CN116928335A - Synchronization point self-learning method and device and automatic gearbox - Google Patents
Synchronization point self-learning method and device and automatic gearbox Download PDFInfo
- Publication number
- CN116928335A CN116928335A CN202210326528.2A CN202210326528A CN116928335A CN 116928335 A CN116928335 A CN 116928335A CN 202210326528 A CN202210326528 A CN 202210326528A CN 116928335 A CN116928335 A CN 116928335A
- Authority
- CN
- China
- Prior art keywords
- self
- learning
- synchronization point
- actuator motor
- gear shifting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 66
- 230000008569 process Effects 0.000 claims abstract description 32
- 230000007935 neutral effect Effects 0.000 claims abstract description 28
- 230000001360 synchronised effect Effects 0.000 claims abstract description 18
- 238000004364 calculation method Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 13
- 238000010586 diagram Methods 0.000 description 12
- 230000009467 reduction Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
- F16H59/02—Selector apparatus
- F16H59/04—Ratio selector apparatus
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/04—Smoothing ratio shift
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Gear-Shifting Mechanisms (AREA)
Abstract
The application discloses a synchronous point self-learning method, a synchronous point self-learning device and an automatic gearbox, wherein the method and the device specifically control a power source of the automatic gearbox to enter a constant-rotation-speed working condition according to a self-learning request; controlling an actuator motor to drive a gear shifting finger to move from a neutral position to a preset target position; calculating the current torque value and the feeding position of the actuator motor and the actual position of the gear shifting dial finger; judging the self-learning state according to the feeding position and the current torque value; on the basis of judging that the self-learning is successful, when the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as a synchronization point, and recording the synchronization point. According to the embodiment, the synchronizer position sensor is not relied on, the influence of the resistance of the shifting fork moving path in the calibration process is avoided, the misjudgment can be avoided, the calibration precision of the synchronization point is improved, and the influence on the smoothness of vehicle gear shifting can be avoided.
Description
Technical Field
The application relates to the technical field of vehicles, in particular to a self-learning method and device for a synchronization point and an automatic gearbox.
Background
The synchronizer is an important friction element of a gear system in an automatic gearbox and is used for eliminating speed differences of different gear ratios in the synchronization process of a gear shifting process. The synchronization point is an important parameter for controlling the torque of the power source during gear shifting of the synchronizer. The synchronization point is actually a physical parameter of a gear system of the gearbox, and is used for representing the speed difference between a combination sleeve of the gear system and the gear ring to be eliminated, and at the point, gear shifting can be ensured to be smooth. Therefore, calibration is required for this point.
In practice, the inventor of the application finds that the synchronous point is calibrated mainly by carrying out parameter identification on a control process through a position sensor, and the synchronizer position sensor is additionally required to be added, so that the influence of the resistance of a shifting fork moving path is large in the calibration process, misjudgment is easy to occur, the calibration precision of the synchronous point is poor, and the smoothness of vehicle gear shifting is influenced.
Disclosure of Invention
In view of the above, the application provides a self-learning method and device for synchronization points and an automatic gearbox for improving the precision of synchronization point calibration so as to avoid the smoothness of gear shifting of an image vehicle.
In order to achieve the above object, the following solutions have been proposed:
the self-learning method of the synchronization point is applied to a controller of an automatic gearbox, the automatic gearbox comprises an actuator motor and a gear shifting finger, and the self-learning method of the synchronization point comprises the following steps:
responding to the self-learning request, and controlling a power source of the automatic gearbox to enter a constant-rotation-speed working condition;
controlling the actuator motor to drive the gear shifting finger to move from a neutral position to a preset target position;
calculating the current torque value and the feeding position of the actuator motor in the process that the gear shifting dial moves towards the target position;
calculating an actual position of the shift finger according to the feeding position and the rigidity of a drive line of the automatic gearbox;
when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than the torque threshold value is longer than a first preset duration time, judging that self-learning fails, otherwise, recording the current torque value into the current stopper resistance, and executing the next step;
and when the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as the synchronization point, and recording the synchronization point.
