CN102889375B - Method for controlling gear shifting of two-gear mechanical automatic gearbox of pure electric automobile - Google Patents
Method for controlling gear shifting of two-gear mechanical automatic gearbox of pure electric automobile Download PDFInfo
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- CN102889375B CN102889375B CN201210426916.4A CN201210426916A CN102889375B CN 102889375 B CN102889375 B CN 102889375B CN 201210426916 A CN201210426916 A CN 201210426916A CN 102889375 B CN102889375 B CN 102889375B
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Abstract
The invention relates to a method for controlling gear shifting of a two-gear mechanical automatic gearbox of a pure electric automobile. By the method, during first gear shifting after the automobile is started each time, whether a target gear is engaged or not is not only judged through a displacement sensor signal, but also a rotation blockage signal of a gear-shifting motor isadded for controlling, so that whether a displacement sensor generates signal drift or not is judged, an output valve of the displacement gear is marked, and the numerical value judgment range for judging whether corresponding gears are in place in a control program is corrected in time. By the method, each time a vehicle is driven, the displacement sensor is diagnosed, and after a signal drift phenomenon, the signal drift is corrected in time, so that the influence on the gear shifting process caused by signal drift is reduced, and the accuracy and the reliability of the entire gear-shifting process are improved.
Description
Technical field
The present invention relates to automatic gearbox control technique field, particularly two grades of mechanical automatic gearbox gear shifting controlling methods of a kind of electric vehicle.
Background technique
Day by day serious along with energy crisis and environmental pollution, it is further obvious that pure electric automobile is pollution-free, the advantage of zero-emission seems.Meanwhile, along with the progress of technology, the property indices of pure electric automobile will approach orthodox car, and the price of pure electric vehicle also will further reduce, and it will become one of following main traffic instrument.And automatic transmission is as one of kernel component of pure electric automobile power train, has also become the emphasis of electric vehicle area research.
What the power transmission mode of pure electric vehicle mainly adopted at present is fixed speed ratio retarder and two grades or third gear automatic mechanical transmission.So-called automatic mechanical transmission (automated mechanical transmission, AMT), handles actuator by ECU (Electrical Control Unit) exactly and automatically completes the mechanical transmission of plucking shelves, block selecting and the process of putting into gear.It has that transmission efficiency is high, good economy performance, simple in structure, low cost and other advantages, and therefore AMT has vast potential for future development, has domesticly also launched a large amount of correlative studys to automatic mechanical transmission.And for pure electric automobile, if consider the kind of drive that uses fixed speed ratio retarder, can make the requirement of drive motor improve, and can not bring into play preferably the efficiency of drive motor, therefore, on pure electric automobile, install automatic transmission additional and just become the direction of this field future development.At present, pure electric automobile is mainly two grades or third gear automatic mechanical transmission by automatic transmission, and wherein third gear automatic mechanical transmission is mainly used in pure electric coach.
Because pure electric automobile is different from the structure of traditional combustion engine automobile, its gearshift procedure is difference to some extent also, therefore how to make that pure electric automobile is smooth-going completes gear shift reliably, is exactly the key content of its automatic transmission performance study.At present, the gearshift procedure of pure electric automobile two-shift automatic variable speed device is mainly: when normal vehicle operation, drive motor is in torque mode; After gear shift starts, in order to make, whole process is smooth-going carries out, and plucks a grade front wheel driving motor and will switch to free schema from torque mode, and externally exporting torque is zero; Pluck shelves complete after, while entering neutral gear position, drive motor switches to speed-regulating mode from free schema, reduces synchronizer active part and secondary part speed discrepancy by speed governing; After speed governing completes, for putting into gear, drive motor switches back free schema by speed-regulating mode; After having put into gear, drive motor switches to torque mode by free schema, and according to driver intention output driving torque.
