CN117366222A - Control system and control method of automatic gearbox gear shifting executing mechanism - Google Patents
Control system and control method of automatic gearbox gear shifting executing mechanism Download PDFInfo
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- CN117366222A CN117366222A CN202311425819.8A CN202311425819A CN117366222A CN 117366222 A CN117366222 A CN 117366222A CN 202311425819 A CN202311425819 A CN 202311425819A CN 117366222 A CN117366222 A CN 117366222A
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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
- 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
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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
- 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
- F16H61/18—Preventing unintentional or unsafe shift, e.g. preventing manual shift from highest gear to reverse gear
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Abstract
The invention discloses a control system and a control method of a gear shifting executing mechanism of an automatic gearbox, wherein the control system comprises a position loop, a current loop, active short-circuit injection, six pwm waves and a BLDC motor, wherein the position loop inputs a target position and a feedback position, a position loop output signal and a feedback current value of the BLDC are input to the current loop, the active short-circuit injection is arranged between the current loop and 6 pwm signals, and the six pwm waves are input to a driving circuit of the BLDC motor. According to the invention, the motor is directly and rapidly stopped by introducing the speed ring, meanwhile, the short circuit of the winding of the BLDC motor is realized by setting different switch states of 6 IGBT bridge arms, so that the BLDC motor generates reverse resistance moment, and the slope sliding phenomenon of the BLDC motor under a specific load working condition is solved.
Description
Technical Field
The invention relates to a gearbox control system and a control method, in particular to a control system and a control method of an automatic gearbox gear shifting executing mechanism, and belongs to the technical field of new energy automobiles.
Background
The gear shifting function of the automatic gearbox is generally realized by a BLDC motor of a special actuating mechanism, and when the BLDC motor performs rotary motion, a gear shifting fork of the gearbox is driven to reciprocate through two-stage or multi-stage gear transmission, so that the specific gear is disengaged or meshed, and gear shifting is realized. In order to reduce the impact of power interruption on the driving feel during a shift, high demands are placed on the execution time of the shift mechanism to reduce shift jerk. When the TCU issues a shift command, the BLDC motor is required to respond to the gear command in time, which is converted into a position command of the BLDC motor. Therefore, how to precisely implement the BLDC position control, and how to achieve the target position quickly and well becomes the core content of the BLDC motor control.
The conventional BLDC motor control includes a position loop control, but it is difficult to respond to load changes only by the position loop control, and if a stall occurs, the current will increase rapidly, and the motor burnout is likely to occur. In addition, when a load change occurs or a motor speed is extremely fast, a position of the BLDC motor is liable to be a landslide in a specific case. In this case, the BLDC motor cannot drive the fork to move to the target position accurately, but a certain offside occurs, and a condition that the synchronizing ring is not completely disengaged or engaged easily occurs, thereby a shift failure occurs.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control system and a control method of a gear shifting executing mechanism of an automatic gearbox, and the control system and the control method can improve the problem of sliding slope of the automatic gearbox in the gear shifting process.
In order to solve the technical problems, the invention adopts the following technical scheme:
the control system of the automatic gearbox gear shifting actuating mechanism comprises a position ring, a current ring, active short-circuit injection, six pwm waves and a BLDC motor, wherein the position ring inputs a target position and a feedback position, a position ring output signal and a feedback current value of the BLDC are input to the current ring, the active short-circuit injection is arranged between the current ring and 6 pwm signals, and the six pwm waves are input to a driving circuit of the BLDC motor.
Further, the zero-speed injection and the speed loop are included, the speed loop is arranged between the position loop and the current loop, the speed command output by the position loop and the feedback speed of the BLDC are input to the speed loop, the output signal of the speed loop and the feedback current of the BLDC are input to the current loop, and the zero-speed injection is arranged between the position loop and the speed loop.
Further, the position loop is arranged in the main MCU, and the speed loop and the current loop are arranged in the coprocessor.
