CN113217559B

CN113217559B - Optimization method and system for clutch-by-wire clutch

Info

Publication number: CN113217559B
Application number: CN202110564274.3A
Authority: CN
Inventors: 张�诚
Original assignee: Fujian Shenghai Intelligent Technology Co ltd
Current assignee: Fujian Shenghai Intelligent Technology Co ltd
Priority date: 2021-05-24
Filing date: 2021-05-24
Publication date: 2022-11-11
Anticipated expiration: 2041-05-24
Also published as: CN113217559A

Abstract

The invention discloses a clutch drive-by-wire clutch optimization method and system, which comprises a control module, a communication module, a vehicle speed sensor, a clutch execution motor, a motor driving module and an angle sensor arranged on the clutch execution motor. The control module is respectively connected with the communication module, the motor driving module, the vehicle speed sensor and the angle sensor, and the motor driving module is connected with the clutch execution motor. The control module firstly determines the rotation angle required by the clutch executing motor to complete the clutch separation operation, the half clutch operation and the clutch connection operation process of the clutch through the angle sensor respectively, so as to determine three important positions of clutch separation, half clutch and clutch connection in the clutch-by-wire process of the clutch, and the three important positions are used as data basis for the connection of the clutch-by-wire, so that the clutch-by-wire control is faster and more accurate.

Description

Optimization method and system for clutch-by-wire clutch

Technical Field

The invention relates to the technical field of vehicle drive-by-wire, in particular to a clutch drive-by-wire clutch optimization method and system.

Background

The traditional clutch control of manual driving is controlled by the experience of a driver. The driver records the pedal position when the vehicle clutch is disengaged, the pedal position when the vehicle clutch is engaged, and the pedal position when the vehicle clutch is half-engaged in long-term driving learning, so as to control the vehicle clutch pedal during actual driving. The traditional manual control clutch has fast response and good control effect, but cannot be suitable for unmanned driving.

The control mode of the clutch of the wire-controlled clutch is suitable for unmanned driving. However, the existing control method for clutch-by-wire clutch only simply controls the speed of the clutch engagement process, does not control the whole engagement process in a subdivided manner, and has poor control effect and slow response.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the method and the system for optimizing the clutch-by-wire clutch can improve the control speed and the accuracy of the clutch-by-wire clutch.

In order to solve the technical problems, the invention adopts the technical scheme that:

a clutch-by-wire clutch optimization method comprises the following steps:

s1, respectively acquiring a first angle value, a second angle value and a third angle value of corresponding rotation of a clutch actuating motor at a clutch separation position, a half clutch position and a clutch engagement position through an angle sensor;

s2, receiving a clutch control command from a remote control platform, and controlling the clutch execution motor to rotate to a position corresponding to the clutch control command according to the first angle value, the second angle value or the third angle value.

In order to solve the technical problem, the invention adopts another technical scheme as follows:

a clutch drive-by-wire clutch optimization system comprises a control module, a communication module, a vehicle speed sensor, a clutch execution motor, a motor driving module and an angle sensor arranged on the clutch execution motor;

the control module is respectively connected with the communication module, the motor driving module, the vehicle speed sensor and the angle sensor, and the motor driving module is connected with the clutch execution motor;

the angle sensor is used for measuring the rotation angle of the clutch execution motor, the communication module is used for communicating with a remote control platform, and the control module is used for executing the clutch-by-wire optimization method.

In conclusion, the beneficial effects of the invention are as follows: the method and the system for optimizing the clutch-by-wire clutch are characterized in that the angles required to rotate in the process of completing the clutch separation operation, the half-on-half clutch operation and the clutch engagement operation of the clutch by a clutch execution motor are respectively determined through an angle sensor, so that three important positions of clutch separation, half-on-half clutch and clutch engagement in the clutch-by-wire clutch engagement process are determined and used as data basis of the clutch-by-wire engagement, and the clutch-by-wire control is enabled to be more rapid and accurate.

