CN-121993588-A - Method and device for self-learning gear of gearbox, vehicle and storage medium

CN121993588ACN 121993588 ACN121993588 ACN 121993588ACN-121993588-A

Abstract

The application provides a method, a device, a vehicle and a storage medium for self-learning gear of a gearbox, which are applied to the field of motor control, wherein the method comprises the steps of determining whether a combining tooth and a combining sleeve are in a top tooth state or not under the current gear in the self-learning process of the gear of the gearbox of the vehicle; and in the torque control mode, controlling the gear shifting motor to operate based on a plurality of dislocation requests so as to eliminate the top tooth state, wherein the dislocation requests are requests with the rotating speed direction opposite to the torque direction. According to the method, in the self-learning process of the gear of the gearbox, if the combination teeth and the combination sleeve are in the top tooth state, the combination sleeve and the combination teeth are smoothly withdrawn from the top tooth state by controlling the gear shifting motor, so that excessive abrasion of a gear shifting fork is avoided, and the accuracy of gear shifting self-learning is improved.

Inventors

WANG YUPENG
SUN WANCHAO
CHEN JIANXUN
LI WENGUANG

Assignees

长城新能源商用车有限公司

Dates

Publication Date: 20260508
Application Date: 20241029

Claims (10)

1. A method of self-learning a transmission gear, the method comprising: determining whether the combining teeth and the combining sleeve are in a top tooth state or not in the current gear in the gear self-learning process of the gearbox of the vehicle; Under the condition that the combination teeth and the combination sleeve are in a tooth ejection state, controlling the gear shifting motor to enter a torque control mode; And in the torque control mode, controlling the gear shifting motor to operate based on a plurality of dislocation requests to eliminate the top tooth state, wherein the dislocation requests are requests with the rotating speed direction opposite to the torque direction.
2. The method according to claim 1, wherein the method further comprises: Determining a first output torque corresponding to a first gear entering stage, a second output torque corresponding to a second gear entering stage and critical positions of the first gear entering stage and the second gear entering stage, wherein the critical positions are positions of a gear shifting fork when the first gear entering stage is finished; And controlling the gearbox to perform self-learning based on the first output torque, the second output torque and the critical position.
3. The method of claim 2, wherein the second output torque is determined by: Controlling the gear motor to run based on a plurality of different duty ratios sent by override on a bench until the gear shifting fork is at an optimal limit position, recording a first duty ratio of the duty ratio corresponding to the optimal limit position, wherein the optimal limit position is used for indicating that the combining teeth are completely combined with the combining sleeve and enabling the associated gear to rotate; And controlling the gear motor to run on the vehicle based on a first duty ratio, and acquiring the torque of the gear motor under the first duty ratio to determine the torque as a second output torque.
4. A method according to claim 3, wherein the critical position is determined by: Determining a synchronous position in a self-learning process of a historical gear of the gearbox of the vehicle, wherein the synchronous position is obtained based on the position of a gear shifting fork when the combination teeth and the combination sleeve are in a top tooth state; the critical position is determined based on the optimal limit position and the synchronization position.
5. The method of claim 4, wherein the first output torque is determined by: Controlling the gear motor to run on the vehicle based on a first duty ratio, and recording the position of the gear shifting fork as an optimal theoretical position value; and continuously controlling the gearbox to perform self-learning on the vehicle based on the second output torque, the critical position and a plurality of different third output torques corresponding to a first gear entering stage until the absolute value of a first difference value between an optimal position value obtained after self-learning of the gearbox and an optimal theoretical position value is smaller than a first threshold value, and determining the third output torque corresponding to an optimal position value with the absolute value of the first difference value between the optimal theoretical position value and the first difference value smaller than the first threshold value as the first output torque.
6. The method of claim 1, wherein whether the bonding tooth is in a top tooth condition with the bonding sleeve is determined by: acquiring the current position of the shifting fork and the position variation of the shifting fork at the subsequent moment in the gear self-learning process of the gearbox; When the current position is larger than a preset position and the duration time of the position variation smaller than the preset variation is longer than a preset duration time, determining that the combination teeth and the combination sleeve are not in a top tooth state; And determining that the combination teeth and the combination sleeve are in a top tooth state under the condition that the current position is smaller than or equal to the preset position, the position variation is larger than or equal to the preset variation, or the duration time of the position variation smaller than the preset variation is smaller than or equal to the preset duration time.
7. The method of claim 2, wherein after the controlling the transmission based on the first output torque, the second output torque, and the threshold position, the method further comprises: controlling the gearbox to perform first repeated self-learning based on the first output torque, the second output torque and the critical position under the condition that the driving mileage of the vehicle is equal to a first preset mileage; determining the absolute value of a second difference value of two optimal position values obtained by the first repeated self-learning and the previous self-learning of the gearbox; continuing to control the transmission operation based on the first output torque, the second output torque, and the critical position if the absolute value of the second difference is less than a second threshold; If the absolute value of the second difference value is greater than or equal to the second threshold value, if the driving mileage is equal to a second preset mileage, controlling the gearbox to perform second repeated self-learning based on the first output torque, the second output torque and the critical position; Determining the absolute value of a third difference value of two optimal position values obtained by the second repeated self-learning and the first repeated self-learning of the gearbox; Continuing to control the transmission operation based on the first output torque, the second output torque, and the critical position if the absolute value of the third difference is less than the second threshold; and updating the first output torque and the second output torque when the absolute value of the third difference is greater than or equal to the second threshold.
8. A device for self-learning of a transmission gear, the device comprising: the state determining module is used for determining whether the combining teeth and the combining sleeve are in a top tooth state or not under the current gear in the gear self-learning process of the gearbox of the vehicle; The mode control module is used for controlling the gear shifting motor to enter a torque control mode under the condition that the combination teeth and the combination sleeve are in a top tooth state; And the operation control module is used for controlling the gear shifting motor to operate based on a plurality of dislocation requests under the torque control mode so as to eliminate the top tooth state, wherein the dislocation requests are requests with the rotating speed direction opposite to the torque direction.
9. A vehicle, characterized in that the vehicle comprises: A memory for storing executable program code; a processor for calling and running the executable program code from the memory, causing the vehicle to perform the method of any one of claims 1 to 7.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed, implements the method according to any of claims 1 to 7.