Optionally, the controlling the actuator motor to drive the shift finger to move from a neutral position to a preset target position includes the steps of:
controlling the actuator motor to drive the gear shifting finger to the neutral position;
and controlling the actuator motor to drive the gear shifting finger to move from the neutral position to the target position.
Optionally, the calculating the current torque value and the feeding position of the actuator motor includes the steps of:
calculating the current torque value according to the output torque of the actuator motor;
the feed position is calculated from hall sensor signals of the actuator motor.
Optionally, the determining the self-learning failure includes the steps of:
comparing the current stopper resistance with the actual stopper resistance, and if the difference value of the actual stopper resistance exceeding the current stopper resistance is larger than a preset difference value threshold value, feeding back the actual stopper resistance to a user while feeding back self-learning failure to influence normal engagement of the synchronizer.
A synchronization point self-learning device applied to a controller of an automatic gearbox, the automatic gearbox comprising an actuator motor and a shift finger, the synchronization point self-learning device comprising:
the first control module is configured to respond to the self-learning request and control the power source of the automatic gearbox to enter a constant-rotation-speed working condition;
the second control module is configured to control the actuator motor to drive the gear shifting finger to move from a neutral position to a preset target position;
a first calculation module configured to calculate a current torque value and a feed position of the actuator motor during movement of the shift lever toward the target position;
a second calculation module configured to calculate an actual position of the shift finger from the feed position and a stiffness of a drive train of the automatic gearbox;
the state judging module is configured to judge that self-learning fails when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than a torque threshold value is longer than a first preset duration time, and if not, record the current torque value as current stopper resistance;
and a result determining module configured to determine the actual position as the synchronization point and record the synchronization point when the deviation of the feeding position from the actual position is less than a second distance threshold for a second preset period of time after recording the current torque value as the current stopper resistance.
Optionally, the second control module includes:
the first control unit is used for controlling the actuator motor to drive the gear shifting finger to the neutral position;
and the second control unit is used for controlling the actuator motor to drive the gear shifting finger to move from the neutral position to the target position.
Optionally, the first computing module includes:
a first calculation unit for calculating the current torque value according to the output torque of the actuator motor;
and the second calculating unit is used for calculating the feeding position according to the Hall sensor signal of the actuator motor.
Optionally, the method further comprises:
and the information feedback module is configured to compare the current stopper resistance with the actual stopper resistance when the state judgment module judges that the self-learning fails, and if the difference value of the actual stopper resistance exceeding the current stopper resistance is larger than a preset difference value threshold value, feed back the actual stopper resistance to a user while feeding back the self-learning failure to influence the normal engagement of the synchronizer.
An automatic gearbox comprising a controller provided with a synchronous self-learning device as described above.
An automatic gearbox comprising a controller provided with at least one processor and a memory connected to the processor, wherein:
the memory is used for storing a computer program or instructions;
the processor is configured to execute the computer program or instructions to cause the controller to implement the synchronization point self-learning method as described above.
According to the technical scheme, the application discloses a synchronous point self-learning method, a synchronous point self-learning device and an automatic gearbox, wherein the method and the device specifically control a power source of the automatic gearbox to enter a constant-rotation-speed working condition according to a self-learning request; controlling an actuator motor to drive a gear shifting finger to move from a neutral position to a preset target position; calculating the current torque value and the feeding position of the actuator motor and the actual position of the gear shifting dial finger; judging the self-learning state according to the feeding position and the current torque value; on the basis of judging that the self-learning is successful, when the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as a synchronization point, and recording the synchronization point. According to the embodiment, the synchronizer position sensor is not relied on, the influence of the resistance of the shifting fork moving path in the calibration process is avoided, the misjudgment can be avoided, the calibration precision of the synchronization point is improved, and the influence on the smoothness of vehicle gear shifting can be avoided.
