WO2023131267A1

WO2023131267A1 - Control method and apparatus during tooth-to-tooth phenomenon of gearbox, and vehicle

Info

Publication number: WO2023131267A1
Application number: PCT/CN2023/070886
Authority: WO
Inventors: 黄志杰
Original assignee: 长城汽车股份有限公司
Priority date: 2022-01-07
Filing date: 2023-01-06
Publication date: 2023-07-13
Also published as: CN115123176A

Abstract

A control method and apparatus for when a tooth-to-tooth phenomenon occurs in a gearbox, and a vehicle. The method comprises: when it is detected that a tooth-to-tooth phenomenon occurs in a gearbox of a vehicle, generating a real-time tooth-to-tooth torque; performing real-time control on an electric motor according to the real-time tooth-to-tooth torque, such that the electric motor starts to rotate, and drives a gear experiencing a tooth-to-tooth phenomenon in the gearbox to rotate; and when it is detected that the rotation speed of the electric motor is greater than a first preset rotation speed and the duration in which the rotation speed of the electric motor is greater than the first preset rotation speed is greater than a preset duration, reducing the real-time tooth-to-tooth torque to be 0, such that the rotation speed of the electric motor is reduced. In the control method, when a tooth-to-tooth phenomenon occurs in a gearbox, said problem can be solved in a timely manner, such that the gearbox can be engaged normally, and a vehicle can run normally, thereby meeting travel requirements of a user.

Description

Control method, device and vehicle when tooth-to-tooth phenomenon occurs in gearbox

This patent application claims the priority of Chinese Patent Application No. CN202210017708.2 filed on January 7, 2022. The disclosure of the prior application is incorporated by reference in its entirety into this application.

technical field

The present application relates to the technical field of vehicles, in particular to a control method, device and vehicle when a gear-to-tooth phenomenon occurs in a gearbox.

Background technique

When the hybrid vehicle is at rest, the gears in the rear axle gearbox are relatively stationary. When the hybrid vehicle starts, it will detect the gear information of the rear axle gearbox before the last driving hibernation. If the gear information of the rear axle gearbox before sleep is lost, the vehicle controller will request the rear axle gearbox controller to perform gear self-learning. Through gear self-learning, the rear axle gearbox controller can learn the gear information of the rear axle gearbox. If the gear self-learning fails, the rear axle gearbox cannot be in gear normally; if the gear information of the rear axle gearbox before sleep is not lost or the gear self-learning is successful, the rear axle gearbox can be in gear normally.

However, in the gear self-learning process or in the gear shifting process, the tooth-to-tooth phenomenon is prone to occur between the gears of the rear axle gearbox. When the tooth-to-tooth phenomenon occurs between the gears of the rear-axle gearbox, the rear-axle gearbox cannot be in gear normally, resulting in the vehicle being unable to drive.

The hybrid vehicle refers to a hybrid vehicle (Hybrid Vehicle). The drive system of a hybrid vehicle consists of two or more power units that can operate independently. Hybrid Electric Vehicle (Hybrid Electric Vehicle) is a typical hybrid vehicle.

technical problem

The present application provides a control method, a device and a vehicle when a gear-to-tooth phenomenon occurs in a gearbox, so as to solve the problem that the rear axle gearbox cannot be normally engaged and the vehicle cannot drive when the gear-to-tooth phenomenon occurs in the gearbox.

technical solution

In a first aspect, the present application provides a control method when a gear-to-tooth phenomenon occurs in a gearbox, the method comprising:

generating tooth-to-tooth torque when a tooth-to-tooth phenomenon is detected in the vehicle's gearbox;

According to the real-time tooth-to-tooth torque, the motor of the vehicle is controlled in real time, so that the motor starts to rotate, and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs;

When it is detected that the rotation speed of the motor is greater than the first preset rotation speed, and the duration of the rotation speed of the motor is greater than the first preset rotation speed for longer than the preset duration, the real-time tooth-to-tooth torque is reduced to 0 to reduce the rotation speed of the motor.

In a possible implementation manner, when it is detected that a tooth-to-tooth phenomenon occurs in the gearbox of the vehicle, before the real-time tooth-to-tooth torque is generated, the control method when the gearbox occurs a tooth-to-tooth phenomenon further includes:

Obtain the number of times the gear-to-tooth phenomenon has occurred after the gearbox is powered on this time;

When the number of times is less than the preset number of times threshold, the speed of the vehicle, the SOC (State of Charge) of the power battery of the vehicle, the SOC of the low-voltage battery of the vehicle, the working mode of the motor and the gear of the vehicle are obtained;

When the following conditions are all satisfied, then perform the generating real-time tooth-to-tooth torque: the vehicle speed is less than the preset vehicle speed threshold, the SOC of the power battery is greater than the first preset SOC threshold, the SOC of the low-voltage battery is greater than the second preset SOC threshold, the motor The working mode of the vehicle is torque control mode, and the gear of the vehicle is park gear or neutral gear.

