CN117345863A - AMT gear position control method and device, electronic equipment and storage medium - Google Patents
AMT gear position control method and device, electronic equipment and storage medium Download PDFInfo
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- CN117345863A CN117345863A CN202311349406.6A CN202311349406A CN117345863A CN 117345863 A CN117345863 A CN 117345863A CN 202311349406 A CN202311349406 A CN 202311349406A CN 117345863 A CN117345863 A CN 117345863A
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- 238000000034 method Methods 0.000 title claims abstract description 99
- 230000005540 biological transmission Effects 0.000 claims abstract description 50
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H61/32—Electric motors actuators or related electrical control means therefor
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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Abstract
The invention discloses an AMT gear position control method, an AMT gear position control device, electronic equipment and a storage medium. The AMT gear position control method comprises the following steps: after meeting AMT gear position control triggering conditions, acquiring a required gear of a gear shifting motor and first gear shifting motor initial positions in a plurality of picking processes, and determining the required position of the first gear shifting motor according to the first gear shifting motor initial positions; determining initial positions of a second gear shifting motor in a plurality of gear shifting processes according to the required gear, and determining required positions of the second gear shifting motor according to the initial positions of the second gear shifting motors; and determining a corresponding required gear transmission ratio according to the second gear-shifting motor required position, and storing the first gear-shifting motor required position and the second gear-shifting motor required position as AMT gear required positions after the required gear transmission ratio is consistent with the theoretical transmission ratio of the corresponding required gear. The invention realizes accurate self-learning of each control position of the AMT gear selecting and shifting motor.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to an AMT gear position control method, an AMT gear position control device, an electronic device, and a storage medium.
Background
The AMT gearbox is an automatic control mechanism additionally provided with an electronic unit under the condition that the basic structure of the original mechanical manual gearbox is unchanged, replaces the operations of clutch separation and engagement, gear removal and gear engagement, engine rotation speed and torque adjustment and the like which are manually completed by a driver, realizes control automation of a gear shifting process, and brings great convenience to the driver.
Because of the factors such as the change of gear selecting and shifting displacement caused by the mechanical processing deviation of the AMT gearbox and the abrasion in the using process, self-learning logic needs to be added, the consistency and the service life of products are enhanced, in addition, the gear shifting mechanism of the mechanical part is influenced by the reasons such as temperature change, use aging and the like, so that the precision and the response speed of the gear selecting and shifting motor for the position control of the gear shifting motor are also reduced, and therefore, the limit position parameters of the mechanical part are required to be calibrated and updated for a period of time so as to ensure the driving precision and the quick response of the gear selecting and shifting motor. At present, AMT gear position self-learning is time-consuming when the AMT gearbox is offline, and the use of the learned limit value may have the disadvantage of long gear shifting time.
Disclosure of Invention
The invention provides an AMT gear position control method, an AMT gear position control device, electronic equipment and a storage medium, which are used for solving the problems that when an AMT gearbox is adopted to be offline, the AMT gear position self-learning is time-consuming, and the learned limit value is used, so that the defect of long gear shifting time can exist.
According to an aspect of the present invention, there is provided an AMT gear position control method including:
after meeting AMT gear position control triggering conditions, acquiring a required gear of a gear shifting motor and first gear shifting motor initial positions in a plurality of picking processes, and determining the required position of the first gear shifting motor according to the first gear shifting motor initial positions;
after a gear shifting instruction is received, determining initial positions of a second gear shifting motor in a plurality of gear shifting processes according to the required gear, and determining required positions of the second gear shifting motor according to the initial positions of the second gear shifting motors;
and determining a corresponding required gear transmission ratio according to the second gear-shifting motor required position, and storing the first gear-shifting motor required position and the second gear-shifting motor required position as AMT gear required positions after the required gear transmission ratio is consistent with a theoretical transmission ratio of the corresponding required gear.
Optionally, the AMT gear position control triggering condition includes that the normal shift operation number of times is executed to exceed the set shift operation number of times, or the continuous shift operation failure number of times is executed to exceed the set failure operation number of times, or the stored error values of the plurality of historical shift motor positions are executed to exceed the set position threshold value.