A control method comprising the steps of:
s1, defining a target position a0, and acquiring an angle value of a gear shifting fork as a feedback position b0 through an absolute position angle sensor;
s2, after the input position loop of the target position a0 and the feedback position b0 is differenced, a value c is output through PI proportional integral adjustment, the value c is converted into a target current value Ir of the current loop, the voltage V of a bus sampling resistor of the BLDC control circuit is collected, and the voltage V is converted into a feedback current value Ib of the current loop through ohm law;
s3, inputting a current loop difference between the target current value Ir and the feedback current value Ib, performing PI operation processing on the current loop difference, outputting a result to a calculation module for operation, and outputting six paths of pwm waves with different duty ratios;
s4, six pwm waves are processed through a driving chip to control the switching action of 6 paths of IGBTs, so that the BLDC motor is controlled;
s5, after the BLDC motor rotates to the target position a0, active short circuit injection is carried out at the output position of the current loop, and 6 paths of IGBT switches are controlled to enable three-phase windings of the BLDC motor to be short-circuited together.
A control method comprising the steps of:
s1, defining a target position a0, and acquiring an angle value of a gear shifting fork as a feedback position b0 through an absolute position angle sensor;
s2, inputting a position loop into the target position a0 and the feedback position b0, performing PI proportional integral adjustment to output a value c, converting the value c into a speed target value nr of a speed loop, and converting a Hall signal acquired by a Hall sensor of the BLDC motor into an actual speed value nb;
s3, inputting a speed target value nr and an actual speed value nb into a speed loop, performing difference, and then adjusting and outputting a value d through PI proportional integral, wherein the value d is converted into a target current value Ir of a current loop, collecting a voltage V of a bus sampling resistor of a BLDC control circuit, and converting the voltage V into a feedback current value Ib of the current loop through ohm law;
s4, inputting a current loop difference between the target current value Ir and the feedback current value Ib, performing PI operation processing on the current loop difference, outputting a result to a calculation module for operation, and outputting six paths of pwm waves with different duty ratios;
s5, six pwm waves are processed through a driving chip to control the switching action of 6 paths of IGBTs, so that the BLDC motor is controlled;
s6, after the BLDC motor rotates to the target position a0, the speed command zero-speed injection output by the position ring directly enables the speed target value nr of the speed ring to be 0, and meanwhile, active short-circuit injection is carried out at the output position of the current ring, and the 6-way IGBT switch is controlled to enable three-phase windings of the BLDC motor to be in short circuit.
Further, the target position a0 is obtained by the following steps: if the angle interval of one gear is a1-a2, a0 takes the intermediate value of the angle interval a1-a 2.
Further, a target interval position delta a is defined, wherein delta a accords with a 0-delta a & gta 1, a0+delta a & lt a2, and the actual value of the target position a0 is an angle value close to the angle value of the shift fork in a 0-delta a and a0+delta a.
Further, the control of the 6-way IGBT switch to short-circuit the three-phase windings of the BLDC motor is specifically as follows: the upper bridge of the 6-way IGBT switch is all opened, and the lower bridge of the 6-way IGBT switch is all closed.
Further, the control of the 6-way IGBT switch to short-circuit the three-phase windings of the BLDC motor is specifically as follows: the upper bridge of the 6-way IGBT switch is all closed, and the lower bridge of the 6-way IGBT switch is all opened.
Further, when the absolute position sensor detects that the secondary gear shaft gear continues to move after reaching the target position, the anti-slip program executes a locked-rotor instruction, specifically:
the acceleration a of the motor at the moment of movement to the target position is first calculated,
a=(dV n -dV n-1 )/△ｔ
wherein dV n Is the speed at time n; dV (dV) n-1 Is the speed at the time immediately preceding the time n; Δt is the time difference between two adjacent times;
a table of the value of the acceleration a and the value of the torque T of the BLDC motor is established through experiments, the value of the current corresponding to the torque T of the BLDC motor is obtained through table lookup of the calculated value of the acceleration a, then a command current opposite to the value of the current Ia is loaded on the BLDC motor, and the command current is equivalent to a negative torque command and is loaded on the motor to offset the inertia moment;
because the value of the acceleration a in the formulated table is discrete and discontinuous, when the value of the actual acceleration a is positioned between two adjacent acceleration values in the table, the value is obtained by using a proportional interpolation method:
setting the instantaneous value of acceleration as a i ，I i Is the instantaneous value a of the acceleration i Corresponding current, I k Is a temporary variable;
if a is n ＜a i ＜a n+1 Then I i =I n +I k The method comprises the steps of carrying out a first treatment on the surface of the Wherein a is n Is the smaller of the adjacent two acceleration values in the table, a n+1 Is the larger value of two adjacent acceleration values in the table, I n Is the acceleration a in the table n A corresponding current;
wherein I is k =(I n+1 -I n )*(a i -a n )/(a n+1 -a n )；
Then I i =I n +(I n+1 -I n )*(a i -a n )/(a n+1 -a n ) Command current value I p =-I i ；
The instruction current value I obtained by interpolation method p The controller outputs a drive torque to counteract the moment of inertia at the input to the current loop.
