阅读说明：本技术 一种变速箱的控制方法及终端 (Control method and terminal of gearbox ) 是由 何春洪 于 2020-05-07 设计创作，主要内容包括：本发明公开一种变速箱地控制方法及终端,以第一预设速度分别控制电机顺时针转动和逆时针转动以确定电机的最大行程值和最小行程值,从而确定所述电机的有效行程范围,通过自学习过程对电机的有效行程范围进行学习,并以学习到的有效行程范围根据接收的控制量控制电机的实际执行量,能够避免由于机械的不统一或者机械结构的制造偏差导致的误差,能够准确获取机械结构上电机的实际行程有效范围,根据实际行程有效范围进行合理控制,可以精确有效地实现控制量和执行量的一致,做到控制的精准、可靠,减少了机械上的调整,减轻了机械上的精度缺陷导致的额外工作,不仅提高了变速箱控制电机转动的精确度,而且也提高了变速箱的通用性。(The invention discloses a control method and a terminal of a gearbox, which respectively control clockwise rotation and anticlockwise rotation of a motor at a first preset speed to determine a maximum stroke value and a minimum stroke value of the motor so as to determine an effective stroke range of the motor, learn the effective stroke range of the motor through a self-learning process, control the actual execution quantity of the motor according to the received control quantity by the learned effective stroke range, avoid errors caused by mechanical non-uniformity or manufacturing deviation of a mechanical structure, accurately acquire the effective range of the actual stroke of the motor on the mechanical structure, reasonably control according to the effective range of the actual stroke, accurately and effectively realize the consistency of the control quantity and the execution quantity, achieve accurate and reliable control, reduce adjustment on the machine and relieve additional work caused by precision defects on the machine, the accuracy of the gearbox for controlling the rotation of the motor is improved, and the universality of the gearbox is also improved.)

1. A method of controlling a transmission, comprising the steps of:

s1, controlling the motor to rotate clockwise at a first preset speed to determine the maximum travel value of the motor, and controlling the motor to rotate anticlockwise at the first preset speed to determine the minimum travel value of the motor;

s2, determining the effective travel range of the motor according to the minimum travel value and the maximum travel value;

and S3, determining the corresponding execution amount of the motor according to the effective travel range of the motor and the received control amount aiming at the motor.

2. The control method for a transmission according to claim 1, wherein said S1 includes:

controlling a motor to rotate clockwise at a first preset speed, judging whether the motor is locked up for more than a preset time, and if so, taking the current stroke value of the motor as the maximum stroke value of the motor;

and controlling the motor to rotate anticlockwise at the first preset speed, judging whether the locked rotor of the motor exceeds a preset time length, and if so, taking the stroke value of the current motor as the minimum stroke value of the motor.

3. The control method of a transmission according to claim 1, further comprising, after S2:

driving the motor to rotate to a default position at the first preset speed;

and judging whether the rotation angle range of the motor is normal or not, if so, executing the step S3, otherwise, returning to execute the step S1 until the preset times are reached.

4. The control method for a transmission according to claim 1, wherein said S3 includes:

determining the control quantity ratio according to the received control quantity aiming at the motor and the total control quantity range of the motor;

and determining the execution amount corresponding to the motor according to the control amount ratio and the effective travel range of the motor.

5. The control method of the gearbox according to claim 1, wherein the motors comprise a throttle motor, a clutch motor, a gear selecting motor and a gear shifting motor;

if the motor is an accelerator motor or a clutch motor, uniformly distributing the effective travel range of the motor according to the total control quantity range of the motor;

and if the motor is a gear selection motor or a gear shifting motor, determining a middle travel value corresponding to the middle position of the motor according to the effective travel range of the motor, and respectively corresponding the positions corresponding to the maximum travel value, the middle travel value and the minimum travel value to three gears of the motor.

6. A control terminal for a gearbox comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements the steps of:

s1, controlling the motor to rotate clockwise at a first preset speed to determine the maximum travel value of the motor, and controlling the motor to rotate anticlockwise at the first preset speed to determine the minimum travel value of the motor;

s2, determining the effective travel range of the motor according to the minimum travel value and the maximum travel value;

and S3, determining the corresponding execution amount of the motor according to the effective travel range of the motor and the received control amount aiming at the motor.

