WO2024061132A1 - Self-learning method and apparatus for clutch of hybrid electric vehicle, and vehicle - Google Patents

Self-learning method and apparatus for clutch of hybrid electric vehicle, and vehicle Download PDF

Info

Publication number
WO2024061132A1
WO2024061132A1 PCT/CN2023/119177 CN2023119177W WO2024061132A1 WO 2024061132 A1 WO2024061132 A1 WO 2024061132A1 CN 2023119177 W CN2023119177 W CN 2023119177W WO 2024061132 A1 WO2024061132 A1 WO 2024061132A1
Authority
WO
WIPO (PCT)
Prior art keywords
clutch
motor
torque
time
preset
Prior art date
Application number
PCT/CN2023/119177
Other languages
French (fr)
Chinese (zh)
Inventor
王庆来
祁克光
舒杰
裴怡梦
梅倩
许志谭
高丽娟
Original Assignee
奇瑞汽车股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 奇瑞汽车股份有限公司 filed Critical 奇瑞汽车股份有限公司
Publication of WO2024061132A1 publication Critical patent/WO2024061132A1/en

Links

Classifications

    • 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
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • 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
    • F16H2061/0075—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 a particular control method
    • F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Definitions

  • the present application relates to a hybrid vehicle clutch self-learning method, device and vehicle.
  • this application provides a hybrid vehicle clutch self-learning method, device and vehicle, which can improve the accuracy and efficiency of clutch self-learning.
  • this application provides a hybrid vehicle clutch self-learning method, which includes:
  • the target current value of the solenoid valve of the corresponding clutch at this time is obtained.
  • the stored semi-linked parameter set is updated according to the target current value.
  • the method before controlling clutch disengagement, the method further includes:
  • the method further includes:
  • the clutch is controlled to sequentially execute the precharging process, so that the clutch enters a semi-linked state, and the output change trend of the motor is monitored at the same time.
  • the stored precharge time of the clutch precharge process is reduced by the preset time.
  • the precharging process includes a fast charging process, a hysteresis process, and a slow charging process that are executed sequentially to determine whether the output change trend of the motor meets the preset conditions, including:
  • methods also include:
  • the current value of the solenoid valve of the clutch is controlled to increase the preset current, and the real-time torque and real-time speed of the motor are monitored at the same time.
  • the pre-filling time of the stored clutch pre-filling process is reduced by a preset time.
  • the method further includes:
  • the stored precharge time of the clutch precharge process is increased by the preset time.
  • the method further includes:
  • the stored precharging time of the clutch precharging process is increased by a preset time.
  • this application also provides a hybrid vehicle clutch self-learning device, which includes:
  • the release module is configured to control the clutch to release.
  • the motor control module is configured to control the motor to operate at an initial speed and an initial torque.
  • the motor monitoring module is configured to increase the current value of the solenoid valve of the clutch and simultaneously monitor the real-time torque of the motor.
  • the clutch monitoring module is configured to obtain the target current value of the solenoid valve of the corresponding clutch when the difference between the real-time torque of the motor and the initial torque is greater than the first preset torque.
  • the update module is configured to update the stored semi-linked parameter set according to the target current value.
  • the motor monitoring module is also configured to control the clutch to sequentially perform the precharging process, so that the clutch enters a semi-linked state, and simultaneously monitors the output change trend of the motor.
  • the motor monitoring module is also configured to determine whether the output change trend of the motor meets the preset conditions.
  • the update module is also configured to reduce the stored precharge time of the clutch precharge process by a preset time when it is determined that the output change trend of the motor meets the preset condition.
  • this application also provides a vehicle, including a hybrid vehicle clutch self-learning device.
  • Figure 1 is a flow chart of a hybrid vehicle clutch self-learning method provided by an embodiment of the present application
  • Figure 2 is another flow chart of a hybrid vehicle clutch self-learning method provided by an embodiment of the present application.
  • Figure 3 is a structural diagram of a hybrid vehicle clutch self-learning device according to an embodiment of the present application.
  • the embodiment of the present application provides a hybrid vehicle clutch self-learning method, which can be executed by the vehicle controller.
  • the method is mainly used to self-learn the clutch semi-linkage point.
  • the method is shown in Figure 1 and includes steps S101, S102, S103, S104 and S105, among which:
  • Semi-linkage refers to a state where the clutch is between separation and engagement, and the transmission system is between linkage and non-linkage. It can provide a kind of flexible power in some complex road conditions, as well as starting, turning and short-distance follow-up. Will use it often.
  • the clutch When the clutch is in the semi-linked state, the friction between the pressure plate and the friction plate is smaller than that in the fully linked state. There is sliding friction between the clutch pressure plate and the friction plate on the flywheel. The speed of the flywheel is greater than the speed of the output shaft, and part of the power transmitted from the flywheel is transmitted to the gearbox. Updating the semi-linkage point of the clutch can better ensure the smoothness of the vehicle starting and shifting processes.
  • the vehicle needs to meet the clutch requirements. Specifically, the vehicle needs to be controlled to remain stationary to avoid the impact of the vehicle's additional speed or load on the gearbox or motor. At the same time, since the motor is used for clutch self-learning, the engine needs to be controlled to remain in a stalled state to avoid the speed and torque output by the engine from affecting the clutch. At the same time, the synchronizer needs to be controlled to shift into neutral or park gear, so that the vehicle can be kept stationary when the motor outputs speed and torque to avoid danger. Further, after the vehicle meets the clutch self-learning conditions, the following self-learning steps are performed:
  • step S101 the clutch is controlled to be disengaged.
  • a hybrid vehicle may have multiple clutches. Before self-learning of the clutch semi-linkage point, all clutch disengagements need to be controlled to prepare for subsequent gradual engagement of the clutch and monitoring of corresponding parameters.
  • the number of clutches may be 3, and the 3 clutches are C1, C2 and C3 respectively.
  • step S102 the motor is controlled to operate at an initial speed and an initial torque.
  • the initial rotation speed and initial torque can be preset and stored.
  • the motor may be controlled to run at an initial speed only. After the speed stabilizes, the motor will also output a stable initial torque.
  • the size of the initial torque is related to the load size caused by the motor's own mechanical structure.
  • the motor used in the embodiment of the present application may be an ISG (Integrated Starter Generator) motor.
  • the ISG motor is generally used to start the engine and generate electricity.
  • the ISG motor also adds a driver. function to perform clutch self-learning.
  • step S103 the current value of the solenoid valve of the clutch is gradually increased, and the real-time torque of the motor is monitored at the same time.
  • the driving of the clutch is achieved by providing a certain pressure through the hydraulic system.
  • the pressure exerted on the clutch is controlled by controlling the current of the solenoid valve. The greater the current, the greater the pressure provided to the clutch.
  • the step length for the current value of the clutch solenoid valve to gradually increase can be calibrated in advance.
  • step S104 when the difference between the real-time torque and the initial torque of the motor is greater than the first preset torque, the target current value of the solenoid valve of the corresponding clutch at this time is obtained.
  • the motor is maintained at a certain speed through speed control, if the load increases, the torque of the motor must be increased in order to maintain its speed.
  • the clutch will increase the load on the motor, and the result reflected in the motor output is the electric motor.
  • the machine torque increases. Therefore, when the torque of the motor is monitored to increase to a certain extent, it can be determined that the clutch has reached the semi-linkage point.
  • the above-mentioned first preset torque can be calibrated in advance through a limited number of experiments using multiple sets of known data, and stored in the memory.
  • the clutch pressure value corresponding to the target current value can also be obtained.
  • the current gearbox oil temperature can also be monitored, and the gearbox oil temperature is used as a basic parameter.
  • step S105 the stored semi-linked parameter set is updated according to the target current value.
  • the pre-stored semi-linkage parameter set may at least include the current value corresponding to when the clutch reaches the semi-linkage point.
  • the solenoid valve corresponding to when the clutch reaches the semi-linkage point is obtained according to the torque characteristics of the motor output. After obtaining the target current value, the target current value can be used to replace the original current value included in the semi-linked parameter set, thereby updating the semi-linked parameter set.
  • the semi-linkage parameter set may also include the corresponding clutch pressure value and gearbox oil temperature when the clutch reaches the semi-linkage point.
  • the original value included in the semi-linkage parameter set can be replaced by the clutch pressure value and gearbox oil temperature.
  • the clutch pressure value and transmission oil temperature are used to update the semi-linkage parameter set.
  • the transmission oil temperature can be between 45°C and 80°C.
  • the self-learning function can be triggered by the following conditions:
  • the engineer when the vehicle leaves the factory or undergoes after-sales repair or maintenance, the engineer will connect the diagnostic instrument to the trip computer to monitor whether there is a fault code on the trip computer. Therefore, when the diagnostic instrument is connected to the trip computer, the self-learning function can be triggered so that the clutch parameters are accurate when the vehicle is delivered to the user.
  • the software can also automatically identify the mileage, and the instrument will remind the user to trigger the self-learning function.
  • the self-learning function can be automatically triggered, so that even if the vehicle is driving for a long time, Even if the clutch structure is worn, various parameters of the clutch can be accurately determined and updated.
  • the hybrid vehicle clutch self-learning method provided by this application is used to control the clutch separation, and at the same time control the motor to operate at the preset initial speed and torque, thereby preparing to determine the semi-linkage point of the clutch. Further, increase the current value of the clutch solenoid valve, thereby gradually increasing the clutch application pressure, and simultaneously monitor the real-time torque of the motor to indirectly determine whether the clutch reaches the semi-linked state based on whether the motor torque increases. Because when the clutch reaches the half linkage point, the motor has a load and the torque will increase accordingly. Therefore, when the real-time torque of the motor increases the preset torque based on the initial torque, it means that the clutch reaches the half linkage point.
  • the target current value of the corresponding solenoid valve of the clutch is obtained at this time, which is used to update the previously stored semi-linkage parameter set, so as to realize the clutch semi-linkage according to the motor output.
  • the self-learning of the linkage point can improve the accuracy and efficiency of the clutch self-learning due to the smooth motor output and fine control.
  • the embodiment of the present application also provides another hybrid vehicle clutch self-learning method, which can be executed by the vehicle controller.
  • the method is mainly used to self-learn the precharging time of the clutch.
  • the method is shown in Figure 2 and includes step S201. , S202, S203, S204, S205, S206, S207 and S208.
  • the precharging process of the clutch includes fast charging, hysteresis and slow charging processes performed in sequence.
  • the purpose of the fast charging process is to use higher oil pressure to quickly fill the piston cavity with hydraulic oil, so as to control the clutch quickly and accurately, but quickly Filling the clutch piston chamber with oil will not allow the clutch to have the ability to transmit torque, otherwise it will cause impact to the vehicle.
