CN118110781A - Gear shifting speed regulating method and device, electronic equipment and vehicle - Google Patents
Gear shifting speed regulating method and device, electronic equipment and vehicle Download PDFInfo
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- CN118110781A CN118110781A CN202410358539.8A CN202410358539A CN118110781A CN 118110781 A CN118110781 A CN 118110781A CN 202410358539 A CN202410358539 A CN 202410358539A CN 118110781 A CN118110781 A CN 118110781A
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- 238000000034 method Methods 0.000 title claims description 52
- 230000001105 regulatory effect Effects 0.000 title claims description 22
- 238000012544 monitoring process Methods 0.000 claims description 19
- 230000004044 response Effects 0.000 claims description 18
- 230000001276 controlling effect Effects 0.000 claims description 15
- 230000002035 prolonged effect Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 description 13
- 230000001360 synchronised effect Effects 0.000 description 5
- 238000004590 computer program Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000011664 signaling Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- 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
- F16H61/0403—Synchronisation before shifting
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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
- 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
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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
- F16H61/02—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
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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
- F16H61/02—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
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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
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/30—Constructional features of the final output mechanisms
- F16H63/32—Gear shift yokes, e.g. shift forks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
After a rotational speed control mode is entered, the rotational speed of a rear axle motor is controlled according to a bus current limit value, so that the bus current of the rear axle motor is not greater than the bus current limit value until the rotational speed of the rear axle motor reaches a target rotational speed, the speed control is successful, and a gear is combined, so that the problem that the rear axle motor overcharges a battery pack under the condition that the battery pack charging power is low, such as a low-temperature working condition, an SOC full-power working condition and the like, is avoided, and the service life of the battery pack is prolonged.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a gear shifting speed regulating method and device, electronic equipment and a vehicle.
Background
With the rapid development of new energy automobiles, driving motors with different power and different rotation speed ranges are widely applied, and are limited by the rotation speed ranges of the motors and the efficiency ranges of the motors, so that in order to obtain higher vehicle speed and electric drive system efficiency, a two-gear reduction gearbox is gradually used in a large amount on an electric automobile with higher configuration.
The two-gear reduction gearbox only has three gears of N gears, 1 gears and 2 gears, and the two transmission ratios can realize gear shifting in a full vehicle speed range and high torque output of starting, so that the whole vehicle runs at the high-efficiency interval rotating speed of the motor, and the dynamic property of the whole vehicle is optimized.
However, for a vehicle using a two-gear reduction gearbox with a structure of a gear shifting motor, a ball screw, a shifting fork, a synchronizer and the like, when a rear axle performs speed regulation and gear shifting under a low-temperature working condition or a battery pack charging power condition such as an SOC full-power working condition is low, the rear axle motor is reduced from a high rotating speed to a low rotating speed, and the battery pack is recharged. At this time, if the charging power of the battery pack is small, the battery pack is overcharged, and damage to the battery pack occurs.
Disclosure of Invention
In view of the above, the invention provides a gear shifting and speed regulating method, a device, electronic equipment and a vehicle, which are used for performing current limiting control during gear shifting and speed regulating, avoiding the problem that a rear axle motor overcharges a battery pack, and prolonging the service life of the battery pack.
In order to achieve the above purpose, the specific technical scheme provided by the invention is as follows:
In a first aspect, an embodiment of the present invention provides a gear shifting and speed adjusting method, including:
Responding to a request for entering a rotating speed control mode, entering the rotating speed control mode, and acquiring a target rotating speed;
Obtaining a bus current limit value, and controlling the rotating speed of a rear axle motor according to the bus current limit value so that the bus current of the rear axle motor is not greater than the bus current limit value;
and monitoring the rotating speed of the rear axle motor, determining that the speed regulation is successful under the condition that the rotating speed of the rear axle motor reaches the target rotating speed, and combining the gear.
In some embodiments, after determining that the speed adjustment was successful, further comprising:
In response to entering the torque control mode request, switching from the rotational speed control mode to the torque control mode.
