WO2023131267A1 - Procédé et appareil de commande pendant un phénomène dent à dent de boîte de vitesses, et véhicule - Google Patents

Procédé et appareil de commande pendant un phénomène dent à dent de boîte de vitesses, et véhicule Download PDF

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Publication number
WO2023131267A1
WO2023131267A1 PCT/CN2023/070886 CN2023070886W WO2023131267A1 WO 2023131267 A1 WO2023131267 A1 WO 2023131267A1 CN 2023070886 W CN2023070886 W CN 2023070886W WO 2023131267 A1 WO2023131267 A1 WO 2023131267A1
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WIPO (PCT)
Prior art keywords
tooth
gearbox
real
time
torque
Prior art date
Application number
PCT/CN2023/070886
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English (en)
Chinese (zh)
Inventor
黄志杰
Original Assignee
长城汽车股份有限公司
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Publication of WO2023131267A1 publication Critical patent/WO2023131267A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/24—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means
    • B60W10/26—Conjoint control of vehicle sub-units of different type or different function including control of energy storage means for electrical energy, e.g. batteries or capacitors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift

Definitions

  • 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.
  • the gears in the rear axle gearbox are relatively stationary.
  • the vehicle controller will request the rear axle gearbox controller to perform gear self-learning.
  • 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.
  • the tooth-to-tooth phenomenon is prone to occur between the gears of the rear axle gearbox.
  • 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.
  • 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.
  • the present application provides a control method when a gear-to-tooth phenomenon occurs in a gearbox, the method comprising:
  • 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;
  • the real-time tooth-to-tooth torque is reduced to 0 to reduce the rotation speed of the motor.
  • the control method when the gearbox occurs a tooth-to-tooth phenomenon further includes:
  • the speed of the vehicle 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;
  • 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 working mode of the vehicle is torque control mode
  • the gear of the vehicle is park gear or neutral gear.
  • the control method when the gear-to-tooth phenomenon occurs in the gearbox further includes:
  • the control method when the gear-to-tooth phenomenon occurs in the gearbox further includes:
  • the gearbox is controlled to perform gear self-learning
  • the second preset rotation speed is smaller than the first preset rotation speed.
  • the aforementioned generation of real-time tooth-to-tooth torque includes:
  • the real-time temperature of the motor is acquired every 0.01 second.
  • the control method when the gear-to-tooth phenomenon occurs in the gearbox further includes:
  • gradient filtering is performed on the real-time tooth-to-tooth torque to obtain the real-time tooth-to-tooth torque after gradient filtering;
  • the motor of the vehicle is controlled in real time, including:
  • the motor of the vehicle is controlled in real time.
  • 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.
  • the vehicle is a hybrid vehicle
  • the gearbox is a rear axle gearbox
  • the motor is a rear axle motor
  • the gearbox is a two-speed gearbox.
  • the first preset rotation speed is 80 revolutions per minute.
  • the preset duration is 0.05 seconds.
  • 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.
  • the torque determination module is also used for:
  • 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;
  • 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 working mode of the vehicle is torque control mode
  • the gear of the vehicle is park gear or neutral gear.
  • the torque determination module is also used for:
  • 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;
  • the second preset rotation speed is smaller than the first preset rotation speed.
  • the torque determination module is specifically used for:
  • 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;
  • the Motor Control Module is used specifically for:
  • the motor of the vehicle is controlled in real time.
  • the motor control module is specifically used for:
  • 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.
  • 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.
  • an embodiment of the present application provides a vehicle, including the electronic device as described in the third 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the control method includes three steps from S101 to S103, which are described in detail as follows.
  • the gearbox controller can detect whether the gear-to-tooth phenomenon occurs in the gearbox.
  • 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.
  • 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.
  • the "generating real-time tooth-to-tooth torque" in the above S101 may include the following steps:
  • the present application does not limit the manner of obtaining the real-time temperature of the motor.
  • 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.
  • 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:
  • 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.
  • 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.
  • 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.
  • 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
  • the corresponding motor is the controller of the rear axle motor.
  • the rear axle gearbox can be a rear axle two-speed gearbox.
  • the control method when the gearbox occurs the tooth-to-tooth phenomenon further includes the following steps:
  • the speed of the vehicle 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;
  • 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 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.
  • 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.
  • 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%.
  • 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.
  • the tooth-to-tooth phenomenon control strategy 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.
  • 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.
  • the control method when the gear-to-tooth phenomenon occurs in the gearbox further includes the following steps:
  • tooth-to-tooth phenomenon control strategy 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • control method when the gear-to-tooth phenomenon occurs in the above-mentioned gearbox further includes:
  • Gradient filtering is performed on the real-time tooth-to-tooth torque to obtain the real-time tooth-to-tooth torque after gradient filtering;
  • 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:
  • the motor of the vehicle is controlled in real time.
  • 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.
  • 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 .
  • the real-time tooth-to-tooth torque can be reduced to 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.
  • the first preset rotation speed may be 80r/min
  • the preset duration may be 0.05s.
  • control method when the gear-to-tooth phenomenon occurs in the above-mentioned gearbox further includes:
  • the gearbox is controlled to perform gear self-learning
  • the second preset rotation speed is smaller than the first preset rotation speed.
  • the vehicle controller 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.
  • the second preset rotation speed may be 50 r/min.
  • the conditions for controlling the gearbox to perform gear self-learning further include:
  • the preset torque mentioned above can be obtained by calibration.
  • the preset torque may be 2 Nm.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the torque determination module 31 is also used for:
  • 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;
  • 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 working mode of the vehicle is torque control mode
  • the gear of the vehicle is park gear or neutral gear.
  • the torque determination module 31 is also used for:
  • control device when the gear-to-tooth phenomenon occurs in the gearbox further includes a self-learning module.
  • 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;
  • the second preset rotation speed is smaller than the first preset rotation speed.
  • the torque determination module 31 is specifically used for:
  • the torque determination module 31 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;
  • the motor control module 32 is specifically used for:
  • the motor of the vehicle is controlled in real time.
  • 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 .
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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.
  • 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.
  • the disclosed device/electronic equipment and method may be implemented in other ways.
  • the apparatus/electronic device embodiments described above are illustrative only.
  • the division of modules or units is only a logical function division, and there may be other division methods in actual implementation.
  • several units or components may be combined or integrated into another system, or some features may be omitted, or not implemented.
  • 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.
  • 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.
  • 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.
  • 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.
  • ROM Read-Only Memory
  • RAM Random Access Memory
  • electric carrier signal telecommunication signal and software distribution medium, etc.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Transmission Device (AREA)