  • a hysteresis process is further performed to quickly reduce the current driven by the solenoid valve to reduce the flow rate and flow rate of hydraulic oil injected into the piston chamber.
  • the slow charging process is further executed.
  • the purpose of slow charging is to achieve precise control. The slow oil filling gradually pushes the clutch piston, overcomes the clutch piston spring force, and puts the clutch at the critical point before transmitting torque. That is the semi-linkage point.
  • the vehicle needs to meet the clutch self-learning conditions. Specifically, the vehicle needs to be controlled to remain stationary to avoid the impact of the vehicle's additional speed or load on the gearbox or motor. At the same time, since the motor is used for clutch self-learning, the engine needs to be controlled to remain in a stalled state to avoid the speed and torque output by the engine from affecting the clutch. At the same time, the synchronizer needs to be controlled to shift into neutral or park gear, so that the vehicle can be kept stationary when the motor outputs speed and torque to avoid danger. Further, after the vehicle meets the clutch self-learning conditions, the following self-learning steps are performed:
  • step S201 the clutch is controlled to be disengaged.
  • a hybrid vehicle may have multiple clutches. Before self-learning of the clutch semi-linkage point, it is necessary to control the disengagement of all clutches, so as to gradually engage the clutch and Be prepared by monitoring the corresponding parameters.
  • the number of clutches may be 3, and the three clutches are C1, C2 and C3 respectively.
  • step S202 the motor is controlled to operate at the initial rotation speed and initial torque.
  • the initial rotation speed and initial torque can be preset and stored.
  • the motor can only be controlled to run at an initial speed. After the speed stabilizes, the motor will also output a stable initial torque.
  • the size of the initial torque is related to the load caused by the motor's own mechanical structure.
  • the motor used in the embodiment of the present application may be an ISG (Integrated Starter Generator) motor.
  • the ISG motor is generally used to start the engine and generate electricity.
  • the ISG motor also adds a driver. function to perform clutch self-learning.
  • step S203 the clutch is controlled to sequentially perform the precharging process, so that the clutch enters a semi-linked state, and the output change trend of the motor is monitored at the same time.
  • the precharge process includes a fast charge process, a hysteresis process, and a slow charge process that are executed sequentially.
  • step S204 it is determined whether the output change trend of the motor meets the preset conditions.
  • step S205 the stored precharge time of the clutch precharge process is reduced by the preset time.
  • determining in step S204 whether the output change trend of the motor meets the preset conditions specifically includes the following judgment process: determining whether the speed of the motor is reduced by a first preset speed during the pre-charging process, and whether the torque of the motor during the slow charging process is greater than the torque of the motor after the clutch enters the semi-clutch state.
  • the clutch will be overcharged, and the clutch will exceed the semi-linkage point, generating friction, dragging the motor, and reducing the motor's speed.
  • the rotation speed of the motor decreases by the first preset rotation speed during the precharging process.
  • the first preset rotation speed can be calibrated in advance through a limited number of experiments using multiple sets of known data, and stored in the memory.
  • the torque of the motor will increase only when the clutch reaches the semi-linkage point and generates load. And if the torque of the motor during slow charging is greater than the torque of the motor after the clutch enters the semi-linked state, it means that the clutch is overcharged and the clutch reaches the semi-linked point prematurely.
  • the motor's output change trend is determined If the preset conditions are met, it means that the clutch precharge process is overcharged. At this time, the stored precharge time of the clutch precharge process needs to be reduced by the preset time.
  • the preset time can be calibrated in advance through a limited number of experiments using multiple sets of known data, and stored in the memory. Specifically, the preset time may be 10ms.
  • step S203 can be re-executed and judged again until the most reasonable pre-filling time is determined.
  • step S206 the current value of the solenoid valve controlling the clutch is increased by the preset current, and the real-time torque and real-time speed of the motor are monitored at the same time.
  • the preset current for increasing the current value of the solenoid valve that controls the clutch can be predetermined using the following process:
  • the corresponding current value of the solenoid valve is determined as the preset current.
  • step S207 when it is detected that the real-time torque of the motor increases by the second preset torque, or the real-time speed of the motor decreases by the second preset speed, the stored precharge time of the clutch precharge process is reduced by the preset time.
  • the clutch when the clutch enters the semi-linked state and the current value of the solenoid valve continues to increase by the preset current, the clutch continues to engage, transmitting more torque, the motor generates greater load, the torque increases, and the speed decreases. If the motor torque increases too much and is greater than the second preset torque, it means that the precharging process takes too long and there is overcharging, and the precharging time also needs to be reduced. Similarly, if the motor speed decreases too much and is greater than the second preset speed, it also means that the precharging process is too long and there is an overcharge situation, and the precharging time also needs to be reduced.
  • the second preset torque and the second preset speed can also be calibrated in advance through a limited number of experiments using multiple sets of known data, and stored in the memory.
  • step S206 monitor the real-time torque and real-time speed of the motor. Another monitoring result is that in step S208, when the real-time torque of the motor does not increase and the real-time speed of the motor does not decrease, the stored precharge time of the clutch precharge process is increased by the preset time.
  • step S207 is used to reduce the stored precharging time of the clutch precharging process by a preset time
  • step S208 is used to increase the stored precharging time of the clutch precharging process by a preset time. time, and thus after updating the precharge time, the above step S203 can be re-executed, and the judgment process is performed again until the most reasonable precharge time is determined.
  • a pressure sensor can also be directly used to monitor the hydraulic pressure of the clutch to directly determine whether the precharging time of the clutch precharging process is accurate. There is no need to indirectly determine the clutch precharging process based on the output characteristics of the motor. Is the precharge time accurate?
  • the method further includes:
  • the target pressure can be calibrated in advance through a limited number of experiments using multiple sets of known data and stored in a memory.
  • the stored precharging time of the clutch precharging process is increased by a preset time.
  • the hybrid vehicle clutch self-learning method provided by this application is used to control the clutch separation and simultaneously control the motor to operate at the preset initial speed and torque. Further, the clutch is controlled to sequentially execute the precharging process, so that the clutch enters a semi-linked state, and at the same time, the output change trend of the motor is monitored, and based on whether the output change trend of the motor meets the preset conditions, it is determined whether the precharge time needs to be increased. or decrease, thereby updating the precharge time and realizing self-learning of the clutch precharge time. Because the motor output is smooth and the control is precise, the accuracy and efficiency of clutch self-learning can be improved.
  • the embodiment of the present application also provides a hybrid vehicle clutch self-learning device.
  • the device can be set in the vehicle controller or be the vehicle controller. As shown in Figure 3, the device includes:
  • Disengagement module 301 is configured to control clutch disengagement.
  • the motor control module 302 is configured to control the motor to operate at an initial speed and an initial torque.
  • the motor monitoring module 303 is configured to increase the current value of the solenoid valve of the clutch and simultaneously monitor the real-time torque of the motor.
  • the clutch monitoring module 304 is configured to obtain the target current value of the solenoid valve of the corresponding clutch when the difference between the real-time torque of the motor and the initial torque is greater than the first preset torque.
  • the updating module 305 is configured to update the stored semi-linked parameter set according to the target current value.
  • the motor monitoring module 303 is also configured to control the clutch to sequentially perform a precharging process to bring the clutch into a semi-linked state, and simultaneously monitor the output change trend of the motor.
  • the motor monitoring module 303 is also configured to determine whether the output change trend of the motor meets the preset conditions.
  • the update module 305 is also configured to reduce the stored precharge time of the clutch precharge process by a preset time when it is determined that the output change trend of the motor meets the preset condition.
  • the hybrid vehicle clutch self-learning method provided by this application is used to control the clutch separation, and at the same time control the motor to operate at the preset initial speed and torque, thereby preparing to determine the semi-linkage point of the clutch. Further, increase the current value of the solenoid valve of the clutch, thereby gradually increasing the pressure exerted by the clutch, and monitor the real-time torque of the motor at the same time, to indirectly determine whether the clutch has reached the semi-linked state based on whether the motor torque is increased, so that the previously stored The semi-linked parameter set is updated so that the Realizes self-learning of clutch half linkage point based on motor output.
  • the clutch can also be controlled to sequentially execute the precharging process, so that the clutch enters a semi-linked state, and at the same time, the output change trend of the motor is monitored, and based on whether the output change trend of the motor meets the preset conditions, it is determined whether the precharge time needs to be increased or Reduce, thereby updating the precharge time and realizing self-learning of the clutch precharge time. Because the motor output is smooth and the control is precise, the accuracy and efficiency of clutch self-learning can be improved.
  • An embodiment of the present application also provides a vehicle, including the hybrid vehicle clutch self-learning device provided in the previous embodiment.
  • the present disclosure also provides a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium stores computer instructions, the computer The instructions are loaded and executed by the processor to implement operations performed in the hybrid vehicle clutch self-learning method in the foregoing method embodiments.
  • the present disclosure also provides a computer program product, including a computer program or computer instructions.
  • a computer program product including a computer program or computer instructions.
  • the above method is implemented. Operations performed in the hybrid vehicle clutch self-learning method in the embodiment.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present application belongs to the technical field of hybrid electric vehicles. Provided are a self-learning method and apparatus for the clutch of a hybrid electric vehicle, and a vehicle. The method comprises: controlling a clutch to separate, and also controlling an electric motor to operate at a preset initial rotation speed and a preset initial torque, so as to prepare for determining a semi-linkage point of the clutch; furthermore, increasing a current value of an electromagnetic valve of the clutch, so as to gradually increase the pressure which is applied by the clutch, and also monitoring the real-time torque of the electric motor, so as to indirectly determine, according to whether the torque of the electric motor is increased, whether the clutch reaches a semi-linkage state; when the real-time torque of the electric motor is increased on the basis of the initial torque and exceeds a preset torque, this indicating that the clutch reaches the semi-linkage point; and there being a corresponding target current value of the electromagnetic valve at this time, acquiring the target current value, and updating a previously stored semi-linkage parameter set. Therefore, the self-learning of a semi-linkage point of a clutch is realized according to the output of an electric motor, thereby improving the accuracy and efficiency of the self-learning of a clutch.