In some embodiments, further comprising:
A shift permission is received and a gear is shifted from a current gear to N-gear before responding to a request to enter a rotational speed control mode.
In some embodiments, further comprising:
in response to the shift request, reducing torque of the rear axle motor;
and monitoring the torque of the rear axle motor, and sending out gear shifting permission under the condition that the torque of the rear axle motor is reduced to the mark quantity.
In some embodiments, after entering the rotational speed control mode, further comprising:
judging whether the time for entering the rotating speed control mode reaches the preset time or not;
if the preset time is reached, judging whether the speed regulation is successful;
if the speed regulation is unsuccessful, judging whether the speed regulation times reach preset times or not;
if the preset times are not reached, returning to execute the step of entering the rotating speed control mode;
if the preset times are reached, determining that the speed regulation fails.
In some embodiments, further comprising:
And if the gear is not engaged, returning to execute the step of entering the rotating speed control mode.
In some embodiments, further comprising:
acquiring charging power of a battery pack in a battery management system;
and calculating the bus current limit value according to the charging power of the battery pack and the bus voltage.
In a second aspect, an embodiment of the present invention provides a gear shifting and speed adjusting device, including:
the first response unit is used for responding to a request for entering a rotating speed control mode, entering the rotating speed control mode and acquiring a target rotating speed;
the rotating speed control unit is used for obtaining a bus current limit value and controlling the rotating speed of the rear axle motor according to the bus current limit value so that the bus current of the rear axle motor is not greater than the bus current limit value;
and the rotating speed monitoring unit is used for monitoring the rotating speed of the rear axle motor, determining that the speed regulation is successful under the condition that the rotating speed of the rear axle motor reaches the target rotating speed, and combining the gear.
In a third aspect, an embodiment of the present invention provides an electronic device, including a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to execute a shift speed control method as described in any implementation manner of the first aspect according to instructions in the program code.
In a fourth aspect, an embodiment of the present invention provides a vehicle including: the device comprises a whole vehicle controller, a gear shifting controller, a rear axle motor controller and a rear axle motor;
The whole vehicle controller is used for sending a gear shifting permission to the gear shifting controller and sending a bus current limit value to the rear axle motor controller;
The gear shifting controller is used for executing gear shifting operation under the condition that the gear shifting permission sent by the whole vehicle controller is received, switching from 1 gear to N gear, controlling the rear axle motor controller to enter a rotating speed control mode, and sending a target rotating speed to the rear axle motor controller;
The rear axle motor controller is used for controlling the rotating speed of the rear axle motor according to the bus current limiting value sent by the whole vehicle controller after entering a rotating speed control mode so that the bus current of the rear axle motor is not greater than the bus current limiting value, monitoring the rotating speed of the rear axle motor, and sending speed regulation success information to the gear shifting controller under the condition that the rotating speed of the rear axle motor reaches the target rotating speed;
and the gear shifting controller is also used for combining the gear under the condition of receiving the speed regulation success information and sending the current gear to the whole vehicle controller after the gear combination is successful.
Compared with the prior art, the invention has the following beneficial effects:
After entering a rotation speed control mode, the rotation speed control method, the device, the electronic equipment and the vehicle disclosed by the invention control the rotation speed of the rear axle motor according to the bus current limit value, so that the bus current of the rear axle motor is not greater than the bus current limit value until the rotation speed of the rear axle motor reaches the target rotation speed, the speed regulation is determined to be successful, and the gear is combined, so that the problem that the rear axle motor overcharges the battery pack under the condition of lower battery pack charging power such as a low-temperature working condition, an SOC full-power working condition and the like is avoided, and the service life of the battery pack is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a gear shifting and speed regulating control method disclosed by the embodiment of the invention;
fig. 2 is a schematic flow chart of a gear shifting and speed regulating method applied to a rear axle motor controller according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a shift speed regulation method applied to a shift controller according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a gear shifting and speed regulating device according to an embodiment of the present invention;
Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention;
fig. 6 is a signaling diagram of a hardware architecture of a current limiting control method during gear shifting and speed regulation according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention 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 invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
For purposes of reference and clarity, technical terms, abbreviations or abbreviations used hereinafter are summarized as follows:
P4 architecture: the motor and the engine of the P4 framework do not drive one shaft, and the engine and the P4 motor realize four-wheel drive.