In a possible implementation manner, before obtaining the number of times the gear-to-tooth phenomenon has occurred after the gearbox is powered on this time, the control method when the gear-to-tooth phenomenon occurs in the gearbox further includes:

Obtain the status of the power battery;

When the state of the power battery is in the usable state, perform the step of obtaining the number of times that the gear-to-tooth phenomenon has occurred in the gearbox after this power-on.

In a possible implementation, after reducing the real-time tooth-to-tooth torque to 0 to reduce the speed of the motor, the control method when the gear-to-tooth phenomenon occurs in the gearbox further includes:

When it is detected that the rotational speed of the motor is less than the second preset rotational speed and the vehicle is in a braking state, the gearbox is controlled to perform gear self-learning;

Wherein, the second preset rotation speed is smaller than the first preset rotation speed.

In a possible implementation manner, the aforementioned generation of real-time tooth-to-tooth torque includes:

Obtain the real-time temperature of the motor;

According to the real-time temperature of the motor, look up the table to determine the real-time tooth-to-tooth torque.

In a possible implementation manner, the real-time temperature of the motor is acquired every 0.01 second.

In a possible implementation manner, after the real-time tooth-to-tooth torque is generated, the control method when the gear-to-tooth phenomenon occurs in the gearbox further includes:

After the real-time tooth-to-tooth torque is generated, gradient filtering is performed on the real-time tooth-to-tooth torque to obtain the real-time tooth-to-tooth torque after gradient filtering;

Correspondingly, according to the real-time tooth-to-tooth torque, the motor of the vehicle is controlled in real time, including:

According to the real-time tooth-to-tooth torque after gradient filtering, the motor of the vehicle is controlled in real time.

In a possible implementation, the motor is controlled in real time according to the real tooth-to-tooth torque, including:

A controller that sends real-time tooth-to-tooth torque to the motor;

The controller controls the output torque of the motor according to the real-time tooth-to-tooth torque.

In a possible implementation manner, the vehicle is a hybrid vehicle, the gearbox is a rear axle gearbox, and the motor is a rear axle motor.

In a possible implementation manner, the gearbox is a two-speed gearbox.

In a possible implementation manner, the first preset rotation speed is 80 revolutions per minute.

In a possible implementation manner, the preset duration is 0.05 seconds.

In the second aspect, the present application provides a control device when a gear-to-tooth phenomenon occurs in a gearbox, including:

A torque determination module, configured to generate real-time tooth-to-tooth torque when a tooth-to-tooth phenomenon occurs in the gearbox of the vehicle;

The motor control module is used to control the motor of the vehicle in real time according to the real-time tooth-to-tooth torque, so that the motor starts to rotate and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs;

The torque control module is used to reduce the real-time tooth-to-tooth torque to 0 when it is detected that the rotation speed of the motor is greater than the first preset rotation speed, and the duration of the rotation speed of the motor is greater than the first preset rotation speed is longer than the preset duration, so as to reduce the The speed of the motor.

In a possible implementation, the torque determination module is also used for:

When it is detected that the tooth-to-tooth phenomenon occurs in the gearbox of the vehicle, obtain the number of times that the gearbox has occurred the tooth-to-tooth phenomenon after this power-on;

When the number of times is less than the preset number of times threshold, the speed of the vehicle, the SOC of the power battery of the vehicle, the SOC of the low-voltage battery of the vehicle, the working mode of the motor and the gear of the vehicle are obtained;

In a possible implementation, the torque determination module is also used for:

When the tooth-to-tooth phenomenon of the vehicle's gearbox is detected, the state of the power battery is obtained;

In a possible implementation manner, the control device when the gear-to-tooth phenomenon occurs in the gearbox further includes:

The self-learning module is used to control the gearbox to perform gear self-learning when it is detected that the speed of the motor is less than the second preset speed and the vehicle is in a braking state;

In a possible implementation, the torque determination module is specifically used for:

Obtain the real-time temperature of the motor;

In a possible implementation, the torque determination module is also used for:

Gradient filtering is performed on the real-time tooth-to-tooth torque to obtain the real-time tooth-to-tooth torque after gradient filtering;

Accordingly, the Motor Control Module is used specifically for:

In a possible implementation manner, the motor control module is specifically used for:

Sending the real-time tooth-to-tooth torque to the controller of the motor; wherein, the real-time tooth-to-tooth torque is used to instruct the controller of the motor to control the output torque of the motor to be the real-time tooth-to-tooth torque.

In a third aspect, the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and operable on the processor. When the processor executes the computer program, the above The first aspect or any possible implementation of the first aspect is the steps of the control method when the gear-to-tooth phenomenon occurs in the gearbox.

