WO2021179585A1

WO2021179585A1 - Parking actuator position learning method

Info

Publication number: WO2021179585A1
Application number: PCT/CN2020/119352
Authority: WO
Inventors: 周志华; 徐波; 马推; 苏露
Original assignee: 南京美均电子科技有限公司
Priority date: 2020-03-10
Filing date: 2020-09-30
Publication date: 2021-09-16
Also published as: CN111336250A; CN111336250B

Abstract

A parking actuator position learning method involves a parking actuator. The parking actuator comprises a parking ratchet wheel (2), a parking pawl (13), and a shifting mechanism. The shifting mechanism comprises a rotating shaft (11) provided with an angle sensor, and a limiting column (12). Under the condition that the duty ratio of squeezing in a non-P direction by means of open-loop control is not allowed to exceed 50%, the value of a locked-rotor position is recorded, so that a locking position and an unlocking position in the open-loop control are found, and the technical problem of self-learning suitable P locking position and unlocking position to reduce the deviation between the parking actuator and a gearbox is solved. According to the method, a non-P position and a P position for the open-loop control are found by means of unilateral self-learning, and thus the non-P position and the P position are more suitable and more reliable.

Description

Method for learning the position of parking actuator

Technical field

The invention relates to the field of parking actuators, in particular to a method for learning the position of a parking actuator.

Background technique

In the prior art, there is a deviation between the parking actuator and the gearbox, it is easy to wear the gear of the gearbox, damage the gearbox, and reduce the service life.

The traditional parking actuator position learning adopts bilateral self-learning method, that is, as shown in Figure 1-4, position A and position D are the extreme positions of non-P gear and the extreme position of P gear, respectively. The bilateral self-learning is determined by first A position and D position, then rotate a certain angle from the A position to learn the B position, and rotate a certain angle from the D position to learn the C position, where the B position is not the P position, and the C position is the P position. However, due to the mechanical structure, there are two states of ratchet and pawl top tooth and no top tooth at the D position. Therefore, in these two states, the corresponding shaft in the D position is not the same physical position, so it is not possible to adopt bilateral self-learning. The C position is accurately obtained, so this learning method is unreliable.

Summary of the invention

The purpose of the present invention is to provide a parking actuator position learning method, which solves the technical problem of self-learning suitable P-speed lock position and unlock position, and reduces the deviation between the parking actuator and the gearbox.

In order to achieve the above objective, the present invention proposes the following technical solutions:

A parking actuator position learning method is realized based on the parking actuator. The parking actuator includes a parking ratchet, a parking pawl and a shift mechanism. The shift mechanism includes a rotating shaft with an angle sensor and a limit column , The rotating shaft is provided with a first changing baffle which can drive the first changing baffle to rotate, and a second changing baffle is also connected to the rotating shaft for rotation. A spring is arranged between the first changing baffle and the second changing baffle. One change baffle is provided with an extension arm, the limit post is used to block the side of the extension arm, and the second change baffle is provided with a protruding part corresponding to the working end of the parking pawl;

When the rotating shaft drives the first shift plate to rotate, the first shift plate pushes the second shift plate to rotate through the spring;

In the reference position, the parking pawl is outside the tooth groove of the parking ratchet, and the limit column is on the side of the extension arm. A radial line drawn from the center of the cross section of the shaft is set as the reference line, and it is set to position A at this time. ; The rotating shaft rotates at a certain angle, and drives the first shift plate, the second shift baffle and the reference line to rotate accordingly, so that the reference line is in the non-P position, and the parking pawl is still outside the parking ratchet tooth groove. Set this time as position B; the shaft continues to rotate at a certain angle, and drives the first shift plate, the second shift baffle and the reference line to rotate accordingly, so that the reference line is at the P position, and the parking pawl is inserted into the parking ratchet A cogging of is set to position C at this time; the rotating shaft continues to rotate a certain angle, and drives the first shift plate, the second shift baffle and the reference line to rotate accordingly, so that the reference line is at the P limit position, and the vehicle is parked at this time The pawl collides with the tooth groove, and it is set to position D at this time;