Drawings

FIG. 1 is a schematic diagram illustrating the steps of a clutch-by-wire clutch optimization method according to an embodiment of the present invention;

fig. 2 is a system block diagram of an optimization system of clutch-by-wire clutch according to an embodiment of the present invention.

Description of reference numerals:

1. a control module; 2. a communication module; 3. a vehicle speed sensor; 4. a clutch actuator motor; 5. a motor drive module; 6. an angle sensor; 7. and (4) a remote control platform.

Detailed Description

In order to explain technical contents, achieved objects, and effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.

Referring to fig. 1, a clutch-by-wire clutch optimization method includes the following steps:

s1, respectively acquiring a first angle value, a second angle value and a third angle value of corresponding rotation of a clutch actuator motor 4 at a clutch separation position, a half clutch position and a clutch engagement position through an angle sensor 6;

s2, receiving a clutch control command from a remote control platform 7, and controlling the clutch execution motor 4 to rotate to a position corresponding to the clutch control command according to the first angle value, the second angle value or the third angle value.

As can be seen from the above description, the beneficial effects of the present invention are: the method comprises the steps of respectively determining the rotation angles required by the clutch executing motor 4 to complete the clutch separation operation, the half clutch operation and the clutch engagement operation process of the clutch through an angle sensor 6, determining three important positions of clutch separation, half clutch and clutch engagement in the clutch-by-wire process of the clutch, and using the three important positions as the data basis of the clutch-by-wire so as to enable the clutch-by-wire control to be faster and more accurate.

Further, the step S1 specifically includes:

s11, controlling the clutch execution motor 4 to perform clutch separation operation, simultaneously continuously obtaining the real-time measured value of the angle sensor 6 and the driving current value of the clutch execution motor 4 for multiple times, judging whether the numerical values of the real-time measured values are the same and the driving current value is gradually increased, recording the measured value of the angle sensor 6 at the moment as the first angle value if the real-time measured values are the same, and otherwise, obtaining and judging again;

s12, controlling the clutch executing motor 4 to perform clutch engagement operation, continuously and repeatedly acquiring a real-time measured value of the angle sensor 6 and a driving current value of the clutch executing motor 4, judging whether the real-time measured values have the same numerical value and the driving current value is gradually increased, recording the measured value of the angle sensor 6 at the moment as a third angle value if the real-time measured values are the same, and otherwise, acquiring and judging again;

and S13, after the vehicle is started, controlling the clutch executing motor 4 to perform clutch engagement operation, and meanwhile, judging whether an output signal of the vehicle speed sensor 3 is received or not, if so, recording a measurement value of the angle sensor 6 at the moment as the second angle value, otherwise, judging again.

As is apparent from the above description, when the clutch release operation is performed and the maximum position of the clutch release is reached, the clutch actuator motor 4 is locked, and the drive current value thereof is gradually increased. Accordingly, the measurement value of the angle sensor 6 does not change, and thus the first angle value measured by the angle sensor 6 can be obtained by using the measurement value as a basis for judging that the clutch actuator 4 is in the clutch release position. Similarly, a similar determination may be made for the clutch engagement position to obtain a third angle value. And, only in the process of the clutch actuator motor 4 from the half clutch position to the clutch engagement position, the engine speed starts to be converted into the vehicle speed. Therefore, when the clutch actuator 4 is engaged and the vehicle speed sensor 3 outputs a signal, the measurement value of the angle sensor 6 is used as the second angle value, i.e., the angle corresponding to the rotation of the clutch actuator 4 in the half-engaged position.

Further, step S11 is preceded by:

and S10, judging whether a clutch effective stroke learning instruction from the remote control platform 7 is received or not, if so, executing the step S11, and otherwise, judging again.

From the above description, the determination of the first angle value and the second angle value is a self-learning process. After receiving the self-learning instruction of the remote control platform 7, the equipment located on the vehicle performs the learning recording work of the first angle value and the second angle value, and directly uses the learning result in the subsequent drive-by-wire clutch process.