Optionally, before acquiring the required gear of the gear shifting motor and the initial positions of the first gear shifting motor in the multiple picking processes, the method further includes:
acquiring a first gear shifting limit position, a second gear shifting limit position and a gear shifting intermediate position of a gear shifting motor, and a first gear selecting limit position, a second gear selecting limit position and a gear selecting intermediate position of a gear selecting motor;
acquiring initial positions of a first gear shifting motor in a plurality of picking processes, wherein the initial positions comprise:
and determining the initial position of the first gear shifting motor according to the gear shifting intermediate position in the first gear shifting process.
Optionally, determining the first gear shifting motor demand position according to the plurality of first gear shifting motor initial positions includes:
if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is determined to be in the set position difference value range, taking the average value of the plurality of first gear shifting motor initial positions as a first gear shifting motor required position;
if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is not in the set position difference value range, recording that the first gear shifting motor required position verification fails.
Optionally, the AMT gear position control method further includes:
counting the number of times of failure in verification of the required position of the first gear shifting motor;
and when the times exceeds a set times threshold, taking the default position of the first gear shifting motor as the required position of the first gear shifting motor.
Optionally, determining the corresponding required gear transmission ratio according to the required position of the second gear shifting motor includes:
and determining the current output shaft rotating speed and the current input shaft rotating speed according to the second gear shifting motor demand position, and determining the demand gear transmission ratio corresponding to the second gear shifting motor demand position according to the current output shaft rotating speed and the current input shaft rotating speed.
Optionally, the AMT gear position control method further includes:
and when the transmission ratio of the required gear is inconsistent with the theoretical transmission ratio of the corresponding required gear, generating an off-hook instruction, and executing off-hook operation according to the off-hook instruction.
According to another aspect of the present invention, there is provided an AMT gear position control device including:
the first gear shifting motor demand position determining module is used for acquiring the demand gear of the gear shifting motor and the first gear shifting motor initial positions of a plurality of picking processes after the AMT gear position control triggering condition is met, and determining the first gear shifting motor demand position according to the plurality of first gear shifting motor initial positions;
The second gear shifting motor demand position determining module is used for determining second gear shifting motor initial positions of a plurality of gear shifting processes according to the demand gear after a gear shifting instruction is received, and determining second gear shifting motor demand positions according to the second gear shifting motor initial positions;
and the AMT gear position control module is used for determining a corresponding required gear transmission ratio according to the required position of the second gear shifting motor, and storing the required position of the first gear shifting motor and the required position of the second gear shifting motor as AMT gear required positions after the required gear transmission ratio is consistent with the theoretical transmission ratio of the corresponding required gear.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the AMT gear position control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute the AMT gear position control method according to any one of the embodiments of the present invention.
According to the technical scheme, after the AMT gear position control triggering condition is met, the required gear of the gear shifting motor and the first gear shifting motor initial positions in a plurality of picking processes are obtained, and the required position of the first gear shifting motor is determined according to the first gear shifting motor initial positions; after a gear shifting instruction is received, determining initial positions of a second gear shifting motor in a plurality of gear shifting processes according to the required gear, and determining required positions of the second gear shifting motor according to the initial positions of the second gear shifting motors; and determining a corresponding required gear transmission ratio according to the second gear-shifting motor required position, and storing the first gear-shifting motor required position and the second gear-shifting motor required position as AMT gear required positions after the required gear transmission ratio is consistent with a theoretical transmission ratio of the corresponding required gear. The invention solves the problems that the prior AMT gearbox is relatively time-consuming to perform AMT gear position self-learning when being offline, and the learned limit value is used to possibly have the defect of long gear shifting time, realizes accurate self-learning of each control position of the AMT gear selecting and shifting motor, and enhances the software coverage and the service life of AMT parts.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of an AMT gear position control method according to a first embodiment of the present invention;
FIG. 2 is a flowchart of an AMT gear position control method according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a gear shifting process of an AMT gear according to a second embodiment of the invention;
FIG. 4 is a schematic diagram of a shift operation of an AMT gear with self-locking according to a second embodiment of the present invention;
FIG. 5 is a gear distribution diagram of a vehicle provided according to a second embodiment of the present invention;
FIG. 6 is a gear actual measurement diagram of an AMT gear position control method according to a second embodiment of the present invention;
Fig. 7 is a schematic structural diagram of an AMT gear position control device according to a third embodiment of the invention;
fig. 8 is a schematic structural diagram of an electronic device implementing the AMT gear position control method according to an embodiment of the invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of an AMT gear position control method according to an embodiment of the present invention, where the method is applicable to the case of performing accurate adjustment control on an AMT gear position, and the method may be performed by an AMT gear position control device, where the AMT gear position control device may be implemented in hardware and/or software, and where the AMT gear position control device may be configured in an electronic device capable of performing control on an AMT gear position of a vehicle. As shown in fig. 1, the AMT gear position control method includes:
s110, after the AMT gear position control triggering condition is met, the required gear of the gear shifting motor and the initial positions of the first gear shifting motors in a plurality of picking processes are obtained, and the required position of the first gear shifting motor is determined according to the initial positions of the first gear shifting motors.