7. The control terminal of a transmission according to claim 6, wherein said S1 includes:

controlling a motor to rotate clockwise at a first preset speed, judging whether the motor is locked up for more than a preset time, and if so, taking the current stroke value of the motor as the maximum stroke value of the motor;

and controlling the motor to rotate anticlockwise at the first preset speed, judging whether the locked rotor of the motor exceeds a preset time length, and if so, taking the stroke value of the current motor as the minimum stroke value of the motor.

8. The control terminal of claim 6, further comprising after said S2:

driving the motor to rotate to a default position at the first preset speed;

and judging whether the rotation angle range of the motor is normal or not, if so, executing the step S3, otherwise, returning to execute the step S1 until the preset times are reached.

9. The control terminal of a transmission according to claim 6, wherein said S3 includes:

determining the control quantity ratio according to the received control quantity aiming at the motor and the total control quantity range of the motor;

and determining the execution amount corresponding to the motor according to the control amount ratio and the effective travel range of the motor.

10. The control terminal of the gearbox according to claim 6, wherein the motors comprise a throttle motor, a clutch motor, a gear selection motor and a gear shifting motor;

if the motor is an accelerator motor or a clutch motor, uniformly distributing the effective travel range of the motor according to the total control quantity range of the motor;

and if the motor is a gear selection motor or a gear shifting motor, determining a middle travel value corresponding to the middle position of the motor according to the effective travel range of the motor, and respectively corresponding the positions corresponding to the maximum travel value, the middle travel value and the minimum travel value to three gears of the motor.

Technical Field

The invention relates to the field of unmanned driving, in particular to a control method and a terminal of a gearbox.

Background

Unmanned driving is a technical hotspot at present, and the engine can ensure the highest efficiency only when the output torque is the maximum within a corresponding rotating speed range. The purpose of the gearbox is to match the speed of the vehicle with the speed of the engine so that the engine is always kept in the operating mode with maximum torque and maximum efficiency. The automatic gearbox control unit respectively controls the throttle motor, the clutch motor, the gear selecting motor and the gear shifting motor, and the motor drives the zipper and the pull rod to drive corresponding parts to make corresponding actions, so that the throttle control, the clutch control, the gear selecting and the gear shifting control are completed. The accelerator is controlled by a zipper, the clutch is hydraulically driven, and the gear selecting and shifting motor is controlled by a pull rod. Each motor has respective position limitation, corresponds maximum value and minimum value of control, because the deviation of spacing and motor angle sensor, the angle of every motor actual measurement can deviate to some extent, lead to automatic transmission control unit not to possess the commonality, and though can design position size on the mechanical structure, in view of the various of production technology and structural component, it is difficult to make accurate reliable error-free mechanical structure, and the gearbox is the vehicle precision equipment again, not allow to have mistake and error, otherwise cause gearbox control trouble extremely easily, influence the vehicle and use.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: the control method and the terminal of the gearbox are provided, so that the accuracy of controlling the rotation of the motor by the gearbox is ensured, and errors caused by manufacturing of mechanical structures and different types of mechanical structures are avoided.

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

a method of controlling a transmission comprising the steps of:

s1, controlling the motor to rotate clockwise at a first preset speed to determine the maximum travel value of the motor, and controlling the motor to rotate anticlockwise at the first preset speed to determine the minimum travel value of the motor;

s2, determining the effective travel range of the motor according to the minimum travel value and the maximum travel value;

and S3, determining the corresponding execution amount of the motor according to the effective travel range of the motor and the received control amount aiming at the motor.

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

a control terminal for a gearbox comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program:

s1, controlling the motor to rotate clockwise at a first preset speed to determine the maximum travel value of the motor, and controlling the motor to rotate anticlockwise at the first preset speed to determine the minimum travel value of the motor;

s2, determining the effective travel range of the motor according to the minimum travel value and the maximum travel value;

and S3, determining the corresponding execution amount of the motor according to the effective travel range of the motor and the received control amount aiming at the motor.