Further, the following steps are also included between the step S1 and the step S2:

calculating the difference value between the first angle value and the second angle value and multiplying the difference value by a first preset coefficient to obtain an adjustment angle value;

and taking the difference between the second angle value and the adjusting angle value as a new first angle value.

As can be seen from the above description, there is also a distance between the clutch disengaged position and the semi-disengaged position. During this distance, the clutch performs the rotating operation of the motor 4 without changing the balance between the engine and the vehicle speed, which is an ineffective stroke. And multiplying the angle difference corresponding to the two positions by a first preset coefficient to generate an adjustment angle value. The difference between the second angle value and the adjustment angle value is used as a new first angle value, so that the invalid stroke from the clutch separation position to the half-clutch position is effectively eliminated, the rotation angle of the clutch executing motor 4 for clutch operation is reduced, and the executing speed of the clutch executing motor 4 is improved.

Further, the value range of the first preset coefficient is [0.1,0.2].

As can be seen from the above description, the difference between the first angle value and the second angle value is within ten to twenty percent of the original value, so as to make the clutch release position as close as possible to the half clutch position, reduce the execution time of the clutch execution motor 4, and optimize the execution efficiency.

Further, between the step S1 and the step S2, there are further included:

acquiring stroke position control precision, and multiplying the stroke position control precision by a second preset coefficient to obtain an adjusted stroke value;

and taking the angle value corresponding to the position after the adjustment travel value is backed off from the half-clutch position as a new first angle value.

As is apparent from the above description, when the vehicle speed sensor 3 has an output signal, the clutch has come into contact with the flywheel disk and has a certain pressure. Therefore, the second angular value of the rotation of the clutch actuator motor 4 at this time is the half clutch position. In order to reduce the rotation angle of the clutch actuator 4 from the clutch release position to the half clutch position, the rotation angle of the clutch actuator 4 needs to be retracted to a position close to the half clutch. Therefore, the improvement of the stroke position control precision can help the second angle value to retreat to a position with smaller difference with the second angle value, and the execution efficiency of the clutch execution motor is improved.

Further, the value range of the second preset coefficient is [5, 10].

From the above description, it can be known that the control precision of the stroke position is improved to 5 to 10 times, the rollback of the second angle value can be completed more accurately, the execution speed of the clutch execution motor 4 is improved, the gear shifting process is reduced, and the gear shifting effect is optimized.

Further, between the step 12 and the step S13, there is further included:

and judging whether a semi-clutch position learning instruction from the remote control platform 7 is received or not, if so, executing the step S13, and otherwise, judging again.

As can be seen from the above description, the confirmation of the half-clutch position is also controlled by receiving the half-clutch position learning command sent by the remote control platform 7. Remote instruction control, easy operation, convenient to use.

Further, the step S1 further includes:

recording the analog quantity change range collected by the angle sensor 6 when the clutch actuating motor 4 is in a clutch separation position to a clutch engagement position;

performing analog-to-digital conversion on the analog quantity variation range to obtain a digital quantity variation range from 0 to 100;

and taking 0 as the first angle value and taking 100 as the third angle value.

As can be seen from the above description, the analog variable variation range is a measurement stroke range corresponding to the rotation angle measurement of the clutch actuator 4 by the angle sensor 6, that is, the stroke range of the clutch actuator 4 between the clutch release position and the clutch engagement position is correspondingly converted into a digital value, which is convenient for data processing.

Referring to fig. 2, a clutch-by-wire clutch optimization system includes a control module 1, a communication module 2, a vehicle speed sensor 3, a clutch actuator motor 4, a motor driving module 5, and an angle sensor 6 disposed on the clutch actuator motor 4;

the control module 1 is respectively connected with the communication module 2, the motor driving module 5, the vehicle speed sensor 3 and the angle sensor 6, and the motor driving module 5 is connected with the clutch executing motor 4;

the angle sensor 6 is used for measuring the rotation angle of the clutch actuator motor 4, the communication module 2 is used for communicating with a remote control platform 7, and the control module 1 is used for executing the optimization method of the clutch-by-wire.