The AMT gear position control triggering condition comprises that the normal gear shifting operation times exceeds the set gear shifting operation times, or the continuous gear shifting operation failure times exceeds the set failure operation times, or the stored error values of the positions of a plurality of historical gear shifting motors exceed the set position threshold.
The shift operation number, fail operation number and position threshold may be set by those skilled in the art according to the actual requirements of the AMT gearbox, and the present embodiment is not limited in any way.
For example, taking the case of setting the number of shift operations to 500, setting the number of fail operations to 3, and setting the position threshold to 50mv as an example, if the number of normal shift operations is executed more than 500, or the number of continuous shift operations is failed more than 3, or the stored error values of the plurality of historical shift motor positions exceeds 50mv, it is considered that the AMT gear position control trigger condition is satisfied at this time, the next AMT gear position control operation may be executed.
Because the AMT gear is engaged to the corresponding gear through the combined action of the gear selecting and shifting motor, the required gear of the gear selecting and shifting motor is acquired, namely the required gear of the gear selecting and shifting motor is acquired.
Further, before the required gear of the gear shifting motor and the initial positions of the first gear shifting motor in a plurality of off-hook processes are obtained, the first gear shifting limit position, the second gear shifting limit position and the gear shifting intermediate position of the gear shifting motor, and the first gear selecting limit position, the second gear selecting limit position and the gear selecting intermediate position of the gear selecting motor are obtained.
It is understood that the off-hook process is a process of engaging a neutral gear from a 1 st, 2 nd, 3 rd, 4 th, 5 th or other gear.
In the present embodiment, the plurality of first shift motor initial positions of the off-hook process are acquired, and the plurality of first shift motor initial positions may be determined, but not limited to, based on the shift intermediate position, or based on the history shift motor position, which is not limited in this embodiment.
The number of the first shift motor initial positions in the plurality of picking processes may be three, five or more, and the number of the first shift motor initial positions obtained in this embodiment is not limited.
In particular, after the vehicle is powered on, a picking command is obtained, namely, a picking operation is executed, and in the first picking process, the initial position of the first gear shifting motor needs to be determined according to the gear shifting intermediate position.
Further, if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is determined to be in the set position difference value range, taking the average value of the plurality of first gear shifting motor initial positions as a first gear shifting motor required position; if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is not in the set position difference value range, recording that the first gear shifting motor required position verification fails.
The setting position difference range can be, but not limited to, selected and set by a person skilled in the art according to the actual requirements of the AMT gearbox, which is not limited in this embodiment. Optionally, the position difference range is set to be 50mv range.
On the basis of the above, the number of times of verification failure of the first gear shifting motor required position is counted, and when the number of times exceeds a set number of times threshold, the default position of the first gear shifting motor is used as the first gear shifting motor required position.
The threshold number of times may be set selectively by those skilled in the art according to the actual requirements of the AMT gearbox, but the present embodiment is not limited in this respect. Optionally, the threshold number of times is set to 3.