The invention has the beneficial effects that: the method comprises the steps of respectively controlling clockwise rotation and anticlockwise rotation of a motor at a first preset speed to determine the maximum stroke value and the minimum stroke value of the motor so as to determine the effective stroke range of the motor, learning the effective stroke range of the motor through a self-learning process, controlling the actual execution amount of the motor according to the received control amount according to the learned effective stroke range, avoiding errors caused by mechanical non-uniformity or manufacturing deviation of a mechanical structure, accurately acquiring the effective range of the actual stroke of the motor on the mechanical structure, reasonably controlling according to the effective range of the actual stroke, accurately and effectively realizing the consistency of the control amount and the execution amount, achieving accurate and reliable control, reducing adjustment on the machine, lightening extra work caused by precision defects on the machine, and improving the rotation precision of a gearbox control motor, but also improves the versatility of the gearbox.

Drawings

FIG. 1 is a flow chart illustrating steps of a method for controlling a transmission according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a control terminal of a transmission according to an embodiment of the present invention;

FIG. 3 is a detailed flow chart of a transmission control method according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of a speed control model according to an embodiment of the present invention;

description of reference numerals:

1. a control terminal for a gearbox; 2. a memory; 3. a processor.

Detailed Description

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

Referring to fig. 1, a method for controlling a transmission includes:

s1, controlling the motor to rotate clockwise at a first preset speed to determine the maximum travel value of the motor, and controlling the motor to rotate anticlockwise at the first preset speed to determine the minimum travel value of the motor;

s2, determining the effective travel range of the motor according to the minimum travel value and the maximum travel value;

and S3, determining the corresponding execution amount of the motor according to the effective travel range of the motor and the received control amount aiming at the motor.

From the above description, the beneficial effects of the present invention are: the method comprises the steps of respectively controlling clockwise rotation and anticlockwise rotation of a motor at a first preset speed to determine the maximum stroke value and the minimum stroke value of the motor so as to determine the effective stroke range of the motor, learning the effective stroke range of the motor through a self-learning process, controlling the actual execution amount of the motor according to the received control amount according to the learned effective stroke range, avoiding errors caused by mechanical non-uniformity or manufacturing deviation of a mechanical structure, accurately acquiring the effective range of the actual stroke of the motor on the mechanical structure, reasonably controlling according to the effective range of the actual stroke, accurately and effectively realizing the consistency of the control amount and the execution amount, achieving accurate and reliable control, reducing adjustment on the machine, lightening extra work caused by precision defects on the machine, and improving the rotation precision of a gearbox control motor, but also improves the versatility of the gearbox.

Further, the S1 includes:

controlling a motor to rotate clockwise at a first preset speed, judging whether the motor is locked up for more than a preset time, and if so, taking the current stroke value of the motor as the maximum stroke value of the motor;

and controlling the motor to rotate anticlockwise at the first preset speed, judging whether the locked rotor of the motor exceeds a preset time length, and if so, taking the stroke value of the current motor as the minimum stroke value of the motor.

According to the description, whether the motor reaches the limit position or not is judged through the motor stalling time, the maximum and minimum travel values of the motor can be accurately determined, the detection is convenient and fast, the detection is accurate and reliable, various types of motors can be detected, and the universality is high.

Further, the step S2 is followed by:

driving the motor to rotate to a default position at the first preset speed;

and judging whether the rotation angle range of the motor is normal or not, if so, executing the step S3, otherwise, returning to execute the step S1 until the preset times are reached.

According to the above description, after the maximum and minimum stroke values are determined, the driving motor is driven to rotate to the default position, whether the rotation angle range is normal or not is judged, whether the self-learning is successful or not is verified, and if the self-learning fails, the self-learning process is restarted until the preset times, so that the accuracy and the reliability of the actual stroke effective range of the learned motor are ensured.

Further, the S3 includes:

determining the control quantity ratio according to the received control quantity aiming at the motor and the total control quantity range of the motor;

and determining the execution amount corresponding to the motor according to the control amount ratio and the effective travel range of the motor.

According to the above description, the actual execution amount corresponding to the motor based on the control amount of the motor is determined by the control amount of the motor, the total control amount range of the motor and the effective travel range of the motor, so that the matching degree of the control amount and the execution amount is ensured, and the accuracy of the gearbox control is ensured.