HCU: hybrid vehicle Control Unit, a whole vehicle controller.
P4M: and a rear axle motor controller of a P4 framework.
ACU: gear shifting controller
BMS: battery MANAGEMENT SYSTEM, battery management system.
The gear shifting and speed regulating method provided by the invention is applied to one vehicle controller or more than one vehicle controllers, and can be realized through a computer program, such as a computer program installed in the vehicle controllers.
The gear shifting and speed adjusting method shown in fig. 1 is applied to a vehicle controller, and specifically comprises the following steps:
s101: responding to a request for entering a rotating speed control mode, entering the rotating speed control mode, and acquiring a target rotating speed;
The target rotating speed is a target rotating speed of 2 gears, and is calculated according to a left rear wheel speed and a right rear wheel speed sent by an electronic stability system ESP of the vehicle body, a rolling radius of wheels and a transmission ratio.
S102: obtaining a bus current limit value, and controlling the rotating speed of the rear axle motor according to the bus current limit value so that the bus current of the rear axle motor is not greater than the bus current limit value;
the bus current limit is calculated from the charge power of the battery pack in the battery management system.
The calculation formula of the bus current limit value is as follows:
Wherein I Filling material is a bus current limit value, and the unit is A;
w Charging method is the charging power of the battery pack, and the unit is kw;
U Bus bar is the bus voltage in V.
The invention does not limit the rotating speed control mode of the rear axle motor, as long as the rear axle motor controller can enable the rear axle motor to reach the target rotating speed through rotating speed control, and the bus current of the rear axle is not greater than the bus current limiting value in the rotating speed control process.
The bus current of the rear axle motor is controlled by the rear axle motor controller to be not more than the bus current limiting value in the speed regulation process, namely, the bus current calculated by the rear axle motor controller by I Filling material P4≤I Filling material ,I Filling material P4 is met, and the unit is A.
T P4 is the torque of the rear axle motor, and the unit is Nm;
n is the rotating speed of the rear axle motor, and the unit is rpm;
Phi is the bridge efficiency.
S103: and monitoring the rotating speed of the rear axle motor, determining that the speed regulation is successful under the condition that the rotating speed of the rear axle motor reaches the target rotating speed, and combining the gears.
There are various methods for monitoring the rotation speed of the rear axle motor, such as periodically acquiring the rotation speed of the rear axle motor acquired by the rotation speed sensor.
And comparing the monitored rotating speed of the rear axle motor with the target rotating speed when the rotating speed of the rear axle motor reaches the target rotating speed, and determining that the speed regulation is successful.
The gear combining process is that the speed is regulated and then pre-synchronous and then gear feeding are combined, that is, the speed regulating rear axle motor pushes the shifting fork to drive the synchronous ring to carry out gear combining, and the gear is shifted to 2 gears for combining towards one side of 2 gears.
According to the gear shifting and speed regulating method disclosed by the embodiment, after the speed control mode is entered, the speed control is carried out on the rear axle motor according to the bus current limiting value, so that the bus current of the rear axle motor is not greater than the bus current limiting value until the speed of the rear axle motor reaches the target speed, the speed regulation is determined to be successful, the gear is combined, the problem that the rear axle motor overcharges the battery pack under the condition that the battery pack charging power is low, such as a low-temperature working condition, an SOC full-power working condition and the like, is avoided, and the service life of the battery pack is prolonged.
Further, after the speed regulation is determined to be successful, the speed regulation is switched from the rotating speed control mode to the torque control mode in response to the request of entering the torque control mode, and the output torque of the rear axle motor is controlled.
Further, if the engagement of the gear fails, the process returns to S101, and the rotational speed control mode is entered again in response to the request for entering the rotational speed control mode, and the shift speed regulation is performed again.