In addition, the application can realize the study of the synchronous points only according to the motor of the gear shifting actuator and the structural parameters, reduces the number of sensors of the control system, ensures the reduction of the failure rate of the system, and can also be used for mutually checking the self-learning values even in the structure with the position sensor of the synchronizer, thereby ensuring the control precision.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application, and that 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 synchronization point self-learning method according to an embodiment of the application;
FIG. 2 is a schematic diagram of a synchronization point self-learning process based on resistance identification according to an embodiment of the present application;
FIG. 3 is a flowchart of another synchronization point self-learning method according to an embodiment of the present application;
FIG. 4 is a block diagram of a synchronization point self-learning device according to an embodiment of the present application;
FIG. 5 is a block diagram of another synchronization point self-learning device according to an embodiment of the present application;
fig. 6 is a block diagram of a controller of an automatic transmission according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Example 1
Fig. 1 is a flowchart of a synchronization point self-learning method according to an embodiment of the application.
As shown in fig. 1, the synchronization point self-learning method provided by the embodiment is applied to a controller of an automatic gearbox, and self-learning of the synchronization point is realized based on the computing capability and the data processing capability of the controller. The automatic gearbox comprises at least an actuator motor and a gear shifting finger. The self-learning method in the application is realized based on the process in fig. 2, and comprises the following steps:
s1, controlling a power source of the automatic gearbox to enter a constant-rotation-speed working condition according to a self-learning request.
The self-learning method comprises the steps that when a user inputs a self-learning request in a pre-calibration process according to needs or when the system automatically sends the self-learning request when the synchronous point is required to be calibrated in a normal operation process of the gearbox, the system responds to the self-learning request, and a controller of the automatic gearbox enters a self-learning mode. At this time, the system controls the power source of the automatic gearbox to enter constant rotation speed control according to the self-learning request, or enables the power source to enter a constant rotation speed mode, namely, the rotation speed of input power of the gearbox is kept constant, the power source is generally an engine, and the constant speed at this time can be the idling speed of the engine or other rotation speeds preset according to experience.
S2, controlling an actuator motor to drive the gear shifting finger to move from the neutral gear position to the target position.
After entering the self-learning mode, the actuator motor is controlled to act so as to drive the gear shifting finger to move from the neutral position L N Move to a preset target position L tgt The target position is stored in the memory of the controller, and the target position can be understood as the synchronization point stored before the self-learning. The specific implementation mode is as follows:
first, the actuator motor is controlled to drive the shift finger to move to a neutral position.
And then, reading a target position from the memory, and controlling the actuator motor to continue to operate so as to drive the gear shifting finger to move from a neutral position to the target position.
S3, calculating the current torque value and the feeding position of the actuator motor.
Namely, the actuator motor drives the gear shifting dial to move towards the target positionIn the process, the current torque value and the feeding position L of the actuator motor are calculated at any time motor . The specific contents are as follows:
firstly, calculating a current torque value according to the output torque of an actuator motor;
the output torque of the permanent magnet brushless motor as an actuator motor is affected by the voltage U and the rotating speed omega, and the expression is as follows:
where ke is the back emf constant, kt is the torque constant, and R is the stator winding resistance.
When the output torque is obtained, the current torque value T can be obtained according to the following formula act ：
Wherein J is the rotational inertia of the motor stator,the motor angular acceleration can be obtained by measuring a motor rotation speed signal and then deriving the motor rotation speed signal.
Then, the feeding position L is calculated according to the Hall sensor signal of the actuator motor motor 。
And S4, calculating the actual position of the gear shifting finger according to the feeding position and the rigidity of the transmission system.
That is, on the basis of the feed position of the actuator motor, the actual position L of the shift finger is calculated from the feed position and the rigidity of the drive train act . The specific calculation formula is as follows:
wherein k is torsion angle and motorThe conversion coefficient of displacement can obtain the torsion angle of the motor output shaft according to the geometric parameters of the gear shifting mechanism and the motor output torque.The expression of (2) is as follows:
wherein G.ip is torsional rigidity of the round rod, and l is axial distance between the gear shifting finger and the output end of the motor.