Description

混合动力汽车离合器自学习方法、装置及汽车Hybrid vehicle clutch self-learning method, device and vehicle
本公开要求于2022年09月20日提交的申请号为202211145849.9、发明名称为“混合动力汽车离合器自学习方法、装置及汽车”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。This disclosure claims priority to the Chinese patent application with application number 202211145849.9 and the invention name "Hybrid vehicle clutch self-learning method, device and automobile" submitted on September 20, 2022, the entire content of which is incorporated into this disclosure by reference. middle.
技术领域Technical field
本申请涉及一种混合动力汽车离合器自学习方法、装置及汽车。The present application relates to a hybrid vehicle clutch self-learning method, device and vehicle.
背景技术Background technique
变速箱生产过程中会因为零部件一致性、装配一致性等因素，导致每个产品存在一定差异，需要通过自学***顺，提升驾驶性和客户感受。另外，在变速箱使用一段时间后，离合器弹簧和离合器摩擦片等都有一定的衰减和磨损，如此离合器的结合点会有变化，而自学***顺性。During the gearbox production process, there will be certain differences in each product due to factors such as component consistency and assembly consistency. It is necessary to correct the deviation in gearbox consistency through the self-learning function to achieve higher clutch control accuracy, shift and The control of starting the engine is smoother, improving drivability and customer experience. In addition, after the gearbox is used for a period of time, the clutch spring and clutch friction plate will have a certain degree of attenuation and wear, so the clutch coupling point will change. The self-learning function can correct the deviation of the clutch coupling point and keep the gearbox changing. Blocking smoothness.
发明内容Contents of the invention
有鉴于此，本申请提供了一种混合动力汽车离合器自学习方法、装置及汽车，能够提高离合器自学习的准确性和效率。In view of this, this application provides a hybrid vehicle clutch self-learning method, device and vehicle, which can improve the accuracy and efficiency of clutch self-learning.
具体而言，包括以下的技术方案：Specifically, it includes the following technical solutions:
一方面，本申请提供了一种混合动力汽车离合器自学习方法，方法包括：On the one hand, this application provides a hybrid vehicle clutch self-learning method, which includes:
控制离合器分离。Controls clutch disengagement.
控制电机以初始转速和初始扭矩运转。Control the motor to run at initial speed and initial torque.
增加离合器的电磁阀的电流值，并同时监测电机的实时扭矩。Increase the current value of the clutch's solenoid valve and monitor the real-time torque of the motor at the same time.
当电机的实时扭矩与初始扭矩之间的差值大于第一预设扭矩时，获取此时对应的离合器的电磁阀的目标电流值。When the difference between the real-time torque and the initial torque of the motor is greater than the first preset torque, the target current value of the solenoid valve of the corresponding clutch at this time is obtained.
根据目标电流值对存储的半联动参数集进行更新。 The stored semi-linked parameter set is updated according to the target current value.
可选择地，在控制离合器分离之前，方法还包括：Optionally, before controlling clutch disengagement, the method further includes:
控制车辆保持静止状态。Control the vehicle to remain stationary.
控制发动机保持熄火状态。Control the engine to remain in the off state.
控制同步器挂入空档或驻车档。Control the synchronizer to shift into neutral or park gear.
可选择地，在控制电机以初始转速和初始扭矩运转之后，方法还包括：Optionally, after controlling the motor to operate at the initial speed and initial torque, the method further includes:
控制离合器顺序执行预充过程，使离合器进入半联动状态，并同时监测电机的输出变化趋势。The clutch is controlled to sequentially execute the precharging process, so that the clutch enters a semi-linked state, and the output change trend of the motor is monitored at the same time.
判断电机的输出变化趋势是否满足预设条件。Determine whether the motor's output change trend meets the preset conditions.
当判断出电机的输出变化趋势满足预设条件时，将存储的离合器预充过程的预充时间降低预设时间。When it is determined that the output change trend of the motor meets the preset conditions, the stored precharge time of the clutch precharge process is reduced by the preset time.
可选择地，预充过程包括顺序执行的快充过程、滞回过程以及慢充过程，判断电机的输出变化趋势是否满足预设条件，包括：Optionally, the precharging process includes a fast charging process, a hysteresis process, and a slow charging process that are executed sequentially to determine whether the output change trend of the motor meets the preset conditions, including:
判断电机的转速在预充过程中是否降低了第一预设转速，以及电机在慢充过程中的扭矩是否大于离合器进入半联动状态后电机的扭矩。Determine whether the motor's speed has reduced by the first preset speed during the precharging process, and whether the motor's torque during the slow charging process is greater than the motor's torque after the clutch enters the semi-linked state.
当判断出电机的转速在预充过程中降低了第一预设转速，或电机在慢充过程中的扭矩大于离合器进入半联动状态后电机的扭矩时，则判断出电机的输出变化趋势满足预设条件。When it is determined that the motor's speed has reduced by the first preset speed during the precharging process, or the motor's torque during the slow charging process is greater than the motor's torque after the clutch enters the semi-linked state, it is determined that the motor's output change trend meets the preset speed. Set conditions.
可选择地，方法还包括：Optionally, methods also include:
当判断出电机的输出变化趋势不满足预设条件时，控制离合器的电磁阀的电流值增大预设电流，并同时监测电机的实时扭矩和实时转速。When it is determined that the output change trend of the motor does not meet the preset conditions, the current value of the solenoid valve of the clutch is controlled to increase the preset current, and the real-time torque and real-time speed of the motor are monitored at the same time.
当判断出电机的实时扭矩增大第二预设扭矩，或电机的实时转速降低第二预设转速时，将存储的离合器预充过程的预充时间降低预设时间。When it is determined that the real-time torque of the motor increases by a second preset torque, or the real-time speed of the motor decreases by a second preset speed, the pre-filling time of the stored clutch pre-filling process is reduced by a preset time.
可选择地，控制离合器的电磁阀的电流值增大预设电流，并同时监测电机的实时扭矩和实时转速后，方法还包括：Optionally, after controlling the current value of the solenoid valve of the clutch to increase the preset current and simultaneously monitoring the real-time torque and real-time speed of the motor, the method further includes:
当电机的实时扭矩没有增大，且电机的实时转速没有降低时，将存储的离合器预充过程的预充时间增加预设时间。When the real-time torque of the motor does not increase and the real-time speed of the motor does not decrease, the stored precharge time of the clutch precharge process is increased by the preset time.
可选择地，在控制电机以初始转速和初始扭矩运转之后，方法还包括：Optionally, after controlling the motor to operate at the initial speed and initial torque, the method further includes:
控制离合器顺序执行预充过程，使离合器进入半联动状态，并监测离合器的液压压力。Control the clutch to perform the precharging process sequentially, bring the clutch into a semi-linked state, and monitor the hydraulic pressure of the clutch.
判断液压压力是否小于目标压力。 It is determined whether the hydraulic pressure is less than the target pressure.
当判断出液压压力小于目标压力时，将存储的离合器预充过程的预充时间增加预设时间。When it is determined that the hydraulic pressure is less than the target pressure, the stored precharging time of the clutch precharging process is increased by a preset time.
另一方面，本申请还提供了一种混合动力汽车离合器自学习装置，装置包括：On the other hand, this application also provides a hybrid vehicle clutch self-learning device, which includes:
分离模块，被配置为控制离合器分离。The release module is configured to control the clutch to release.
电机控制模块，被配置为控制电机以初始转速和初始扭矩运转。The motor control module is configured to control the motor to operate at an initial speed and an initial torque.
电机监测模块，被配置为增加离合器的电磁阀的电流值，并同时监测电机的实时扭矩。The motor monitoring module is configured to increase the current value of the solenoid valve of the clutch and simultaneously monitor the real-time torque of the motor.
离合器监测模块，被配置为当电机的实时扭矩与初始扭矩之间的差值大于第一预设扭矩时，获取此时对应的离合器的电磁阀的目标电流值。The clutch monitoring module is configured to obtain the target current value of the solenoid valve of the corresponding clutch when the difference between the real-time torque of the motor and the initial torque is greater than the first preset torque.
更新模块，被配置为根据目标电流值对存储的半联动参数集进行更新。The update module is configured to update the stored semi-linked parameter set according to the target current value.
可选择地，电机监测模块还被配置为控制离合器顺序执行预充过程，使离合器进入半联动状态，并同时监测电机的输出变化趋势。Optionally, the motor monitoring module is also configured to control the clutch to sequentially perform the precharging process, so that the clutch enters a semi-linked state, and simultaneously monitors the output change trend of the motor.
电机监测模块还被配置为判断电机的输出变化趋势是否满足预设条件。The motor monitoring module is also configured to determine whether the output change trend of the motor meets the preset conditions.
更新模块还被配置为当判断出电机的输出变化趋势满足预设条件时，将存储的离合器预充过程的预充时间降低预设时间。The update module is also configured to reduce the stored precharge time of the clutch precharge process by a preset time when it is determined that the output change trend of the motor meets the preset condition.
另一方面，本申请还提供了一种车辆，包括混合动力汽车离合器自学习装置。On the other hand, this application also provides a vehicle, including a hybrid vehicle clutch self-learning device.
附图说明Description of drawings
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without exerting creative efforts.
图1为本申请实施例提供的混合动力汽车离合器自学习方法的流程图；Figure 1 is a flow chart of a hybrid vehicle clutch self-learning method provided by an embodiment of the present application;
图2为本申请实施例提供的混合动力汽车离合器自学习方法的另一流程图；Figure 2 is another flow chart of a hybrid vehicle clutch self-learning method provided by an embodiment of the present application;
图3为本申请实施例提供混合动力汽车离合器自学习装置的结构图。Figure 3 is a structural diagram of a hybrid vehicle clutch self-learning device according to an embodiment of the present application.
具体实施方式Detailed ways
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清 楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clarified below in conjunction with the drawings in the embodiments of the present application. Clearly and completely described, it is obvious that the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.
变速箱生产过程中会因为零部件一致性、装配一致性等因素，导致每个产品存在一定差异，需要通过自学***顺，提升驾驶性和客户感受。另外，在变速箱使用一段时间后，离合器弹簧和离合器摩擦片等都有一定的衰减和磨损，如此离合器的结合点会有变化，而自学***顺性，避免客户抱怨，减少更换变速箱造成的损失。During the gearbox production process, there will be certain differences in each product due to factors such as component consistency and assembly consistency. It is necessary to correct the deviation in gearbox consistency through the self-learning function to achieve higher clutch control accuracy, shift and The control of starting the engine is smoother, improving drivability and customer experience. In addition, after the gearbox is used for a period of time, the clutch spring and clutch friction plate will have a certain degree of attenuation and wear, so the clutch coupling point will change. The self-learning function can correct the deviation of the clutch coupling point and keep the gearbox changing. Improve the smoothness of the gearbox, avoid customer complaints, and reduce losses caused by replacing the gearbox.
传统变速箱通常是根据变速箱油温、发动机的转速变化和对应的压力传感器的信号来实现离合器自学习的。比如：原地挂前进档踩刹车，发动机怠速，逐渐给离合器增加压力，直到发动机转速开始拖拽下降，则认为到了离合器的结合点，也通过这种方式找离合器半联动点位置。然后同样工况下，控制离合器快充、滞回再慢充，检查在这个过程中发动机转速是否下降一定预设值，基于这个测试修正预充的时间。但是，当前的技术方案都是针对发动机单一动力源的，而且发动机的转速稳定性会影响自学习结果。而混合动力汽车有电机和发动机两套动力源，属于多动力源***，电机的转速稳定性和扭矩精度更高，用于离合器结合点和预充时间的自学习更有优势。Traditional gearboxes usually implement clutch self-learning based on gearbox oil temperature, engine speed changes and corresponding pressure sensor signals. For example: put the vehicle in forward gear and apply the brakes, with the engine idling, gradually increasing pressure on the clutch until the engine speed begins to drag down, then it is considered that the clutch coupling point has been reached, and the position of the clutch semi-linkage point is also found in this way. Then under the same working conditions, control the clutch to fast charge, hysteresis and then slow charge, check whether the engine speed drops by a certain preset value during this process, and correct the precharge time based on this test. However, the current technical solutions are all aimed at a single power source of the engine, and the engine speed stability will affect the self-learning results. Hybrid vehicles have two sets of power sources, the motor and the engine. They are a multi-power source system. The motor has higher speed stability and torque accuracy, and has more advantages in self-learning of the clutch engagement point and precharge time.
