CN115539629A - Clutch calibration method and device for vehicle, vehicle controller and storage medium - Google Patents

Abstract

The invention discloses a method and a device for calibrating a clutch of a vehicle, a vehicle controller and a storage medium, wherein the vehicle comprises at least one clutch and a motor, and the calibration method comprises the following steps: controlling the gear of the vehicle to be a parking gear and keeping the vehicle in a static state; controlling the motor to rotate at a first preset rotating speed and controlling the clutch to be in a combined state; providing at least two target torques to the clutch to cause the clutch to generate at least a first pressure value and a second pressure value; and calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value. Therefore, the method for calibrating the clutch of the vehicle in the embodiment can accurately calibrate the clutch of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.

Description

Clutch calibration method and device for vehicle, vehicle controller and storage medium

Technical Field

The present invention relates to a vehicle control technology, and in particular, to a method and an apparatus for calibrating a clutch of a vehicle, a vehicle controller, and a storage medium.

Background

With increasingly strict requirements of national regulations on oil consumption and emission and development of electrified systems, the hybrid power technology is the key for realizing energy conservation and emission reduction. In order to adapt to national policies and meet emission regulations, solutions are sought by whole vehicle factories and part suppliers, but the battery technology of the pure electric vehicle technical system is complex and the cost is high at present, so that the hybrid power system is widely popularized.

Since a plurality of clutches are included in the hybrid system, the half-engagement point, the hysteresis, and the mode switching process of the clutches are all very critical, and the drivability of the vehicle is greatly affected. Related calibration methods are not provided in related technologies, or the provided calibration methods cannot perform calibration more accurately, so that vehicles cannot run safely.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a method for calibrating a clutch of a vehicle, which can accurately calibrate the clutch of the vehicle, improve the drivability of the vehicle, and improve the experience of a driver.

A second object of the invention is to propose a computer-readable storage medium.

A third object of the invention is to propose a vehicle controller.

A fourth object of the present invention is to provide a clutch calibration apparatus for a vehicle.

To achieve the above object, an embodiment of a first aspect of the present invention provides a method for calibrating a clutch of a vehicle, where the vehicle includes at least one clutch and an electric machine, and the method includes: controlling the gear of the vehicle to be a parking gear and keeping the vehicle in a static state; controlling the motor to rotate at a first preset rotating speed and controlling the clutch to be in a combined state; providing at least two target torques to the clutch such that the clutch generates at least a first pressure value and a second pressure value; and calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value.

The vehicle in the embodiment of the invention comprises a plurality of clutches and motors, and the clutch calibration method of the vehicle comprises the following steps: the method comprises the steps of controlling a gear of a vehicle to be in a parking gear and ensuring that the vehicle is in a static state, controlling a motor to rotate at a first preset rotating speed, controlling a clutch to be in an engaging state, and providing at least two target torques for the clutch. Therefore, the clutch calibration method of the vehicle in the embodiment can accurately calibrate the clutch of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.

In some embodiments of the present invention, the vehicle includes at least one driving range, and the clutches are provided in one-to-one correspondence with the driving ranges, and the method includes: controlling the running gears of the vehicle to be in a disengaged state; taking a clutch corresponding to the target driving gear as a clutch to be calibrated; providing at least two target torques to the off-going clutch.

In some embodiments of the invention, providing at least two target torques to the clutch comprises: and providing a first target torque and a second target torque for the clutch, wherein when the torque provided for the clutch is less than or equal to the first target torque, the motor rotates at the first preset rotating speed, and the second target torque is zero.

In some embodiments of the invention, the first preset rotational speed is 500 rpm and the first target torque is 10 nm.

In some embodiments of the present invention, before controlling the motor to rotate at the first preset rotation speed, the method further comprises: initializing the motor and acquiring an initial zero position angle of the motor; when the motor is determined to meet the calibration condition, acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor; and calibrating the zero angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero angle.

In some embodiments of the present invention, the zero angle calibration of the motor according to the actual direct-axis voltage, the target direct-axis voltage, and the initial zero angle includes: determining the current zero angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage; and calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor.