Compared with the prior art, the invention has the following advantages and effects:
1. according to the invention, when the BLDC drives the gear shifting fork to move to be close to the target position, the short circuit of the winding of the BLDC motor is realized by setting different switch states of the 6 IGBT bridge arms instead of directly stopping the wave generation of the 6 paths of PWM. In the short circuit state, the BLDC motor generates a resisting moment opposite to the moving direction, the resisting moment and the rotating speed are in a nonlinear relation, and the overall trend is that the torque increases and decreases with the increase of the rotating speed and finally becomes stable. The application of the resistance can counteract the sliding slope phenomenon caused by motion inertia or abrupt load change, so that the gear shifting fork stops at a designated position, and the accuracy of gear shifting position control is improved.
2. According to the invention, speed loop control is introduced, and when the shifting fork moves to a position close to a target position, the running speed of the BLDC motor of the actuating mechanism is reduced to zero through the speed control, so that the interference effect of inertial load on the movement of the BLDC motor is reduced;
3. according to the invention, the locked rotor control is introduced, and when the shifting fork moves to a position close to a target position, a reverse torque is output through the current ring, so that the inertia moment of the shifting fork is overcome, and the shifting fork stops moving.
Drawings
Fig. 1 is a schematic view of an embodiment 1 of a control system of an automatic transmission shift self-mechanism of the present invention.
Fig. 2 is a schematic diagram of embodiment 2 of a control system of an automatic transmission shift self-propelled mechanism of the present invention.
Fig. 3 is a mechanical schematic of the shift actuator of the present invention.
Fig. 4 is a partial stroke configuration schematic of the shift of the present invention.
Fig. 5 is a schematic diagram of the hardware distribution of the software system of the present invention.
FIG. 6 is a schematic representation of the transmission unit versus angle relationship of the present invention.
Fig. 7 is a schematic diagram of a BLDC motor control power topology of the present invention.
Fig. 8 is a flow chart of the anti-slip procedure of the present invention.
Fig. 9 is a table of values of acceleration a and torque T of the BLDC motor according to the present invention.
FIG. 10 is a schematic diagram of the interpolation of the present invention to give commanded current values to the current loop.
Detailed Description
In order to explain in detail the technical solutions adopted by the present invention to achieve the predetermined technical purposes, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that technical means or technical features in the embodiments of the present invention may be replaced without inventive effort, and the present invention will be described in detail below with reference to the accompanying drawings in combination with the embodiments.
As shown in fig. 3, a motor gear on an output shaft of the BLDC motor 1 is meshed with a primary gear shaft large gear 2, the primary gear shaft large gear 2 and a primary gear shaft small gear 3 are arranged on the same primary gear shaft, a secondary gear shaft gear 4 is meshed with the primary gear shaft small gear 3, the secondary gear shaft gear 4 and an absolute position sensor 5 are arranged on a secondary gear shaft 6, and the BLDC motor 1 is provided with a hall sensor. The BLDC motor 1 drives the primary gear shaft big gear 2 to rotate, the primary gear shaft big gear 2 drives the primary gear shaft small gear 3 to synchronously rotate, the primary gear shaft small gear 3 drives the secondary gear shaft gear 4 to rotate, and the secondary gear shaft gear 4 rotates to drive the up-and-down reciprocating motion of the gear shifting fork, so that connection and disconnection of different gears are realized. The BLDC motor 1 is an actuator of a gear shift device, and is also a controlled object, and gear shift control is achieved by controlling rotation of the motor.
When a certain gear is switched, the sliding groove associated with the shifting fork moves in the sliding groove, so that the shifting fork can climb up and down, and the load resistance of the shifting fork is different. Fig. 4 shows a partial stroke structure of the gear shift. The dashed lines are range 7 and range 10. When climbing from N-gear to 2-gear, the BLDC motor load becomes large and the output current increases. Conversely, when the BLDC motor is shifted from 2 nd gear to N-gear downhill, the BLDC motor load becomes negative, and the BLDC motor is in a feeding state, and a reverse current is required to be output to control the movement of the BLDC motor. In this state, the BLDC motor may not respond well to abrupt changes in load. When the BLDC motor drives the shift fork to the target position, the control software has stopped the operation of the BLDC motor, but the slider 8 continues to move down the chute 9 under the influence of the inertial force. The actual position of the shifting fork is caused to exceed the N-gear travel range 7, so that the shifting fork cannot stop at the designated position, and a gear shifting frustration is generated. In this case, the conventional control method such as a method of turning off 6 pwm outputs after reaching the target position, so that the operation of the BLDC motor is stopped cannot achieve a good control effect.