In a fourth aspect, an embodiment of the present application provides a vehicle, including the electronic device as described in the third aspect.

In the fifth aspect, the embodiment of the present application provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it realizes any of the first aspect or the first aspect. A possible implementation manner is the steps of the control method when the gear-to-tooth phenomenon occurs in the gearbox.

Beneficial effect

The control method, device and vehicle provided by the present application when a gear-to-tooth phenomenon occurs in a gearbox can generate a real-time tooth-to-tooth torque when a tooth-to-tooth phenomenon occurs in the gearbox of the vehicle, and according to the real-time tooth-to-tooth torque, Real-time control of the motor, so that the motor starts to rotate, and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs to rotate, thereby solving the problem of tooth-to-tooth; when it is detected that the speed of the motor is greater than the first preset speed, and the speed of the motor When the duration of the first preset rotation speed is longer than the preset duration, it is determined that the tooth-to-tooth problem has been solved. At this time, the real-time tooth-to-tooth torque is reduced to 0, so that the motor speed decreases and finally stops rotating; the application provides The control method, device and vehicle can eliminate the tooth-to-tooth phenomenon in time when the gear-to-tooth phenomenon occurs in the gearbox, so that the gearbox can be in gear normally, the vehicle can run normally, and the travel needs of users are met.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the accompanying drawings that need to be used in the descriptions of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings in the following description are only for the present application For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is a flow chart of the implementation of the control method when the tooth-to-tooth phenomenon occurs in the gearbox provided by the embodiment of the present application;

Fig. 2 is a structural schematic diagram of the control device when the tooth-to-tooth phenomenon occurs in the gearbox provided by the embodiment of the present application;

Fig. 3 is a schematic diagram of an electronic device provided in an embodiment of the present application.

Embodiments of the present invention

In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

In order to make the purpose, technical solution and advantages of the present application clearer, the following will describe with reference to the accompanying drawings and specific implementation methods.

Referring to FIG. 1 , it shows a flow chart of a control method provided by an embodiment of the present application when a gear-to-tooth phenomenon occurs in a gearbox. The execution body of the method may be an electronic device, and the electronic device may be a vehicle controller of a vehicle. In this embodiment, the control method includes three steps from S101 to S103, which are described in detail as follows.

In S101 , when it is detected that a tooth-to-tooth phenomenon occurs in the gearbox of the vehicle, a real-time tooth-to-tooth torque is generated.

In this step, the gearbox controller can detect whether the gear-to-tooth phenomenon occurs in the gearbox. When the tooth-to-tooth phenomenon of the gearbox is detected, the tooth-to-tooth flag is activated, and the tooth-to-tooth flag is sent to the vehicle controller. After the vehicle controller detects that the tooth-to-tooth flag is activated, it determines that the gear-to-tooth phenomenon occurs in the gearbox.

Normally, when two gears turn, the teeth of one gear just meet and enter the tooth slots of the other gear. Tooth-to-tooth phenomenon means that when two gears rotate, the teeth of one gear fail to enter the slots of the other gear, but meet the teeth of the other gear.

A tooth-to-tooth control strategy may be activated when tooth-to-tooth phenomenon is detected in the gearbox. S101 may be the first step of the control strategy, ie generating tooth-to-tooth torque. Tooth-to-tooth torque refers to the torque required to solve the tooth-to-tooth phenomenon. The tooth-to-tooth torque is used to drive the motor that drives the gears of the gearbox, specifically the motor that drives the tooth-to-tooth gear of the gearbox.

In a possible implementation manner, the "generating real-time tooth-to-tooth torque" in the above S101 may include the following steps:

Obtain the real-time temperature of the motor;

The present application does not limit the manner of obtaining the real-time temperature of the motor. Exemplarily, the real-time temperature of the motor may be detected by a corresponding sensor, or the real-time temperature of the motor may be acquired by any other practicable manner.

In a possible implementation, the above-mentioned look-up table to determine the real-time tooth-to-tooth torque according to the real-time temperature of the motor may include the following steps:

According to the preset table, the real-time tooth-to-tooth torque corresponding to the real-time temperature of the motor is obtained; wherein, the preset table stores the corresponding relationship between the motor temperature and the tooth-to-tooth torque.

The corresponding relationship between motor temperature and tooth-to-tooth torque in the preset table can be obtained through calibration. The torque of the driving motor varies with the temperature of the motor. The lower the temperature of the motor, the greater the corresponding tooth-to-tooth torque.

According to the real-time temperature of the motor of the vehicle, it is a real-time process to check the table to determine the real-time tooth-to-tooth torque. As the temperature of the motor changes, the real-time tooth-to-tooth torque also changes in real time. Exemplarily, the real-time temperature of the motor can be detected every 0.01 second, and the corresponding real-time tooth-to-tooth torque can be obtained.