In some embodiments of the present invention, the calibration method further comprises: determining a pressure rising curve and a pressure falling curve of the clutch according to the torque provided to the clutch and the pressure value generated by the clutch under the action of the torque; determining a rising pressure value corresponding to the clutch in a preset torque according to the pressure rising curve, and determining a falling pressure value corresponding to the clutch in the preset torque according to the pressure falling curve; and performing hysteresis calibration on the clutch according to the ascending pressure value and the descending pressure value.

To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a clutch calibration program of a vehicle is stored, and when the clutch calibration program of the vehicle is executed by a processor, the method for calibrating a clutch of the vehicle according to the above embodiment is implemented.

According to the computer-readable storage medium disclosed by the embodiment of the invention, the processor executes the method for calibrating the clutch of the vehicle stored on the computer-readable storage medium, so that the clutch of the vehicle can be accurately calibrated, the driving performance of the vehicle is improved, and the experience of a driver is improved.

In order to achieve the above object, a third aspect of the present invention provides a vehicle controller, which includes a memory, a processor and a clutch calibration program of a vehicle stored in the memory and running on the processor, wherein the processor implements the clutch calibration method of the vehicle according to the above embodiment when executing the clutch calibration program of the vehicle.

The vehicle controller comprises the storage memory and the processor, and the processor executes the method for calibrating the vehicle clutch stored in the storage memory, so that the vehicle clutch can be accurately calibrated, the driving performance of the vehicle is improved, and the experience of a driver is improved.

To achieve the above object, the present invention provides a clutch calibration apparatus for a vehicle, the vehicle including at least one clutch and a motor, the calibration apparatus including: the control module is used for controlling the gear of the vehicle to be a parking gear and the vehicle to be in a static state, controlling the motor to rotate at a first preset rotating speed and controlling the clutch to be in a combined state; a generating module for providing at least two target torques to the clutch to cause the clutch to generate at least a first pressure value and a second pressure value; and the clutch calibration module is used for calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value.

The vehicle comprises a plurality of clutches and motors, and the clutch calibration device of the vehicle comprises a control module, a generation module and a clutch calibration module, wherein the control module controls the gear of the vehicle to be in a parking gear and ensures that the vehicle is in a static state, controls the motors to rotate at a first preset rotating speed, and simultaneously controls the clutches to be in a combined state, the generation module can provide at least two target torques for the clutches, it can be understood that the target torques can be determined according to clutch type parameters and the like so as to ensure that the rotating speeds of the motors are not influenced by the clutches under the action of the maximum target torques in the target torques, and according to the at least two target torques, the clutches can generate at least two pressure values, namely a first pressure value and a second pressure value, and then perform half-combined point calibration on the clutches according to the first pressure value and the second pressure value. Therefore, the clutch calibration device of the vehicle in the embodiment can accurately calibrate the clutch of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

FIG. 1 is a flow chart of a method for clutch calibration of a vehicle according to one embodiment of the present invention;

FIG. 2A is a schematic of a series connection of electric machines according to one embodiment of the present invention;

FIG. 2B is a schematic diagram of a parallel connection of electric machines according to another embodiment of the present invention;

FIG. 3 is a flow chart of a method for clutch calibration of a vehicle according to another embodiment of the present invention;

FIG. 4 is a flow chart of a method for clutch calibration of a vehicle according to another embodiment of the present invention;

FIG. 5 is a flow chart of a method for clutch calibration of a vehicle according to another embodiment of the present invention;

FIG. 6 is a flow chart of a method for clutch calibration of a vehicle according to another embodiment of the present invention;

FIG. 7 is a flow chart of a method for clutch calibration of a vehicle according to another embodiment of the present invention;

FIG. 8 is a schematic illustration of the relationship between torque and pressure in a clutch according to one embodiment of the present invention;

FIG. 9 is a block diagram of a vehicle controller according to an embodiment of the invention;

fig. 10 is a structural block diagram of a vehicle calibration device according to an embodiment of the invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A clutch calibration method and apparatus, a vehicle controller, and a storage medium for a vehicle according to embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a flow chart of a method for clutch calibration of a vehicle according to one embodiment of the invention.