From the above description, the beneficial effects of the present invention are: the control module 1 respectively determines the rotation angle required by the clutch executing motor 4 to complete the clutch separation operation, the half clutch operation and the clutch connection operation process of the clutch through an angle sensor 6 so as to determine three important positions of clutch separation, half clutch and clutch connection in the clutch-by-wire process of the clutch, and after receiving a clutch control instruction from a remote control platform 7 through a communication module 2, the clutch executing motor 4 is driven through a motor driving module 5 by means of recorded angle data, and the command requirement of the clutch control instruction is correspondingly completed, so that the clutch-by-wire control is quicker and more accurate.

Referring to fig. 1, a first embodiment of the present invention is:

a clutch-by-wire clutch optimization method comprises the following steps:

in this embodiment, step S1 further includes:

recording the analog quantity change range collected by the angle sensor 6 when the clutch actuating motor 4 is positioned from a clutch separation position to a clutch engagement position;

0 is taken as the first angle value and 100 is taken as the third angle value.

The angle sensor 6 collects analog quantities. Therefore, it is necessary to convert it into digital quantities that the control module 1 can perform data processing.

In addition, in the present embodiment, after step S1 is executed, the following steps are further included before step S2:

calculating the difference value between the first angle value and the second angle value and multiplying the difference value by a first preset coefficient to obtain an adjustment angle value, wherein the value range of the first preset coefficient is [0.1,0.2];

the difference between the second angle value and the adjustment angle value is taken as the new first angle value.

In the actual clutch control, the clutch actuator motor 4 needs to go through three processes of clutch disengagement, half clutch, and clutch engagement. In the process from clutch separation to half clutch separation, the speed of the vehicle is still unchanged, and the effect of the speed is an invalid stroke. The effective stroke of the vehicle speed increasing slowly from 0 is the stroke of the clutch release just before the half-clutch position is contacted and then the clutch is engaged. Therefore, the embodiment reestablishes the first angle value by using the difference between the first angle value and the second angle value and multiplying the difference by the first preset coefficient, so that the starting position of the clutch separation is closer to the half clutch position, and the efficiency of the clutch execution motor 4 in controlling the clutch is improved. Besides, the second angle value can be retracted by increasing the accuracy of the stroke position control, so as to obtain a measurement value close to the second angle value as the first angle value, and the specific process is as follows:

acquiring the stroke position control precision, and multiplying the stroke position control precision by a second preset coefficient to obtain an adjusted stroke value, wherein the value range of the second preset coefficient is [5, 10];

and taking the angle value corresponding to the position after the half-clutch position is returned and the stroke value is adjusted as a new first angle value.

And S2, receiving a clutch control command from the remote control platform 7, and controlling the clutch execution motor 4 to rotate to a position corresponding to the clutch control command according to the first angle value, the second angle value or the third angle value.

In the present embodiment, the rotation angle of the clutch actuator is measured by the angle sensor 6. Before unmanned driving, a first angle value, a second angle value and a third angle value of rotation corresponding to the clutch executing motor 4 in a clutch separation position, a half clutch position and a clutch engagement position are recorded in advance at a vehicle end. Then, in the process of unmanned driving, an operator only needs to issue a clutch control instruction to the vehicle on the remote control platform 7 according to actual conditions. For example, the operator gives an instruction to make the vehicle perform the clutch engagement operation. After receiving the instruction, the vehicle end controls the clutch actuator 4 to start rotating and simultaneously judges whether the clutch actuator 4 rotates by a third angle value, namely, the vehicle end reaches a clutch engagement position recorded in advance. Therefore, the driverless remote line control clutch increases data basis, and has high control speed and good effect.

Referring to fig. 1, the second embodiment of the present invention is:

on the basis of the first embodiment, the step S1 specifically includes:

and S10, judging whether a clutch effective travel learning instruction from the remote control platform 7 is received, if so, executing the step S11, and otherwise, judging again.