In this embodiment, the real-time tooth-to-tooth torque is determined through the real-time temperature of the motor; furthermore, the required torque can be accurately determined according to the real-time temperature of the motor, so as to ensure that the torque can solve the tooth-to-tooth phenomenon.

In a possible implementation manner, the vehicle is a hybrid vehicle, the gearbox is a rear axle gearbox, the corresponding gearbox controller is a rear axle gearbox controller, the corresponding motor is a rear axle motor, and the corresponding motor The controller is the controller of the rear axle motor. Wherein, the rear axle gearbox can be a rear axle two-speed gearbox.

In a possible implementation, when it is detected that the tooth-to-tooth phenomenon occurs in the gearbox of the vehicle, before the real-time tooth-to-tooth torque is generated, the control method when the gearbox occurs the tooth-to-tooth phenomenon further includes the following steps:

When the following conditions are met, the action of generating real-time tooth-to-tooth torque is executed: the vehicle speed is less than the preset vehicle speed threshold, the SOC of the power battery is greater than the first preset SOC threshold, and the SOC of the low-voltage battery is greater than the second preset SOC threshold , the working mode of the motor is torque control mode, and the gear of the vehicle is park gear (P gear) or neutral gear (N gear); when any one of the above conditions is not satisfied, the generation of real-time tooth-to-tooth The action of the torque terminates the process shown in Fig. 1 .

The number of tooth-to-tooth phenomena that have occurred in the above-mentioned gearboxes after this power-on refers to the tooth-to-tooth phenomena that have occurred before the current tooth-to-tooth phenomenon occurs after the vehicle is powered on this time (excluding current occurrences) tooth-to-tooth phenomenon). The preset times threshold can be set according to actual needs, for example, it can be 3 times.

When the number of tooth-to-tooth phenomena has occurred in the gearbox after power-on this time is greater than or equal to the preset number threshold, it is considered that a relatively serious fault has occurred in the gearbox; at this time, the tooth-to-tooth phenomenon control strategy is not allowed to be activated. Protect the gearbox.

Hybrid vehicles generally have two batteries, a power battery and a low-voltage battery. The power battery can also be called a high-voltage battery, which mainly supplies power to the high-voltage equipment in the vehicle. The low-voltage battery mainly supplies power to the low-voltage system in the vehicle and provides communication signals, and the low-voltage battery can provide 12V power supply.

The preset vehicle speed threshold, the first preset SOC threshold and the second preset SOC threshold can all be calibrated according to actual needs. Exemplarily, the preset vehicle speed threshold may be a value close to 0, for example, 1 km/h; the first preset SOC threshold may be 30%, and the second preset SOC threshold may be 80%.

If the vehicle speed is lower than the preset vehicle speed threshold, and the gear of the vehicle is park or neutral, it means that the vehicle is in a stationary state. The SOC of the power battery is greater than the first preset SOC threshold, and the SOC of the low-voltage battery is greater than the second preset SOC threshold, indicating that the battery has sufficient power. The working mode of the motor is torque control mode, which means that the motor can output torque normally.

In this embodiment, when the tooth-to-tooth phenomenon is detected in the gearbox of the vehicle, and the following conditions are met, the tooth-to-tooth phenomenon control strategy is allowed to be activated, and subsequent steps are performed: the vehicle speed is less than the preset vehicle speed threshold, the power battery The SOC is greater than the first preset SOC threshold, the SOC of the low-voltage battery is greater than the second preset SOC threshold, the working mode of the motor is the torque control mode, and the gear of the vehicle is park or neutral; when any of the above conditions is not When it is satisfied, the tooth-to-tooth phenomenon control strategy is not allowed to be activated, and the subsequent steps are not performed; at this time, a warning message can be issued to remind the user that the tooth-to-tooth phenomenon occurs in the gearbox.

In this embodiment, the tooth-to-tooth phenomenon is allowed to be activated only when the number of tooth-to-tooth phenomena that have occurred in the gearbox after this power-on is less than the preset number threshold, and the vehicle is in a stationary state, the battery power is sufficient, and the motor can output torque. Counter-tooth phenomenon control strategy; this can protect the gearbox and prevent more serious faults in the gearbox, thereby protecting the safety of the entire vehicle.

In some embodiments, before obtaining the number of times the gear-to-tooth phenomenon has occurred after the gearbox is powered on this time, the control method when the gear-to-tooth phenomenon occurs in the gearbox further includes the following steps:

Obtain the status of the power battery;

In this embodiment, when a tooth-to-tooth phenomenon occurs in the gearbox of the vehicle, it is first judged whether the power battery is available; tooth phenomenon control strategy; then, follow up to determine whether to allow activation of the tooth-to-tooth phenomenon control strategy; if the state of the power battery is unavailable, there is no need to perform subsequent judgments to allow the activation of the tooth-to-tooth phenomenon control strategy A step of.