It should be noted that, in the embodiment of the present invention, the vehicle includes at least one clutch and an electric machine, specifically, the vehicle may be a two-motor hybrid vehicle, as shown in fig. 2A or 2B, wherein the vehicle includes an electric machine P1 and an electric machine P2, and a clutch C0 is disposed between the two electric machines, and by engaging or disengaging the clutch C0, the connection modes of the electric machines of the vehicle, i.e., the series mode and the parallel mode, can be controlled, it can be understood that, in the series mode, the clutch C0 is not engaged, as shown in fig. 2A, and in the parallel mode, the clutch C0 is engaged, as shown in fig. 2B. Of course, the motor may also be powered solely by a battery, i.e. pure electric mode. In addition, as shown in fig. 2A and 2B, a plurality of clutches may be further provided in the Ratio System, specifically, the number of clutches may be set according to the number of gears, and one gear corresponds to one clutch.

As shown in fig. 1, the present invention provides a method for calibrating a clutch of a vehicle, comprising the steps of:

and S10, controlling the gear of the vehicle to be a parking gear and keeping the vehicle in a static state.

Specifically, when the clutch of the vehicle is calibrated, the vehicle needs to be controlled to be in a stationary state, that is, the vehicle is controlled not to run, and the gear of the vehicle is controlled to be in a parking gear, or the vehicle is controlled to be calibrated under the condition of stable idle speed, so that the stable calibration of the clutch can be ensured.

And S20, controlling the motor to rotate at a first preset rotating speed and controlling the clutch to be in a combined state.

Specifically, when the clutch is calibrated, the motor may be controlled to rotate at a first preset rotation speed, the clutch is controlled to be in an engaged state, and then the clutch is calibrated at a half-engaged point by providing torque to the clutch and determining whether the rotation speed of the motor changes. It should be noted that, since the calibration needs to be performed by the motor rotation speed, whether the motor can operate without error according to the target rotation speed, that is, the actual rotation speed of the motor is the same as the target rotation speed, is very important in the clutch calibration. Therefore, in some embodiments of the present invention, as shown in fig. 3, before controlling the electric machine to rotate at the first preset rotation speed, the clutch calibration method further includes the following steps:

s301, initializing the motor, and acquiring an initial zero position angle of the motor.

Specifically, after the motor is used for a long time, the rotor may be dislocated, that is, when the machine displays that the rotor of the motor is at a zero position angle, the rotor is not at a zero position, that is, there is a certain error in reading the position of the rotor. In this embodiment, in order to obtain an accurate initial zero position angle of the motor, an initialization process may be performed on the motor first, and specifically, a working mode of the motor may be controlled in the initialization mode, it may be understood that, after the motor enters the initialization mode, the zero position angle may be updated, and specifically, the zero position angle of the rotor of the motor may be read from a Non-Volatile Random Access Memory (NvRam).

S302, when the motor is determined to meet the calibration condition, the actual direct-axis voltage and the target direct-axis voltage of the motor are obtained.

Specifically, in some embodiments, when the rotation speed of the motor is in the preset rotation speed range and the operation mode of the motor is the calibration mode, it is determined that the motor meets the calibration condition. It should be noted that the motor may directly enter the calibration mode after the initialization mode, and when the motor is in the calibration mode, the calibration is not performed immediately, but the rotation speed of the motor needs to be determined, and when the rotation speed of the motor reaches the preset rotation speed, the corresponding calibration procedure is executed, that is, the motor meets the calibration condition. After the motor meets the calibration condition, the actual direct-axis voltage and the target direct-axis voltage required by calibration can be further obtained. In this embodiment, the preset rotation speed of the motor may range from 900 to 1100 rpm. It should be noted that, in this embodiment, the actual direct-axis voltage of the motor may be obtained through a sensor, and the target direct-axis voltage of the motor may be directly read from a memory, or obtained through conversion through other target data.

And S303, calibrating the zero position angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero position angle.