S5, judging whether self-learning fails or not according to the multiple parameters.
Specifically, the self-learning state is judged according to the feeding position and the current torque value, when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than the torque threshold value is longer than a first preset duration time, the abnormal resistance of the stopper device is determined, and the self-learning failure of the synchronization point is judged; otherwise, the next step is performed while recording the current torque value as the current stopper resistance.
The first distance threshold, the torque threshold and the first preset time period are determined according to engineering practice. In the implementation process of the technical scheme of the application, a numerical value is preset, and iteration is continuously carried out to optimize the numerical value so as to finally obtain a corresponding threshold value.
S6, determining a synchronization point according to the deviation between the feeding position and the actual position.
And if the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as the synchronization point sync, and recording the synchronization point. Thereby realizing the self-learning process of the synchronization point.
The second distance threshold and the second preset time period in the application are determined according to engineering practice. In the implementation process of the technical scheme of the application, a numerical value is preset, and iteration is continuously carried out to optimize the numerical value so as to finally obtain a corresponding threshold value.
From the above technical solution, it can be seen that this embodiment provides a synchronization point self-learning method, where the method is applied to a controller of an automatic gearbox, specifically, according to a self-learning request, a power source of the automatic gearbox is controlled to enter a constant rotation speed working condition; controlling an actuator motor to drive a gear shifting finger to move from a neutral position to a preset target position; calculating the current torque value and the feeding position of the actuator motor and the actual position of the gear shifting dial finger; when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than the torque threshold value is longer than a first preset duration time, judging that the self-learning fails, otherwise, recording the current torque value into the current stopper resistance, and executing the next step; and when the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as a synchronization point, and recording the synchronization point. According to the embodiment, the synchronizer position sensor is not relied on, the influence of the resistance of the shifting fork moving path in the calibration process is avoided, the misjudgment can be avoided, the calibration precision of the synchronization point is improved, and the influence on the smoothness of vehicle gear shifting can be avoided.
In addition, the application can realize the study of the synchronous points only according to the motor of the gear shifting actuator and the structural parameters, reduces the number of sensors of the control system, ensures the reduction of the failure rate of the system, and can also be used for mutually checking the self-learning values even in the structure with the position sensor of the synchronizer, thereby ensuring the control precision.
In addition, in one specific embodiment of the present application, the method further comprises the following steps:
s7, feeding back related information to the user.
On the basis of judging self-learning failure, comparing the current stopper resistance with the actual stopper resistance, and if the difference value of the actual stopper resistance exceeding the current stopper resistance is larger than a preset difference value threshold value, feeding back the actual stopper resistance to a user while feeding back the self-learning failure to influence the normal engagement of the synchronizer.
The difference threshold in the present application is determined according to engineering practice. In the implementation process of the technical scheme of the application, a numerical value is preset, and iteration is continuously carried out to optimize the numerical value so as to finally obtain a corresponding threshold value. The user can obtain relevant fault information in time by feeding back the information so as to take measures or steps later to improve the scheme.
Example two
Fig. 3 is a block diagram of a synchronization point self-learning device according to an embodiment of the application.
As shown in fig. 3, the synchronization point self-learning device provided in this embodiment is applied to a controller of an automatic gearbox, and can be understood as the controller itself or a functional module inside the controller. The automatic gearbox comprises at least an actuator motor and a gear shifting finger. The synchronization point self-learning device comprises a first control module 10, a second control module 20, a first calculation module 30, a second calculation module 40, a state judgment module 50 and a result determination module 60.
The first control module is used for controlling a power source of the automatic gearbox to enter a constant-rotation-speed working condition according to the self-learning request.