Example 1
As shown in FIG. 1, the control system of the automatic gearbox gear shifting executing mechanism comprises a position loop, a current loop, active short-circuit injection, six pwm waves and a BLDC motor, wherein the position loop inputs a target position and a feedback position, a position loop output signal and a feedback current value of the BLDC are input to the current loop, the active short-circuit injection is arranged between the current loop and 6 pwm signals, and the six pwm waves are input to a driving circuit of the BLDC motor.
A control method of a control system of a gear shift actuator of an automatic transmission, comprising the steps of:
s1, defining a target position a0, and acquiring an angle value of a gear shifting fork as a feedback position b0 through an absolute position angle sensor.
S2, after the input position loop of the target position a0 and the feedback position b0 is differenced, a value c is output through PI proportional integral adjustment, the value c is converted into a target current value Ir of the current loop, the voltage V of the bus sampling resistor of the BLDC control circuit is collected, and the voltage V is converted into a feedback current value Ib of the current loop through ohm law.
S3, inputting a current loop difference between the target current value Ir and the feedback current value Ib, performing PI operation processing, outputting a result to a calculation module for operation, and outputting six paths of pwm waves with different duty ratios.
S4, six pwm waves control the switching action of 6 paths of IGBTs after being processed by the driving chip, so that the BLDC motor is controlled.
S5, after the BLDC motor rotates to the target position a0, active short circuit injection is carried out at the output position of the current loop, and 6 paths of IGBT switches are controlled to enable three-phase windings of the BLDC motor to be short-circuited together.
During position ring control, the circumferential position of the sliding block associated with the shifting fork is detected through an absolute position sensor to judge whether the shifting fork moves to a target gear or not. If the target gear is reached, the operation of the actuator BLDC is stopped, and the rotation is immediately stopped. Otherwise, according to the resistance of the sliding block in the sliding groove, the moving speed and the output current value of the BLDC are continuously adjusted to enable the BLDC to move to reach the target position.
The target position a0 is obtained by the following steps: generally, when the gear shifting mechanism performs a gear shifting action, different gear positions correspond to different angle intervals, such as a gear P is between 10 degrees and 17 degrees, a gear 1 is between 110 degrees and 130 degrees, and the like. Therefore, if the angle interval of one gear is a1-a2, a0 takes the intermediate value of the angle interval a1-a 2.
A target interval position delta a is defined, wherein delta a accords with a 0-delta a & gta 1, a0+delta a & lt a2, and the actual value of the target position a0 is an angle value close to the angle value of the shift fork in a 0-delta a and a0+delta a. In order to prevent the control system of the BLDC motor from continuously oscillating around a fixed target position, the target position and a small angle before it are generally selected as target section positions, and when the BLDC motor is running at high speed, a stop command is executed after the section is reached.
As shown in fig. 6, the black filled portion is an angle section allowed for each gear. The stop instruction issuing position is advanced by a specific angle value from the target angle position. This allows room for the BLDC motor to overcome inertia when a positive load is present.
The control of the 6 paths of IGBT switches enables the three-phase windings of the BLDC motor to be short-circuited together specifically comprises:
the upper bridge of the 6-way IGBT switch is all opened, and the lower bridge of the 6-way IGBT switch is all closed.
Or the upper bridge of the 6-way IGBT switch is closed, and the lower bridge of the 6-way IGBT switch is opened. As shown in fig. 7, the IGBT switches S1, S3, S5 are turned off by a software instruction, and the IGBT switches S2, S4, S6 are turned off, so that the three-phase windings of the BLDC motor are shorted together, a reverse resistance moment is generated, and the inertia force in the gear shifting process is offset, thereby avoiding a gear shifting failure.