After the actual direct-axis voltage, the target direct-axis voltage and the initial zero position angle of the motor are detected or read, the three data can be used for calibrating the zero position angle of the motor. It should be noted that, in the calibration mode, the method can be based on the formula

Performing derivation to measure the accuracyAngle of the motor rotor of (1), wherein ₁ Representing the direct-axis inductance, L ₂ Representing quadrature inductance, R _s Denotes the phase resistance of the stator winding, u _d Represents the direct axis voltage u _q Representing the quadrature axis voltage, i _d Representing the direct axis current, i _q Representing quadrature axis current, # _m Denotes the flux linkage, alpha denotes the motor rotor angle, w _r Representing the rotor angular velocity.

It can be determined that, in the above formula, when the direct axis current i _d Quadrature axis current i _q And when the angle alpha of the motor rotor is zero, the quadrature axis voltage u is calculated according to the formula _d Equal to zero, the zero position angle of the motor at the moment is the accurate zero position angle, but the motor has certain error in the long-time use process, so that even if the direct-axis current i _d Quadrature axis current i _q And the motor rotor angle alpha is zero, the actual quadrature axis voltage of the motor is not necessarily zero, and further the zero position angle detected by the actual quadrature axis voltage is not necessarily the accurate zero position angle of the motor.

As shown in fig. 4, the zero angle calibration of the motor is performed according to the actual direct-axis voltage, the target direct-axis voltage, and the initial zero angle, and includes:

s401, determining the current zero angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage.

In particular, according to the formula in the above embodiment

Can convert the direct axis current i _d And quadrature axis current i _q Setting the direct-axis voltage to zero, setting the target direct-axis voltage to zero, and then determining the current zero position angle of the motor according to the difference value between the actual direct-axis voltage and the target direct-axis voltage, wherein there are various methods for determining the current zero position angle according to the actual direct-axis voltage and the target direct-axis voltage, for example, the two voltages can be directly differenced and the difference value can be used as the current zero position angle of the motor.

In some embodiments, determining the current null angle of the motor from the actual direct-axis voltage and the target direct-axis voltage includes: performing PI control on the actual direct-axis voltage to obtain a plurality of first actual direct-axis voltages; carrying out average calculation on a plurality of first actual direct-axis voltages to obtain an actual direct-axis voltage average value; and when the actual direct-axis voltage average value is smaller than the preset voltage threshold value, calculating the current zero angle of the motor according to the actual direct-axis voltage average value and the target direct-axis voltage.

Specifically, in this embodiment, PI control may be performed on the actual direct-axis voltage, so that a difference between the actual direct-axis voltage and the target direct-axis voltage is zero, that is, the current zero-position angle of the corresponding motor at this time may be determined. In this embodiment, an average value of the actual direct-axis voltage subjected to the PI control is calculated, and if the average value of the actual direct-axis voltage is smaller than a preset voltage threshold, the calculated voltage average value may be determined as the current actual direct-axis voltage of the motor, and then the current zero-position angle calculated by using the current actual direct-axis voltage of the motor is the accurate current zero-position angle of the motor. Optionally, the preset voltage threshold in this embodiment may be determined between 0.1 and 0.3 volts, specifically according to the accuracy requirement.

It should be noted that before calculating the average value of the actual direct-axis voltages, in a preset time after the motor executes the calibration program, it may be calculated whether the quotient between the sum of the squares of each target direct-axis voltage and the number of the target direct-axis voltages is smaller than a set value, if so, the average value operation of the actual direct-axis voltages is executed in a manner of setting the flip-flop, and it should be noted that the flip-flop may be set to execute the average value operation step of the actual direct-axis voltages when the flip-flop is set. The preset time may be 0.3 second, and the set value may be 1.

S402, calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor.

Specifically, after the accurate current zero position angle is determined, the initial zero position angle and the current zero position angle of the motor are used for calibrating the zero position angle of the motor, so that a more accurate zero position angle calibration result can be obtained. In some embodiments, as shown in fig. 5, the zero angle calibration of the motor according to the initial zero angle and the current zero angle of the motor includes:

s501, taking the sum of the initial zero position angle and the current zero position angle as a standard zero position angle of the motor.

And S502, when the standard zero angle is larger than the first angle threshold, calibrating the zero angle of the motor according to the difference between the standard zero angle and the first angle threshold.