基于此，本申请实施例提供了如下技术方案：Based on this, the embodiments of this application provide the following technical solutions:
本申请实施例提供了一种混合动力汽车离合器自学习方法，可以由整车控制器执行，方法主要用于对离合器半联动点进行自学习，方法如图1所示，包括步骤S101、S102、S103、S104以及S105，其中：The embodiment of the present application provides a hybrid vehicle clutch self-learning method, which can be executed by the vehicle controller. The method is mainly used to self-learn the clutch semi-linkage point. The method is shown in Figure 1 and includes steps S101, S102, S103, S104 and S105, among which:
半联动指的是离合器介于分开与接合之间，传动***介于联动与不联动之间的状态，它可以提供一种柔性的动力，在一些复杂路况以及起步、转弯和短距离跟进等会经常使用。离合器在半联动状态时，压盘与摩擦片的摩擦力小于全联动状态。离合器压盘与飞轮上的摩擦片之间是滑动摩擦状态。飞轮的转速大于输出轴的转速，从飞轮传输出来的动力部分传递给变速箱。对离合器的半联动点进行更新，可以更好地保证车辆起步以及换挡过程的平顺性。Semi-linkage refers to a state where the clutch is between separation and engagement, and the transmission system is between linkage and non-linkage. It can provide a kind of flexible power in some complex road conditions, as well as starting, turning and short-distance follow-up. Will use it often. When the clutch is in the semi-linked state, the friction between the pressure plate and the friction plate is smaller than that in the fully linked state. There is sliding friction between the clutch pressure plate and the friction plate on the flywheel. The speed of the flywheel is greater than the speed of the output shaft, and part of the power transmitted from the flywheel is transmitted to the gearbox. Updating the semi-linkage point of the clutch can better ensure the smoothness of the vehicle starting and shifting processes.
可以理解的是，在进行离合器半联动点自学习之前，需要使车辆满足离合 器自学习条件，具体地，需要控制车辆保持静止状态，避免车辆额外的速度或者负载对变速箱或电机产生影响。同时，由于是采用电机进行离合器自学习，需要控制发动机保持熄火状态，以避免发动机所输出的转速和扭矩对离合器产生影响。同时，需要控制同步器挂入空档或驻车档，从而在电机输出转速和扭矩时也可以同时保持车辆静止，避免出现危险。进一步的，在车辆满足离合器自学习条件后，进行如下自学习步骤：It is understandable that before self-learning of the clutch semi-linkage point, the vehicle needs to meet the clutch requirements. Specifically, the vehicle needs to be controlled to remain stationary to avoid the impact of the vehicle's additional speed or load on the gearbox or motor. At the same time, since the motor is used for clutch self-learning, the engine needs to be controlled to remain in a stalled state to avoid the speed and torque output by the engine from affecting the clutch. At the same time, the synchronizer needs to be controlled to shift into neutral or park gear, so that the vehicle can be kept stationary when the motor outputs speed and torque to avoid danger. Further, after the vehicle meets the clutch self-learning conditions, the following self-learning steps are performed:
在步骤S101中，控制离合器分离。In step S101, the clutch is controlled to be disengaged.
可以理解的是，混合动力汽车的离合器可能有多个，在进行离合器半联动点自学习之前，则需要控制所有的离合器分离，从而为后续逐渐接合离合器并监测相应参数做好准备。It is understandable that a hybrid vehicle may have multiple clutches. Before self-learning of the clutch semi-linkage point, all clutch disengagements need to be controlled to prepare for subsequent gradual engagement of the clutch and monitoring of corresponding parameters.
例如，离合器的数量可以为3，3个离合器分别为C1、C2和C3。For example, the number of clutches may be 3, and the 3 clutches are C1, C2 and C3 respectively.
在步骤S102中，控制电机以初始转速和初始扭矩运转。In step S102 , the motor is controlled to operate at an initial speed and an initial torque.
具体地，初始转速和初始扭矩可以预先设置并存储。Specifically, the initial rotation speed and initial torque can be preset and stored.
在一些可选的实施例中，也可只控制电机以初始转速运转，在转速稳定后，电机也会输出一个稳定的初始扭矩，初始扭矩的大小和电机自身机械结构造成的负载大小有关。In some optional embodiments, the motor may be controlled to run at an initial speed only. After the speed stabilizes, the motor will also output a stable initial torque. The size of the initial torque is related to the load size caused by the motor's own mechanical structure.
本申请实施例中采用的电机可以是ISG(Integrated Starter Generator，集成起动发电)电机，ISG电机一般用于启动发动机和发电，但是在本申请实施例的技术方案中，ISG电机还增加了驱动的功能，从而进行离合器自学习。The motor used in the embodiment of the present application may be an ISG (Integrated Starter Generator) motor. The ISG motor is generally used to start the engine and generate electricity. However, in the technical solution of the embodiment of the present application, the ISG motor also adds a driver. function to perform clutch self-learning.
在步骤S103中，逐步增加离合器的电磁阀的电流值，并同时监测电机的实时扭矩。In step S103, the current value of the solenoid valve of the clutch is gradually increased, and the real-time torque of the motor is monitored at the same time.
可以理解的是，离合器的驱动是通过液压***提供一定压力实现的，对离合器摩擦片和钢片施加的压力越大，那么离合器传递的扭矩就越大。而离合器上施加的压力是通过控制电磁阀的电流来控制的，电流越大，提供给离合器的压力越大。离合器的电磁阀的电流值逐步增加的步长可以预先标定得到。It can be understood that the driving of the clutch is achieved by providing a certain pressure through the hydraulic system. The greater the pressure exerted on the clutch friction plate and steel plate, the greater the torque transmitted by the clutch. The pressure exerted on the clutch is controlled by controlling the current of the solenoid valve. The greater the current, the greater the pressure provided to the clutch. The step length for the current value of the clutch solenoid valve to gradually increase can be calibrated in advance.
在步骤S104中，当电机的实时扭矩与初始扭矩之间的差值大于第一预设扭矩时，获取此时对应的离合器的电磁阀的目标电流值。In step S104, when the difference between the real-time torque and the initial torque of the motor is greater than the first preset torque, the target current value of the solenoid valve of the corresponding clutch at this time is obtained.
可以理解的是，因为电机会通过转速控制使其保持在一定转速上，如果负载增加，那么电机的扭矩就得增加，以便维持它的转速。而当离合器开始接合，达到半联动点时，离合器会给电机增加负载，反应在电机输出上的结果就是电 机的扭矩增加。因此，当监测到电机的扭矩增大到一定程度时，则可以判定离合器达到半联动点。上述第一预设扭矩可以利用多组已知数据，预先通过有限次实验来标定得到，并存储在存储器中。It is understandable that because the motor is maintained at a certain speed through speed control, if the load increases, the torque of the motor must be increased in order to maintain its speed. When the clutch begins to engage and reaches the semi-linkage point, the clutch will increase the load on the motor, and the result reflected in the motor output is the electric motor. The machine torque increases. Therefore, when the torque of the motor is monitored to increase to a certain extent, it can be determined that the clutch has reached the semi-linkage point. The above-mentioned first preset torque can be calibrated in advance through a limited number of experiments using multiple sets of known data, and stored in the memory.
在一些可选的实施例中，除离合器的电磁阀的目标电流值以外，还可以获取与目标电流值对应的离合器的压力值。同时，由于车辆变速箱状态还和变速箱油温有关，因此还可以监测当前的变速箱油温，变速箱油温作为基础参数。In some optional embodiments, in addition to the target current value of the clutch solenoid valve, the clutch pressure value corresponding to the target current value can also be obtained. At the same time, since the vehicle gearbox state is also related to the gearbox oil temperature, the current gearbox oil temperature can also be monitored, and the gearbox oil temperature is used as a basic parameter.
在步骤S105中，根据目标电流值对存储的半联动参数集进行更新。In step S105, the stored semi-linked parameter set is updated according to the target current value.
可以理解的是，预先存储的半联动参数集可以至少包括离合器达到半联动点时对应的电流值，在利用上述步骤S104，根据电机输出的扭矩特性获取离合器达到半联动点时所对应的电磁阀的目标电流值后，可以利用目标电流值替换半联动参数集中包括的原始的电流值，从而对半联动参数集进行更新。It can be understood that the pre-stored semi-linkage parameter set may at least include the current value corresponding to when the clutch reaches the semi-linkage point. In the above step S104, the solenoid valve corresponding to when the clutch reaches the semi-linkage point is obtained according to the torque characteristics of the motor output. After obtaining the target current value, the target current value can be used to replace the original current value included in the semi-linked parameter set, thereby updating the semi-linked parameter set.
在一些可选的实施例中，半联动参数集中还可以包括离合器达到半联动点时，对应的离合器的压力值以及变速箱油温。在利用上述步骤，根据电机输出的扭矩特性获取离合器达到半联动点时所对应的离合器压力值以及变速箱油温后，可以利用离合器压力值以及变速箱油温替换半联动参数集中包括的原始的离合器压力值以及变速箱油温，从而对半联动参数集进行更新。具体地，变速箱油温可以在45℃-80℃之间。In some optional embodiments, the semi-linkage parameter set may also include the corresponding clutch pressure value and gearbox oil temperature when the clutch reaches the semi-linkage point. After using the above steps to obtain the clutch pressure value and gearbox oil temperature corresponding to when the clutch reaches the semi-linkage point based on the torque characteristics of the motor output, the original value included in the semi-linkage parameter set can be replaced by the clutch pressure value and gearbox oil temperature. The clutch pressure value and transmission oil temperature are used to update the semi-linkage parameter set. Specifically, the transmission oil temperature can be between 45°C and 80°C.
在一些可选的实施例中，自学习功能可以由如下条件触发：In some optional embodiments, the self-learning function can be triggered by the following conditions:
通过诊断仪触发，以便出厂自学习和售后自学习。Triggered by the diagnostic instrument for factory self-learning and after-sales self-learning.
在一些可选的实施例中，当车辆在出厂前，或者进行售后维修或保养时，工程师会将诊断仪和行车电脑相连接，以监测行车电脑是否存在故障码。因此，当诊断仪和行车电脑相连接时，则可以触发自学习功能，以便使车辆交付到用户手上时，离合器的参数准确。或者，还可以软件自动识别行驶里程，仪表提醒用户触发自学习功能。在一些可选的实施例中，当软件自动识别行驶里程达到一千公里的整数倍时，例如五千公里、一万公里等，则可以自动触发自学习功能，从而即使在车辆长时间行驶，离合器结构存在磨损的情况下，也能够准确地确定离合器的各种参数并进行更新。In some optional embodiments, when the vehicle leaves the factory or undergoes after-sales repair or maintenance, the engineer will connect the diagnostic instrument to the trip computer to monitor whether there is a fault code on the trip computer. Therefore, when the diagnostic instrument is connected to the trip computer, the self-learning function can be triggered so that the clutch parameters are accurate when the vehicle is delivered to the user. Alternatively, the software can also automatically identify the mileage, and the instrument will remind the user to trigger the self-learning function. In some optional embodiments, when the software automatically recognizes that the driving mileage reaches an integral multiple of one thousand kilometers, such as five thousand kilometers, ten thousand kilometers, etc., the self-learning function can be automatically triggered, so that even if the vehicle is driving for a long time, Even if the clutch structure is worn, various parameters of the clutch can be accurately determined and updated.
采用本申请提供的混合动力汽车离合器自学习方法，控制离合器分离，并同时控制电机以预设的初始转速和扭矩运转，从而为确定离合器的半联动点做好准备。进一步的，增加离合器的电磁阀的电流值，从而逐渐增大离合器施加 的压力，并同时监测电机的实时扭矩，以根据电机扭矩是否提升，来间接判断离合器是否达到半联动状态。由于当离合器达到半联动点时，电机拥有了负载，扭矩会相应增加，因此当电机的实时扭矩在初始扭矩的基础上增大了预设扭矩时，则说明离合器达到半联动点。此时则存在一个对应的离合器的电磁阀的目标电流值，获取此时对应的离合器的电磁阀的目标电流值，用于对之前存储的半联动参数集进行更新，从而根据电机输出实现离合器半联动点的自学***稳，且控制精细，从而能够提高离合器自学习的准确性和效率。The hybrid vehicle clutch self-learning method provided by this application is used to control the clutch separation, and at the same time control the motor to operate at the preset initial speed and torque, thereby preparing to determine the semi-linkage point of the clutch. Further, increase the current value of the clutch solenoid valve, thereby gradually increasing the clutch application pressure, and simultaneously monitor the real-time torque of the motor to indirectly determine whether the clutch reaches the semi-linked state based on whether the motor torque increases. Because when the clutch reaches the half linkage point, the motor has a load and the torque will increase accordingly. Therefore, when the real-time torque of the motor increases the preset torque based on the initial torque, it means that the clutch reaches the half linkage point. At this time, there is a corresponding target current value of the solenoid valve of the clutch. The target current value of the corresponding solenoid valve of the clutch is obtained at this time, which is used to update the previously stored semi-linkage parameter set, so as to realize the clutch semi-linkage according to the motor output. The self-learning of the linkage point can improve the accuracy and efficiency of the clutch self-learning due to the smooth motor output and fine control.