The self-learning method comprises the steps that when a user inputs a self-learning request in a pre-calibration process according to needs or when the system automatically sends the self-learning request when the synchronous point is required to be calibrated in a normal operation process of the gearbox, the system responds to the self-learning request, and a controller of the automatic gearbox enters a self-learning mode. At this time, the system controls the power source of the automatic gearbox to enter constant rotation speed control according to the self-learning request, or enables the power source to enter a constant rotation speed mode, namely, the rotation speed of input power of the gearbox is kept constant, the power source is generally an engine, and the constant speed at this time can be the idling speed of the engine or other rotation speeds preset according to experience.
The second control module is used for controlling the actuator motor to drive the gear shifting finger to move from the neutral position to the target position.
After entering the self-learning mode, the actuator motor is controlled to act so as to drive the gear shifting finger to move from the neutral position L N Move to a preset targetPosition L tgt The target position is stored in the memory of the controller, and the target position can be understood as the synchronization point stored before the self-learning. The module includes a first control unit and a second control unit.
The first control unit is used for controlling the actuator motor to drive the gear shifting finger to move to the neutral gear position.
The second control unit is used for reading the target position from the memory, controlling the actuator motor to continue to operate, and driving the gear shifting finger to move from the neutral position to the target position.
The first calculation module is used for calculating the current torque value and the feeding position of the actuator motor.
Namely, in the process of moving the shifting dial of the actuator motor to the target position, the current torque value and the feeding position L of the actuator motor are calculated at any time motor . The module includes a first computing unit and a second computing unit.
The first calculation unit is used for calculating a current torque value according to the output torque of the actuator motor;
the output torque of the permanent magnet brushless motor as an actuator motor is affected by the voltage U and the rotating speed omega, and the expression is as follows:
where ke is the back emf constant, kt is the torque constant, and R is the stator winding resistance.
When the output torque is obtained, the current torque value T can be obtained according to the following formula act ：
Wherein J is the rotational inertia of the motor stator,is the angular acceleration of the motorThe motor speed signal can be obtained by measuring the motor speed signal and then deriving the motor speed signal.
The second calculating unit is used for calculating the feeding position L according to the Hall sensor signal of the actuator motor motor 。
The second calculation module is used for calculating the actual position of the gear shifting finger according to the feeding position and the rigidity of the transmission system.
That is, on the basis of the feed position of the actuator motor, the actual position L of the shift finger is calculated from the feed position and the rigidity of the drive train act . The specific calculation formula is as follows:
and k is a conversion coefficient of the torsion angle and the motor displacement, and the torsion angle of the motor output shaft can be obtained according to the geometric parameter of the gear shifting mechanism and the motor output torque.The expression of (2) is as follows:
wherein G.ip is torsional rigidity of the round rod, and l is axial distance between the gear shifting finger and the output end of the motor.
The state judging module is used for judging whether the self-learning fails according to the plurality of parameters.
Specifically, the self-learning state is judged according to the feeding position and the current torque value, when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than the torque threshold value is longer than a first preset duration time, the abnormal resistance of the stopper device is determined, and the self-learning failure of the synchronization point is judged; otherwise, the control result determining module performs the corresponding operation while recording the current torque value as the current stopper resistance.
The first distance threshold, the torque threshold and the first preset time period are determined according to engineering practice. In the implementation process of the technical scheme of the application, a numerical value is preset, and iteration is continuously carried out to optimize the numerical value so as to finally obtain a corresponding threshold value.
The result determining module is used for determining a synchronous point according to the deviation of the feeding position and the actual position.
And if the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as the synchronization point sync, and recording the synchronization point. Thereby realizing the self-learning process of the synchronization point.
The second distance threshold and the second preset time period in the application are determined according to engineering practice. In the implementation process of the technical scheme of the application, a numerical value is preset, and iteration is continuously carried out to optimize the numerical value so as to finally obtain a corresponding threshold value.