And S503, when the standard zero angle is smaller than the second angle threshold, calibrating the zero angle of the motor according to the sum of the standard zero angle and the first angle threshold.

And S504, when the standard zero position angle is larger than or equal to the second angle threshold value and smaller than or equal to the first angle threshold value, calibrating the zero position angle of the motor according to the standard zero position angle.

Specifically, after the current zero position angle of the motor is determined, the current zero position angle and the initial zero position angle are summed to determine the standard zero position angle of the motor, that is, when the motor rotor is in the zero position angle, the motor rotates for a long time and has an error, and the angle acquired by the sensor is not zero but is the standard zero position angle of the motor, or when the angle acquired by the sensor is zero, the motor rotor is not really in the zero position angle at the moment, so that the zero position angle of the motor can be determined through the standard zero position angle after the standard zero position angle of the motor is determined.

In this embodiment, after the standard zero position angle of the motor is obtained through calculation, the standard zero position angle is compared with the first angle threshold and the second angle threshold, when the standard zero position angle of the motor is greater than the first angle threshold, the first angle threshold is subtracted from the standard zero position angle to obtain a final zero position angle, and the zero position angle of the motor is calibrated according to the final zero position angle. And when the standard zero position angle is smaller than the second angle threshold value, adding the first angle threshold value to the standard zero position angle to obtain a final zero position angle, and calibrating the zero position angle of the motor according to the final zero position angle. And when the standard zero position angle is larger than or equal to the second angle threshold value and smaller than or equal to the first angle threshold value, the standard zero position angle is directly used for calibrating the zero position angle of the motor. Optionally, the first angle threshold in this embodiment is 360 degrees, and the second angle threshold is 0 degree.

And S30, providing at least two target torques to the clutch so that the clutch at least generates a first pressure value and a second pressure value.

And S40, calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value.

After the zero position angle calibration of the motor is completed, it indicates that the rotation speed of the motor can be accurately obtained, that is, when the motor is controlled to rotate at the target rotation speed, the error between the actual rotation speed of the motor and the target rotation speed is close to zero. The motor with the zero position angle calibration completed can be utilized to rotate according to a preset rotating speed, at least two torques are provided for the clutch, and then the clutch is subjected to half-combination point calibration, wherein the highest torque without influencing the rotating speed of the motor and the difference value between the zero torques can be used as the half-combination point pressure value of the clutch according to the clutch, so that the two torques can be accurately provided for the clutch through the motor, the clutch generates two pressure values according to the two torques, and then the half-combination point calibration of the clutch is carried out according to the difference value between the two pressure values.

In some embodiments of the present invention, referring to fig. 2A or fig. 2B, the vehicle includes a first electric machine P1 and a second electric machine P2, the first electric machine P1 and the second electric machine P2 are connected through a preset clutch C0, and the calibration method further includes: when the zero position angle calibration is carried out on the first motor P1, the preset clutch C0 is controlled to be in a separation state; and when the zero position angle calibration is carried out on the second motor P2, the preset clutch C0 is controlled to be in a combined state.

Specifically, referring to fig. 2A, when the first electric machine P1 is calibrated, the preset clutch C0 may be controlled to be in a disengaged state, and then the engine ENG is used to control the rotation speed of the first electric machine P1, that is, when the preset clutch C0 is in the disengaged state, the engine is used to control the first electric machine P1 to rotate. Referring to fig. 2B, when the second motor P2 is calibrated, the preset clutch C0 may be controlled to be in a coupled state, and then the first motor P1 completing calibration is used to control the rotation speed of the second motor P2, that is, when the preset clutch C0 is in the coupled state, the first motor P1 is used to control the second motor P2 to rotate.

It can be understood that the rotation speed error can be controlled to be close to zero by using the calibrated motor to control the rotation speed of the clutch or other motors, so that the calibration accuracy is improved.

In some embodiments of the present invention, the vehicle includes at least one driving gear, the clutches are arranged in one-to-one correspondence with the driving gears, as shown in fig. 6, and the clutch calibration method includes:

and S601, controlling the running gears of the vehicle to be in a disengaged state.