The controller of the power battery (which is an important part of the battery management system) can detect the status of the power battery and send the status of the power battery to the vehicle controller, so that the vehicle controller can obtain the status of the power battery.

In S102, according to the real-time tooth-to-tooth torque, the motor of the vehicle is controlled in real time, so that the motor starts to rotate, and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs to rotate.

In this step, the motor is controlled in real time according to the real-time tooth-to-tooth torque, so that the motor starts to rotate (the speed gradually increases), and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs, thereby achieving the solution of tooth-to-tooth purpose of the phenomenon.

In a possible implementation manner, the "real-time control of the motor according to the real-time tooth-to-tooth torque" in the above S102 may include the following steps:

The real-time tooth-to-tooth torque is sent to a controller of the motor, which controls the actual torque of the motor based on the real-time tooth-to-tooth torque.

According to the above description, the tooth-to-tooth torque can be changed in real time; therefore, the control of the motor by the controller of the motor is also changed in real time.

Exemplarily, the real-time temperature of the motor can be detected every 0.01 seconds, and the corresponding real-time tooth-to-tooth torque can be obtained; then the real-time tooth-to-tooth torque can be sent to the controller of the motor, so that the controller of the motor can The real-time tooth-to-tooth torque controls the motor in real time; specifically, the output torque of the motor can be controlled to be the same as the real-time tooth-to-tooth torque.

In a possible implementation manner, after the above S101, the control method when the gear-to-tooth phenomenon occurs in the above-mentioned gearbox further includes:

Correspondingly, the "real-time control of the motor of the vehicle according to the real-time tooth-to-tooth torque" in the above S102 may include:

After the real-time tooth-to-tooth torque is obtained in S101, the existing gradient filtering method can be used to perform gradient filtering on the real-time tooth-to-tooth torque; in S102, the real-time tooth-to-tooth torque after gradient filtering can be sent to the controller of the motor . Therefore, the controller of the motor can control the motor in real time according to the real-time tooth-to-tooth torque after gradient filtering.

In S103, when it is detected that the rotation speed of the motor is greater than the first preset rotation speed, and the duration of the rotation speed of the motor is greater than the first preset rotation speed is longer than the preset duration, the real-time tooth-to-tooth torque is reduced to 0, so as to reduce the speed of the motor. Rotating speed.

In the step, when the rotation speed of the motor is greater than the first preset rotation speed, and the duration of the rotation speed of the motor is greater than the first preset rotation speed for longer than the preset duration, it can be considered that the motor has driven the gear of the gearbox where the tooth-to-tooth phenomenon occurs rotation and the tooth-to-tooth phenomenon has been eliminated; that is, among the two gears where the tooth-to-tooth phenomenon occurs, the teeth of one gear have successfully entered the tooth slots of the other gear, and the two gears have been able to cooperate with each other normally and carry out transmission . At this point, the real-time tooth-to-tooth torque can be reduced to 0. After the real-time tooth-to-tooth torque received by the controller of the motor is 0, the rotational speed of the controlled motor is gradually reduced, and finally reduced to 0, that is, the motor stops rotating.

The above-mentioned first preset rotation speed and preset duration can be calibrated according to actual needs. Exemplarily, the first preset rotation speed may be 80r/min, and the preset duration may be 0.05s.

In a possible implementation manner, after the above S103, the control method when the gear-to-tooth phenomenon occurs in the above-mentioned gearbox further includes:

In this embodiment, when the rotation speed of the motor is lower than the second preset rotation speed and the vehicle is in the braking state, the vehicle controller exits the tooth-to-tooth phenomenon control strategy and requests the gearbox to perform gear self-learning to learn the current The gear position of the gearbox, and then realize the subsequent gear shifting action. The vehicle controller can send self-learning instructions to the gearbox controller, and the gearbox controller controls the gearbox to perform gear self-learning according to the self-learning instructions.

The second preset rotation speed is lower than the first preset rotation speed, and the value of the second preset rotation speed can be calibrated according to actual needs. Exemplarily, the second preset rotation speed may be 50 r/min.

In a possible implementation manner, the conditions for controlling the gearbox to perform gear self-learning further include:

When the real-time tooth-to-tooth torque is less than the preset torque.

The preset torque mentioned above can be obtained by calibration. Exemplarily, the preset torque may be 2 Nm.

It should be noted that the gearbox can be a two-speed gearbox or a multi-speed gearbox, for example, a three-speed gearbox, a four-speed gearbox, etc., which is not limited in this application.

The control method provided in the present application when the gear-to-tooth phenomenon occurs in the gearbox can be applied to hybrid vehicles, and can also be applied to other applicable vehicles, such as pure electric vehicles, etc., which is not limited in the present application.