From the above technical solution, the present embodiment provides a synchronization point self-learning device, which is applied to a controller of an automatic gearbox, specifically, controls a power source of the automatic gearbox to enter a constant rotation speed working condition according to a self-learning request; controlling an actuator motor to drive a gear shifting finger to move from a neutral position to a preset target position; calculating the current torque value and the feeding position of the actuator motor and the actual position of the gear shifting dial finger; when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than the torque threshold value is longer than a first preset duration time, judging that the self-learning fails, otherwise, recording the current torque value into the current stopper resistance, and executing the next step; and when the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as a synchronization point, and recording the synchronization point. According to the embodiment, the synchronizer position sensor is not relied on, the influence of the resistance of the shifting fork moving path in the calibration process is avoided, the misjudgment can be avoided, the calibration precision of the synchronization point is improved, and the influence on the smoothness of vehicle gear shifting can be avoided.
In addition, the application can realize the study of the synchronous points only according to the motor of the gear shifting actuator and the structural parameters, reduces the number of sensors of the control system, ensures the reduction of the failure rate of the system, and can also be used for mutually checking the self-learning values even in the structure with the position sensor of the synchronizer, thereby ensuring the control precision.
In addition, in one embodiment of the present application, an information feedback module 70 is further included, as shown in fig. 5.
The information feedback module is used for feeding back related information to the user.
On the basis of judging self-learning failure, comparing the current stopper resistance with the actual stopper resistance, and if the difference value of the actual stopper resistance exceeding the current stopper resistance is larger than a preset difference value threshold value, feeding back the actual stopper resistance to a user while feeding back the self-learning failure to influence the normal engagement of the synchronizer.
The difference threshold in the present application is determined according to engineering practice. In the implementation process of the technical scheme of the application, a numerical value is preset, and iteration is continuously carried out to optimize the numerical value so as to finally obtain a corresponding threshold value. The user can obtain relevant fault information in time by feeding back the information so as to take measures or steps later to improve the scheme.
Example III
The embodiment provides an automatic gearbox, which comprises a controller, an actuator motor and a gear shifting finger. The controller is provided with the synchronous self-learning device provided in the above embodiment. The device is particularly used for controlling a power source of the automatic gearbox to enter a constant-rotation-speed working condition according to the self-learning request; controlling an actuator motor to drive a gear shifting finger to move from a neutral position to a preset target position; calculating the current torque value and the feeding position of the actuator motor and the actual position of the gear shifting dial finger; when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than the torque threshold value is longer than a first preset duration time, judging that the self-learning fails, otherwise, recording the current torque value into the current stopper resistance, and executing the next step; and when the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as a synchronization point, and recording the synchronization point. According to the embodiment, the synchronizer position sensor is not relied on, the influence of the resistance of the shifting fork moving path in the calibration process is avoided, the misjudgment can be avoided, the calibration precision of the synchronization point is improved, and the influence on the smoothness of vehicle gear shifting can be avoided.
In addition, the device can realize the study of the synchronous points only according to the motor of the gear shifting actuator and the structural parameters, reduces the number of sensors of the control system, ensures the reduction of the failure rate of the system, and can also be used for mutually checking the self-learning values even in the structure with the position sensor of the synchronizer, thereby ensuring the control precision.
Example IV
Fig. 6 is a block diagram of a controller of an automatic transmission according to an embodiment of the present application.
As shown in fig. 6, the automatic gearbox provided in this embodiment includes a controller, and further includes an actuator motor and a shift finger. The controller comprises at least one processor 101 and a memory 102, both connected by a data bus, the memory storing a computer program or instructions for retrieving and executing the corresponding computer program or instructions for causing the controller to implement a synchronization point self-learning method as in the embodiment.