And S602, taking the clutch corresponding to the target running gear as a clutch to be calibrated.

And S603, providing at least two target torques to the clutch to be calibrated.

Specifically, the present embodiment includes a plurality of clutches, and the number of the clutches may be the same as the number of the driving gears, that is, the clutches and the driving gears are arranged in a one-to-one correspondence manner, for example, when the driving gears of the vehicle include a fifth gear, the first clutch may be arranged corresponding to the first gear, the second clutch may be arranged corresponding to the second gear, and so on, and the fifth clutch may be arranged corresponding to the fifth gear. When each clutch is calibrated, the driving gear of the vehicle needs to be controlled to be in an empty state so as to ensure the calibration safety. During calibration, the corresponding clutches may be calibrated according to the gear sequence, for example, when the 1 st gear is selected, the first clutch is used as the clutch to be calibrated, then two target torques are provided to the clutch to be calibrated, and then the subsequent calibration steps are performed.

In some embodiments of the present invention, providing at least two target torques to the clutch includes: and providing a first target torque and a second target torque for the clutch, wherein the first target torque is larger than the second target torque, the second target torque is zero, and when the torque provided for the clutch is smaller than or equal to the first target torque, the motor rotates at a first preset rotating speed.

Specifically, during the calibration process of the clutch, at least two target torques need to be provided for the clutch, and more specifically, a first target torque and a second target torque may be provided for the clutch, where the first target torque is greater than the second target torque, and the second target torque is equal to zero, and the first target torque is determined in such a way that the maximum torque of the reduction of the rotating speed of the motor is not affected, that is, when the torque provided for the clutch is less than or equal to the first target torque, the motor keeps rotating at the first preset rotating speed, and once the torque provided for the clutch is greater than the first target torque, the rotating speed of the motor is reduced, and thus the half-engagement point of the clutch cannot be accurately calibrated. In this embodiment, the first preset rotation speed may be 500 rpm and the first target torque may be 10 nm.

It should be noted that, in this embodiment, a plurality of first target torques and a plurality of second target torques may also be provided to the clutch, because under the influence of the error, the pressure value generated by the clutch after each torque is provided to the clutch is not fixed, in order to improve the calibration accuracy, the pressure values generated by the clutch under the plurality of target torques may be obtained, and then the average value of the pressure values is calculated to determine the pressure value corresponding to the target torque. In some embodiments of the present invention, hysteresis calibration is also performed on the clutch, see in particular fig. 7, comprising the steps of:

and S701, determining a pressure rising curve and a pressure falling curve of the clutch according to the torque provided to the clutch and the pressure value generated by the clutch under the action of the torque.

S702, determining a rising pressure value corresponding to the clutch in the preset torque according to the pressure rising curve, and determining a falling pressure value corresponding to the clutch in the preset torque according to the pressure falling curve.

And S703, performing hysteresis calibration on the clutch according to the rising pressure value and the falling pressure value.

Specifically, the present embodiment may provide a plurality of torques to the clutch in an ascending and descending manner, so that the clutch generates a plurality of corresponding pressure ascending curves and pressure descending curves, as shown in fig. 8, and the pressure ascending curves and the pressure descending curves do not overlap due to the hysteresis phenomenon of the clutch. That is, the pressure increase value determined by the clutch according to the pressure increase curve and the pressure decrease value determined according to the pressure decrease curve are not the same at the same torque. In this embodiment, a preset torque is determined first, and then hysteresis calibration is performed on the clutch according to a rising pressure value and a falling pressure value corresponding to the preset torque, specifically, hysteresis calibration may be performed on the clutch according to a difference between the rising pressure value and the falling pressure value corresponding to the preset torque. In fig. 8, the abscissa represents torque, and the ordinate represents pressure values to which the clutch is subjected to the torque. In addition, the torque-pressure relationship diagram shown in fig. 8 is only a specific example, and the specific correspondence relationship may be different for different types of clutches, and is not limited specifically again.

In conclusion, the method for calibrating the clutch of the vehicle can accurately calibrate the clutch of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.