本申请实施例还提供了另一种混合动力汽车离合器自学习方法，可以由整车控制器执行，方法主要用于对离合器的预充时间进行自学习，方法如图2所示，包括步骤S201、S202、S203、S204、S205、S206、S207以及S208。The embodiment of the present application also provides another hybrid vehicle clutch self-learning method, which can be executed by the vehicle controller. The method is mainly used to self-learn the precharging time of the clutch. The method is shown in Figure 2 and includes step S201. , S202, S203, S204, S205, S206, S207 and S208.
可以理解的是，离合器的预充过程包括按顺序执行的快充、滞回以及慢充过程。具体地，因为离合器驱动采用的是液压***及活塞结构，快充过程的目的是用较高的油压，快速的给活塞空腔注满液压油，以便于快速、精确的控制离合器，但是快速给离合器活塞腔注满油，是不能让离合器具备传递扭矩的能力的，否则会给车辆带来冲击。离合器活塞腔快速充油后，进一步执行滞回过程，将电磁阀驱动的电流快速降低下来，以便减少注入活塞腔的液压油的流速和流量。执行完滞回过程后，则进一步执行慢充过程，慢充的目的是为了实现精确控制，慢速的充油逐渐推动离合器活塞，克服离合器活塞弹簧力，让离合器处于传递扭矩前的临界点，也就是半联动点。It can be understood that the precharging process of the clutch includes fast charging, hysteresis and slow charging processes performed in sequence. Specifically, because the clutch drive uses a hydraulic system and piston structure, the purpose of the fast charging process is to use higher oil pressure to quickly fill the piston cavity with hydraulic oil, so as to control the clutch quickly and accurately, but quickly Filling the clutch piston chamber with oil will not allow the clutch to have the ability to transmit torque, otherwise it will cause impact to the vehicle. After the clutch piston chamber is quickly filled with oil, a hysteresis process is further performed to quickly reduce the current driven by the solenoid valve to reduce the flow rate and flow rate of hydraulic oil injected into the piston chamber. After the hysteresis process is completed, the slow charging process is further executed. The purpose of slow charging is to achieve precise control. The slow oil filling gradually pushes the clutch piston, overcomes the clutch piston spring force, and puts the clutch at the critical point before transmitting torque. That is the semi-linkage point.
同样地，在进行离合器与充过时间自学习之前，需要使车辆满足离合器自学习条件，具体地，需要控制车辆保持静止状态，避免车辆额外的速度或者负载对变速箱或电机产生影响。同时，由于是采用电机进行离合器自学习，需要控制发动机保持熄火状态，以避免发动机所输出的转速和扭矩对离合器产生影响。同时，需要控制同步器挂入空档或驻车档，从而在电机输出转速和扭矩时也可以同时保持车辆静止，避免出现危险。进一步的，在车辆满足离合器自学习条件后，进行如下自学习步骤：Similarly, before performing clutch and charge time self-learning, the vehicle needs to meet the clutch self-learning conditions. Specifically, the vehicle needs to be controlled to remain stationary to avoid the impact of the vehicle's additional speed or load on the gearbox or motor. At the same time, since the motor is used for clutch self-learning, the engine needs to be controlled to remain in a stalled state to avoid the speed and torque output by the engine from affecting the clutch. At the same time, the synchronizer needs to be controlled to shift into neutral or park gear, so that the vehicle can be kept stationary when the motor outputs speed and torque to avoid danger. Further, after the vehicle meets the clutch self-learning conditions, the following self-learning steps are performed:
在步骤S201中，控制离合器分离。In step S201, the clutch is controlled to be disengaged.
可以理解的是，混合动力汽车的离合器可能有多个，在进行离合器半联动点自学习之前，则需要控制所有的离合器分离，从而为后续逐渐接合离合器并 监测相应参数做好准备。It is understandable that a hybrid vehicle may have multiple clutches. Before self-learning of the clutch semi-linkage point, it is necessary to control the disengagement of all clutches, so as to gradually engage the clutch and Be prepared by monitoring the corresponding parameters.
具体地，离合器的数量可以为3，3个离合器分别为C1、C2和C3。Specifically, the number of clutches may be 3, and the three clutches are C1, C2 and C3 respectively.
在步骤S202中，控制电机以初始转速和初始扭矩运转。In step S202, the motor is controlled to operate at the initial rotation speed and initial torque.
具体地，初始转速和初始扭矩可以预先设置并存储。Specifically, the initial rotation speed and initial torque can be preset and stored.
在一些可选的实施例中，也可只控制电机以初始转速运转，在转速稳定后，电机也会输出一个稳定的初始扭矩，初始扭矩的大小和电机自身机械结构造成的负载大小有关。In some optional embodiments, the motor can only be controlled to run at an initial speed. After the speed stabilizes, the motor will also output a stable initial torque. The size of the initial torque is related to the load caused by the motor's own mechanical structure.
本申请实施例中采用的电机可以是ISG(Integrated Starter Generator，集成起动发电)电机，ISG电机一般用于启动发动机和发电，但是在本申请实施例的技术方案中，ISG电机还增加了驱动的功能，从而进行离合器自学习。The motor used in the embodiment of the present application may be an ISG (Integrated Starter Generator) motor. The ISG motor is generally used to start the engine and generate electricity. However, in the technical solution of the embodiment of the present application, the ISG motor also adds a driver. function to perform clutch self-learning.
在步骤S203中，控制离合器顺序执行预充过程，使离合器进入半联动状态，并同时监测电机的输出变化趋势。In step S203, the clutch is controlled to sequentially perform the precharging process, so that the clutch enters a semi-linked state, and the output change trend of the motor is monitored at the same time.
如上文介绍的，预充过程包括顺序执行的快充过程、滞回过程以及慢充过程。As introduced above, the precharge process includes a fast charge process, a hysteresis process, and a slow charge process that are executed sequentially.
在步骤S204中，判断电机的输出变化趋势是否满足预设条件。In step S204, it is determined whether the output change trend of the motor meets the preset conditions.
可以理解的是，可以根据电机的输出变化趋势是否满足预设条件，来确定离合器预充过程的时间是否适宜，预充过程的时间是否过短或过长。It can be understood that whether the time of the clutch precharging process is appropriate and whether the time of the precharging process is too short or too long can be determined based on whether the output change trend of the motor meets the preset conditions.
作为步骤S204的其中一个判断结果，当判断出电机的输出变化趋势满足预设条件时，在步骤S205中，将存储的离合器预充过程的预充时间降低预设时间。As one of the judgment results in step S204, when it is judged that the output change trend of the motor meets the preset condition, in step S205, the stored precharge time of the clutch precharge process is reduced by the preset time.
在一些可选的实施例中，步骤S204中判断电机的输出变化趋势是否满足预设条件具体包括如下判断过程：判断电机的转速在预充过程中是否降低了第一预设转速，以及电机在慢充过程中的扭矩是否大于离合器进入半联动状态后电机的扭矩。In some optional embodiments, determining in step S204 whether the output change trend of the motor meets the preset conditions specifically includes the following judgment process: determining whether the speed of the motor is reduced by a first preset speed during the pre-charging process, and whether the torque of the motor during the slow charging process is greater than the torque of the motor after the clutch enters the semi-clutch state.
可以理解的是，在预充过程中并不希望离合器超过半联动点，避免离合器开始传递扭矩。而如果预充过程时间过长，离合器则会出现过充情况，离合器则会超过半联动点，产生摩擦力，对电机产生拖拽，使电机的转速降低。具体地，如果出现过充情况，可以表现为电机的转速在预充过程中降低第一预设转速。第一预设转速具体可以利用多组已知数据，预先通过有限次实验来标定得到，并存储在存储器中。 It is understandable that during the precharging process, you do not want the clutch to exceed the half linkage point to avoid the clutch starting to transmit torque. If the precharging process takes too long, the clutch will be overcharged, and the clutch will exceed the semi-linkage point, generating friction, dragging the motor, and reducing the motor's speed. Specifically, if an overcharge situation occurs, it can be manifested in that the rotation speed of the motor decreases by the first preset rotation speed during the precharging process. Specifically, the first preset rotation speed can be calibrated in advance through a limited number of experiments using multiple sets of known data, and stored in the memory.
同理地，只有离合器在达到半联动点后，产生了负载，电机的扭矩才会增加。而如果电机在慢充过程中的扭矩大于离合器进入半联动状态后电机的扭矩，则说明离合器出现了过充情况，离合器过早地达到了半联动点。In the same way, the torque of the motor will increase only when the clutch reaches the semi-linkage point and generates load. And if the torque of the motor during slow charging is greater than the torque of the motor after the clutch enters the semi-linked state, it means that the clutch is overcharged and the clutch reaches the semi-linked point prematurely.
因此，当判断出电机的转速在预充过程中降低了第一预设转速，或电机在慢充过程中的扭矩大于离合器进入半联动状态后电机的扭矩时，则判断出电机的输出变化趋势满足预设条件，此时则说明离合器的预充过程出现了过充情况，此时则需要将存储的离合器预充过程的预充时间降低预设时间。预设时间具体可以利用多组已知数据，预先通过有限次实验来标定得到，并存储在存储器中。具体地，预设时间可以是10ms。Therefore, when it is determined that the motor's speed has reduced by the first preset speed during the pre-charging process, or the motor's torque during the slow charging process is greater than the motor's torque after the clutch enters the semi-linked state, then the motor's output change trend is determined If the preset conditions are met, it means that the clutch precharge process is overcharged. At this time, the stored precharge time of the clutch precharge process needs to be reduced by the preset time. The preset time can be calibrated in advance through a limited number of experiments using multiple sets of known data, and stored in the memory. Specifically, the preset time may be 10ms.
在一些可选的实施例中，在将存储的离合器预充过程的预充时间降低预设时间，从而对预充时间进行更新后，可以重新执行上述步骤S203，再一次进行判断，直至确定出最合理的预充时间。In some optional embodiments, after the pre-filling time of the stored clutch pre-filling process is reduced by a preset time, thereby updating the pre-filling time, the above step S203 can be re-executed and judged again until the most reasonable pre-filling time is determined.
作为步骤S204的另一个判断结果，当判断出电机的输出变化趋势不满足预设条件时，在步骤S206中，控制离合器的电磁阀的电流值增大预设电流，并同时监测电机的实时扭矩和实时转速。As another judgment result of step S204, when it is determined that the output change trend of the motor does not meet the preset conditions, in step S206, the current value of the solenoid valve controlling the clutch is increased by the preset current, and the real-time torque and real-time speed of the motor are monitored at the same time.
在一些可选的实施例中，上述控制离合器的电磁阀的电流值增大的预设电流可以利用如下过程预先确定：In some optional embodiments, the preset current for increasing the current value of the solenoid valve that controls the clutch can be predetermined using the following process:
根据离合器传递的扭矩以及电磁阀的电流值之间的对应关系，确定当离合器传递10牛米扭矩时，所对应的电磁阀的电流值，作为预设电流。According to the corresponding relationship between the torque transmitted by the clutch and the current value of the solenoid valve, when the clutch transmits a torque of 10 Nm, the corresponding current value of the solenoid valve is determined as the preset current.
在步骤S207中，当监测到电机的实时扭矩增大第二预设扭矩，或电机的实时转速降低第二预设转速时，将存储的离合器预充过程的预充时间降低预设时间。In step S207, when it is detected that the real-time torque of the motor increases by the second preset torque, or the real-time speed of the motor decreases by the second preset speed, the stored precharge time of the clutch precharge process is reduced by the preset time.
可以理解的是，当离合器进入半联动状态，且电磁阀的电流值继续增大预设电流后，则离合器继续接合，传递更多的扭矩，电机产生更大负载，扭矩增加，转速降低。如果电机扭矩增加过大，大于第二预设扭矩，则说明预充过程时间过长，存在过充情况，同样需要降低预充时间。同理地，如果电机转速降低过多，大于第二预设转速，则同样说明预充过程时间过长，存在过充情况，同样需要降低预充时间。第二预设扭矩和第二预设转速同样可以利用多组已知数据，预先通过有限次实验来标定得到，并存储在存储器中。It can be understood that when the clutch enters the semi-linked state and the current value of the solenoid valve continues to increase by the preset current, the clutch continues to engage, transmitting more torque, the motor generates greater load, the torque increases, and the speed decreases. If the motor torque increases too much and is greater than the second preset torque, it means that the precharging process takes too long and there is overcharging, and the precharging time also needs to be reduced. Similarly, if the motor speed decreases too much and is greater than the second preset speed, it also means that the precharging process is too long and there is an overcharge situation, and the precharging time also needs to be reduced. The second preset torque and the second preset speed can also be calibrated in advance through a limited number of experiments using multiple sets of known data, and stored in the memory.
在一些可选的实施例中，作为步骤S206监测电机的实时扭矩和实时转速 的另外一种监测结果，在步骤S208中，当电机的实时扭矩没有增大，且电机的实时转速没有降低时，将存储的离合器预充过程的预充时间增加预设时间。In some optional embodiments, as step S206, monitor the real-time torque and real-time speed of the motor. Another monitoring result is that in step S208, when the real-time torque of the motor does not increase and the real-time speed of the motor does not decrease, the stored precharge time of the clutch precharge process is increased by the preset time.