And S120, after a gear shifting instruction is received, determining initial positions of the second gear shifting motors in a plurality of gear shifting processes according to the required gear, and determining required positions of the second gear shifting motors according to the initial positions of the second gear shifting motors.
Specifically, after a gear shifting instruction is received, the duty ratio is 0 after the gear is adjusted to be in place according to the required gear, the position is kept still when the duty ratio is not available (after the duty ratio is stopped and the torque at the input end is greater than 10N and 1 s), and the position of the gear shifting motor at the moment is recorded as the initial position of the second gear shifting motor. And repeating the operation to obtain the initial positions of the second gear shifting motors in the gear shifting processes.
It is understood that the gear shifting process is a process of engaging 1 st gear, 2 nd gear, 3 rd gear, 4 th gear, 5 th gear or other gears from the neutral gear, and each gear is engaged through a plurality of gear shifting processes, so as to obtain a corresponding initial position of the second gear shifting motor.
Further, if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of second gear shifting motor initial positions is determined to be in the set position difference value range, taking the average value of the plurality of second gear shifting motor initial positions as a second gear shifting motor required position; if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of second gear shifting motor initial positions is not in the set position difference value range, recording that the verification of the required position of the second gear shifting motor is failed for the first time.
And on the basis of the above, counting the number of times of verification failure of the second gear shifting motor required position, and taking the default position of the second gear shifting motor as the second gear shifting motor required position when the number of times exceeds a set number threshold.
S130, determining a corresponding required gear transmission ratio according to the second gear-shifting motor required position, and storing the first gear-shifting motor required position and the second gear-shifting motor required position as AMT gear required positions after the required gear transmission ratio is consistent with a theoretical transmission ratio of the corresponding required gear.
Specifically, a current output shaft rotating speed and a current input shaft rotating speed are determined according to the second gear shifting motor demand position, and a demand gear transmission ratio corresponding to the second gear shifting motor demand position is determined according to the current output shaft rotating speed and the current input shaft rotating speed.
The specific equation is as follows:
current output shaft speed current input shaft speed = required gear ratio
After the required gear transmission ratio is consistent with the theoretical transmission ratio of the corresponding required gear, the verification of the required gear transmission ratio is passed, and the accuracy of the AMT gear position can be ensured as no duty ratio is finally achieved and a certain time is acted, so that the first gear shifting motor required position and the second gear shifting motor required position are stored as AMT gear required positions.
It is understood that the AMT gear requirement position may be, but not limited to, stored in various memories, which is not particularly limited in this embodiment.
On the basis of the embodiment, when the transmission ratio of the required gear is inconsistent with the theoretical transmission ratio of the corresponding required gear, an off-hook instruction is generated, and off-hook operation is executed according to the off-hook instruction.
According to the technical scheme, after the AMT gear position control triggering condition is met, the required gear of the gear shifting motor and the first gear shifting motor initial positions in a plurality of picking processes are obtained, and the required position of the first gear shifting motor is determined according to the first gear shifting motor initial positions; after a gear shifting instruction is received, determining initial positions of a second gear shifting motor in a plurality of gear shifting processes according to the required gear, and determining required positions of the second gear shifting motor according to the initial positions of the second gear shifting motors; and determining a corresponding required gear transmission ratio according to the second gear-shifting motor required position, and storing the first gear-shifting motor required position and the second gear-shifting motor required position as AMT gear required positions after the required gear transmission ratio is consistent with a theoretical transmission ratio of the corresponding required gear. The invention solves the problems that the prior AMT gearbox is relatively time-consuming to perform AMT gear position self-learning when being offline, and the learned limit value is used to possibly have the defect of long gear shifting time, realizes accurate self-learning of each control position of the AMT gear selecting and shifting motor, and enhances the software coverage and the service life of AMT parts.
Example two
Fig. 2 is a flowchart of an AMT gear position control method according to a second embodiment of the present invention, and on the basis of the foregoing embodiment, an alternative implementation is provided by combining with a schematic diagram of a gear shifting process of the AMT gear shown in fig. 3. As shown in fig. 2, the AMT gear position control method includes:
s210, acquiring a required gear of the gear-shifting motor after the normal gear-shifting operation times exceeds the set gear-shifting operation times, or the continuous gear-shifting operation failure times exceed the set failure operation times, or the stored error values of the positions of a plurality of historical gear-shifting motors exceed the set position threshold.