In above gearshift procedure, the judgement of synchronizer clutch collar movement position is completed by displacement transducer, therefore, the output signal of displacement transducer just becomes the key that accurately completes reliably gear shift.But, due to objective factors such as ambient temperatures, and automobile such as may not use for a long time at the impact of subjective factor, inevitably can cause sensor to produce the phenomenon of signal drift, thereby affect the accuracy of its output signal, will reduce like this accuracy and the reliability of gearshift procedure, even cause gear-change operation to complete smoothly.
For pure electric automobile, should seek a kind of simple effective method, reduce the impact of sensor signal drift, improve accuracy and the reliability of whole gearshift procedure.
Summary of the invention
Object of the present invention is just to provide two grades of mechanical automatic gearbox gear shifting controlling methods for a kind of pure electric automobile, it in time in Correction and Control program corresponding gear whether in the determination range of shelves, reduce the impact that sensor signal drift produces gearshift procedure, improve reliability and the accuracy of gear shift.
The object of the invention is to realize by such technological scheme, it includes transmission control unit TCU, for driving the gear shifting motor of gear-shifting actuating mechanism and the displacement transducer of monitoring gearshift procedure synchronizer clutch collar position, and gear shift concrete grammar comprises:
1) wait for shift signal, transfer step 2 to after receiving shift signal);
2) enter and pluck shelves control, TCU controls gear shifting motor running, plucks after shelves complete and enters step 3);
3) gear shifting motor quits work, and entire car controller ECU controls drive motor and carries out speed governing, after speed governing completes, proceeds to step 4);
4) enter engage a gear control, TCU controls gear shifting motor entry into service, TCU judges whether that by displacement transducer engage a gear is complete, if reaching target gear, displacement transducer output signal hangs up corresponding value, gear shifting motor quits work, if displacement transducer output signal miss the mark gear hangs up corresponding value, continue engage a gear, until reaching target gear, displacement transducer output signal hangs up corresponding judgment value;
It is characterized in that, after automobile starting, TCU records under current range state, the output value of displacement transducer
α 1; TCU receives after shift signal, determines whether gear shift for the first time, if not step 4) enters normal engage a gear stroke; If so, the stroke of engage a gear described in step 4) is further comprising the steps of:
4-1) TCU judges by the output value of displacement transducer whether engage a gear puts in place, if put in place, postpones
after, enter step 4-2); If do not put in place, enter step 4-3);
4-2) TCU judges whether stall of gear shifting motor according to gear shifting motor real-time current signal, if produce stall signal, enters step 4-4); If do not produce stall signal, TCU sensor fault code is set to 1, and the gear shifting motor engage a gear that remains in operation, until produce stall signal, enters step 4-4);
4-3) TCU judges whether stall of gear shifting motor according to gear shifting motor real-time current signal, if produce stall signal, TCU sensor fault code is set to 1, enters step 4-4); If do not produce stall signal, continue engage a gear, enter step 4-1);
4-4) gear shifting motor quits work, and TCU records the output value of current gear bottom offset sensor
α 2if sensor fault code is 1, enters and revise step 4-5);
4-5) utilize
α 1with
α 2displacement transducer is demarcated, the disconnected scope that in Correction and Control program, whether corresponding gear is sentenced at shelves, after having revised, TCU sets to 0 sensor fault code.
Further, described step 2) in pluck a grade stroke and include:
2-1) drive motor switches to free schema from torque mode, drive motor outputting power under torque mode, and under free schema, drive motor stops outputting power;
Whether 2-2) gear shifting motor entry into service, pluck shelves by the output signal judgement of displacement transducer and complete.
Further, step 2) in judge that plucking the determination methods that whether completes of shelves is: the output value of displacement transducer is used for recording the current position state of synchronizer clutch collar, can judge that by the output value of displacement transducer target shift bit synchronizer clutch collar is jointing state or disengaged position, in disengaged position lower time, arrive neutral gear position, pluck shelves and complete.
Further, in step 3), the method for drive motor speed governing is: go out the rotating speed of the combination gear that target gear is corresponding according to the current motion speed of the automobile gear ratio calculation corresponding with target gear, and as rotating speed of target, drive motor is carried out to speed regulating control.