Set position A and position D to be the limit positions of non-P gear and P gear, respectively. During position learning, first drive the shaft to turn to position A through open-loop control, acquire and record the output signal of the angle sensor at this time, and in the learning position B At position C, the open-loop control P gear position is less than nAD, AD is a fixed angle, n takes a positive integer, the open-loop control squeezes in the direction other than P gear and the duty cycle is not allowed to exceed 50%, and the locked-rotor position is recorded The value of, based on this, the position where the position A is offset by nAD in the direction of the P gear is set as the position B; the position where the position A is offset by mAD in the direction of the P gear is set as the position C, and the value of m is a positive integer.

The limit column is cylindrical, and the reference line is tangent to the outer circle of the limit column at the reference position.

The working end of the parking pawl is provided with a first protrusion for inserting into the tooth groove of the parking ratchet and a second protrusion for connecting with the protrusion of the second change plate.

When the reference line is at the P position and the P limit position, the second protrusion is in contact with the outer peripheral edge of the protrusion of the second baffle plate.

Beneficial effects:

The parking actuator position learning method of the present invention solves the technical problem of self-learning suitable P gear lock position and unlock position, and reduces the deviation between the parking actuator and the gearbox. The present invention adopts Find out the non-P position and the P position of the closed-loop control from the unilateral self-learning method of the A position, that is, the B position and the C position, so that the non-P position and the P position are more suitable and reliable.

It should be understood that all combinations of the aforementioned concepts and the additional concepts described in more detail below can be regarded as part of the inventive subject matter of the present disclosure as long as such concepts are not mutually contradictory.

The foregoing and other aspects, embodiments and features of the teachings of the present invention can be more fully understood from the following description with reference to the accompanying drawings. Other additional aspects of the present invention, such as the features and/or beneficial effects of the exemplary embodiments, will be apparent in the following description, or learned from the practice of the specific embodiments taught in accordance with the present invention.

Description of the drawings

The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in each figure may be represented by the same reference numeral. For the sake of clarity, not every component is labeled in every figure. Now, embodiments of various aspects of the present invention will be described by way of examples and with reference to the accompanying drawings, in which:

Figure 1 is a schematic diagram of the structure of the parking actuator;

Figure 2 is a schematic diagram of the structure at the reference position;

Figure 3 is a schematic diagram of the structure when the position is not P;

Figure 4 is a schematic diagram of the structure at the P position;

Figure 5 is a schematic diagram of the structure at the P limit position;

In the picture:

Base 1, parking ratchet 2, gear teeth 3, tooth groove 4, second protrusion 5, protrusion 6, second change plate 7, spring 8, protrusion b9, extension arm 10, rotating shaft 11, Limit post 12, parking pawl 13, pawl shaft 14, torsion spring 15, first protrusion 16, motor 17, outer peripheral edge 18, hypotenuse 19, protrusion a20, first shift plate 21, reference line twenty two.

Detailed ways

In order to better understand the technical content of the present invention, specific embodiments are described in conjunction with the accompanying drawings as follows.

In this disclosure, various aspects of the present invention are described with reference to the accompanying drawings, in which numerous illustrated embodiments are shown. The embodiments of the present disclosure are not necessarily intended to include all aspects of the present invention. It should be understood that the various concepts and embodiments introduced above, as well as those described in more detail below, can be implemented in any of many ways, because the concepts and embodiments disclosed in the present invention are not Limited to any implementation. In addition, some aspects disclosed in the present invention can be used alone or in any appropriate combination with other aspects disclosed in the present invention.

Application overview

In view of the above technical problems, the general idea of the technical solution provided by this application is as follows:

Because the A position is accurate, both the B position and the C position are learned from the A position, and the learning from the D position is avoided, so that the accuracy of the B position and the C position can be ensured.

After introducing the basic principles of the present application, various non-limiting implementation manners of the present application will be specifically introduced below in conjunction with the accompanying drawings of the specification.

The parking actuator position learning method shown in Figures 1 to 5 is implemented by the parking actuator.