The gear shifting operation schematic diagram of the AMT gear with self-locking function is shown in fig. 4, wherein the gear shifting motor can be engaged into a corresponding gear through the control of the gear shifting motor, and the gear shifting executing mechanism is provided with a corresponding position sensor for identifying the position of the gear shifting motor. The precise positioning of the self-locking pin is shown on the left side of fig. 4, and it can be seen from the figure that the self-locking pin can be "sucked" into the gear belt when the gear shift is controlled to a certain range during the gear shift control process. Therefore, in theory, the AMT TCU does not need to accurately control the gear position, and only needs to be controlled to be in a section, and the positioning pin can finish the fine work after finishing, but the length of the section is closely related to the geometric dimensions of the positioning pin and the positioning slot plate and the spring force. Of course, precise control helps to reduce the associated friction and extend the useful life of the components.
Further, as shown in the gear distribution diagram of the vehicle in fig. 5, the x-axis direction is the gear selecting direction, i.e., controlled by the gear selecting motor, and the y-axis direction is the gear shifting direction, i.e., engaged in the corresponding gear by the combined action of the gear selecting motor. From the coordinates in fig. 5, the individual gear positions of the gear selection motor can be located, i.e. the first gear shift limit position, the second gear shift limit position and the gear shift intermediate position of the gear selection motor, as well as the first gear selection limit position, the second gear selection limit position and the gear selection intermediate position of the gear selection motor are acquired.
It can be understood that, because the above positions are acquired by using the position sensor, based on the working principle of the position sensor, the first gear shifting limit position, the second gear shifting limit position and the gear shifting intermediate position of the gear shifting motor, and the first gear selecting limit position, the second gear selecting limit position and the gear selecting intermediate position of the gear selecting motor can be recorded by mv, and related control parameters can be updated through the recordings of the above positions, so that the adaptability and the coverage are enhanced.
The first gear shifting limit position, the second gear shifting limit position, the first gear selecting limit position and the second gear selecting limit position of the gear shifting motor refer to the maximum position in gear shifting of the mechanical part, and the gear shifting middle position of the gear shifting motor and the gear selecting middle position of the gear selecting motor refer to positions to be reached when the mechanical part is in neutral gear.
For example, the first shift limit position of the shift motor may be 900mv, the second shift limit position may be 3300mv, and the shift intermediate position may be 2100mv, and the first select limit position of the select motor may be 1600mv, the second select limit position may be 3200mv, and the select intermediate position may be 2400mv.
Further, after determining the plurality of first gear shifting motor initial positions, if it is determined that the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is in the set position difference value range, that is, the gear shifting motor position is checked to pass, taking the average value of the plurality of first gear shifting motor initial positions as the first gear shifting motor required position.
If it is determined that the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is not in the set position difference value range, namely the gear shifting motor position verification is not passed, recording that the first gear shifting motor required position verification fails.
On the basis of the above, the number of times of failure in verification of the required position of the first gear shifting motor is counted, when the number of times exceeds a set number of times threshold, the default position of the first gear shifting motor is used as the required position of the first gear shifting motor, and the failure is reported to alarm so as to be timely processed by a person skilled in the art.
The default position of the first gear shifting motor can be selected and set by a person skilled in the art according to the actual requirement of the AMT gearbox, but the embodiment is not limited in any way.
S211, performing torque-clearing and gear-shifting operations on the gear-shifting motor.
With continued reference to fig. 3, step S211 is a torque-clearing and gear-off process during gear shifting of the AMT gear.
S212, acquiring initial positions of the first gear shifting motors in the plurality of picking processes, and determining the required positions of the first gear shifting motors according to the initial positions of the first gear shifting motors.