The control method provided by this application can determine the real-time tooth-to-tooth torque according to the real-time temperature of the motor of the vehicle when the tooth-to-tooth phenomenon occurs in the gearbox of the vehicle; Control, so that the motor starts to rotate, and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs to rotate, thereby solving the problem of tooth-to-teeth; when the motor speed is detected to be greater than the first preset speed, and the motor speed is greater than the first preset speed When the duration of the set speed is longer than the preset time, it is determined that the tooth-to-tooth problem has been solved. At this time, the real-time tooth-to-tooth torque is reduced to 0, so that the speed of the motor decreases and finally stops. The control method provided by the present application can eliminate the tooth-to-tooth phenomenon in time when the gear-to-tooth phenomenon occurs in the gearbox, so that the gearbox can be in gear normally, the vehicle can run normally, and the travel needs of users are met.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the sequence of execution; the sequence of execution of the steps should be determined by their functions and internal logic, and the sequence numbers of the steps should not constitute any limitation on the implementation process of the present application .

The following are device implementations of the present application, and for details that are not described in detail, reference may be made to the above corresponding method implementations.

Fig. 2 is a schematic structural diagram of a control device when a tooth-to-tooth phenomenon occurs in a gearbox provided by an embodiment of the present application. For ease of illustration, only the parts relevant to the present application are shown in the figure.

As shown in FIG. 2 , the control device 30 when the gear-to-tooth phenomenon occurs in the gearbox includes a torque determination module 31 , a motor control module 32 and a torque control module 33 .

The torque determination module 31 is used to generate real-time tooth-to-tooth torque when a tooth-to-tooth phenomenon occurs in the gearbox of the vehicle;

The motor control module 32 is used to control the motor of the vehicle in real time according to the real-time tooth-to-tooth torque, so that the motor starts to rotate, and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs;

The torque control module 33 is used to reduce the real-time tooth-to-tooth torque to 0 when it is detected that the rotation speed of the motor is greater than the first preset rotation speed, and the duration of the rotation speed of the motor is greater than the first preset rotation speed is longer than the preset duration. Reduce the speed of the motor.

In this embodiment, the torque determination module generates real-time tooth-to-tooth torque when the tooth-to-tooth phenomenon is detected in the gearbox of the vehicle, and the motor control module controls the motor in real time according to the real-time tooth-to-tooth torque, so that the motor Start to rotate, and drive the gear in the gearbox where the tooth-to-tooth phenomenon occurs to rotate, thereby solving the problem of tooth-to-tooth; through the torque control module, when the speed of the motor is detected to be greater than the first preset speed, and the speed of the motor is greater than the first When the duration of the preset speed is longer than the preset time, it is determined that the tooth-to-tooth problem has been solved, and at this time, the real-time tooth-to-tooth torque is reduced to 0, so that the motor speed is reduced and finally stops rotating; the control provided by this embodiment The device can eliminate the tooth-to-tooth phenomenon in time when the gear-to-tooth phenomenon occurs in the gearbox, so that the vehicle can shift gears normally and ensure driving safety.

In a possible implementation manner, the torque determination module 31 is also used for:

In a possible implementation manner, the control device when the gear-to-tooth phenomenon occurs in the gearbox further includes a self-learning module.

In a possible implementation manner, the torque determination module 31 is specifically used for:

Obtain the real-time temperature of the motor;

Correspondingly, the motor control module 32 is specifically used for:

In a possible implementation manner, the motor control module 32 is specifically used for:

The present application also provides a computer program product, which has a program code, and when the program code runs in a corresponding processor, controller, computing device or electronic equipment, it executes the control when the tooth-to-tooth phenomenon occurs in any of the above-mentioned gearboxes The steps in the implementation of the method are, for example, S101 to S103 shown in FIG. 1 . Those skilled in the art should understand that the methods and corresponding devices proposed in the embodiments of the present application can be implemented in various forms of hardware, software, firmware, dedicated processors or combinations thereof. Special purpose processors may include Application Specific Integrated Circuits (ASICs), Reduced Instruction Set Computers (RISCs), and/or Field Programmable Gate Arrays (FPGAs). The methods and devices proposed in the various embodiments of the present application are preferably implemented as a combination of hardware and software. The software is preferably installed as an application program on the program storage device. It is typically a computer platform based machine having hardware, such as one or more central processing units (CPUs), random access memory (RAM), and one or more input/output (I/O) interfaces. An operating system is also typically installed on the computer platform. Various procedures and functions described herein may be part of the application program, or a part thereof may be executed by the operating system.