Further, the present invention proposes a computer-readable storage medium having stored thereon a clutch calibration program of a vehicle, which when executed by a processor implements the clutch calibration method of the vehicle according to the above-described embodiment.

According to the computer-readable storage medium disclosed by the embodiment of the invention, the processor executes the method for calibrating the clutch of the vehicle stored on the computer-readable storage medium, so that the clutch of the vehicle can be accurately calibrated, the driving performance of the vehicle is improved, and the experience of a driver is improved.

Fig. 9 is a block diagram of a vehicle controller according to an embodiment of the invention.

Further, as shown in fig. 9, the present invention provides a vehicle controller 100, which includes a memory 101, a processor 102 and a clutch calibration program of a vehicle stored on the memory 101 and operable on the processor 102, and when the processor 102 executes the clutch calibration program of the vehicle, the method for calibrating the clutch of the vehicle according to the above-mentioned embodiment is implemented.

The vehicle controller comprises the storage memory and the processor, and the processor executes the method for calibrating the clutch of the vehicle stored on the storage memory, so that the clutch of the vehicle can be accurately calibrated, the driving performance of the vehicle is improved, and the experience of a driver is improved.

Fig. 10 is a block diagram of a clutch calibration apparatus for a vehicle according to an embodiment of the present invention.

Further, as shown in fig. 10, the present invention provides a clutch calibration apparatus 200 for a vehicle, wherein the vehicle includes at least one clutch and an electric machine, and the clutch calibration apparatus 200 for the vehicle includes a control module 201, a generation module 202, and a clutch calibration module 206.

The control module 201 is used for controlling the gear of the vehicle to be a parking gear and the vehicle to be in a static state, controlling the motor to rotate at a first preset rotating speed and controlling the clutch to be in a combined state; the generation module 202 is configured to provide at least two target torques to the clutch to cause the clutch to generate at least a first pressure value and a second pressure value; the clutch calibration module 203 is used for calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value.

In some embodiments of the present invention, the vehicle includes at least one driving range, the clutches are disposed in one-to-one correspondence with the driving ranges, and the control module is further configured to: controlling running gears of the vehicle to be in a disengaged state; taking a clutch corresponding to the target driving gear as a clutch to be calibrated; at least two target torques are provided to the off-going clutch.

In some embodiments of the present invention, the generating module 202 is specifically configured to: and providing a first target torque and a second target torque for the clutch, wherein the first target torque is larger than the second target torque, the second target torque is zero, and when the torque provided for the clutch is smaller than or equal to the first target torque, the motor rotates at a first preset rotating speed.

In some embodiments of the invention, the first predetermined speed is 500 rpm and the first target torque is 10 nm.

In some embodiments of the present invention, before controlling the motor to rotate at the first preset rotation speed, the control module is further configured to: initializing a motor, and acquiring an initial zero angle of the motor; when the motor is determined to meet the calibration condition, acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor; and calibrating the zero angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero angle.

In some embodiments of the present invention, the control module is specifically configured to: determining the current zero position angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage; and calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor.

In some embodiments of the present invention, the clutch calibration apparatus for a vehicle further comprises a hysteresis calibration module, configured to determine a pressure rising curve and a pressure falling curve of the clutch according to the torque provided to the clutch and a pressure value generated by the clutch under the action of the torque; determining a rising pressure value corresponding to the clutch in the preset torque according to the pressure rising curve, and determining a falling pressure value corresponding to the clutch in the preset torque according to the pressure falling curve; and performing hysteresis calibration on the clutch according to the ascending pressure value and the descending pressure value.

It should be noted that, for the specific implementation of the clutch calibration device of the vehicle according to the embodiment of the present invention, reference may be made to the specific implementation of the clutch calibration method of the vehicle in the foregoing embodiment, and details are not repeated herein.

In summary, the vehicle in the embodiment of the present invention includes multiple clutches and motors, the clutch calibration apparatus of the vehicle includes a control module, a generation module, and a clutch calibration module, where the control module controls a gear of the vehicle in a parking gear and ensures that the vehicle is in a stationary state, controls the motor to rotate at a first preset rotation speed, and simultaneously controls the clutches in an engaged state, and the generation module may provide at least two target torques for the clutches. Therefore, the clutch calibration device of the vehicle in the embodiment of the invention can accurately calibrate the clutch of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.

