required for the operation of the vehicle 510 may also be stored. The processor 511, the ROM 512, and the RAM 513 are connected to each other by a bus 514. An I/O (input/output) interface 515 is also connected to bus 514.
Various components in the vehicle 510 are connected to the I/O interface 515, including: an input unit 516 such as a keyboard, a mouse, etc.; an output unit 517 such as various types of displays, speakers, and the like; a storage unit 518 such as a magnetic disk, optical disk, etc.; and a communication unit 519 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 519 allows the vehicle 510 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.
The processor 511 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of processor 511 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 511 performs the various methods and processes described above, such as the pneumatic clutch duty cycle control method.
In some embodiments, the pneumatic clutch duty cycle control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 518. In some embodiments, some or all of the computer program may be loaded and/or installed onto the vehicle 510 via the ROM 512 and/or the communication unit 519. When a computer program is loaded into RAM 513 and executed by processor 511, one or more steps of the pneumatic clutch duty cycle control method described above may be performed. Alternatively, in other embodiments, the processor 511 may be configured to perform the pneumatic clutch duty cycle 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 a vehicle 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 pointing device (e.g., a mouse or a trackball) by which a user can provide input to the vehicle. 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 (10)
1. A method of controlling a duty cycle of a pneumatic clutch, comprising:
acquiring the actual displacement of a pneumatic clutch of the pneumatic clutch, controlling the pneumatic clutch to execute separation operation, and performing open-loop control according to the lower limit value of the duty ratio of the electromagnetic valve and the upper limit value of the duty ratio of the electromagnetic valve respectively;
after the open-loop control is carried out within the set time, whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch are changed or not is respectively judged, and the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch are determined based on the result of whether the change is respectively judged;
And mapping the first duty ratio of the pneumatic clutch electromagnetic valve, the second duty ratio of the pneumatic clutch electromagnetic valve and the calibration interval of the pneumatic clutch electromagnetic valve to obtain the calibration MAP of the pneumatic clutch electromagnetic valve.
2. The method according to claim 1, wherein determining whether the actual displacement of the pneumatic clutch and the change rate of the displacement of the pneumatic clutch change, respectively, after the open-loop control is performed for a set time, and determining the first duty ratio of the pneumatic clutch solenoid valve and the second duty ratio of the pneumatic clutch solenoid valve based on the result of determining whether the change occurs, respectively, comprises:
after the open-loop control is carried out within the set time, the actual displacement of the pneumatic clutch is judged to be changed, and a pneumatic clutch combination instruction is generated;
and controlling the pneumatic clutch based on the pneumatic clutch combination instruction, reducing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the lower limit value of the duty ratio of the electromagnetic valve to the first duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the first duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
3. The pneumatic clutch duty cycle control method according to claim 2, characterized in that the pneumatic clutch duty cycle control method further comprises:
After the open-loop control is carried out within the set time, if the actual displacement of the pneumatic clutch is judged to be unchanged, the duty ratio of the pneumatic clutch electromagnetic valve is increased and adjusted from the lower limit value of the duty ratio of the electromagnetic valve to the first duty ratio of the pneumatic clutch electromagnetic valve, and the displacement of the pneumatic clutch corresponding to the first duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
4. The method according to claim 1, wherein determining whether the actual displacement of the pneumatic clutch and the change rate of the displacement of the pneumatic clutch change, respectively, after the open-loop control is performed for a set time, and determining the first duty ratio of the pneumatic clutch solenoid valve and the second duty ratio of the pneumatic clutch solenoid valve based on the result of determining whether the change occurs, respectively, comprises:
after the open-loop control is carried out within the set time, judging that the displacement change rate of the pneumatic clutch is changed, and generating a pneumatic clutch combination instruction;
and controlling the pneumatic clutch based on the pneumatic clutch combination instruction, reducing and adjusting the duty ratio of the pneumatic clutch electromagnetic valve from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the pneumatic clutch electromagnetic valve, wherein the pneumatic clutch displacement corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
5. The pneumatic clutch duty cycle control method of claim 4, wherein the pneumatic clutch duty cycle control method further comprises:
after the open-loop control is carried out within the set time, the change rate of the displacement of the pneumatic clutch is judged to be unchanged, the duty ratio of the pneumatic clutch electromagnetic valve is increased and adjusted from the upper limit value of the duty ratio of the electromagnetic valve to the second duty ratio of the pneumatic clutch electromagnetic valve, and the displacement of the pneumatic clutch corresponding to the second duty ratio of the pneumatic clutch electromagnetic valve is not changed any more.
6. The method according to claim 1, characterized by further comprising, before determining whether the pneumatic clutch actual displacement and the pneumatic clutch displacement change rate change, respectively:
and determining the displacement change rate of the pneumatic clutch based on a change relation table of the opening degree of the electromagnetic valve of the pneumatic clutch and the displacement change rate of the pneumatic clutch.
7. The method according to claim 1, wherein the pneumatic clutch solenoid valve is any one of a fast-on valve, a slow-on valve, a fast-off valve, and a slow-off valve.
8. A pneumatic clutch duty cycle control device, comprising:
The open-loop control module is used for executing and acquiring the actual displacement of the pneumatic clutch, controlling the pneumatic clutch to execute the separation operation, and executing open-loop control according to the lower limit value of the duty ratio of the electromagnetic valve and the upper limit value of the duty ratio of the electromagnetic valve respectively;
the duty ratio determining module is used for respectively judging whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change after the open-loop control is carried out within the set time, and determining the first duty ratio of the electromagnetic valve of the pneumatic clutch and the second duty ratio of the electromagnetic valve of the pneumatic clutch based on the result of respectively judging whether the actual displacement of the pneumatic clutch and the displacement change rate of the pneumatic clutch change;
and the duty ratio calibration module is used for performing mapping between the first duty ratio of the pneumatic clutch electromagnetic valve and the second duty ratio of the pneumatic clutch electromagnetic valve and the calibration interval of the pneumatic clutch electromagnetic valve to obtain the calibration MAP of the pneumatic clutch electromagnetic valve.
9. A vehicle, characterized in that the vehicle comprises:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the pneumatic clutch duty cycle control method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the pneumatic clutch duty cycle control method of any one of claims 1-7 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310838030.9A CN116816826A (en) | 2023-07-10 | 2023-07-10 | Pneumatic clutch duty ratio control method and device, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310838030.9A CN116816826A (en) | 2023-07-10 | 2023-07-10 | Pneumatic clutch duty ratio control method and device, vehicle and storage medium |
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| Publication Number | Publication Date |
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| CN116816826A true CN116816826A (en) | 2023-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310838030.9A Pending CN116816826A (en) | 2023-07-10 | 2023-07-10 | Pneumatic clutch duty ratio control method and device, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116816826A (en) |
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2023
- 2023-07-10 CN CN202310838030.9A patent/CN116816826A/en active Pending
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