Further, when shifting speed, it is first necessary to receive a shift permission and switch the gear from the current gear to the N-gear. And then, responding to a request for entering a rotating speed control mode in N gear, entering the rotating speed control mode, and controlling the rotating speed of the rear axle motor according to the bus current limiting value so as to ensure that the bus current of the rear axle motor is not greater than the bus current limiting value until the rotating speed of the rear axle motor reaches the target rotating speed, determining that the speed regulation is successful, combining the gears, and determining the current gear after the combination of the gears is successful.
In the gear shifting process, a gear shifting request is received first, and the rear axle motor reduces torque in response to the gear shifting request. In order to avoid damage to the synchronizing ring when the torque is larger than the mark amount, the embodiment monitors the torque of the rear axle motor, and when the torque of the rear axle motor is reduced to the mark amount, the shift permission is sent out, and after the shift permission is received, the shift operation is executed, so that the service life of the synchronizing ring is prolonged. The amount of the flag may be a constant value, such as 0, or a range value, such as (-3, 3).
Further, in order to avoid the problem that the rear axle motor does not output torque all the time and the whole vehicle power is weak due to overlong gear shifting and speed regulating time, the embodiment controls the time of single speed regulation and the frequency of speed regulation. After the above embodiment S102, an alternative control method is provided below, which specifically includes the following steps:
A1: judging whether the time for entering the rotating speed control mode reaches the preset time or not;
A2: if the preset time is not reached, continuing to execute A1;
a3: if the preset time is reached, judging whether the speed regulation is successful;
a4: if the speed regulation is successful, S103 is executed;
a5: if the speed regulation is unsuccessful, judging whether the speed regulation times reach preset times or not;
a6: if the preset times are not reached, returning to execute S101;
a7: if the preset times are reached, determining that the speed regulation fails.
The preset time is set according to an actual application scene, for example: can be set to 1s. The preset times are also set according to actual application scenarios, for example: can be set to 3 times.
And responding to the request of entering the rotating speed control mode once, carrying out one-time speed regulation, if the time of entering the rotating speed control mode reaches the preset time and the speed regulation is not successful, responding to the request of entering the rotating speed control mode again, carrying out the second speed regulation, and the like.
Fig. 2 is a schematic flow chart of a gear shifting and speed regulating method according to an embodiment of the present invention, which is applied to a rear axle motor controller and can be implemented by a computer program, for example, by a program installed in the rear axle motor controller, and specifically includes the following steps:
s201: responding to a request for entering a rotating speed control mode sent by a gear shifting controller, entering a rotating speed control mode, and receiving a target rotating speed sent by the gear shifting controller;
S202: the rotating speed of the rear axle motor is controlled according to the bus current limiting value sent by the whole vehicle controller, so that the bus current of the rear axle motor is not greater than the bus current limiting value;
S203: and monitoring the rotating speed of the rear axle motor, and sending successful speed regulation information to the gear shifting controller under the condition that the rotating speed of the rear axle motor reaches the target rotating speed so as to enable the gear shifting controller to combine with the gear.
The specific implementation manner of S201 to S203 is referred to S101 to S103 in the foregoing embodiment, and will not be described herein.
Further, after the gear shifting controller receives the speed regulation success information sent by the rear axle motor controller, stopping sending a request for entering a rotating speed control mode, sending a torque control mode request to the rear axle motor controller, and switching the rotating speed control mode to the torque control mode by the rear axle motor controller in response to the torque control mode request sent by the gear shifting controller.
In the gear shifting and speed regulating method applied to the rear axle motor controller disclosed by the embodiment, in the gear shifting process, after the rear axle motor controller enters a rotating speed control mode under the control of the gear shifting controller, the rotating speed of the rear axle motor is controlled according to the bus current limit value sent by the whole vehicle controller, so that the bus current of the rear axle motor is not greater than the bus current limit value, the problem that the rear axle motor overcharges a battery pack under the condition of lower battery pack charging power such as a low-temperature working condition and an SOC full-power working condition is avoided, and the service life of the battery pack is prolonged.