The parking actuator includes a parking ratchet 2, a parking pawl 13, a shift mechanism and a base 1. The parking ratchet 2 is arranged on the output shaft of the gearbox, that is, the parking ratchet 2 is driven by the gearbox and is A number of gear teeth 3 are evenly distributed on the ratchet 2 and around the outer ring of the parking ratchet 2, and tooth grooves 4 are formed between two adjacent gear teeth 3; the parking pawl 13 is rotatably connected to the base 1 through a pawl shaft 14 The pawl shaft 14 is fixed on the base 1. One end of the parking pawl 13 is provided with a shaft hole. The pawl shaft 14 penetrates the shaft hole so that the parking pawl 13 can rotate around the pawl shaft 14. A torsion spring 15 is sleeved on the outer ring of the shaft 14. One end of the torsion spring 15 is fixedly connected to the base 1 and the other end is abutted or fixedly connected to the parking pawl 13. The tooth slot 4 of the car ratchet 2 comes out, the other end of the parking pawl 13 is its working end, and the working end of the parking pawl 13 is provided with a first protrusion 16 for inserting into the tooth slot 4 of the parking ratchet 2 and At the second protrusion 5 at the junction with the protruding portion 6 of the second change plate 7, the first protrusion 16 protrudes toward the parking ratchet 2 side, and the second protrusion 5 faces away from the parking ratchet 2 side Bulge.

When parking, the parking pawl 13 is inserted into a slot 4 of the parking ratchet 2 and the parking ratchet 2 cannot be rotated to prevent the car from slipping. On the contrary, if the parking pawl 13 is not inserted into the slot 4, the parking ratchet 2 can rotate , The car can be used. The installation and driving of the parking ratchet wheel 2 and the installation of the parking pawl 13 are all existing technologies, so they will not be described in detail.

The gear shifting mechanism includes a rotating shaft 11 provided with an angle sensor and a limit post 12. The angle sensor is not shown in the figure. The rotating shaft 11, the pawl shaft 14 and the limit post 12 are parallel and spaced apart, and the rotating shaft 11 is driven by the power mechanism; the rotating shaft 11 A first changing baffle 21 is provided on the upper part and can drive the first changing baffle 21 to rotate, and a second changing baffle 7 is also rotatably connected to the rotating shaft 11. The first changing baffle 21 and the second changing baffle 7 are both provided with The shaft hole, the rotating shaft 11 passes through the shaft hole of the first change baffle 21 and the shaft hole of the second change baffle 7 in turn, so that the first change baffle 21 and the second change baffle 7 are sequentially sleeved along the axis of the shaft 11 On the rotating shaft 11, the first changing baffle 21 is arranged on the outside of the second changing baffle 7, and the first changing baffle 21 is fixed on the rotating shaft 11 by welding. When the rotating shaft 11 rotates, the first changing baffle 21 can be driven to synchronize. Rotation, the second changing baffle 7 can be rotated relative to the shaft 11, a spring 8 is provided between the first changing baffle 21 and the second changing baffle 7, the first changing baffle 21 is provided with an extension arm 10, and the second changing baffle 21 is provided with an extension arm 10, The baffle plate 7 is provided corresponding to the working end of the parking pawl 13 for pushing the second protrusion 5 of the working end of the parking pawl 13 so that the first protrusion 16 is inserted into the protrusion 6 of the tooth groove 4, and the second gear shift The side of the protruding portion 6 of the plate 7 facing the working end of the parking pawl 13 is a hypotenuse 19 for contacting the second protrusion 5 of the parking pawl 13, and the other circumferential side is provided with a convex Starting from a20, the first shift plate 21 is provided with a protrusion b9. The protrusion a20 and the protrusion b9 are respectively inserted into the two ports of the spring 8. Of course, the two ends of the spring 8 can also be fixedly connected to the first shift plate 21 and the first shift plate 21. For the second change of the baffle 7, the outer periphery of the protrusion 6 is gradually away from the center axis of the rotation shaft 11 around the center axis of the rotation shaft 11 along 18, that is, the point on the outer periphery of the protrusion 6 along the line 18 gradually moves away from the center axis of the rotation shaft 11, and protrudes The outer periphery of the portion 6 is connected to the end of the hypotenuse 19 of the protruding portion 6 along the end 18 that is closest to the central axis of the shaft 11, so that the second protrusion 5 of the working end of the parking pawl 13 can relatively slide along the hypotenuse 19 to protrude. The outer peripheral edge 18 of the part 6; the limit post 12 is used to block the side of the extension arm 10, the limit post 12 is cylindrical and is fixed on the base 1. In this embodiment, the hypotenuse 19, the protruding part 6. The spring 8, the extension arm 10 and the limit post 12 are arranged clockwise around the rotating shaft 11 in sequence, and the outer periphery of the protruding part 6 is gradually away from the central axis of the rotating shaft 11 in a clockwise direction around the central axis of the rotating shaft 11 along 18, protruding The outer periphery of the part 6 is a circular arc line along 18, or it can be a slanted line, etc. The working end of the parking pawl 13 is on the counterclockwise side of the protruding part 6; the rotating shaft 11 is the output shaft of the motor 17, and the motor 17 is mounted on On the back of the base 1, the base 1 is provided with a shaft hole corresponding to the output shaft of the motor 17. 7. The parking ratchet wheel 2, the parking pawl 13, the limit post 12, the first changing baffle 21 and the second changing baffle 7 are all arranged on the front of the base 1.