可以理解的是，当离合器进入半联动状态，且电磁阀的电流值继续增大预设电流后，则离合器继续接合，传递更多的扭矩，应当对电机产生更大负载，使电机扭矩增加，转速降低。此时，如果电机的扭矩没有增加，或转速没有降低，则说明预充过程时间过短，存在预充不足的情况，需要增加预充时间。It can be understood that when the clutch enters the semi-linked state and the current value of the solenoid valve continues to increase to the preset current, the clutch continues to engage and transmit more torque, which should produce a greater load on the motor, causing the motor torque to increase. The speed decreases. At this time, if the torque of the motor does not increase or the speed does not decrease, it means that the precharge process time is too short and there is insufficient precharge, and the precharge time needs to be increased.
在一些可选的实施例中，无论是利用步骤S207，将存储的离合器预充过程的预充时间降低预设时间，还是利用步骤S208，将存储的离合器预充过程的预充时间增加预设时间，从而对预充时间进行更新后，均可以重新执行上述步骤S203，再一次进行判断流程，直至确定出最合理的预充时间。In some optional embodiments, either step S207 is used to reduce the stored precharging time of the clutch precharging process by a preset time, or step S208 is used to increase the stored precharging time of the clutch precharging process by a preset time. time, and thus after updating the precharge time, the above step S203 can be re-executed, and the judgment process is performed again until the most reasonable precharge time is determined.
可以理解的是，当离合器进入半联动状态，且电磁阀的电流值继续增大预设电流后，则离合器继续接合，传递更多的扭矩，电机产生更大负载，扭矩增加，转速降低。如果电机扭矩增加，但并没有增大超过第二预设扭矩，同理地，如果电机转速降低，但没有降低超过第二预设转速，则说明预充过程时间合理，不存在过充或者预充时间不足的情况，无需降低或增加预充时间。It is understandable that when the clutch enters the semi-clutch state and the current value of the solenoid valve continues to increase the preset current, the clutch continues to engage, transmits more torque, the motor generates a larger load, the torque increases, and the speed decreases. If the motor torque increases, but does not increase beyond the second preset torque, similarly, if the motor speed decreases, but does not decrease beyond the second preset speed, it means that the pre-charging process time is reasonable, there is no overcharging or insufficient pre-charging time, and there is no need to reduce or increase the pre-charging time.
在一些可选的实施例中，还可以直接利用压力传感器监测离合器的液压压力来直接判断离合器的预充过程的预充时间是否准确，不需要根据电机的输出特性来间接判断离合器的预充过程的预充时间是否准确。In some optional embodiments, a pressure sensor can also be directly used to monitor the hydraulic pressure of the clutch to directly determine whether the precharging time of the clutch precharging process is accurate. There is no need to indirectly determine the clutch precharging process based on the output characteristics of the motor. Is the precharge time accurate?
因此，在一些可选的实施例中，在控制电机以初始转速和初始扭矩运转之后，方法还包括：Therefore, in some optional embodiments, after controlling the motor to operate at the initial speed and initial torque, the method further includes:
控制离合器顺序执行预充过程，使离合器进入半联动状态，并监测离合器的液压压力。Control the clutch to perform the precharging process sequentially, bring the clutch into a semi-linked state, and monitor the hydraulic pressure of the clutch.
判断液压压力是否小于目标压力。Determine whether the hydraulic pressure is less than the target pressure.
在一些可选的实施例中，目标压力可以利用多组已知数据，预先通过有限次实验来标定得到，并存储在存储器中。In some optional embodiments, the target pressure can be calibrated in advance through a limited number of experiments using multiple sets of known data and stored in a memory.
当判断出液压压力小于目标压力时，将存储的离合器预充过程的预充时间增加预设时间。When it is determined that the hydraulic pressure is less than the target pressure, the stored precharging time of the clutch precharging process is increased by a preset time.
可以理解的是，当判断出液压压力小于目标压力时，则说明存在预充时间不足的情况，需要增加预充时间。It can be understood that when it is determined that the hydraulic pressure is less than the target pressure, it means that the precharge time is insufficient and the precharge time needs to be increased.
同时还可以判断液压压力是否大于最大压力，最大压力大于目标压力。当 判断出液压压力大于最大压力时，则说明存在过充情况，需要降低预充时间。At the same time, it can also be determined whether the hydraulic pressure is greater than the maximum pressure, and the maximum pressure is greater than the target pressure. When it is determined that the hydraulic pressure is greater than the maximum pressure, it indicates that there is an overcharge condition and the pre-charge time needs to be reduced.
同时还可以判断液压压力是否介于目标压力和最大压力之间。当判断出液压压力介于目标压力和最大压力之间时，则说明离合器预充时间处于适宜的范围内，无需对离合器预充时间进行更新。At the same time, it can also be judged whether the hydraulic pressure is between the target pressure and the maximum pressure. When it is determined that the hydraulic pressure is between the target pressure and the maximum pressure, it means that the clutch precharge time is within an appropriate range, and there is no need to update the clutch precharge time.
采用本申请提供的混合动力汽车离合器自学***稳，且控制精细，从而能够提高离合器自学习的准确性和效率。The hybrid vehicle clutch self-learning method provided by this application is used to control the clutch separation and simultaneously control the motor to operate at the preset initial speed and torque. Further, the clutch is controlled to sequentially execute the precharging process, so that the clutch enters a semi-linked state, and at the same time, the output change trend of the motor is monitored, and based on whether the output change trend of the motor meets the preset conditions, it is determined whether the precharge time needs to be increased. or decrease, thereby updating the precharge time and realizing self-learning of the clutch precharge time. Because the motor output is smooth and the control is precise, the accuracy and efficiency of clutch self-learning can be improved.
本申请实施例还提供了一种混合动力汽车离合器自学习装置，装置可以设置在整车控制器中或者为整车控制器，如图3所示，装置包括：The embodiment of the present application also provides a hybrid vehicle clutch self-learning device. The device can be set in the vehicle controller or be the vehicle controller. As shown in Figure 3, the device includes:
分离模块301，被配置为控制离合器分离。Disengagement module 301 is configured to control clutch disengagement.
电机控制模块302，被配置为控制电机以初始转速和初始扭矩运转。The motor control module 302 is configured to control the motor to operate at an initial speed and an initial torque.
电机监测模块303，被配置为增加离合器的电磁阀的电流值，并同时监测电机的实时扭矩。The motor monitoring module 303 is configured to increase the current value of the solenoid valve of the clutch and simultaneously monitor the real-time torque of the motor.
离合器监测模块304，被配置为当电机的实时扭矩与初始扭矩之间的差值大于第一预设扭矩时，获取此时对应的离合器的电磁阀的目标电流值。The clutch monitoring module 304 is configured to obtain the target current value of the solenoid valve of the corresponding clutch when the difference between the real-time torque of the motor and the initial torque is greater than the first preset torque.
更新模块305，被配置为根据目标电流值对存储的半联动参数集进行更新。The updating module 305 is configured to update the stored semi-linked parameter set according to the target current value.
在一些可选的实施例中，电机监测模块303还被配置为控制离合器顺序执行预充过程，使离合器进入半联动状态，并同时监测电机的输出变化趋势。In some optional embodiments, the motor monitoring module 303 is also configured to control the clutch to sequentially perform a precharging process to bring the clutch into a semi-linked state, and simultaneously monitor the output change trend of the motor.
电机监测模块303还被配置为判断电机的输出变化趋势是否满足预设条件。The motor monitoring module 303 is also configured to determine whether the output change trend of the motor meets the preset conditions.
更新模块305还被配置为当判断出电机的输出变化趋势满足预设条件时，将存储的离合器预充过程的预充时间降低预设时间。The update module 305 is also configured to reduce the stored precharge time of the clutch precharge process by a preset time when it is determined that the output change trend of the motor meets the preset condition.
采用本申请提供的混合动力汽车离合器自学习方法，控制离合器分离，并同时控制电机以预设的初始转速和扭矩运转，从而为确定离合器的半联动点做好准备。进一步的，增加离合器的电磁阀的电流值，从而逐渐增大离合器施加的压力，并同时监测电机的实时扭矩，以根据电机扭矩是否提升，来间接判断离合器是否达到半联动状态，从而之前存储的半联动参数集进行更新，从而根 据电机输出实现离合器半联动点的自学***稳，且控制精细，从而能够提高离合器自学习的准确性和效率。The hybrid vehicle clutch self-learning method provided by this application is used to control the clutch separation, and at the same time control the motor to operate at the preset initial speed and torque, thereby preparing to determine the semi-linkage point of the clutch. Further, increase the current value of the solenoid valve of the clutch, thereby gradually increasing the pressure exerted by the clutch, and monitor the real-time torque of the motor at the same time, to indirectly determine whether the clutch has reached the semi-linked state based on whether the motor torque is increased, so that the previously stored The semi-linked parameter set is updated so that the Realizes self-learning of clutch half linkage point based on motor output. The clutch can also be controlled to sequentially execute the precharging process, so that the clutch enters a semi-linked state, and at the same time, the output change trend of the motor is monitored, and based on whether the output change trend of the motor meets the preset conditions, it is determined whether the precharge time needs to be increased or Reduce, thereby updating the precharge time and realizing self-learning of the clutch precharge time. Because the motor output is smooth and the control is precise, the accuracy and efficiency of clutch self-learning can be improved.
本实施例与方法实施例基于相同的发明构思，是与方法实施例相对应的装置实施例，因此本领域技术人员应该理解，对方法实施例的说明也同样适应于本实施例，有些技术细节在本实施例中不再详述。This embodiment and the method embodiment are based on the same inventive concept and are device embodiments corresponding to the method embodiment. Therefore, those skilled in the art should understand that the description of the method embodiment is also applicable to this embodiment, and some technical details No detailed description will be given in this embodiment.
本申请实施例还提供了一种车辆，包括上一实施例提供的混合动力汽车离合器自学习装置。An embodiment of the present application also provides a vehicle, including the hybrid vehicle clutch self-learning device provided in the previous embodiment.
基于同一发明构思，与上述任意实施例方法相对应的，本公开还提供了一种非易失性计算机可读存储介质，所述非易失性计算机可读存储介质存储计算机指令，所述计算机指令由处理器加载并执行以实现如前述方法实施例中的混合动力汽车离合器自学习方法中所执行的操作。Based on the same inventive concept, corresponding to any of the above embodiment methods, the present disclosure also provides a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium stores computer instructions, the computer The instructions are loaded and executed by the processor to implement operations performed in the hybrid vehicle clutch self-learning method in the foregoing method embodiments.
基于同一发明构思，与上述任意实施例方法相对应的，本公开还提供了一种计算机程序产品，包括计算机程序或计算机指令，所述计算机或所述计算机指令被处理器执行时实现如前述方法实施例中的混合动力汽车离合器自学习方法中所执行的操作。Based on the same inventive concept, corresponding to the methods of any of the above embodiments, the present disclosure also provides a computer program product, including a computer program or computer instructions. When the computer or the computer instructions are executed by a processor, the above method is implemented. Operations performed in the hybrid vehicle clutch self-learning method in the embodiment.
在本申请中，应该理解到，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。In the present application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features.
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本申请的其它实施方案。本申请旨在涵盖本申请的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本申请的一般性原理并包括本申请未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的。Other embodiments of the present application will be readily apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary technical means in the technical field that are not disclosed in this application. . The specification and examples are to be considered as illustrative only.
应当理解的是，本申请并不局限于上面已经描述并在附图中示出的精确结 构，并且可以在不脱离其范围进行各种修改和改变。本申请的范围仅由所附的权利要求来限制。It will be understood that the present application is not limited to the precise structures described above and illustrated in the accompanying drawings. structure, and various modifications and changes can be made without departing from its scope. The scope of the application is limited only by the appended claims.
以上所述仅是为了便于本领域的技术人员理解本申请的技术方案，并不用以限制本申请。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围。 The above description is only to facilitate those skilled in the art to understand the technical solutions of the present application, and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the protection scope of this application.