Fig. 3 is a schematic flow chart of a gear-shifting and speed-regulating method according to an embodiment of the present invention, where the current-limiting control method during gear-shifting and speed-regulating is applied to a gear-shifting controller, and may be implemented by a computer program, for example, by a program installed in the gear-shifting controller, and specifically includes the following steps:
s301: under the condition that a gear shifting permission sent by the whole vehicle controller is received, executing gear shifting operation, and switching from 1 gear to N gear;
The shift allowance may be transmitted in the form of any electrical signal, such as a message.
A shift operation is performed, switching from 1 st gear to N-th gear.
S302: controlling the rear axle motor controller to enter a rotating speed control mode, and sending a target rotating speed to the rear axle motor controller so that the rear axle motor controller can control the rotating speed of the rear axle motor according to the bus current limit value sent by the whole vehicle controller, and the bus current of the rear axle motor is not greater than the bus current limit value;
as in S101 in the above embodiment, the target rotation speed is the target rotation speed of 2 nd gear.
S303: and combining the gears under the condition that the speed regulation success information which is sent by the rear axle motor controller and indicates that the rotating speed of the rear axle motor reaches the target rotating speed is received, and sending the current gear to the whole vehicle controller after the combination of the gears is successful.
The gear combining process is that the speed is regulated and then pre-synchronous and then gear feeding are combined, that is, the speed regulating rear axle motor pushes the shifting fork to drive the synchronous ring to carry out gear combining, and the gear is shifted to 2 gears for combining towards one side of 2 gears.
If the engagement of the gear fails, the process returns to S302, and the speed regulation is performed again.
Further, in order to avoid damage to the synchronizing ring when the torque is greater than the mark amount, the whole vehicle controller monitors the torque of the rear axle motor, and when the torque of the rear axle motor is reduced to the mark amount, a shift permission is sent to the shift controller, and the shift controller executes a shift operation after receiving the shift permission sent by the whole vehicle controller.
Based on the shift speed regulation method disclosed in the above embodiment, this embodiment correspondingly discloses a shift speed regulation device, please refer to fig. 4, which includes:
A first response unit 401, configured to enter a rotation speed control mode and acquire a target rotation speed in response to a request for entering the rotation speed control mode;
A rotation speed control unit 402, configured to obtain a bus current limit value, and perform rotation speed control on a rear axle motor according to the bus current limit value, so that a bus current of the rear axle motor is not greater than the bus current limit value;
and the rotation speed monitoring unit 403 is configured to monitor a rotation speed of the rear axle motor, determine that the speed regulation is successful when the rotation speed of the rear axle motor reaches the target rotation speed, and combine with a gear.
In some embodiments, further comprising:
and the second response unit is used for responding to the request of entering the torque control mode after determining that the speed regulation is successful, and switching from the rotating speed control mode to the torque control mode.
In some embodiments, further comprising:
and the gear shifting execution unit is used for receiving the gear shifting permission and switching the gear from the current gear to the N gear before responding to the request of entering the rotating speed control mode.
In some embodiments, further comprising:
A torque adjustment unit for reducing torque of the rear axle motor in response to a shift request;
and the torque monitoring unit is used for monitoring the torque of the rear axle motor and sending out gear shifting permission under the condition that the torque of the rear axle motor is reduced to the mark quantity.
In some embodiments, further comprising:
The judging unit is used for judging whether the time for entering the rotating speed control mode reaches the preset time or not; if the preset time is reached, judging whether the speed regulation is successful; if the speed regulation is unsuccessful, judging whether the speed regulation times reach preset times or not; if the preset times are not reached, triggering the first response unit; if the preset times are reached, determining that the speed regulation fails.
In some embodiments, the rotation speed monitoring unit 403 is further configured to trigger the first response unit if the engagement of the gear fails.
In some embodiments, further comprising:
A limit value calculating unit for obtaining the charging power of the battery pack in the battery management system; and calculating the bus current limit value according to the charging power of the battery pack and the bus voltage.