S11, controlling the clutch execution motor 4 to perform clutch separation operation, continuously and repeatedly acquiring real-time measured values of the angle sensor 6 and driving current values of the clutch execution motor 4, judging whether the real-time measured values are the same in value and the driving current values are gradually increased, if yes, recording the measured values of the angle sensor 6 at the moment as first angle values, and otherwise, acquiring and judging again;

s12, controlling the clutch execution motor 4 to perform clutch engagement operation, continuously and repeatedly acquiring a real-time measured value of the angle sensor 6 and a driving current value of the clutch execution motor 4, judging whether the real-time measured values are the same in numerical value and the driving current value is gradually increased, recording the measured value of the angle sensor 6 at the moment as a third angle value if the real-time measured values are the same in numerical value, and otherwise, acquiring and judging again;

in this embodiment, after the step S12 is executed, the method further includes:

and judging whether a semi-clutch position learning instruction from the remote control platform 7 is received, if so, executing the step S13, otherwise, judging again.

And S13, after the vehicle is started, controlling the clutch to execute the clutch engagement operation of the motor 4, and simultaneously judging whether the output signal of the vehicle speed sensor 3 is received, if so, recording the measured value of the angle sensor 6 at the moment as a second angle value, otherwise, judging again.

The above is a self-learning process related to this embodiment, and the specific process is as follows:

firstly, an operator sends a self-learning instruction to a vehicle end, such as a clutch effective travel learning instruction; then, the vehicle end starts self-learning upon receiving the instruction. And the vehicle end controls the clutch actuating motor 4 to perform clutch separation operation, and simultaneously judges the real-time measured value of the angle sensor 6 and the change condition of the driving current value of the clutch actuating motor 4. If the real-time measured values of the angle sensor 6 detected for many times are not changed and the driving current value is gradually increased, it is indicated that the clutch executing motor 4 is locked, and the maximum clutch separation position is reached. At this time, the measurement value of the angle sensor 6 is the first angle value. Similarly, the clutch actuator motor 4 performs a clutch engagement operation, and after reaching a maximum, a third angle value measured by the angle sensor 6 is recorded. The first angle value and the third angle value correspond to two end points of the clutch effective stroke.

And thirdly, the operator sends a half-clutch position learning instruction to the vehicle end. And after receiving the command, the vehicle end controls the clutch execution motor 4 to perform clutch engagement operation. Since the vehicle only starts to convert its engine speed from speed to speed after the clutch contacts the flywheel disc. Therefore, when the output signal of the vehicle speed sensor 3 is detected, it is indicated that the clutch actuator 4 has controlled the clutch to the partially engaged position. At this time, the measurement value of the angle sensor 6 is the second angle value. Therefore, self-learning content is completed, and reliable data basis is provided for follow-up clutch control of unmanned driving.

Referring to fig. 2, a third embodiment of the present invention is:

a clutch-by-wire clutch optimization system is shown in fig. 2 and comprises a control module 1, a communication module 2, a vehicle speed sensor 3, a clutch execution motor 4, a motor driving module 5 and an angle sensor 6 arranged on the clutch execution motor 4. The control module 1 is respectively connected with the communication module 2, the motor driving module 5, the vehicle speed sensor 3 and the angle sensor 6, and the motor driving module 5 is connected with the clutch executing motor 4. The angle sensor 6 is used for measuring the rotation angle of the clutch actuator motor 4, the communication module 2 is used for communicating with the remote control platform 7, and the control module 1 is used for executing the clutch-by-wire optimization method of the first embodiment or the second embodiment.