Claims (12)

  1. 一种混合动力汽车离合器自学习方法，其特征在于，所述方法包括：A hybrid vehicle clutch self-learning method, characterized in that the method includes:
    控制离合器分离；Control clutch disengagement;
    控制电机以初始转速和初始扭矩运转；Control the motor to operate at initial speed and initial torque;
    增加所述离合器的电磁阀的电流值，并同时监测所述电机的实时扭矩；Increase the current value of the solenoid valve of the clutch and monitor the real-time torque of the motor at the same time;
    当所述电机的实时扭矩与所述初始扭矩之间的差值大于第一预设扭矩时，获取此时对应的所述离合器的电磁阀的目标电流值；When the difference between the real-time torque of the motor and the initial torque is greater than the first preset torque, obtain the corresponding target current value of the solenoid valve of the clutch at this time;
    根据所述目标电流值对存储的半联动参数集进行更新。The stored semi-linked parameter set is updated according to the target current value.
  2. 根据权利要求1所述的方法，其特征在于，在控制离合器分离之前，所述方法还包括：The method according to claim 1, characterized in that before controlling the clutch disengagement, the method further includes:
    控制车辆保持静止状态；Control the vehicle to remain stationary;
    控制发动机保持熄火状态；Control the engine to remain in a stalled state;
    控制同步器挂入空档或驻车档。Control the synchronizer to shift into neutral or park.
  3. 根据权利要求1所述的方法，其特征在于，在所述控制电机以初始转速和初始扭矩运转之后，所述方法还包括：The method according to claim 1, characterized in that, after controlling the motor to operate at an initial speed and an initial torque, the method further includes:
    控制离合器顺序执行预充过程，使离合器进入半联动状态，并同时监测所述电机的输出变化趋势；Control the clutch to perform the precharging process sequentially, so that the clutch enters a semi-linked state, and simultaneously monitor the output change trend of the motor;
    判断所述电机的所述输出变化趋势是否满足预设条件；Determine whether the output change trend of the motor meets preset conditions;
    当判断出所述电机的所述输出变化趋势满足所述预设条件时，将存储的离合器预充过程的预充时间降低预设时间。When it is determined that the output change trend of the motor meets the preset condition, the stored precharge time of the clutch precharge process is reduced by a preset time.
  4. 根据权利要求3所述的方法，其特征在于，所述预充过程包括顺序执行的快充过程、滞回过程以及慢充过程，所述判断所述电机的所述输出变化趋势是否满足预设条件，包括：The method according to claim 3, characterized in that the precharging process includes a fast charging process, a hysteresis process and a slow charging process executed sequentially, and the determination of whether the output change trend of the motor satisfies a preset conditions, including:
    判断所述电机的转速在所述预充过程中是否降低了第一预设转速，以及所述电机在慢充过程中的扭矩是否大于所述离合器进入半联动状态后所述电机的扭矩； Determine whether the rotation speed of the motor has reduced by the first preset rotation speed during the pre-charging process, and whether the torque of the motor during the slow charging process is greater than the torque of the motor after the clutch enters the semi-linked state;
    当判断出所述电机的转速在所述预充过程中降低了所述第一预设转速，或所述电机在慢充过程中的扭矩大于所述离合器进入半联动状态后所述电机的扭矩时，则判断出所述电机的所述输出变化趋势满足预设条件。When it is determined that the rotation speed of the motor has reduced the first preset rotation speed during the pre-charging process, or the torque of the motor during slow charging is greater than the torque of the motor after the clutch enters the semi-linked state. , it is determined that the output change trend of the motor satisfies the preset condition.
  5. 根据权利要求3所述的方法，其特征在于，所述方法还包括：The method of claim 3, further comprising:
    当判断出所述电机的所述输出变化趋势不满足预设条件时，控制所述离合器的电磁阀的电流值增大预设电流，并同时监测电机的实时扭矩和实时转速；When it is determined that the output change trend of the motor does not meet the preset conditions, control the current value of the solenoid valve of the clutch to increase the preset current, and simultaneously monitor the real-time torque and real-time speed of the motor;
    当判断出所述电机的实时扭矩增大第二预设扭矩，或所述电机的实时转速降低第二预设转速时，将存储的离合器预充过程的预充时间降低所述预设时间。When it is determined that the real-time torque of the motor increases by the second preset torque, or the real-time speed of the motor decreases by the second preset speed, the stored precharge time of the clutch precharge process is reduced by the preset time.
  6. 根据权利要求5所述的方法，其特征在于，控制所述离合器的电磁阀的电流值增大预设电流，并同时监测电机的实时扭矩和实时转速后，所述方法还包括：The method according to claim 5 is characterized in that after controlling the current value of the solenoid valve of the clutch to increase the preset current and simultaneously monitoring the real-time torque and real-time speed of the motor, the method further comprises:
    当所述电机的实时扭矩没有增大，且所述电机的实时转速没有降低时，将存储的离合器预充过程的预充时间增加所述预设时间。When the real-time torque of the motor does not increase and the real-time rotation speed of the motor does not decrease, the pre-filling time of the stored clutch pre-filling process is increased by the preset time.
  7. 根据权利要求6所述的方法，其特征在于，在所述控制电机以初始转速和初始扭矩运转之后，所述方法还包括：The method according to claim 6, characterized in that, after controlling the motor to operate at an initial speed and an initial torque, the method further includes:
    控制离合器顺序执行预充过程，使离合器进入半联动状态，并监测所述离合器的液压压力；Control the clutch to sequentially execute the precharging process, bring the clutch into a semi-linked state, and monitor the hydraulic pressure of the clutch;
    判断所述液压压力是否小于目标压力；Determine whether the hydraulic pressure is less than the target pressure;
    当判断出所述液压压力小于所述目标压力时，将存储的离合器预充过程的预充时间增加所述预设时间。When it is determined that the hydraulic pressure is less than the target pressure, the stored precharging time of the clutch precharging process is increased by the preset time.
  8. 一种混合动力汽车离合器自学习装置，其特征在于，所述装置包括：A hybrid vehicle clutch self-learning device, characterized in that the device includes:
    分离模块，被配置为控制离合器分离；a disengagement module configured to control clutch disengagement;
    电机控制模块，被配置为控制电机以初始转速和初始扭矩运转；a motor control module configured to control the motor to operate at an initial speed and an initial torque;
    电机监测模块，被配置为增加所述离合器的电磁阀的电流值，并同时监测所述电机的实时扭矩；a motor monitoring module configured to increase the current value of the solenoid valve of the clutch and simultaneously monitor the real-time torque of the motor;
    离合器监测模块，被配置为当所述电机的实时扭矩与所述初始扭矩之间的 差值大于第一预设扭矩时，获取此时对应的所述离合器的电磁阀的目标电流值；a clutch monitoring module configured to detect when there is a difference between the real-time torque of the electric motor and the initial torque When the difference is greater than the first preset torque, obtain the corresponding target current value of the solenoid valve of the clutch at this time;
    更新模块，被配置为根据所述目标电流值对存储的半联动参数集进行更新。An update module configured to update the stored semi-linked parameter set according to the target current value.
  9. 根据权利要求8所述的装置，其特征在于，The device according to claim 8, characterized in that:
    所述电机监测模块还被配置为控制离合器顺序执行预充过程，使离合器进入半联动状态，并同时监测所述电机的输出变化趋势；The motor monitoring module is also configured to control the clutch to sequentially perform a precharging process, so that the clutch enters a semi-linked state, and simultaneously monitors the output change trend of the motor;
    所述电机监测模块还被配置为判断所述电机的所述输出变化趋势是否满足预设条件；The motor monitoring module is also configured to determine whether the output change trend of the motor meets a preset condition;
    所述更新模块还被配置为当判断出所述电机的所述输出变化趋势满足预设条件时，将存储的离合器预充过程的预充时间降低预设时间。The update module is further configured to reduce the stored precharge time of the clutch precharge process by a preset time when it is determined that the output change trend of the motor meets a preset condition.
  10. 一种车辆，其特征在于，包括权利要求8所述的混合动力汽车离合器自学习装置。A vehicle, characterized by comprising the hybrid vehicle clutch self-learning device according to claim 8.
  11. 一种非易失性计算机可读存储介质，其特征在于，所述非易失性计算机可读存储介质存储计算机指令，所述计算机指令由处理器加载并执行以实现如权利要求1所述的混合动力汽车离合器自学习方法中所执行的操作。A non-volatile computer-readable storage medium, characterized in that the non-volatile computer-readable storage medium stores computer instructions, and the computer instructions are loaded and executed by a processor to implement the method of claim 1 Operations performed in the hybrid vehicle clutch self-learning method.
  12. 一种计算机程序产品，其特征在于，包括计算机程序或计算机指令，所述计算机程序或所述计算机指令被处理器执行时实现如权利要求1所述的混合动力汽车离合器自学习方法中所执行的操作。 A computer program product, characterized in that it includes a computer program or computer instructions. When the computer program or the computer instructions are executed by a processor, the hybrid vehicle clutch self-learning method as claimed in claim 1 is implemented. operate.
PCT/CN2023/119177 2022-09-20 2023-09-15 Self-learning method and apparatus for clutch of hybrid electric vehicle, and vehicle WO2024061132A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211145849.9A CN115585258A (en) 2022-09-20 2022-09-20 Self-learning method and device for clutch of hybrid electric vehicle and vehicle
CN202211145849.9 2022-09-20