The first gear shifting motor initial position is a neutral gear position of the picking, as shown in fig. 5, and is determined according to the gear shifting intermediate position (the position of returning to the neutral gear belt 0, the neutral gear belt 1 or the neutral gear belt 2 in the Y-axis gear shifting direction) in the first picking process, namely the first gear shifting motor initial position is the gear shifting intermediate position when the picking is performed for the first time, and the first gear shifting motor initial position pos0 is the gear shifting intermediate position 2100mv.
As an example, according to the principle of short shift time, as shown in fig. 5, if the gear is shifted from the 2 nd gear in the gear belt, the initial position of the first shift motor is up to 2000mv, i.e. pos0-100mv, and if the gear is shifted from the 3 rd gear in the gear belt, the initial position of the first shift motor is up to 2200mv, i.e. pos0+100mv. Further, after the duty ratio reaches the position through PID control, the control duty ratio is 0, the position of the first gear shifting motor is kept motionless, the comparison is carried out according to the current initial position of the first gear shifting motor and the initial position of the first gear shifting motor with the last step length, the comparison is smaller than 5mv, the initial position of the first gear shifting motor is kept motionless at the moment, namely the self-locking point position, the initial position of the first gear shifting motor at the moment is recorded as pos0A, and the initial position of the first gear shifting motor is obtained. The same steps can record a plurality of first shift motor initial positions pos0B, pos0C … …, cycling through the above operations.
S213, after receiving the gear shifting instruction, executing speed regulation and gear shifting operation on the gear shifting motor.
With continued reference to fig. 3, step S213 is a speed regulation and shift up process during gear shifting of the AMT gear.
S214, determining initial positions of the second gear shifting motors in the gear shifting processes according to the required gear, and determining required positions of the second gear shifting motors according to the initial positions of the second gear shifting motors.
S215, determining the current output shaft rotating speed and the current input shaft rotating speed according to the second gear shifting motor demand position, and determining the demand gear transmission ratio corresponding to the second gear shifting motor demand position according to the current output shaft rotating speed and the current input shaft rotating speed.
S216, judging whether the transmission ratio of the required gear is consistent with the theoretical transmission ratio of the corresponding required gear, if so, executing the step S217, and if not, executing the step S211.
S217, storing the first gear shifting motor required position and the second gear shifting motor required position as AMT gear required positions.
As shown in fig. 6, it can be seen from the gear actual measurement chart of the AMT gear position control method according to fig. 6 that the shift finger is controlled to reach the shift position, it can be seen from the chart that the change of torque has a certain effect on the change of the shift position, after the shift finger position is no longer changed, the duty ratio of the shift motor is adjusted again, and a period of time is continued, if the position of the shift finger is still unchanged, the position is recorded, and if the position is changed, the position where the shift finger is still again later is recorded as the required position of the shift motor or the required position of the gear selecting motor to be recorded.
According to the technical scheme, an original AMT gear control technology is taken as a framework, AMT gear is subjected to normal gear shifting control, but the first gear shifting motor requirement position and the second gear shifting motor requirement position are combined according to the first gear shifting limit position, the second gear shifting limit position and the gear shifting middle position of a gear shifting motor, and the addition and subtraction calibration of the first gear selecting limit position, the second gear selecting limit position and the gear selecting middle position of a gear shifting motor is carried out, so that the final AMT gear requirement position is unchanged (is taken as a final reasonable self-locking position value), when self-learning and emptying of the self-locking position is realized through the AMT gear position control method provided by the application, the self-learning time can be shortened according to a nearby principle, meanwhile, the average value of the initial positions of the first gear shifting motor is taken for a plurality of times, the accuracy is ensured, the accuracy is checked through the comparison of the initial positions of the first gear shifting motor a plurality of times, finally, the self-locking position value obtained through self-learning is taken as the final AMT gear requirement position output, the service life and comfort of parts are increased, and the reliability of AMT gear shifting requirement position data is further checked through the gear transmission ratio and gear transmission ratio is enhanced.