After the BLDC motion reaches the target position, the PWM wave generation is not directly stopped, but the BLDC motor is made to generate a reverse resistance against the motion direction by switching a specific IGBT switch. After the target position is reached, the upper bridge or the lower bridge is fully opened, and the complementary bridge arms are fully turned off, so that three-phase windings of the BLDC motor are short-circuited together, and reverse resistance is generated. The reverse resistance increases significantly at lower speeds to counteract the false slip of the shift fork after the target position due to inertial forces.
Example 2
As shown in fig. 2, the control system of the gear shifting executing mechanism of the automatic gearbox comprises a setting ring, zero-speed injection, a speed ring, a current ring, active short-circuit injection, six paths of pwm waves and a BLDC motor, wherein the position ring inputs a target position and a feedback position, a speed command output by the position ring and the feedback speed of the BLDC are input to the speed ring, the zero-speed injection is arranged between the position ring and the speed ring, an output signal of the speed ring and a feedback current value of the BLDC are input to the current ring, the active short-circuit injection is arranged between the current ring and the 6 paths of pwm signals, and the six paths of pwm waves are input into the BLDC motor.
The introduction of a speed loop allows the motor to be shut down more quickly when the target position is reached. For example, when the BLDC motor rotates 20.3 turns to the target position, and only 0.5 turns are left from the target position, the control command stops the BLDC motor. But in the case of only the position loop and the current loop, the BLDC motor still has a high speed at the instant the target position range is reached. Even if the BLDC forward torque is zero, the BLDC is driven in the same direction as the BLDC motion under a specific load. This inertia will cause the BLDC motor to continue to operate until a certain distance beyond the target position. The introduction of the velocity loop eliminates the effect of this inertia. At the instant the target range is reached, the instantaneous target speed of the BLDC power is made zero by the speed control, at which time the BLDC motor will stop operating.
As shown in fig. 5, the position loop is arranged in the main MCU, and the speed loop, the current loop and the 6-path pwm wave-generating module are arranged in the coprocessor. Thus, the operation load of the main MCU is reduced, and the operation efficiency of the whole system is improved.
A control method of a control system of a gear shift actuator of an automatic transmission, comprising the steps of:
s1, defining a target position a0, and acquiring an angle value of a gear shifting fork as a feedback position b0 through an absolute position angle sensor;
s2, inputting a position loop into the target position a0 and the feedback position b0, performing PI proportional integral adjustment to output a value c, converting the value c into a speed target value nr of a speed loop, and converting a Hall signal acquired by a Hall sensor of the BLDC motor into an actual speed value nb;
s3, inputting a speed target value nr and an actual speed value nb into a speed loop, performing difference, and then adjusting and outputting a value d through PI proportional integral, wherein the value d is converted into a target current value Ir of a current loop, collecting a voltage V of a bus sampling resistor of a BLDC control circuit, and converting the voltage V into a feedback current value Ib of the current loop through ohm law;
s4, inputting a current loop difference between the target current value Ir and the feedback current value Ib, performing PI operation processing on the current loop difference, outputting a result to a calculation module for operation, and outputting six paths of pwm waves with different duty ratios;
s5, six pwm waves are processed through a driving chip to control the switching action of 6 paths of IGBTs, so that the BLDC motor is controlled;
s6, after the BLDC motor rotates to the target position a0, the speed command zero-speed injection output by the position ring directly enables the speed target value nr of the speed ring to be 0, and meanwhile, active short-circuit injection is carried out at the output position of the current ring, and the 6-way IGBT switch is controlled to enable three-phase windings of the BLDC motor to be in short circuit.
During position ring control, the circumferential position of the sliding block associated with the shifting fork is detected through an absolute position sensor to judge whether the shifting fork moves to a target gear or not. If the target gear is reached, the operation of the actuator BLDC is stopped, and the rotation is immediately stopped. Otherwise, according to the resistance of the sliding block in the sliding groove, the moving speed and the output current value of the BLDC are continuously adjusted to enable the BLDC to move to reach the target position.
The target position a0 is obtained by the following steps: generally, when the gear shifting mechanism performs a gear shifting action, different gear positions correspond to different angle intervals, such as a gear P is between 10 degrees and 17 degrees, a gear 1 is between 110 degrees and 130 degrees, and the like. Therefore, if the angle interval of one gear is a1-a2, a0 takes the intermediate value of the angle interval a1-a 2.