According to the gear shifting and speed regulating device disclosed by the embodiment, after the gear shifting and speed regulating device enters a rotating speed control mode, rotating speed control is performed on the rear axle motor according to the bus current limiting value, so that bus current of the rear axle motor is not greater than the bus current limiting value until the rotating speed of the rear axle motor reaches the target rotating speed, the speed regulation is determined to be successful, the gear is combined, the problem that the rear axle motor overcharges a battery pack under the condition that the battery pack charging power is low, such as a low-temperature working condition, an SOC full-power working condition and the like, is avoided, and the service life of the battery pack is prolonged.
Based on the shift speed regulation method applied to the rear axle motor controller disclosed in the above embodiment, the embodiment correspondingly discloses a shift speed regulation device applied to the rear axle motor controller, which comprises:
The first response unit is used for responding to a request for entering a rotating speed control mode sent by the gear shifting controller, entering the rotating speed control mode and receiving a target rotating speed sent by the gear shifting controller;
the rotating speed control unit is used for controlling the rotating speed of the rear axle motor according to the bus current limit value sent by the whole vehicle controller so that the bus current of the rear axle motor is not greater than the bus current limit value;
And the information sending unit is used for monitoring the rotating speed of the rear axle motor, and sending successful speed regulation information to the gear shifting controller under the condition that the rotating speed of the rear axle motor reaches the target rotating speed so as to enable the gear shifting controller to combine with gears.
In some embodiments, further comprising:
And the second response unit is used for responding to the torque control mode request sent by the gear shifting controller and switching from the rotating speed control mode to the torque control mode.
Based on the gear shifting and speed regulating method applied to the whole vehicle controller disclosed in the above embodiment, the embodiment correspondingly discloses a gear shifting and speed regulating device applied to the whole vehicle controller, which comprises:
The gear shifting execution unit is used for executing gear shifting operation under the condition of receiving the gear shifting permission sent by the whole vehicle controller, and switching from 1 gear to N gear;
The motor control unit is used for controlling the rear axle motor controller to enter a rotating speed control mode and sending a target rotating speed to the rear axle motor controller so that the rear axle motor controller can control the rotating speed of the rear axle motor according to the bus current limiting value sent by the whole vehicle controller, and the bus current of the rear axle motor is not greater than the bus current limiting value;
And the gear combining unit is used for combining gears under the condition that the speed regulation success information which is sent by the rear axle motor controller and used for representing that the rotating speed of the rear axle motor reaches the target rotating speed is received, and sending the current gear to the whole vehicle controller after the gear combining is successful.
In some embodiments, further comprising:
the judging unit is used for judging whether the time of the rear axle motor controller entering the rotating speed control mode reaches the preset time or not after the rear axle motor controller is controlled to enter the rotating speed control mode; if the preset time is reached, judging whether the speed regulation success information is received or not; if the speed regulation success information is not received, judging whether the speed regulation times reach preset times or not; if the preset times are not reached, triggering the motor control unit; if the preset times are reached, determining that the speed regulation of the motor of the rear axle fails, and sending motor speed regulation failure information to the whole vehicle controller.
In some embodiments, the gear combining unit is further configured to trigger the motor control unit if the gear combining fails.
In some embodiments, the shift allowance is sent by the vehicle controller after detecting that the torque of the rear axle motor has dropped to a flag level.
The embodiment of the present invention further provides an electronic device, which may be any of the controllers in the foregoing embodiments, and referring to fig. 5, for example, the electronic device includes a processor 501 and a memory 502, where the processor 501 and the memory 502 communicate through a bus;
the memory 502 is used for storing program codes and transmitting the program codes to the processor 501;
the processor 501 is configured to execute a shift speed adjusting method according to any implementation of the foregoing embodiments according to instructions in the program code.