Example III
Fig. 7 is a schematic structural diagram of an AMT gear position control device according to a third embodiment of the present invention. As shown in fig. 7, the AMT gear position control device includes:
the first gear-shifting motor required position determining module 310 is configured to obtain required gear positions of the gear-shifting motor and first gear-shifting motor initial positions in a plurality of picking processes after the trigger condition of AMT gear position control is satisfied, and determine a first gear-shifting motor required position according to the plurality of first gear-shifting motor initial positions;
the second gear-shifting motor required position determining module 320 is configured to determine, after receiving a gear-shifting instruction, a second gear-shifting motor initial position of a plurality of gear-shifting processes according to the required gear, and determine a second gear-shifting motor required position according to the plurality of second gear-shifting motor initial positions;
the AMT gear position control module 330 is configured to determine a corresponding required gear transmission ratio according to the second gear-shifting motor required position, and store the first gear-shifting motor required position and the second gear-shifting motor required position as AMT gear required positions after the required gear transmission ratio is consistent with a theoretical transmission ratio of the corresponding required gear.
Optionally, the AMT gear position control triggering condition includes that the normal shift operation number of times is executed to exceed the set shift operation number of times, or the continuous shift operation failure number of times is executed to exceed the set failure operation number of times, or the stored error values of the plurality of historical shift motor positions are executed to exceed the set position threshold value.
Optionally, the AMT gear position control device further includes:
the setting position acquisition module is used for executing the acquisition of a first gear shifting limit position, a second gear shifting limit position and a gear shifting intermediate position of the gear shifting motor, and a first gear selecting limit position, a second gear selecting limit position and a gear selecting intermediate position of the gear selecting motor;
the method comprises the steps of obtaining initial positions of a first gear shifting motor in a plurality of picking processes, wherein the initial positions are specifically used for:
and determining the initial position of the first gear shifting motor according to the gear shifting intermediate position in the first gear shifting process.
Optionally, the first gear shifting motor demand position is determined according to a plurality of first gear shifting motor initial positions, which is specifically used for:
if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is determined to be in the set position difference value range, taking the average value of the plurality of first gear shifting motor initial positions as a first gear shifting motor required position;
If the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is not in the set position difference value range, recording that the first gear shifting motor required position verification fails.
Optionally, the AMT gear position control device further includes:
the position processing module is used for executing statistics of the number of times of failure in verification of the required position of the first gear shifting motor;
and when the times exceeds a set times threshold, taking the default position of the first gear shifting motor as the required position of the first gear shifting motor.
Optionally, determining a corresponding required gear transmission ratio according to the required position of the second gear shifting motor, which is specifically configured to:
and determining the current output shaft rotating speed and the current input shaft rotating speed according to the second gear shifting motor demand position, and determining the demand gear transmission ratio corresponding to the second gear shifting motor demand position according to the current output shaft rotating speed and the current input shaft rotating speed.
Optionally, the AMT gear position control device further includes:
and the off-hook operation execution module is used for executing off-hook instructions when the transmission ratio of the required gear is inconsistent with the theoretical transmission ratio of the corresponding required gear, so as to execute off-hook operations according to the off-hook instructions.
The AMT gear position control device provided by the embodiment of the invention can execute the AMT gear position control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the AMT gear position control method.
Example IV
Fig. 8 shows a schematic diagram of an electronic device 410 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 8, the electronic device 410 includes at least one processor 411, and a memory communicatively connected to the at least one processor 411, such as a read-only memory (ROM 412), a random access memory (RAM 413), etc., in which the memory stores computer programs executable by the at least one processor, and the processor 411 may perform various suitable actions and processes according to the computer programs stored in the read-only memory (ROM 412) or the computer programs loaded from the storage unit 418 into the random access memory (RAM 413). In the RAM 413, various programs and data required for the operation of the electronic device 410 may also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An I/O (input/output) interface 415 is also connected to bus 414.
Various components in the electronic device 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 performs the various methods and processes described above, such as the AMT gear position control method.