Fig. 3 is a schematic diagram of an electronic device provided by the present application. As shown in FIG. 3 , the electronic device 4 includes: a processor 40 , a memory 41 , and a computer program 42 stored in the memory 41 and operable on the processor 40 . When the processor 40 executes the computer program 42 , the above-mentioned steps in the implementation of the control method when the tooth-to-tooth phenomenon occurs in each gearbox, such as S101 to S103 shown in FIG. 1 , are implemented. Alternatively, when the processor 40 executes the computer program 42, the functions of the modules/units in the above-mentioned device implementations are implemented, for example, the functions of the modules 31 to 33 shown in FIG. 2 .

Exemplarily, the computer program 42 can be divided into one or more modules/units; for example, the computer program 42 can be divided into the modules 31 to 33 shown in FIG. 2 . These modules/units may be stored in the memory 41 and executed by the processor 40 to complete/implement the solutions provided in this application. These modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and these instruction segments can describe the execution process of the computer program 42 in the electronic device 4 .

The electronic device 4 may be a device such as a vehicle controller. The electronic device 4 may include, but is not limited to, a processor 40 and a memory 41 . Those skilled in the art can understand that FIG. 3 is only an example of the electronic device 4 and does not constitute a limitation to the electronic device 4 . Electronic device 4 may include more or fewer components than shown in FIG. 3 , or combine certain components, or different components. For example, the electronic device 4 may also include an input and output device, a network access device, a bus, and the like.

The processor 40 can be a central processing unit (Central Processing Unit, CPU), and can also be other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Field Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any other conventional processor or the like.

The storage 41 may be an internal storage unit of the electronic device 4 , such as a hard disk or memory of the electronic device 4 . The memory 41 can also be an external storage device of the electronic device 4, such as a plug-in hard disk equipped on the electronic device 4, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash memory card (Flash Card) and so on. Further, the memory 41 may also include both an internal storage unit of the electronic device 4 and an external storage device. The memory 41 is capable of storing a computer program 42 and other programs and data required by the electronic device 4 . The memory 41 is also capable of temporarily storing data that has been output or will be output.

Corresponding to the above-mentioned electronic equipment, the present application also provides a vehicle, the vehicle includes the above-mentioned electronic equipment, and the beneficial effect produced by it is the same as that of the above-mentioned electronic equipment.

Those skilled in the art can clearly understand that for convenience and brevity of description, only the division of the above functional units and modules is used as an example for illustration. In practical applications, the above function allocation can be completed by different functional units or modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the implementation manner may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the above-mentioned device, reference may be made to the corresponding process in the foregoing method implementation manner, and details are not repeated here.

In the foregoing implementation manners, the descriptions of each implementation manner have their own emphases, and for parts that are not detailed or recorded in a certain implementation manner, refer to the relevant descriptions of other implementation manners.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in the various embodiments disclosed in the present application can be realized by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but these implementation methods should not be regarded as exceeding the scope of the present application.

In the implementation manners provided in this application, it should be understood that the disclosed device/electronic equipment and method may be implemented in other ways. For example, the apparatus/electronic device embodiments described above are illustrative only. For example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation. For example, several units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units. That is, the above components and units may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the technical solution provided by this embodiment.

If the integrated module/unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned method implementation manners, which may be completed by controlling related hardware through computer programs. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, it can realize the steps in the above-mentioned embodiments of the control method when the tooth-to-tooth phenomenon occurs in each gearbox. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a removable hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (Read-Only Memory, ROM) , random access memory (Random Access Memory, RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer readable media exclude electrical carrier signals and telecommunication signals under legislative and patent practice.

Furthermore, the embodiments shown in the drawings of the present application or the features of the various embodiments mentioned in this specification should not be understood as independent features of each other. Rather, each feature described in one example of an embodiment can be combined with one or more desired features from other embodiments to produce other embodiments that are not described in words or with reference to the figures.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still apply to the foregoing embodiments Modifications to the technical solutions recorded in the method, or equivalent replacement of some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the application, and should be included in the Within the protection scope of this application.

Claims

A control method when a gear-to-tooth phenomenon occurs in a gearbox, characterized in that it includes:

Generate real-time tooth-to-tooth torque when a tooth-to-tooth phenomenon occurs in the vehicle's gearbox;

According to the real-time tooth-to-tooth torque, the motor of the vehicle is controlled in real time, so that the motor starts to rotate, and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs;

When it is detected that the rotation speed of the motor is greater than the first preset rotation speed, and the duration of the rotation speed of the motor is greater than the first preset rotation speed is longer than the preset duration, the real-time tooth-to-tooth torque is reduced to 0 to reduce the The speed of the motor.
The control method when a gear-to-tooth phenomenon occurs in a gearbox according to claim 1, wherein when it is detected that a tooth-to-tooth phenomenon occurs in a gearbox of a vehicle, before said generating the real-time tooth-to-tooth torque, said The control method when the gear-to-tooth phenomenon occurs in the gearbox also includes:

Obtain the number of times that the gear-to-tooth phenomenon has occurred in the gearbox after this power-on;