A target interval position delta a is defined, wherein delta a accords with a 0-delta a & gta 1, a0+delta a & lt a2, and the actual value of the target position a0 is an angle value close to the angle value of the shift fork in a 0-delta a and a0+delta a. In order to prevent the control system of the BLDC motor from continuously oscillating around a fixed target position, the target position and a small angle before it are generally selected as target section positions, and when the BLDC motor is running at high speed, a stop command is executed after the section is reached.
As shown in fig. 6, the black filled portion is an angle section allowed for each gear. The stop instruction issuing position is advanced by a specific angle value from the target angle position. This allows room for the BLDC motor to overcome inertia when a positive load is present.
The control of the 6 paths of IGBT switches enables the three-phase windings of the BLDC motor to be short-circuited together specifically comprises:
the upper bridge of the 6-way IGBT switch is all opened, and the lower bridge of the 6-way IGBT switch is all closed.
Or the upper bridge of the 6-way IGBT switch is closed, and the lower bridge of the 6-way IGBT switch is opened. As shown in fig. 7, the IGBT switches S1, S3, S5 are turned off by a software instruction, and the IGBT switches S2, S4, S6 are turned off, so that the three-phase windings of the BLDC motor are shorted together, a reverse resistance moment is generated, and the inertia force in the gear shifting process is offset, thereby avoiding a gear shifting failure.
In embodiments 1 and 2 of the present invention, because the magnitude of the reverse torque generated by the active short circuit of the BLDC pole is limited, it is possible that the reverse torque is insufficient to stop the rotation of the BLDC motor immediately, and when the absolute position sensor detects that the secondary gear shaft gear continues to move after reaching the target position (i.e., when the slider 8 shown in fig. 4 continues to move to the left after reaching the right edge of the position 7), the anti-slip program will execute the locked-rotor command, so that the motor stops at the designated position. The specific method comprises the following steps:
as shown in fig. 8, the magnitude of the inertia moment of the BLDC motor in the case of a slip slope is detected, the inertia moment is converted into a moment command value after being reversed, and then is converted into a current command of the BLDC motor, and the BLDC motor generates a resistance moment with the same magnitude as the inertia moment but in the opposite direction through PI regulation control, so that the inertia moment of the BLDC motor is counteracted.
And detecting the rotating speed fed back by the BLDC motor HALL sensor, and calculating the acceleration corresponding to the rotating speed through a program. Then firstly, the instruction current value corresponding to the acceleration is checked through a table look-up algorithm and is loaded to the input of the current loop. The method can quickly enable the motor to generate corresponding reverse moment to drive the shifting fork to stop moving. And after the shifting fork driven by the motor moves to the target position, judging whether to stop the application of the reverse torque or not according to the output command of the position ring.
Specifically, first, the acceleration a of the motor at the time of moving to near the target position is calculated,
a=(dV n -dV n-1 )/△ｔ
wherein dV n Is the speed at time n; dV (dV) n-1 Is the speed at the time immediately preceding the time n; Δt is the time difference between two adjacent times.
A table of the value of the acceleration a and the value of the torque T of the BLDC motor is formulated through experiments, and the table is shown in fig. 9. And obtaining the value of the current corresponding to the torque T of the BLDC motor through the lookup table of the calculated value of the acceleration a, loading a command current opposite to the value of the current Ia on the BLDC motor, and loading a negative torque command equivalent to the command current on the motor to offset the inertia moment.
Because the value of the acceleration a in the formulated table is discrete and discontinuous, when the value of the actual acceleration a is positioned between two adjacent acceleration values in the table, the value is obtained by using a proportional interpolation method:
setting the instantaneous value of acceleration as a i ，I i Is the instantaneous value a of the acceleration i Corresponding current, I k Is a temporary variable;
if a is n ＜a i ＜a n+1 Then I i =I n +I k The method comprises the steps of carrying out a first treatment on the surface of the Wherein a is n Is the smaller of the adjacent two acceleration values in the tableValue of a n+1 Is the larger value of two adjacent acceleration values in the table, I n Is the acceleration a in the table n A corresponding current;
wherein I is k =(I n+1 -I n )*(a i -a n )/(a n+1 -a n )；
Then I i =I n +(I n+1 -I n )*(a i -a n )/(a n+1 -a n ) Command current value I p =-I i 。
As shown in FIG. 10, the instruction current value I obtained by interpolation is calculated p The controller outputs a drive torque to counteract the moment of inertia at the input to the current loop. At this time, the output of the control loop provided by the position loop and the speed loop is only used as a condition for judging whether the current loop reverses whether the current command continues to be applied, and is not used as an input command of the current loop.