In some embodiments, the AMT gear position control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the electronic device 410 via the ROM 412 and/or the communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the AMT gear position control method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the AMT gear position control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. An AMT gear position control method, comprising:
after meeting AMT gear position control triggering conditions, acquiring a required gear of a gear shifting motor and first gear shifting motor initial positions in a plurality of picking processes, and determining the required position of the first gear shifting motor according to the first gear shifting motor initial positions;
after a gear shifting instruction is received, determining initial positions of a second gear shifting motor in a plurality of gear shifting processes according to the required gear, and determining required positions of the second gear shifting motor according to the initial positions of the second gear shifting motors;
And determining a corresponding required gear transmission ratio according to the second gear-shifting motor required position, and storing the first gear-shifting motor required position and the second gear-shifting motor required position as AMT gear required positions after the required gear transmission ratio is consistent with a theoretical transmission ratio of the corresponding required gear.
2. The AMT gear position control method according to claim 1, characterized in that said AMT gear position control triggering condition comprises that a normal shift operation number is performed exceeding a set shift operation number, or that a consecutive shift operation failure number is exceeded a set failure operation number, or that stored error values of a plurality of historical shift motor positions are exceeded a set position threshold value.
3. The AMT gear step position control method according to claim 2, further comprising, before acquiring the required gear step of the gear step motor and the first shift motor initial positions of the plurality of off-hook processes:
acquiring a first gear shifting limit position, a second gear shifting limit position and a gear shifting intermediate position of a gear shifting motor, and a first gear selecting limit position, a second gear selecting limit position and a gear selecting intermediate position of a gear selecting motor;
acquiring initial positions of a first gear shifting motor in a plurality of picking processes, wherein the initial positions comprise:
And determining the initial position of the first gear shifting motor according to the gear shifting intermediate position in the first gear shifting process.
4. The AMT gear position control method according to claim 1, characterized in that determining a first shift motor demand position from a plurality of first shift motor initial positions comprises:
if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is determined to be in the set position difference value range, taking the average value of the plurality of first gear shifting motor initial positions as a first gear shifting motor required position;
if the difference value between the maximum gear shifting motor initial position and the minimum gear shifting motor initial position in the plurality of first gear shifting motor initial positions is not in the set position difference value range, recording that the first gear shifting motor required position verification fails.
5. The AMT gear position control method according to claim 4, further comprising:
counting the number of times of failure in verification of the required position of the first gear shifting motor;
and when the times exceeds a set times threshold, taking the default position of the first gear shifting motor as the required position of the first gear shifting motor.
6. The AMT gear position control method according to claim 1, characterized in that determining a corresponding required gear transmission ratio according to the second shift motor required position comprises:
and determining the current output shaft rotating speed and the current input shaft rotating speed according to the second gear shifting motor demand position, and determining the demand gear transmission ratio corresponding to the second gear shifting motor demand position according to the current output shaft rotating speed and the current input shaft rotating speed.
7. The AMT gear position control method according to claim 1, further comprising:
and when the transmission ratio of the required gear is inconsistent with the theoretical transmission ratio of the corresponding required gear, generating an off-hook instruction, and executing off-hook operation according to the off-hook instruction.
8. An AMT gear position control device, comprising:
the first gear shifting motor demand position determining module is used for acquiring the demand gear of the gear shifting motor and the first gear shifting motor initial positions of a plurality of picking processes after the AMT gear position control triggering condition is met, and determining the first gear shifting motor demand position according to the plurality of first gear shifting motor initial positions;
The second gear shifting motor demand position determining module is used for determining second gear shifting motor initial positions of a plurality of gear shifting processes according to the demand gear after a gear shifting instruction is received, and determining second gear shifting motor demand positions according to the second gear shifting motor initial positions;
and the AMT gear position control module is used for determining a corresponding required gear transmission ratio according to the required position of the second gear shifting motor, and storing the required position of the first gear shifting motor and the required position of the second gear shifting motor as AMT gear required positions after the required gear transmission ratio is consistent with the theoretical transmission ratio of the corresponding required gear.
9. An electronic device, the electronic device comprising:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the AMT gear position control method according to any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to execute the AMT gear position control method according to any one of claims 1-7.
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| CN202311349406.6A CN117345863A (en) | 2023-10-18 | 2023-10-18 | AMT gear position control method and device, electronic equipment and storage medium |
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| CN202311349406.6A CN117345863A (en) | 2023-10-18 | 2023-10-18 | AMT gear position control method and device, electronic equipment and storage medium |
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