When the number of times is less than the preset number of times threshold, obtain the vehicle speed of the vehicle, the SOC (State of Charge) of the power battery of the vehicle, the SOC of the low-voltage battery of the vehicle, and the operation of the motor the mode and gear of said vehicle;

When the following conditions are all satisfied, then execute the generating real-time tooth-to-tooth torque: the vehicle speed is less than a preset vehicle speed threshold, the SOC of the power battery is greater than the first preset SOC threshold, and the SOC of the low-voltage battery is greater than the second The SOC threshold is preset, the working mode of the electric motor is a torque control mode, and the gear of the vehicle is a parking gear or a neutral gear.
The control method when the gear-to-tooth phenomenon occurs in the gearbox according to claim 2, characterized in that before the acquisition of the number of times the gear-to-tooth phenomenon has occurred after the gearbox is powered on this time, the shifting The control method when the tooth-to-tooth phenomenon occurs in the box also includes:

Obtain the state of the power battery;

When the state of the power battery is in the usable state, the acquisition of the number of times that the gear-to-tooth phenomenon has occurred after the gearbox is powered on this time is performed.
The control method when the tooth-to-tooth phenomenon occurs in the gearbox according to claim 1, characterized in that, after the real-time tooth-to-tooth torque is reduced to 0 to reduce the speed of the motor, the gearbox occurs Control methods for tooth-to-tooth phenomenon also include:

When it is detected that the rotation speed of the motor is lower than the second preset rotation speed and the vehicle is in a braking state, the gearbox is controlled to perform gear self-learning;

Wherein, the second preset rotation speed is smaller than the first preset rotation speed.
The control method when the tooth-to-tooth phenomenon occurs in the gearbox according to claim 1, wherein said generating real-time tooth-to-tooth torque includes:

Obtain the real-time temperature of the motor;

According to the real-time temperature of the motor, the real-time tooth-to-tooth torque is determined by looking up a table.
The control method when the gear-to-tooth phenomenon occurs in the gearbox according to claim 5, wherein the real-time temperature of the motor is acquired every 0.01 second.
The control method when the tooth-to-tooth phenomenon occurs in the gearbox according to claim 1, characterized in that, after the real-time tooth-to-tooth torque is generated, the control method when the tooth-to-tooth phenomenon occurs in the gearbox further comprises:

After the real-time tooth-to-tooth torque is generated, gradient filtering is performed on the real-time tooth-to-tooth torque to obtain the real-time tooth-to-tooth torque after gradient filtering;

Correspondingly, the real-time control of the motor of the vehicle according to the real-time tooth-to-tooth torque includes:

The motor of the vehicle is controlled in real time according to the real-time tooth-to-tooth torque after gradient filtering.
According to the control method when the tooth-to-tooth phenomenon occurs in the gearbox according to any one of claims 1 to 7, it is characterized in that the real-time control of the motor according to the real-time tooth-to-tooth torque includes:

sending real-time tooth-to-tooth torque to a controller of the motor;

The controller controls the output torque of the motor according to the real-time tooth-to-tooth torque.
According to the control method when the tooth-to-tooth phenomenon occurs in the gearbox according to any one of claims 1 to 7, it is characterized in that the vehicle is a hybrid vehicle, the gearbox is a rear axle gearbox, and the motor is Rear axle motor.
The control method when the gear-to-tooth phenomenon occurs in the gearbox according to claim 9, wherein the gearbox is a two-speed gearbox.
The control method when the gear-to-tooth phenomenon occurs in the gearbox according to any one of claims 1 to 7, characterized in that the first preset rotation speed is 80 revolutions per minute.
The control method when the gear-to-tooth phenomenon occurs in the gearbox according to any one of claims 1 to 7, wherein the preset time length is 0.05 seconds.
A control device for gear-to-tooth phenomenon in gearbox, characterized in that it includes:

A torque determination module, configured to generate real-time tooth-to-tooth torque when a tooth-to-tooth phenomenon occurs in the gearbox of the vehicle;

The motor control module is used to control the motor of the vehicle in real time according to the real-time tooth-to-tooth torque, so that the motor starts to rotate, and drives the gear in the gearbox where the tooth-to-tooth phenomenon occurs to rotate;

A torque control module, configured to reduce the real-time tooth-to-tooth torque to 0 to reduce the speed of the motor.
A vehicle, comprising an electronic device, the electronic device comprising a memory, a processor, and a computer program stored in the memory and operable on the processor, wherein the processor executes the computer program When realizing the steps of the control method when the gear-to-tooth phenomenon occurs in any one of claims 1 to 12 above.
A computer-readable storage medium, the computer-readable storage medium stores a computer program, characterized in that, when the computer program is executed by a processor, the gearbox generator described in any one of claims 1 to 12 above can be realized Steps of the control method in case of tooth-to-tooth phenomenon.