Description

Method and device for self-learning gear of gearbox, vehicle and storage medium Technical Field The present application relates to the field of motor control, and more particularly, to a method, apparatus, vehicle, and storage medium for self-learning of transmission gear in the field of motor control. Background With the development of vehicle production technology, automated mechanical gearboxes (Automated Mechanical Transmission, AMT) are increasingly being used in vehicles, replacing conventional manual gearboxes and automatic gearboxes. The AMT gearbox is based on the structure of a manual gearbox, and a clutch executing mechanism and a gear shifting executing mechanism are added. For an AMT equipped vehicle, automatic shifting is mainly achieved by means of an electronic control unit (Electronic Control Unit, ECU) and an actuator. Specifically, during a gear shift process, the ECU controls the clutch actuating mechanism to disengage the clutch, and controls the gear shift actuating mechanism (typically, a gear shift motor) to start, so that the gear shift fork moves to a target position through rotation of the gear shift motor, thereby completing gear shift. In order to ensure that the shift fork can accurately move to a target position in the gear shifting process, the vehicle is generally controlled to perform self-learning of the gear of the gearbox before the vehicle runs. In a possible implementation manner, in the self-learning process of the gear of the gearbox, if the combining sleeve and the combining teeth are in a top tooth state, the shifting fork can be subjected to a large impact force, so that the shifting fork is worn, and the problem of inaccurate gear shifting is easily caused. Therefore, in the self-learning process of the gear of the gearbox, when the combining sleeve and the combining teeth are in a top tooth state, how to avoid abrasion of the gear shifting fork as much as possible becomes a problem to be solved. Disclosure of Invention The application provides a method, a device, a vehicle and a storage medium for self-learning of gear of a gearbox, wherein in the method, if a combination tooth and a combination sleeve are in a top tooth state during the self-learning of the gear of the gearbox, the combination sleeve and the combination teeth are smoothly withdrawn from the top tooth state by controlling the gear shifting motor, so that excessive abrasion of a gear shifting fork is avoided, and the gear shifting self-learning accuracy is improved. According to the first aspect, a method for self-learning of a gear of a gearbox is provided, and the method comprises the steps of determining whether a combining tooth and a combining sleeve are in a top tooth state in the process of self-learning of the gear of the gearbox of a vehicle, controlling a gear shifting motor to enter a torque control mode under the condition that the combining tooth and the combining sleeve are in the top tooth state, and controlling the gear shifting motor to operate based on a plurality of dislocation requests to eliminate the top tooth state under the torque control mode, wherein the dislocation requests are requests with the rotating speed direction opposite to the torque direction. According to the technical scheme, in the self-learning process of the gearbox, if the combined teeth and the combined sleeve generate the top teeth, the vehicle can control the gear shifting motor to enter a torque control mode. In the torque control mode, the vehicle may be operated based on a plurality of misalignment requests by controlling the shift motor. The dislocation request is a request that the rotating speed direction of the gear shifting motor is opposite to the torque direction. For a gear shifting motor, when the rotating speed direction is opposite to the torque direction, the moment generated during the rotation of the gear shifting motor is opposite to the movement direction. The binding sleeve is slightly moved from the top tooth position by the action of the reverse torque, so that the jammed binding tooth and the binding sleeve are loosened. The method is repeated for a plurality of times, the combination sleeve and the combination teeth can be withdrawn from the top tooth state, the combination sleeve is ensured to smoothly enter the engagement position, the long-time abrasion of the gear shifting fork and other mechanical parts is avoided, and the accuracy of the shifting fork moving position is improved. The accurate gear shifting position can improve the reliability of gear shifting, thereby improving the success rate of self-learning of the gear of the gearbox. With reference to the first aspect, in some possible implementation manners, the method further includes determining a first output torque corresponding to a first gear-entering stage, a second output torque corresponding to a second gear-entering stage, and critical positions of the first gear-entering stage and the second gear-entering