After the BLDC motion reaches the target position, the PWM wave generation is not directly stopped, but the BLDC motor is made to generate a reverse resistance against the motion direction by switching a specific IGBT switch. After the target position is reached, the upper bridge or the lower bridge is fully opened, and the complementary bridge arms are fully turned off, so that three-phase windings of the BLDC motor are short-circuited together, and reverse resistance is generated. The reverse resistance increases significantly at lower speeds to counteract the false slip of the shift fork after the target position due to inertial forces.
The invention introduces speed control, when the position at stop is detected, the speed command of the speed loop is directly given as zero, instead of the speed command of the position loop as zero, and the speed command of the speed loop is output to the zero speed command of the speed loop after PI adjustment of the position loop. This reduces the time consumption of the position loop control, allowing the BLDC motor to stop faster. As shown in the following diagram, it is conventional practice to set the instruction position value to zero when the position of arrival at stop is detected. Through PI operation of the position loop for a plurality of times, the input speed command of the speed loop is finally zero. It is now straightforward to let the speed command be zero when the STOP position is detected. Thus being beneficial to rapidly stopping the motor from running at the target position and reducing the phenomenon of sliding slope caused by inertia.
According to the invention, after the BLDC drives the gear shifting fork to move to the target position, the short circuit of the winding of the BLDC motor is realized by setting different switch states of the 6 IGBT bridge arms instead of directly stopping the wave generation of the 6 paths of PWM. In the short circuit state, the BLDC motor generates a resisting moment opposite to the moving direction, the resisting moment and the rotating speed are in a nonlinear relation, and the overall trend is that the torque increases and decreases with the increase of the rotating speed and finally becomes stable. The application of the resistance can counteract the sliding slope phenomenon caused by motion inertia or abrupt load change, so that the gear shifting fork stops at a designated position, and the accuracy of gear shifting position control is improved.
The present invention is not limited to the preferred embodiments, but is capable of modification and variation in detail, and other embodiments, such as those described above, of making various modifications and equivalents will fall within the spirit and scope of the present invention.
Claims (10)
1. A control system for a gear shifting actuator of an automatic gearbox, which is characterized in that: the device comprises a position loop, a current loop, active short-circuit injection, six pwm waves and a BLDC motor, wherein the position loop inputs a target position and a feedback position, a position loop output signal and a feedback current value of the BLDC are input to the current loop, the active short-circuit injection is arranged between the current loop and 6 pwm signals, and the six pwm waves are input to a driving circuit of the BLDC motor.
2. A control system for an automatic transmission shift actuator as claimed in claim 1, wherein: the zero-speed injection is arranged between the position loop and the current loop, a speed command output by the position loop and the feedback speed of the BLDC are input to the speed loop, an output signal of the speed loop and the feedback current of the BLDC are input to the current loop, and the zero-speed injection is arranged between the position loop and the speed loop.
3. A control system for an automatic transmission shift actuator as claimed in claim 2, wherein: the position loop is arranged in the main MCU, and the speed loop and the current loop are arranged in the coprocessor.
4. A control method of a control system of a shift actuator of an automatic transmission according to claim 1, characterized by comprising the steps of:
s1, defining a target position a0, and acquiring an angle value of a gear shifting fork as a feedback position b0 through an absolute position angle sensor;
s2, after the input position loop of the target position a0 and the feedback position b0 is differenced, a value c is output through PI proportional integral adjustment, the value c is converted into a target current value Ir of the current loop, the voltage V of a bus sampling resistor of the BLDC control circuit is collected, and the voltage V is converted into a feedback current value Ib of the current loop through ohm law;
s3, inputting a current loop difference between the target current value Ir and the feedback current value Ib, performing PI operation processing on the current loop difference, outputting a result to a calculation module for operation, and outputting six paths of pwm waves with different duty ratios;
s4, six pwm waves are processed through a driving chip to control the switching action of 6 paths of IGBTs, so that the BLDC motor is controlled;
s5, after the BLDC motor rotates to the target position a0, active short circuit injection is carried out at the output position of the current loop, and 6 paths of IGBT switches are controlled to enable three-phase windings of the BLDC motor to be short-circuited together.