Further, normal engage a gear stroke includes: drive motor switches to free schema, drive motor outputting power under torque mode, and under free schema, drive motor stops outputting power; Gear shifting motor entry into service, carries out engage a gear, judges by displacement transducer whether engage a gear finishes.
Owing to having adopted technique scheme, the present invention has advantages of as follows:
1, the strategy step that the present invention proposes is simple, and it is convenient to control, and realizes easily;
2, by add gear shifting motor stall signal in gearshift procedure, can judge displacement transducer whether signal drift phenomenon occurs;
3, can realize the demarcation to displacement transducer, in time in Correction and Control program to corresponding gear whether in the determination range of shelves, effectively reduce the impact that displacement transducer drifts about on gearshift procedure, make ECU (Electrical Control Unit) can accurately judge the position of current synchronizer clutch collar, thereby reach the object of accurate gear shift;
4, can avoid in traditional control strategy, because sensor signal drift makes TCU, the position in gearshift procedure be produced to erroneous judgement, thereby cause the phenomenon of gear shift smoothly, improve the reliability of gearshift procedure.
Other advantages of the present invention, target and feature will be set forth to a certain extent in the following description, and to a certain extent, based on will be apparent to those skilled in the art to investigating below, or can be instructed from the practice of the present invention.Target of the present invention and other advantages can be realized and be obtained by specification and claims below.
Brief description of the drawings
Brief description of the drawings of the present invention is as follows.
Fig. 1 is that the present invention diagnoses gear shift schematic flow sheet;
Fig. 2 is normal gear shift schematic flow sheet.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
A kind of two grades of mechanical automatic gearbox gear shifting controlling methods for pure electric automobile, include transmission control unit TCU, for drive gear-shifting actuating mechanism gear shifting motor and monitoring gearshift procedure synchronizer clutch collar position displacement transducer, gear shift concrete grammar comprises:
1) wait for shift signal, transfer step 2 to after receiving shift signal);
2) enter and pluck shelves control, TCU controls gear shifting motor running, plucks after shelves complete and enters step 3);
3) gear shifting motor quits work, and entire car controller ECU controls drive motor and carries out speed governing, after speed governing completes, proceeds to step 4);
4) enter engage a gear control, TCU controls gear shifting motor entry into service, TCU judges whether that by displacement transducer engage a gear is complete, if reaching target gear, displacement transducer output signal hangs up corresponding value, gear shifting motor quits work, if displacement transducer output signal miss the mark gear hangs up corresponding value, continue engage a gear, until reaching target gear, displacement transducer output signal hangs up corresponding judgment value;
It is characterized in that, after automobile starting, TCU records under current range state, the output value of displacement transducer
α 1; TCU receives after shift signal, determines whether gear shift for the first time, if not step 4) enters normal engage a gear stroke; If so, the stroke of engage a gear described in step 4) is further comprising the steps of:
4-1) TCU judges by the output value of displacement transducer whether engage a gear puts in place, if put in place, postpones
after, enter step 4-2); If do not put in place, enter step 4-3);
4-2) TCU judges whether stall of gear shifting motor according to gear shifting motor real-time current signal, if produce stall signal, enters step 4-4); If do not produce stall signal, TCU sensor fault code is set to 1, and the gear shifting motor engage a gear that remains in operation, until produce stall signal, enters step 4-4);
4-3) TCU judges whether stall of gear shifting motor according to gear shifting motor real-time current signal, if produce stall signal, TCU sensor fault code is set to 1, enters step 4-4); If do not produce stall signal, continue engage a gear, enter step 4-1);
4-4) gear shifting motor quits work, and TCU records the output value of current gear bottom offset sensor
α 2if sensor fault code is 1, enters and revise step 4-5);
4-5) utilize
α 1with
α 2displacement transducer is demarcated, the disconnected scope that in Correction and Control program, whether corresponding gear is sentenced at shelves, after having revised, TCU sets to 0 sensor fault code.