When the rotating shaft 11 rotates while driving the first shift plate 21 to rotate, the first shift plate pushes the second shift plate 7 to rotate through the spring 8.

As shown in Figure 2, at the reference position, the parking pawl 13 is outside the tooth slot 4 of the parking ratchet 2, that is, the parking pawl 13 is outside the entire parking ratchet 2, and the parking pawl 13 and the parking ratchet 2 At intervals, the first protrusion 16 of the working end of the parking pawl 13 is not inserted into the tooth slot 4, the parking ratchet 2 can be rotated, and the limit post 12 is blocked on the clockwise side of the extension arm 10. The center of the cross section of the rotating shaft 11 leads to a radial line as the reference line 22. The center of the cross section of the rotating shaft 11 is on the central axis of the rotating shaft 11. ) Tangent.

As shown in Figure 3, the rotating shaft 11 rotates counterclockwise from the reference position by a certain angle α, and drives the first shift plate 21, the second shift plate 7 and the reference line 22 to rotate counterclockwise accordingly, so that the reference line 22 is not P Position. At this time, the parking pawl 13 is still outside the tooth slot 4 of the parking ratchet 2 and the first protrusion 16 of the parking pawl 13 is not inserted into the tooth slot 4. The parking ratchet 2 can be rotated from the reference position to the non- The angle value α at the P position, as long as it is satisfied that the parking pawl 13 is still outside the tooth groove 4 of the parking ratchet wheel 2 and is not inserted into the tooth groove 4; After the sides (ie, the hypotenuse 19) are in contact, when the shaft 11 continues to drive the first change baffle to rotate, the hypotenuse 19 of the protrusion 6 pushes the second protrusion 5 to rotate in the direction of the tooth groove 4. The two protrusions 5 slide along the hypotenuse 19; in this embodiment, when the position is not P, the second protrusion 5 is in contact with the root of the hypotenuse 19.

As shown in Figure 4, the rotating shaft 11 continues to rotate counterclockwise from the non-P position by a certain angle β, and drives the first shift plate 21, the second shift plate 7 and the reference line 22 to rotate accordingly, so that the reference line 22 is at the P position At this time, the first protrusion 16 of the working end of the parking pawl 13 is inserted into a tooth slot 4 of the parking ratchet wheel 2, but it is not in contact with the groove surface (referring to the groove bottom surface and the groove side surface) of the tooth groove 4, that is, the parking ratchet The pawl 13 and the parking ratchet 2 are still spaced apart and not in contact, and the parking ratchet 2 can still be rotated until the groove side and/or groove bottom surface of the tooth groove 4 abuts against the first protrusion 16, and then rotates from the non-P position to the P position. Angle value β, as long as the first protrusion 16 at the working end of the parking pawl 13 is inserted into a slot 4 of the parking ratchet 2 but not in contact with the slot surface of the slot 4; turn from the non-P position to P During the process of positioning, the second protrusion 5 relatively moves along the hypotenuse 19 to the outer peripheral edge 18 of the protrusion 6. During the rotation, both the hypotenuse 19 and the outer peripheral edge 18 of the protrusion 6 are opposite to the second protrusion. When the reference line 22 is at the P position, the second protrusion 5 is in contact with the outer peripheral edge 18 of the protruding part 6 of the second changing baffle plate 7.