Further, the motor comprises an accelerator motor, a clutch motor, a gear selection motor and a gear shifting motor;

if the motor is an accelerator motor or a clutch motor, uniformly distributing the effective travel range of the motor according to the total control quantity range of the motor;

and if the motor is a gear selection motor or a gear shifting motor, determining a middle travel value corresponding to the middle position of the motor according to the effective travel range of the motor, and respectively corresponding the positions corresponding to the maximum travel value, the middle travel value and the minimum travel value to three gears of the motor.

According to the description, the corresponding relation between the effective travel range of the motor and the total control quantity range of the motor is correspondingly determined according to the types of the different motors, and the adaptability between the different types of motors and the control quantities of the different types of motors is guaranteed.

Referring to fig. 2, a control terminal of a transmission includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the following steps:

s1, controlling the motor to rotate clockwise at a first preset speed to determine the maximum travel value of the motor, and controlling the motor to rotate anticlockwise at the first preset speed to determine the minimum travel value of the motor;

s2, determining the effective travel range of the motor according to the minimum travel value and the maximum travel value;

and S3, determining the corresponding execution amount of the motor according to the effective travel range of the motor and the received control amount aiming at the motor.

From the above description, the beneficial effects of the present invention are: the method comprises the steps of respectively controlling clockwise rotation and anticlockwise rotation of a motor at a first preset speed to determine the maximum stroke value and the minimum stroke value of the motor so as to determine the effective stroke range of the motor, learning the effective stroke range of the motor through a self-learning process, controlling the actual execution amount of the motor according to the received control amount according to the learned effective stroke range, avoiding errors caused by mechanical non-uniformity or manufacturing deviation of a mechanical structure, accurately acquiring the effective range of the actual stroke of the motor on the mechanical structure, reasonably controlling according to the effective range of the actual stroke, accurately and effectively realizing the consistency of the control amount and the execution amount, achieving accurate and reliable control, reducing adjustment on the machine, lightening extra work caused by precision defects on the machine, and improving the rotation precision of a gearbox control motor, but also improves the versatility of the gearbox.

Further, the S1 includes:

controlling a motor to rotate clockwise at a first preset speed, judging whether the motor is locked up for more than a preset time, and if so, taking the current stroke value of the motor as the maximum stroke value of the motor;

and controlling the motor to rotate anticlockwise at the first preset speed, judging whether the locked rotor of the motor exceeds a preset time length, and if so, taking the stroke value of the current motor as the minimum stroke value of the motor.

According to the description, whether the motor reaches the limit position or not is judged through the motor stalling time, the maximum and minimum travel values of the motor can be accurately determined, the detection is convenient and fast, the detection is accurate and reliable, various types of motors can be detected, and the universality is high.

Further, the step S2 is followed by:

driving the motor to rotate to a default position at the first preset speed;

and judging whether the rotation angle range of the motor is normal or not, if so, executing the step S3, otherwise, returning to execute the step S1 until the preset times are reached.

According to the above description, after the maximum and minimum stroke values are determined, the driving motor is driven to rotate to the default position, whether the rotation angle range is normal or not is judged, whether the self-learning is successful or not is verified, and if the self-learning fails, the self-learning process is restarted until the preset times, so that the accuracy and the reliability of the actual stroke effective range of the learned motor are ensured.

Further, the S3 includes:

determining the control quantity ratio according to the received control quantity aiming at the motor and the total control quantity range of the motor;

and determining the execution amount corresponding to the motor according to the control amount ratio and the effective travel range of the motor.

According to the above description, the actual execution amount corresponding to the motor based on the control amount of the motor is determined by the control amount of the motor, the total control amount range of the motor and the effective travel range of the motor, so that the matching degree of the control amount and the execution amount is ensured, and the accuracy of the gearbox control is ensured.

Further, the motor comprises an accelerator motor, a clutch motor, a gear selection motor and a gear shifting motor;

if the motor is an accelerator motor or a clutch motor, uniformly distributing the effective travel range of the motor according to the total control quantity range of the motor;

and if the motor is a gear selection motor or a gear shifting motor, determining a middle travel value corresponding to the middle position of the motor according to the effective travel range of the motor, and respectively corresponding the positions corresponding to the maximum travel value, the middle travel value and the minimum travel value to three gears of the motor.

According to the description, the corresponding relation between the effective travel range of the motor and the total control quantity range of the motor is correspondingly determined according to the types of the different motors, and the adaptability between the different types of motors and the control quantities of the different types of motors is guaranteed.