Publications (1)

Publication Number Publication Date
WO2024061132A1 true WO2024061132A1 (en) 2024-03-28

Family

ID=84778211

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/119177 WO2024061132A1 (en) 2022-09-20 2023-09-15 Self-learning method and apparatus for clutch of hybrid electric vehicle, and vehicle

Country Status (2)

Country Link
CN (1) CN115585258A (en)
WO (1) WO2024061132A1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115585258A (en) * 2022-09-20 2023-01-10 奇瑞汽车股份有限公司 Self-learning method and device for clutch of hybrid electric vehicle and vehicle

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103661358A (en) * 2012-09-06 2014-03-26 现代自动车株式会社 Method and system for learning and controlling torque transmission kiss point of engine clutch for hybrid electric vehicle
JP2014061750A (en) * 2012-09-20 2014-04-10 Nissan Motor Co Ltd Hybrid vehicle control device and hybrid vehicle control method
CN106347372A (en) * 2016-11-15 2017-01-25 安徽江淮汽车股份有限公司 Semi-linkage point determination method and system
CN113696882A (en) * 2021-09-30 2021-11-26 潍柴动力股份有限公司 Method and device for determining position of clutch sliding friction point and automobile
CN114738398A (en) * 2022-05-10 2022-07-12 潍柴动力股份有限公司 Self-learning method, device and equipment for clutch of hybrid electric vehicle
CN115585258A (en) * 2022-09-20 2023-01-10 奇瑞汽车股份有限公司 Self-learning method and device for clutch of hybrid electric vehicle and vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103661358A (en) * 2012-09-06 2014-03-26 现代自动车株式会社 Method and system for learning and controlling torque transmission kiss point of engine clutch for hybrid electric vehicle
JP2014061750A (en) * 2012-09-20 2014-04-10 Nissan Motor Co Ltd Hybrid vehicle control device and hybrid vehicle control method
CN106347372A (en) * 2016-11-15 2017-01-25 安徽江淮汽车股份有限公司 Semi-linkage point determination method and system
CN113696882A (en) * 2021-09-30 2021-11-26 潍柴动力股份有限公司 Method and device for determining position of clutch sliding friction point and automobile
CN114738398A (en) * 2022-05-10 2022-07-12 潍柴动力股份有限公司 Self-learning method, device and equipment for clutch of hybrid electric vehicle
CN115585258A (en) * 2022-09-20 2023-01-10 奇瑞汽车股份有限公司 Self-learning method and device for clutch of hybrid electric vehicle and vehicle

Also Published As

Publication number Publication date
CN115585258A (en) 2023-01-10

Similar Documents

Publication Publication Date Title
US9267481B2 (en) Hybrid vehicle engine start control system
KR101371461B1 (en) Method and system for learning and controlling kiss point of engine clutch for hybrid electric vehicle
US8738205B2 (en) Method and device for determining the beginning of a start phase of an internal combustion engine in a hybrid vehicle
US8326475B2 (en) Hybrid drive device
US7826941B2 (en) Mode change control system for hybrid vehcile
CN103386978B (en) The method of motor vehicle driven by mixed power and control motor vehicle driven by mixed power
US9630626B2 (en) System and method for managing hybrid vehicle regenerative braking
US9421967B2 (en) Control device for hybrid vehicle
US9017214B2 (en) Hybrid vehicle control apparatus
US9347500B2 (en) Vehicle control device
WO2024061132A1 (en) Self-learning method and apparatus for clutch of hybrid electric vehicle, and vehicle
EP2689979B1 (en) Gear shifting control device for hybrid vehicle
US8532853B2 (en) Drive-train system of a vehicle, and method for controlling the operation of a drive-train system of a vehicle
JP5746376B2 (en) Hybrid electric vehicle controller and hybrid electric vehicle control method
CN105008196A (en) Device for controlling vehicle drive devices
WO2006046351A1 (en) Drive device for hybrid vehicle, and control method and control device for the same
JPWO2011135697A1 (en) Vehicle shift instruction system
KR20110044566A (en) System for shift controlling of hybrid vehicle and method thereof
EP2913503A1 (en) Vehicular drive apparatus
JP2009202868A (en) Adapting method of proportional clutch
US9803703B2 (en) Method for adjusting a co-efficient of friction of a disconnect clutch of a hybrid vehicle
CN109703545B (en) Control method and device for gear shifting of hybrid power system and vehicle-mounted equipment
CN105143643A (en) Drive device for vehicle
KR101776535B1 (en) Shift control method for hybrid electric vehicle
CN106976456B (en) Hybrid-vehicle control method and device

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23867421

Country of ref document: EP

Kind code of ref document: A1