As shown in Figure 5, the rotating shaft 11 continues to rotate counterclockwise from the P position by a certain angle γ, and drives the first shift plate 21, the second shift baffle 7 and the reference line 22 to rotate accordingly, so that the reference line 22 is at the P limit position At this time, the first protrusion 16 of the parking pawl 13 is still inserted into the tooth slot 4 inserted in the P position, and abuts against the groove side surface and/or groove bottom surface of the tooth slot 4, and the parking ratchet wheel 2 cannot rotate; In the process of turning from the P position to the P limit position, the outer periphery of the protruding portion 6 pushes the second protrusion 5 along 18 until the first protrusion 16 abuts the tooth groove 4, and oppositely, the second protrusion 5 is relatively along The outer periphery of the protruding part 6 slides along 18; when the reference line 22P is at the limit position, the second protrusion 5 is in contact with the outer periphery 18 of the protruding part 6 of the second changing baffle plate 7.

After the shaft 11 is turned to the limit position of P, the parking ratchet wheel 2 cannot rotate. When driving, the shaft 11 reverses to the non-P position, that is, rotates clockwise to the non-P position. When the vehicle is parked again, the shaft 11 continues to rotate counterclockwise Turn from the P position to the P limit position, and so on.

In the reference position, the parking pawl 13 is outside the tooth slot 4 of the parking ratchet 2 and the limit post 12 is blocked on the side of the extension arm 10, and a radial line drawn from the center of the cross section of the shaft 11 is set as the reference line 22. Set it to position A at this time; the shaft 11 rotates a certain angle, and drives the first shift plate 21, the second shift baffle 7 and the reference line 22 to rotate accordingly, so that the reference line 22 is at the non-P position, and the vehicle is parked at this time The pawl 13 is still outside the tooth slot 4 of the parking ratchet 2 and is set to position B at this time; the rotating shaft 11 continues to rotate to a certain angle, and drives the first shift plate 21, the second shift plate 7 and the reference line 22 to follow Rotate so that the reference line 22 is at the P position. At this time, the parking pawl 13 is inserted into a tooth slot 4 of the parking ratchet 2 and is set to position C at this time; the rotating shaft 11 continues to rotate to a certain angle and drives the first shift plate 21 , The second change plate 7 and the reference line 22 rotate accordingly, so that the reference line 22 is at the P limit position. At this time, the parking pawl 13 and the tooth groove 4 collide, which is set as the position D at this time.

Set position A and position D to be the limit positions of non-P gear and P gear, respectively. During position learning, first drive the shaft 11 to turn to position A through open loop control, and acquire and record the output signal of the angle sensor at this time. In B and position C, the open-loop control P position is less than nAD, AD is a fixed angle unit, n takes a positive integer, and the duty ratio of the open-loop control to the non-P position is not allowed to exceed 50% to avoid crushing The first indexing baffle 21 records the value of the locked-rotor position of the rotating shaft 11 to reflect the position of the rotating shaft 11 at this time. Based on this, the position where the position A is offset by the angle nAD in the direction of the P gear is set as the position B; The position of the offset angle mAD in the P gear direction is defined as the position C, and m takes a positive integer. The above-mentioned angle values nAD and mAD are respectively preset and determined through multiple experiments.

The present invention first finds the position A, and in the past, the duty ratio of the extrusion in the non-P position is not allowed to exceed 50% as a condition, records the locked rotor value of the drive motor driving the shaft 11, and determines the position A based on the locked rotor value And the preset angles of position B and position C are used to learn to find position B and position C, so position B and position C are determined by judging the stall value.