It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.

Furthermore, the terms "first", "second", and the like used in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in the embodiments. Therefore, the feature of the embodiments of the present invention defined by the terms "first", "second", etc. may explicitly or implicitly indicate that at least one of the feature is included in the embodiments. In the description of the present invention, the word "plurality" means at least two or two and more, such as two, three, four, etc., unless specifically limited otherwise in the examples.

In the present invention, unless otherwise explicitly stated or limited by the relevant description or limitation, the terms "mounted," "connected," and "fixed" in the embodiments are to be understood in a broad sense, for example, the connection may be a fixed connection, a detachable connection, or an integrated connection, and it may be understood that the connection may also be a mechanical connection, an electrical connection, etc.; of course, they may be directly connected or indirectly connected through an intermediate medium, or they may be interconnected or in mutual relationship. Those of ordinary skill in the art will understand the specific meaning of the above terms in the present invention according to their specific implementation.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. A method of calibrating a clutch of a vehicle, the vehicle including at least one clutch and an electric machine, the method comprising:

controlling the gear of the vehicle to be a parking gear and enabling the vehicle to be in a static state;

controlling the motor to rotate at a first preset rotating speed and controlling the clutch to be in a combined state;

providing at least two target torques to the clutch to cause the clutch to generate at least a first pressure value and a second pressure value;

and calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value.

2. The method for calibrating the clutch according to claim 1, wherein the vehicle comprises at least one driving gear, the clutch is arranged in one-to-one correspondence with the driving gear, and the method comprises the following steps:

controlling the running gears of the vehicle to be in a disengaged state;

taking a clutch corresponding to the target driving gear as a clutch to be calibrated;

providing at least two target torques to the off-going clutch.

3. The clutch calibration method of claim 1, wherein providing at least two target torques to the clutch comprises:

and providing a first target torque and a second target torque for the clutch, wherein the first target torque is larger than the second target torque, the second target torque is zero, and when the torque provided for the clutch is smaller than or equal to the first target torque, the motor rotates at the first preset rotating speed.

4. The clutch calibration method as defined in claim 3, wherein the first preset rotation speed is 500 rpm and the first target torque is 10 nm.

5. The method of claim 1, wherein before controlling the electric machine to rotate at a first predetermined speed, the method further comprises:

initializing the motor, and acquiring an initial zero position angle of the motor;

when the motor is determined to meet the calibration condition, acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor;

and calibrating the zero angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero angle.

6. The clutch calibration method according to claim 5, wherein the zero angle calibration of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero angle comprises:

determining the current zero position angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage;

and calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor.

7. The clutch calibration method of claim 1, further comprising:

determining a pressure rising curve and a pressure falling curve of the clutch according to the torque provided to the clutch and the pressure value generated by the clutch under the action of the torque;

determining a rising pressure value corresponding to the clutch in a preset torque according to the pressure rising curve, and determining a falling pressure value corresponding to the clutch in the preset torque according to the pressure falling curve;

and performing hysteresis calibration on the clutch according to the ascending pressure value and the descending pressure value.

8. A computer-readable storage medium, characterized in that a clutch calibration program of a vehicle is stored thereon, which when executed by a processor implements a clutch calibration method of a vehicle according to any one of claims 1-7.

9. A vehicle controller comprising a memory, a processor and a clutch calibration program for a vehicle stored on the memory and operable on the processor, the processor implementing the clutch calibration method for a vehicle according to any one of claims 1-7 when executing the clutch calibration program for the vehicle.

10. A clutch calibration apparatus for a vehicle, the vehicle including at least one clutch and an electric machine, the calibration apparatus comprising:

the control module is used for controlling the gear of the vehicle to be a parking gear and the vehicle to be in a static state, controlling the motor to rotate at a first preset rotating speed and controlling the clutch to be in a combined state;

a generating module for providing at least two target torques to the clutch to cause the clutch to generate at least a first pressure value and a second pressure value;

and the clutch calibration module is used for calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value.

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