In summary, the invention discloses an optimization method and a system for clutch-by-wire clutch control, which can perform self-learning under the instruction control of a remote control platform, respectively determine the rotation angles required by the clutch executing motor to complete the clutch separation operation, the semi-clutch operation and the clutch engagement operation process of the clutch through an angle sensor, determine three important positions of clutch separation, semi-clutch and clutch engagement in the clutch-by-wire clutch engaging process, obtain a first angle value with smaller difference with a second angle value by utilizing the difference adjustment of the first angle value and the second angle value or adopting a mode of backing the second angle value with higher stroke position control precision and serve as the starting point of the clutch separation, effectively reduce the effective stroke of the clutch executing motor for clutch control, improve the efficiency of the clutch control, have online instruction control in the whole course, have simple operation, use the angle data obtained by self-learning as the basis of the clutch-by-wire, and enable the clutch-by-wire control to be faster and more accurate.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent modifications made by the contents of the present specification and the drawings, or applied to the related technical fields directly or indirectly, are included in the scope of the present invention.

Claims

1. A clutch-by-wire clutch optimization method is characterized by comprising the following steps:

s2, receiving a clutch control command from a remote control platform, and controlling the clutch execution motor to rotate to a position corresponding to the clutch control command according to the first angle value, the second angle value or the third angle value;

the step S1 specifically includes:

s11, controlling the clutch execution motor to perform clutch separation operation, continuously and repeatedly acquiring real-time measured values of the angle sensor and driving current values of the clutch execution motor, judging whether the real-time measured values are the same in numerical value and the driving current values are gradually increased, recording the measured values of the angle sensor at the moment as first angle values if the real-time measured values are the same in numerical value, and acquiring and judging again if the real-time measured values are not the same in numerical value;

s12, controlling the clutch execution motor to perform clutch engagement operation, continuously and repeatedly acquiring real-time measured values of the angle sensor and driving current values of the clutch execution motor, judging whether the real-time measured values are the same in numerical value and the driving current values are gradually increased, recording the measured values of the angle sensor at the moment as third angle values if the real-time measured values are the same in numerical value, and acquiring and judging again if the real-time measured values are not the same in numerical value;

and S13, after the vehicle is started, controlling the clutch to execute the clutch engagement operation of the motor, and meanwhile, judging whether an output signal of the vehicle speed sensor is received or not, if so, recording a measurement value of the angle sensor at the moment as the second angle value, otherwise, judging again.

2. The method for optimizing clutch-by-wire according to claim 1, wherein the step S11 is preceded by:

and S10, judging whether a clutch effective travel learning instruction from the remote control platform is received, if so, executing the step S11, and otherwise, judging again.

3. The method for optimizing clutch-by-wire according to claim 1, wherein the step S1 and the step S2 further comprise the following steps:

4. The method for optimizing a clutch-by-wire clutch according to claim 3, wherein the first predetermined coefficient has a value in a range of [0.1,0.2].

5. The method for optimizing clutch-by-wire according to claim 1, wherein between the step S1 and the step S2, further comprising:

acquiring the stroke position control precision, and multiplying the stroke position control precision by a second preset coefficient to obtain an adjustment stroke value;

6. The method for optimizing a clutch-by-wire clutch according to claim 5, wherein the second predetermined coefficient has a value in a range of [5, 10].

7. The method for optimizing clutch-by-wire according to claim 1, further comprising, between step S12 and step S13:

and judging whether a semi-clutch position learning instruction from the remote control platform is received, if so, executing the step S13, and otherwise, judging again.

8. The method for optimizing a clutch-by-wire clutch according to claim 1, wherein the step S1 further comprises:

recording the variation range of the analog quantity acquired by the angle sensor when the clutch actuating motor is positioned from a clutch separation position to a clutch engagement position;

and taking 0 as the first angle value and taking 100 as the third angle value.

9. The optimization system for the clutch-by-wire clutch is characterized by comprising a control module, a communication module, a vehicle speed sensor, a clutch execution motor, a motor driving module and an angle sensor arranged on the clutch execution motor;

the angle sensor is used for measuring the rotation angle of the clutch actuator motor, the communication module is used for communicating with a remote control platform, and the control module is used for executing the optimization method of the clutch-by-wire clutch according to any one of claims 1 to 8.