The parking actuator position learning method of the present invention solves the technical problem of self-learning suitable P gear lock position and unlock position, and reduces the deviation between the parking actuator and the gearbox. The present invention adopts The unilateral self-learning method finds the non-P position and P position of the closed-loop control, so that the non-P position and the P position are more suitable and reliable.

Although the present invention has been disclosed as above in preferred embodiments, it is not intended to limit the present invention. Those with ordinary knowledge in the technical field to which the present invention belongs can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to what is defined in the claims.

Claims

A method for learning the position of a parking actuator, which is characterized in that it is implemented based on a parking actuator. The parking actuator includes a parking ratchet (2), a parking pawl (13) and a shifting mechanism. The shifting mechanism It includes a rotating shaft (11) with an angle sensor and a limit post (12). The rotating shaft (11) is provided with a first changing baffle (21) and can drive the first changing baffle (21) to rotate. A second change baffle (7) is also rotatably connected, a spring (8) is provided between the first change baffle (21) and the second change baffle (7), and the first change baffle (21) is provided with an extension The exit arm (10) and the limit post (12) are used to block the side of the extension arm (10), and the second change baffle plate (7) is provided with a protruding part (6) corresponding to the working end of the parking pawl (13) );

When the rotating shaft (11) drives the first shift plate (21) to rotate, the first shift plate pushes the second shift plate (7) to rotate through the spring (8);

In the reference position, the parking pawl (13) is outside the tooth groove (4) of the parking ratchet (2), and the limit post (12) is blocked on the side of the extension arm (10), cross section from the shaft (11) A radial line drawn from the center of the circle is set as the reference line (22), which is set as position A at this time; the rotating shaft (11) rotates to a certain angle, and drives the first shift plate (21), the second shift plate (7) and The reference line (22) rotates accordingly, so that the reference line (22) is at the non-P position. At this time, the parking pawl (13) is still outside the parking ratchet (2) tooth groove (4). Set this position as the position B; The rotating shaft (11) continues to rotate at a certain angle, and drives the first shift plate (21), the second shift plate (7) and the reference line (22) to rotate accordingly, so that the reference line (22) is at the P position, At this time, the parking pawl (13) is inserted into a tooth slot (4) of the parking ratchet (2) and set to position C at this time; the rotating shaft (11) continues to rotate to a certain angle and drives the first shift plate (21) , The second change baffle plate (7) and the reference line (22) rotate accordingly, so that the reference line (22) is at the P limit position. At this time, the parking pawl (13) and the tooth groove (4) abut, set Set this time as position D;

Set position A and position D to be the limit positions of non-P gear and P gear, respectively. During position learning, first drive the shaft (11) to turn to position A through open-loop control, and obtain and record the output signal of the angle sensor at this time. When learning position B and position C, the open-loop control P gear position is less than nAD, AD is a fixed angle unit, n takes a positive integer, and the open-loop control squeezing in the direction other than P gear is not allowed to exceed 50%. Record the locked-rotor position of the shaft (11), based on this, the position where the position A is offset to the P gear by the angle nAD is set as position B; the position where the position A is offset to the P gear by the angle mAD is set as the position C, m The value is a positive integer.
A parking actuator position learning method according to claim 1, characterized in that: the limit post (12) is cylindrical, and the reference line (22) and the outer circle of the limit post (12) at the reference position Tangent.
A parking actuator position learning method according to claim 1, characterized in that: the working end of the parking pawl (13) is provided with a first protrusion for inserting into the tooth groove (4) of the parking ratchet (2) (16) and a second protrusion (5) used to connect with the protrusion (6) of the second change baffle plate (7).
The parking actuator position learning method according to claim 1, characterized in that: when the reference line (22) is at the P position and the P limit position, the second protrusion (5) and the second change plate (7) ) The outer peripheral edge (18) of the protruding part (6) is in contact with each other.
A parking actuator position learning method according to claim 1, characterized in that: the movement of the driving shaft (11) through open-loop control and the type of recording angle sensor are all completed by the on-board computer.