Abstract

La présente invention concerne un procédé et un appareil de commande pendant un phénomène dent à dent dans une boîte de vitesses, et un véhicule. Le procédé comprend les étapes consistant à : lorsqu'il est détecté qu'un phénomène dent à dent se produit dans une boîte de vitesses d'un véhicule, générer un couple dent à dent en temps réel ; réaliser une commande en temps réel sur un moteur électrique en fonction du couple dent à dent en temps réel, de telle sorte que le moteur électrique commence à se mettre en rotation, et entraîne la rotation d'un engrenage subissant un phénomène dent à dent dans la boîte de vitesses ; et lorsqu'il est détecté que la vitesse de rotation du moteur électrique est supérieure à une première vitesse de rotation prédéfinie et que la durée pendant laquelle la vitesse de rotation du moteur électrique est supérieure à la première vitesse de rotation prédéfinie est supérieure à une durée prédéfinie, réduire le couple dent à dent en temps réel à 0, de telle sorte que la vitesse de rotation du moteur électrique est réduite. Dans le procédé de commande, lorsqu'un phénomène dent à dent se produit dans une boîte de vitesses, ledit problème peut être résolu de manière opportune, de telle sorte que la boîte de vitesses peut être mise en prise normalement, et un véhicule peut fonctionner normalement, ce qui répond ainsi aux exigences de déplacement d'un utilisateur.
PCT/CN2023/070886 2022-01-07 2023-01-06 Procédé et appareil de commande pendant un phénomène dent à dent de boîte de vitesses, et véhicule WO2023131267A1 (fr)

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CN202210017708.2 2022-01-07

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CN115123176A (zh) * 2022-01-07 2022-09-30 长城汽车股份有限公司 变速箱发生齿对齿现象时的控制方法、装置及车辆
CN115638242A (zh) * 2022-11-02 2023-01-24 长城汽车股份有限公司 减速箱控制方法、系统、终端设备及计算机可读存储介质
CN115628289A (zh) * 2022-11-02 2023-01-20 长城汽车股份有限公司 减速箱控制方法、系统、终端设备及计算机可读存储介质

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