Displacement transducer of the present invention acts on synchronizer clutch collar, can judge synchronizer clutch collar current location, in automotive field, the power output of drive motor is passed to automotive wheel through the route of transmission input shaft, synchronizer clutch collar, target gear gear pair, transmission output shaft, transmission shaft, and driving automobile advances.Displacement transducer is informed the position of the current synchronizer clutch collar of TCU by output voltage values, thereby TCU judges, automobile is plucked shelves and whether engage a gear process completes.
For example: when synchronizer clutch collar is positioned at gear 1, displacement transducer output-5V voltage, when synchronizer clutch collar is positioned at gear 2, displacement transducer output 5V voltage, synchronizer clutch collar is plucking in shelves and engage a gear process, and displacement transducer output voltage is between-5V to 5V.TCU controls gear shifting motor engage a gear, gear shifting motor keeps running, drive synchronizer clutch collar to move, the output value of TCU monitoring displacement transducer, in the time of reach-5V of displacement transducer output value or 5V value, TCU judges that according to program engage a gear process completes, and synchronizer clutch collar has run to the limit position of engage a gear, and TCU order gear shifting motor quits work.
When synchronizer clutch collar runs to after limit position, if gear shifting motor is rotated further, synchronizer clutch collar cannot continue motion, and now gear shifting motor will produce stall signal, and the real-time current of gear shifting motor can significantly raise within the extremely short time.
In diagnosis gearshift procedure, while judging according to the output signal of displacement transducer and motor rotation blockage signal whether target gear hangs up, may there are four kinds of situations:
Situation one, the signal of being exported by displacement transducer is judged target gear and is not hung up, and gear shifting motor does not have stall yet;
Situation two, the signal of being exported by displacement transducer is judged target gear and is not hung up, but gear shifting motor generation stall;
Situation three, the signal of being exported by displacement transducer is judged target gear and is hung up, and process
after time, gear shifting motor does not have stall;
Situation four, the signal of being exported by displacement transducer is judged target gear and is hung up, and process
after time, gear shifting motor generation stall.
Wherein, consider in actual gearshift procedure, the judgement whether target gear is put in place is a little codomain scope, under normal circumstances, TCU judges target gear by the output signal of displacement transducer and hangs up, but now in fact gear shifting motor can also drive the synchronizer clutch collar a bit of distance of advancing just can send out survivor's stall.To upgrade as example, be assumed to be+4.9V of the determination range that target gear is 2 grades is to+5V, displacement transducer output signal be+when 5V, expression synchronizer clutch collar has moved to the end, cannot move on, if gear shifting motor works on, stall can occur; And in actual deterministic process, when TCU after be greater than+4.9V of displacement transducer output signal just thinks that 2 grades hang up, now in fact gear shifting motor can also drive synchronizer clutch collar to travel forward to be equivalent to displacement transducer output signal to increase the distance of 0.1V, and stall can not occur gear shifting motor at once.Therefore,, for avoiding TCU to occur the erroneous judgement whether displacement transducer signal is drifted about, in situation three and situation four, when TCU has judged after displacement transducer output signal, answer the transit time
after, then judge whether stall of gear shifting motor.
be that the travelling speed of synchronizer clutch collar and the actual forward travel distance of synchronizer clutch collar of the codomain determination range representative whether target gear puts in place driving according to gear shifting motor determines, it depends on the parameter of concrete speed changer and gear shifting motor.
In four kinds of situations, if a situation arises two, be i.e. less than+4.9V of sensor output signal, but stall of gear shifting motor, or a situation arises three, be i.e. greater than+4.9V of sensor output signal the transit time
, gear shifting motor does not also have stall, illustrates that sensor signal produces drift, need to revise; If a situation arises one, also stall not of be less than+4.9V of sensor output signal and gear shifting motor, illustrates that engage a gear process does not also finish, and continues engage a gear; If a situation arises four, be i.e. greater than+4.9V of sensor output signal the transit time
, gear shifting motor stall, illustrates that sensor signal is normal, without correction.
Finally explanation is, above embodiment is only unrestricted in order to technological scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can modify or be equal to replacement technological scheme of the present invention, and not departing from aim and the scope of the technical program, it all should be encompassed in the middle of claim scope of the present invention.