5. A control method of a control system of a shift actuator of an automatic transmission according to claim 2, characterized by comprising the steps of:
s1, defining a target position a0, and acquiring an angle value of a gear shifting fork as a feedback position b0 through an absolute position angle sensor;
s2, inputting a position loop into the target position a0 and the feedback position b0, performing PI proportional integral adjustment to output a value c, converting the value c into a speed target value nr of a speed loop, and converting a Hall signal acquired by a Hall sensor of the BLDC motor into an actual speed value nb;
s3, inputting a speed target value nr and an actual speed value nb into a speed loop, performing difference, and then adjusting and outputting a value d through PI proportional integral, wherein the value d is converted into a target current value Ir of a current loop, collecting a voltage V of a bus sampling resistor of a BLDC control circuit, and converting the voltage V into a feedback current value Ib of the current loop through ohm law;
s4, inputting a current loop difference between the target current value Ir and the feedback current value Ib, performing PI operation processing on the current loop difference, outputting a result to a calculation module for operation, and outputting six paths of pwm waves with different duty ratios;
s5, six pwm waves are processed through a driving chip to control the switching action of 6 paths of IGBTs, so that the BLDC motor is controlled;
s6, after the BLDC motor rotates to the target position a0, the speed command zero-speed injection output by the position ring directly enables the speed target value nr of the speed ring to be 0, and meanwhile, active short-circuit injection is carried out at the output position of the current ring, and the 6-way IGBT switch is controlled to enable three-phase windings of the BLDC motor to be in short circuit.
6. The control method according to claim 4 or 5, characterized in that: the target position a0 is obtained by the following steps: if the angle interval of one gear is a1-a2, a0 takes the intermediate value of the angle interval a1-a 2.
7. The control method according to claim 6, characterized in that: a target interval position delta a is defined, wherein delta a accords with a 0-delta a & gta 1, a0+delta a & lt a2, and the actual value of the target position a0 is an angle value close to the angle value of the shift fork in a 0-delta a and a0+delta a.
8. The control method according to claim 4 or 5, characterized in that: the control of the 6 paths of IGBT switches enables three-phase windings of the BLDC motor to be short-circuited together specifically comprises the following steps: the upper bridge of the 6-way IGBT switch is all opened, and the lower bridge of the 6-way IGBT switch is all closed.
9. The control method according to claim 4 or 5, characterized in that: the control of the 6 paths of IGBT switches enables three-phase windings of the BLDC motor to be short-circuited together specifically comprises the following steps: the upper bridge of the 6-way IGBT switch is all closed, and the lower bridge of the 6-way IGBT switch is all opened.
10. The control method according to claim 4 or 5, characterized in that: when the absolute position sensor detects that the secondary gear shaft gear continues to move after reaching the target position, the anti-slip program executes a locked-rotor instruction, specifically:
the acceleration a of the motor at the moment approaching the target position is first calculated,
a=(dV n -dV n-1 )/△ｔ
wherein dV n Is the speed at time n; dV (dV) n-1 Is the speed at the time immediately preceding the time n; Δt is the time difference between two adjacent times;
a table of the value of the acceleration a and the value of the torque T of the BLDC motor is established through experiments, the value of the current corresponding to the torque T of the BLDC motor is obtained through table lookup of the calculated value of the acceleration a, then a command current opposite to the value of the current Ia is loaded on the BLDC motor, and the command current is equivalent to a negative torque command and is loaded on the motor to offset the inertia moment;
because the value of the acceleration a in the formulated table is discrete and discontinuous, when the value of the actual acceleration a is positioned between two adjacent acceleration values in the table, the value is obtained by using a proportional interpolation method:
setting the instantaneous value of acceleration as a i ，I i Is the instantaneous value a of the acceleration i Corresponding current, I k Is a temporary variable;
if a is n ＜a i ＜a n+1 Then I i =I n +I k The method comprises the steps of carrying out a first treatment on the surface of the Wherein a is n Is the smaller of the adjacent two acceleration values in the table, a n+1 Is the larger value of two adjacent acceleration values in the table, I n Is the acceleration a in the table n Corresponding current；
Wherein I is k =(I n+1 -I n )*(a i -a n )/(a n+1 -a n )；
Then I i =I n +(I n+1 -I n )*(a i -a n )/(a n+1 -a n ) Command current value I p =-I i ；
The instruction current value I obtained by interpolation method p The controller outputs a drive torque to counteract the moment of inertia at the input to the current loop.
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