The embodiment of the invention also provides a vehicle, which comprises: the device comprises a whole vehicle controller, a gear shifting controller, a rear axle motor controller and a rear axle motor;
The whole vehicle controller is used for sending a gear shifting permission to the gear shifting controller and sending a bus current limit value to the rear axle motor controller;
The gear shifting controller is used for executing gear shifting operation under the condition that the gear shifting permission sent by the whole vehicle controller is received, switching from 1 gear to N gear, controlling the rear axle motor controller to enter a rotating speed control mode, and sending a target rotating speed to the rear axle motor controller;
The rear axle motor controller is used for controlling the rotating speed of the rear axle motor according to the bus current limiting value sent by the whole vehicle controller after entering a rotating speed control mode so that the bus current of the rear axle motor is not greater than the bus current limiting value, monitoring the rotating speed of the rear axle motor, and sending speed regulation success information to the gear shifting controller under the condition that the rotating speed of the rear axle motor reaches the target rotating speed;
and the gear shifting controller is also used for combining the gear under the condition of receiving the speed regulation success information and sending the current gear to the whole vehicle controller after the gear combination is successful.
Fig. 6 is a signaling diagram of interaction between devices in a hardware architecture of a vehicle according to an embodiment of the present invention. The hardware architecture of the hybrid vehicle according to the embodiment of the invention includes, but is not limited to: vehicle control unit 601, shift control unit 602, rear axle motor control unit 603 and rear axle motor 604.
The vehicle controller 601 sends shift permission to the shift controller 602 and bus current limit values to the rear axle motor controller 603.
Further, in order to avoid damage to the synchronizer ring when the torque is greater than the flag amount, the whole vehicle controller 601 monitors the torque of the rear axle motor 604, when the torque of the rear axle motor 604 is reduced to the flag amount, a shift permission is sent to the shift controller 602, and when the torque of the rear axle motor 604 is not reduced to the flag amount, the whole vehicle controller 101 continues waiting for the rear axle motor 104 to reduce the torque.
In addition, the bus current limit value is calculated from the charging power of the battery pack of the battery management system.
The shift controller 602 performs a shift operation in a case where a shift permission sent from the vehicle controller 601 is received, switches from 1 st gear to N th gear, controls the rear axle motor controller 603 to enter a rotation speed control mode, and sends a target rotation speed to the rear axle motor controller 603, wherein the target rotation speed is a target rotation speed of 2 nd gear.
After entering the rotation speed control mode, the rear axle motor controller 603 sends a control command to the rear axle motor 604 according to the bus current limit value sent by the whole vehicle controller 601, and performs rotation speed control on the rear axle motor 604, so that the bus current of the rear axle motor 604 is not greater than the bus current limit value, monitors the rotation speed of the rear axle motor 604, and sends speed regulation success information to the gear shift controller 602 when the rotation speed of the rear axle motor 604 reaches the target rotation speed.
Under the condition that the speed regulation success information is received, the gear shifting controller 602 combines the gears, and after the gear combination is successful, the current gear is sent to the whole vehicle controller 601, so that the whole vehicle controller 601 stops sending the gear shifting permission, the motor torque is increased, and the gear shifting is completed.
The application scene of the application is as follows: in the running process of a vehicle, such as a P4 framework, using a gear shifting motor, a ball screw, a shifting fork, a synchronous ring device and other structures, if gear shifting and speed regulation are needed, in the gear shifting process, a whole vehicle controller sends a bus current limit value to a rear axle motor controller, so that the rear axle motor controller enters a rotating speed control mode under the control of the gear shifting controller, and then the rotating speed of the rear axle motor is controlled according to the bus current limit value, the bus current of the rear axle motor is not greater than the bus current limit value, the problem that the rear axle motor overcharges a battery pack under the condition that the battery pack charging power of a low-temperature working condition, an SOC full-power working condition and the like is avoided, and the service life of the battery pack is prolonged.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
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 apparatus 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 apparatus. 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 apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above embodiments may be combined in any manner, and features described in the embodiments in the present specification may be replaced or combined with each other in the above description of the disclosed embodiments, so as to enable those skilled in the art to make or use the present application.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A shift speed control method, comprising:
Responding to a request for entering a rotating speed control mode, entering the rotating speed control mode, and acquiring a target rotating speed;
Obtaining a bus current limit value, and controlling the rotating speed of a rear axle motor according to the bus current limit value so that the bus current of the rear axle motor is not greater than the bus current limit value;
and monitoring the rotating speed of the rear axle motor, determining that the speed regulation is successful under the condition that the rotating speed of the rear axle motor reaches the target rotating speed, and combining the gear.