Claims (5)
1. two grades of mechanical automatic gearbox gear shifting controlling methods for pure electric automobile, described automatic transmission include transmission control unit TCU, for drive gear-shifting actuating mechanism gear shifting motor and monitoring gearshift procedure synchronizer clutch collar position displacement transducer, gear shift concrete grammar comprises:
1) wait for shift signal, transfer step 2 to after receiving shift signal);
2) enter and pluck shelves control, TCU controls gear shifting motor running, plucks after shelves complete and enters step 3);
3) gear shifting motor quits work, and entire car controller ECU controls drive motor and carries out speed governing, after speed governing completes, proceeds to step 4);
4) enter engage a gear control, TCU controls gear shifting motor entry into service, TCU judges whether that by displacement transducer engage a gear is complete, if reaching target gear, displacement transducer output signal hangs up corresponding value, gear shifting motor quits work, if displacement transducer output signal miss the mark gear hangs up corresponding value, continue engage a gear, until reaching target gear, displacement transducer output signal hangs up corresponding judgment value;
It is characterized in that, after automobile starting, TCU records under current range state, the output value α 1 of displacement transducer; TCU receives after shift signal, determines whether gear shift for the first time, if not, step 4) enter normal engage a gear stroke; If so, step 4) described in engage a gear stroke further comprising the steps of:
4-1) TCU judges by the output value of displacement transducer whether engage a gear puts in place, if put in place, postpones, after Δ t, to enter step 4-2); If do not put in place, enter step 4-3);
4-2) TCU judges whether stall of gear shifting motor according to gear shifting motor real-time current signal, if produce stall signal, enters step 4-4); If do not produce stall signal, TCU sensor fault code is set to 1, and the gear shifting motor engage a gear that remains in operation, until produce stall signal, enters step 4-4);
4-3) TCU judges whether stall of gear shifting motor according to gear shifting motor real-time current signal, if produce stall signal, TCU sensor fault code is set to 1, enters step 4-4); If do not produce stall signal, continue engage a gear, enter step 4-1);
4-4) gear shifting motor quits work, and TCU records the output value α 2 of current gear bottom offset sensor, if sensor fault code is 1, enters and revises step 4-5);
4-5) utilize α 1 and α 2 to demarcate displacement transducer, in Correction and Control program, whether corresponding gear is in the determination range of shelves, and after having revised, TCU sets to 0 sensor fault code.
2. two grades of mechanical automatic gearbox gear shifting controlling methods for a kind of pure electric automobile as claimed in claim 1, is characterized in that described step 2) in pluck a grade stroke and include:
2-1) drive motor switches to free schema from torque mode, drive motor outputting power under torque mode, and under free schema, drive motor stops outputting power;
2-2) gear shifting motor entry into service, judges by displacement transducer whether pluck shelves completes.
3. two grades of mechanical automatic gearbox gear shifting controlling methods for a kind of pure electric automobile as claimed in claim 2, it is characterized in that, step 2) in judge that plucking the determination methods that whether completes of shelves is: the output value of displacement transducer is used for recording the current position state of synchronizer clutch collar, can judge that by the output value of displacement transducer synchronizer clutch collar is jointing state or disengaged position, synchronizer clutch collar is in disengaged position lower time, be that gear arrives room, pluck shelves and complete.
4. two grades of mechanical automatic gearbox gear shifting controlling methods for a kind of pure electric automobile as claimed in claim 1, it is characterized in that, step 3) in the method for drive motor speed governing be: go out the rotating speed of the corresponding combination gear of target gear according to the current motion speed of automobile and target gear gear ratio calculation, and as rotating speed of target, drive motor carried out to speed regulating control.
5. two grades of mechanical automatic gearbox gear shifting controlling methods for a kind of pure electric automobile as claimed in claim 1, it is characterized in that, normal engage a gear stroke includes: drive motor switches to free schema, drive motor outputting power under torque mode, under free schema, drive motor stops outputting power; Gear shifting motor entry into service, carries out engage a gear, judges by displacement transducer whether engage a gear finishes.
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