The synchronous point self-learning method specifically comprises the steps of controlling a power source of an automatic gearbox to enter a constant-rotation-speed working condition according to a self-learning request; controlling an actuator motor to drive a gear shifting finger to move from a neutral position to a preset target position; calculating the current torque value and the feeding position of the actuator motor and the actual position of the gear shifting dial finger; when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than the torque threshold value is longer than a first preset duration time, judging that the self-learning fails, otherwise, recording the current torque value into the current stopper resistance, and executing the next step; and when the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as a synchronization point, and recording the synchronization point. According to the embodiment, the synchronizer position sensor is not relied on, the influence of the resistance of the shifting fork moving path in the calibration process is avoided, the misjudgment can be avoided, the calibration precision of the synchronization point is improved, and the influence on the smoothness of vehicle gear shifting can be avoided.
In addition, the device can realize the study of the synchronous points only according to the motor of the gear shifting actuator and the structural parameters, reduces the number of sensors of the control system, ensures the reduction of the failure rate of the system, and can also be used for mutually checking the self-learning values even in the structure with the position sensor of the synchronizer, thereby ensuring the control precision.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the application.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The foregoing has outlined rather broadly the more detailed description of the application in order that the detailed description of the application that follows may be better understood, and in order that the present principles and embodiments may be better understood; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.
Claims (10)
1. The self-learning method of the synchronization point is applied to a controller of an automatic gearbox, and the automatic gearbox comprises an actuator motor and a gear shifting finger, and is characterized by comprising the following steps:
responding to the self-learning request, and controlling a power source of the automatic gearbox to enter a constant-rotation-speed working condition;
controlling the actuator motor to drive the gear shifting finger to move from a neutral position to a preset target position;
calculating the current torque value and the feeding position of the actuator motor in the process that the gear shifting dial moves towards the target position;
calculating an actual position of the shift finger according to the feeding position and the rigidity of a drive line of the automatic gearbox;
when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than the torque threshold value is longer than a first preset duration time, judging that self-learning fails, otherwise, recording the current torque value into the current stopper resistance, and executing the next step;
and when the deviation between the feeding position and the actual position is smaller than a second distance threshold value and lasts for a second preset duration, determining the actual position as the synchronization point, and recording the synchronization point.
2. The synchronization point self-learning method of claim 1, wherein the controlling the actuator motor to drive the shift finger from a neutral position to a preset target position comprises the steps of:
controlling the actuator motor to drive the gear shifting finger to the neutral position;
and controlling the actuator motor to drive the gear shifting finger to move from the neutral position to the target position.
3. The synchronization point self-learning method of claim 1, wherein said calculating a current torque value and feed position of said actuator motor comprises the steps of:
calculating the current torque value according to the output torque of the actuator motor;
the feed position is calculated from hall sensor signals of the actuator motor.
4. A synchronization point self-learning method according to any one of claims 1 to 3, wherein said determining a self-learning failure includes the steps of:
comparing the current stopper resistance with the actual stopper resistance, and if the difference value of the actual stopper resistance exceeding the current stopper resistance is larger than a preset difference value threshold value, feeding back the actual stopper resistance to a user while feeding back self-learning failure to influence normal engagement of the synchronizer.
5. The utility model provides a synchronization point self-learning device, is applied to automatic gearbox's controller, automatic gearbox includes executor motor and shifting finger, its characterized in that, synchronization point self-learning device includes:
the first control module is configured to respond to the self-learning request and control the power source of the automatic gearbox to enter a constant-rotation-speed working condition;
the second control module is configured to control the actuator motor to drive the gear shifting finger to move from a neutral position to a preset target position;
a first calculation module configured to calculate a current torque value and a feed position of the actuator motor during movement of the shift lever toward the target position;
a second calculation module configured to calculate an actual position of the shift finger from the feed position and a stiffness of a drive train of the automatic gearbox;
the state judging module is configured to judge that self-learning fails when the feeding position is smaller than a first distance threshold value and the duration time of the current torque value larger than a torque threshold value is longer than a first preset duration time, and if not, record the current torque value as current stopper resistance;
and a result determining module configured to determine the actual position as the synchronization point and record the synchronization point when the deviation of the feeding position from the actual position is less than a second distance threshold for a second preset period of time after recording the current torque value as the current stopper resistance.