2. The shift keying method of claim 1, further comprising, after determining that the keying is successful:
In response to entering the torque control mode request, switching from the rotational speed control mode to the torque control mode.
3. The shift speed control method according to claim 1, characterized by further comprising:
A shift permission is received and a gear is shifted from a current gear to N-gear before responding to a request to enter a rotational speed control mode.
4. A shift speed control method according to claim 3, further comprising:
in response to the shift request, reducing torque of the rear axle motor;
and monitoring the torque of the rear axle motor, and sending out gear shifting permission under the condition that the torque of the rear axle motor is reduced to the mark quantity.
5. The shift speed control method according to claim 1, further comprising, after entering the rotational speed control mode:
judging whether the time for entering the rotating speed control mode reaches the preset time or not;
if the preset time is reached, judging whether the speed regulation is successful;
if the speed regulation is unsuccessful, judging whether the speed regulation times reach preset times or not;
if the preset times are not reached, returning to execute the step of entering the rotating speed control mode;
if the preset times are reached, determining that the speed regulation fails.
6. The shift speed control method according to claim 1, characterized by further comprising:
And if the gear is not engaged, returning to execute the step of entering the rotating speed control mode.
7. The shift speed control method according to claim 1, characterized by further comprising:
acquiring charging power of a battery pack in a battery management system;
and calculating the bus current limit value according to the charging power of the battery pack and the bus voltage.
8. A gear shift speed regulating device, comprising:
the first response unit is used for responding to a request for entering a rotating speed control mode, entering the rotating speed control mode and acquiring a target rotating speed;
the rotating speed control unit is used for obtaining a bus current limit value and controlling the rotating speed of the rear axle motor according to the bus current limit value so that the bus current of the rear axle motor is not greater than the bus current limit value;
and the rotating speed monitoring unit is used for monitoring the rotating speed of the rear axle motor, determining that the speed regulation is successful under the condition that the rotating speed of the rear axle motor reaches the target rotating speed, and combining the gear.
9. An electronic device comprising a processor and a memory;
the memory is used for storing program codes and transmitting the program codes to the processor;
The processor is configured to execute a shift speed control method according to any one of claims 1 to 7 according to instructions in the program code.
10. A vehicle, characterized by comprising: the device comprises a whole vehicle controller, a gear shifting controller, a rear axle motor controller and a rear axle motor;
The whole vehicle controller is used for sending a gear shifting permission to the gear shifting controller and sending a bus current limit value to the rear axle motor controller;
The gear shifting controller is used for executing gear shifting operation under the condition that the gear shifting permission sent by the whole vehicle controller is received, switching from 1 gear to N gear, controlling the rear axle motor controller to enter a rotating speed control mode, and sending a target rotating speed to the rear axle motor controller;
The rear axle motor controller is used for controlling the rotating speed of the rear axle motor according to the bus current limiting value sent by the whole vehicle controller after entering a rotating speed control mode so that the bus current of the rear axle motor is not greater than the bus current limiting value, monitoring the rotating speed of the rear axle motor, and sending speed regulation success information to the gear shifting controller under the condition that the rotating speed of the rear axle motor reaches the target rotating speed;
and the gear shifting controller is also used for combining the gear under the condition of receiving the speed regulation success information and sending the current gear to the whole vehicle controller after the gear combination is successful.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410358539.8A CN118110781A (en) | 2024-03-27 | 2024-03-27 | Gear shifting speed regulating method and device, electronic equipment and vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410358539.8A CN118110781A (en) | 2024-03-27 | 2024-03-27 | Gear shifting speed regulating method and device, electronic equipment and vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118110781A true CN118110781A (en) | 2024-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410358539.8A Pending CN118110781A (en) | 2024-03-27 | 2024-03-27 | Gear shifting speed regulating method and device, electronic equipment and vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118110781A (en) |
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2024
- 2024-03-27 CN CN202410358539.8A patent/CN118110781A/en active Pending
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