6. The synchronization point self-learning device of claim 6, wherein the second control module comprises:
the first control unit is used for controlling the actuator motor to drive the gear shifting finger to the neutral position;
and the second control unit is used for controlling the actuator motor to drive the gear shifting finger to move from the neutral position to the target position.
7. The synchronization point self-learning device of claim 5, wherein the first computing module comprises:
a first calculation unit for calculating the current torque value according to the output torque of the actuator motor;
and the second calculating unit is used for calculating the feeding position according to the Hall sensor signal of the actuator motor.
8. The synchronization point self-learning device of any one of claims 5-7, further comprising:
and the information feedback module is configured to compare the current stopper resistance with the actual stopper resistance when the state judgment module judges that the self-learning fails, and if the difference value of the actual stopper resistance exceeding the current stopper resistance is larger than a preset difference value threshold value, feed back the actual stopper resistance to a user while feeding back the self-learning failure to influence the normal engagement of the synchronizer.
9. An automatic gearbox comprising a controller, characterized in that the controller is provided with a synchronous self-learning device according to any one of claims 5-8.
10. An automatic gearbox comprising a controller, wherein the controller is provided with at least one processor and a memory connected to the processor, wherein:
the memory is used for storing a computer program or instructions;
the processor is configured to execute the computer program or instructions to cause the controller to implement the synchronization point self-learning method according to any one of claims 1 to 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210326528.2A CN116928335A (en) | 2022-03-30 | 2022-03-30 | Synchronization point self-learning method and device and automatic gearbox |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210326528.2A CN116928335A (en) | 2022-03-30 | 2022-03-30 | Synchronization point self-learning method and device and automatic gearbox |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116928335A true CN116928335A (en) | 2023-10-24 |
Family
ID=88392791
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210326528.2A Pending CN116928335A (en) | 2022-03-30 | 2022-03-30 | Synchronization point self-learning method and device and automatic gearbox |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116928335A (en) |
-
2022
- 2022-03-30 CN CN202210326528.2A patent/CN116928335A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8442685B2 (en) | Robot control apparatus | |
| JP4385768B2 (en) | Motor control device | |
| JP2572564B2 (en) | Electric motor positioning controller | |
| JP6203201B2 (en) | How to determine clutch torque demand | |
| CN110886838B (en) | Gear shifting method based on two-gear AMT electric vehicle | |
| JPWO2005105550A1 (en) | Control device for electric power steering device | |
| CN111532252B (en) | Control method and terminal of gearbox | |
| JP5817418B2 (en) | Electric power steering device | |
| JP4311476B2 (en) | Rotational driving force source control device | |
| JPS63148314A (en) | Controller for semiclosed loop servo control system | |
| CN112922732B (en) | Rotating speed synchronous control method and system | |
| CN113650602A (en) | Gear shifting method and device, vehicle and storage medium | |
| CN104776190B (en) | Hydraulic oil deterioration ratio estimating apparatus in vehicle | |
| CN116928335A (en) | Synchronization point self-learning method and device and automatic gearbox | |
| JP6575504B2 (en) | Motor control system | |
| CN112610688A (en) | Vehicle gear shifting control method and device and automatic gearbox control unit | |
| CN106934085B (en) | Engine crankshaft signal compensation method and device and automobile | |
| JP4735118B2 (en) | Shift lever reference position determination device | |
| JP2018200193A (en) | Motor control system and method for detecting abnormality of resolver/digital converter | |
| JP5974860B2 (en) | Motor control device | |
| JP6020178B2 (en) | Hybrid vehicle motor control device | |
| CN111090914A (en) | Method and device for determining position offset | |
| JP2000234557A (en) | Torque adaptor for engine torque model | |
| CN110332308A (en) | Shift control method, device and readable storage medium storing program for executing | |
| JP4078866B2 (en) | Rotational speed estimation device and rotational speed estimation method for automatic transmission |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |