阅读说明：本技术 换档电机堵转的调整方法及装置 (Method and device for adjusting locked rotor of gear shifting motor ) 是由 乔运乾 姜峰 郭庆光 邓金涛 王瑞明 于 2019-09-29 设计创作，主要内容包括：本发明提供了一种换档电机堵转的调整方法及装置,该方法包括：若换档电机当前的运行状态为堵转状态,启动计数器开始计数,将预设占空比队列中第一个占空比确定为目标占空比,并将当前输入换档电机的占空比替换为目标占空比,在保持预设时间间隔后,若换档电机当前的运行状态为堵转状态,计数加一,若计数器当前的计数数值不大于预设计数阈值,将占空比队列中下一个占空比确定为新的目标占空比,返回执行将当前输入换档电机的占空比替换为目标占空比步骤,直至换档电机当前的运行状态不为堵转状态时,继续换档过程。本发明提供的方法,在换档电机堵转后,及时对输入换档电机的占空比进行调整,从而缩短再次进入换档过程的时间,提高换档的成功率。(The invention provides a method and a device for adjusting locked rotor of a gear shifting motor, wherein the method comprises the following steps: if the current operation state of the gear shifting motor is in a locked-rotor state, starting a counter to count, determining a first duty ratio in a preset duty ratio queue as a target duty ratio, replacing the duty ratio input into the gear shifting motor currently by the target duty ratio, after a preset time interval is kept, if the current operation state of the gear shifting motor is in the locked-rotor state, adding one to the count, if the current count value of the counter is not larger than a preset count threshold value, determining the next duty ratio in the duty ratio queue as a new target duty ratio, returning to execute the step of replacing the duty ratio input into the gear shifting motor currently by the target duty ratio, and continuing the gear shifting process until the current operation state of the gear shifting motor is not in the locked-rotor state. The method provided by the invention can adjust the duty ratio input into the gear shifting motor in time after the gear shifting motor is locked, thereby shortening the time for entering the gear shifting process again and improving the success rate of gear shifting.)

1. A method for adjusting locked rotation of a gear shifting motor is characterized by comprising the following steps:

in the gear shifting process, judging whether the current running state of the gear shifting motor is a locked-rotor state;

if the current running state of the gear shifting motor is a locked-rotor state, determining the duty ratio input into the gear shifting motor at present as a first duty ratio, and starting a preset counter to start counting;

determining a first duty ratio in a preset duty ratio queue as a target duty ratio, wherein at least four duty ratios are preset in the duty ratio queue;

replacing the first duty ratio with the target duty ratio, and judging whether the current running state of the gear shifting motor is a locked rotor state or not after keeping a preset time interval;

if the current operation state of the gear shifting motor is the locked-rotor state, the counting of the counter is increased by one, whether the current counting value of the counter is larger than a preset counting threshold value or not is judged, if not, the next duty ratio in the duty ratio queue is determined as a new target duty ratio, and under the condition that the counting value of the counter is not larger than the preset counting threshold value, the steps of determining the duty ratio input to the gear shifting motor at present as a first duty ratio, replacing the first duty ratio with the target duty ratio and keeping a preset time interval are carried out in a circulating mode, and the gear shifting process is continued until the current operation state of the gear shifting motor is not the locked-rotor state.

2. The method of claim 1, wherein determining the next duty cycle in the duty cycle queue as the new target duty cycle comprises:

if the current target duty ratio is the last duty ratio in the duty ratio queue, determining the first duty ratio in the duty ratio queue as a new target duty ratio;

and if the current target duty ratio is not the last duty ratio in the duty ratio queue, determining the next duty ratio in the duty ratio queue as the new target duty ratio.

3. The method of claim 1, further comprising:

if the current counting number of the counter is larger than the counting threshold, controlling the gear shifting motor to perform position backspacing according to a preset backspacing strategy;

judging whether the current running state of the gear shifting motor is a locked-rotor state or not;

if the current operation state of the gear shifting motor is a locked-rotor state, replacing the duty ratio input into the gear shifting motor at present with a preset first duty ratio threshold value;

and if the current running state of the gear shifting motor is not in the locked-rotor state, continuing the gear shifting process.

4. The method of claim 1 or 3, wherein prior to continuing the shift process, further comprising:

acquiring current gear shifting impact;

judging that the gear shifting impact degree meets a preset impact degree threshold value;

if not, compensating the current duty ratio; the current duty ratio is a duty ratio currently input to the shift motor.

5. The method of claim 3, wherein after replacing the current duty cycle input to the shift motor with the preset first duty cycle threshold, further comprising:

judging whether the current running state of the gear shifting motor is a locked-rotor state or not;

and if the current running state of the gear shifting motor is a locked-rotor state, a fault warning is sent out.

6. The method of claim 3, wherein controlling the shift motor to perform position rollback according to a predetermined rollback strategy comprises:

acquiring a current position value of the gear shifting motor;

judging whether the current position value of the gear shifting motor is larger than a position threshold value or not; the position threshold value is a calculated value between a position value corresponding to a target gear and a position value corresponding to a neutral gear;

if the current position value of the gear shifting motor is larger than the position threshold value, controlling the gear shifting motor to retreat by N1 step lengths; the N1 is a positive number;

if the current position value of the gear shifting motor is not larger than the position threshold value, controlling the gear shifting motor to retreat by N2 steps; the N2 is a positive number, the N1 is greater than the N2.

7. The method according to claim 1 or 3, wherein the determining whether the current operation state of the shift motor is a locked-rotor state comprises:

judging whether the current value output by the gear shifting motor, the difference value between the current position value of the gear shifting motor and the position value corresponding to the previous step length and the difference value between the current position value of the gear shifting motor and the position values corresponding to the previous N step lengths meet the corresponding locked-rotor conditions; n is a positive number;

if the current running state of the gear shifting motor is in the locked-rotor state, judging that the current running state of the gear shifting motor is in the locked-rotor state;

and if any item is not satisfied, judging that the current running state of the gear shifting motor is a non-locked-rotor state.

8. An adjustment device for locked rotation of a shift motor, comprising:

the first judging unit is used for judging whether the current running state of the gear shifting motor is a locked-rotor state or not in the gear shifting process;

the first determining unit is used for determining the duty ratio input into the gear shifting motor currently as a first duty ratio and starting a preset counter to start counting if the current running state of the gear shifting motor is a locked-rotor state;

the second determining unit is used for determining a first duty ratio in a preset duty ratio queue as a target duty ratio, and at least four duty ratios are preset in the duty ratio queue;

the first replacing unit is used for replacing the first duty ratio with the target duty ratio and judging whether the current running state of the gear shifting motor is in a locked-rotor state or not after a preset time interval is kept;

and the returning unit is used for adding one to the count of the counter and judging whether the current count value of the counter is greater than a preset count threshold value if the current running state of the gear shifting motor is the locked-rotor state, otherwise, determining the next duty ratio in the duty ratio queue as a new target duty ratio, circularly executing the steps of determining the current duty ratio input into the gear shifting motor as the first duty ratio, replacing the first duty ratio with the target duty ratio and keeping a preset time interval under the condition that the count value of the counter is not greater than the preset count threshold value, and continuing the gear shifting process until the current running state of the gear shifting motor is not the locked-rotor state.

9. The apparatus of claim 8, wherein the return unit comprises:

the first determining subunit is configured to determine, if the current target duty cycle is the last duty cycle in the duty cycle queue, the first duty cycle in the duty cycle queue as a new target duty cycle;

and the second determining subunit is used for determining the next duty cycle in the duty cycle queue as the new target duty cycle if the current target duty cycle is not the last duty cycle in the duty cycle queue.

10. The apparatus of claim 8, further comprising:

the first control unit is used for controlling the gear shifting motor to perform position backspacing according to a preset backspacing strategy if the current counting number of the counter is greater than the counting threshold;

the second judgment unit is used for judging whether the current running state of the gear shifting motor is a locked-rotor state or not;

the second replacement unit is used for replacing the duty ratio input into the gear shifting motor currently with a preset first duty ratio threshold value if the current running state of the gear shifting motor is a locked-rotor state;

and the second control unit is used for continuing the gear shifting process if the current running state of the gear shifting motor is not the locked-rotor state.

Technical Field

The invention relates to the technical field of mechanical electronics, in particular to a method and a device for adjusting locked rotor of a gear shifting motor.

Background

An Automatic Mechanical Transmission (AMT) is an automatic control mechanism with an electronic unit added on the basis of a dry clutch and a gear Transmission. The AMT can determine the optimal gear according to parameters such as vehicle speed, accelerator, driver commands and the like, controls the operation processes of clutch separation and connection, gear shifting and gear shifting of a gear shifting handle, regulation of the rotating speed and the rotating torque of an engine and the like which are originally manually completed by a driver, and finally realizes the automation of the gear shifting process.

The AMT gear shifting mainly comprises the stages of torque reduction, gear picking, gear selecting and speed regulating, gear engaging and the like, the condition of gear shifting motor stalling can occur in each stage, and after the gear shifting motor stalls, the subsequent gear shifting process cannot be carried out, so that the gear shifting failure is caused.

Disclosure of Invention

In view of this, the present invention provides a method for adjusting locked-rotor of a shift motor, so as to solve the problem of shift failure caused by the inability to perform a subsequent shift process after the locked-rotor of the shift motor.

The invention also provides a device for adjusting locked rotor of the gear shifting motor, which is used for ensuring the realization and application of the method in practice.

A method for adjusting locked rotor of a gear shifting motor comprises the following steps:

in the gear shifting process, judging whether the current running state of the gear shifting motor is a locked-rotor state;

if the current running state of the gear shifting motor is a locked-rotor state, determining the duty ratio input into the gear shifting motor at present as a first duty ratio, and starting a preset counter to start counting;

determining a first duty ratio in a preset duty ratio queue as a target duty ratio, wherein at least four duty ratios are preset in the duty ratio queue;

replacing the first duty ratio with the target duty ratio, and judging whether the current running state of the gear shifting motor is a locked rotor state or not after keeping a preset time interval;

if the current operation state of the gear shifting motor is the locked-rotor state, the counting of the counter is increased by one, whether the current counting value of the counter is larger than a preset counting threshold value or not is judged, if not, the next duty ratio in the duty ratio queue is determined as a new target duty ratio, and under the condition that the counting value of the counter is not larger than the preset counting threshold value, the steps of determining the duty ratio input to the gear shifting motor at present as a first duty ratio, replacing the first duty ratio with the target duty ratio and keeping a preset time interval are carried out in a circulating mode, and the gear shifting process is continued until the current operation state of the gear shifting motor is not the locked-rotor state.

Optionally, the determining a next duty cycle in the duty cycle queue as a new target duty cycle includes:

if the current target duty ratio is the last duty ratio in the duty ratio queue, determining the first duty ratio in the duty ratio queue as a new target duty ratio;

and if the current target duty ratio is not the last duty ratio in the duty ratio queue, determining the next duty ratio in the duty ratio queue as the new target duty ratio.

The above method, optionally, further includes:

if the current counting number of the counter is larger than the counting threshold, controlling the gear shifting motor to perform position backspacing according to a preset backspacing strategy;

judging whether the current running state of the gear shifting motor is a locked-rotor state or not;

if the current operation state of the gear shifting motor is a locked-rotor state, replacing the duty ratio input into the gear shifting motor at present with a preset first duty ratio threshold value;

and if the current running state of the gear shifting motor is not in the locked-rotor state, continuing the gear shifting process.

The method described above, optionally, before continuing the gear shift process, further comprises:

acquiring current gear shifting impact;

judging that the gear shifting impact degree meets a preset impact degree threshold value;

if not, compensating the current duty ratio; the current duty ratio is a duty ratio currently input to the shift motor.

The method optionally further includes, after replacing the duty ratio currently input to the shift motor with the preset first duty ratio threshold:

judging whether the current running state of the gear shifting motor is a locked-rotor state or not;

and if the current running state of the gear shifting motor is a locked-rotor state, a fault warning is sent out.

Optionally, the above method, wherein the controlling the shift motor to perform position retraction according to a preset retraction strategy includes:

acquiring a current position value of the gear shifting motor;

judging whether the current position value of the gear shifting motor is larger than a position threshold value or not; the position threshold value is a calculated value between a position value corresponding to a target gear and a position value corresponding to a neutral gear;

if the current position value of the gear shifting motor is larger than the position threshold value, controlling the gear shifting motor to retreat by N1 step lengths; the N1 is a positive number;

if the current position value of the gear shifting motor is not larger than the position threshold value, controlling the gear shifting motor to retreat by N2 steps; the N2 is a positive number, the N1 is greater than the N2.

Optionally, the determining whether the current operation state of the shift motor is a locked-rotor state includes:

judging whether the current value output by the gear shifting motor, the difference value between the current position value of the gear shifting motor and the position value corresponding to the previous step length and the difference value between the current position value of the gear shifting motor and the position values corresponding to the previous N step lengths meet the corresponding locked-rotor conditions; n is a positive number;

if the current running state of the gear shifting motor is in the locked-rotor state, judging that the current running state of the gear shifting motor is in the locked-rotor state;

and if any item is not satisfied, judging that the current running state of the gear shifting motor is a non-locked-rotor state.

An adjustment device for locked-rotor of a shift motor, comprising:

the first judging unit is used for judging whether the current running state of the gear shifting motor is a locked-rotor state or not in the gear shifting process;

the first determining unit is used for determining the duty ratio input into the gear shifting motor currently as a first duty ratio and starting a preset counter to start counting if the current running state of the gear shifting motor is a locked-rotor state;

the second determining unit is used for determining a first duty ratio in a preset duty ratio queue as a target duty ratio, and at least four duty ratios are preset in the duty ratio queue;

the first replacing unit is used for replacing the first duty ratio with the target duty ratio and judging whether the current running state of the gear shifting motor is in a locked-rotor state or not after a preset time interval is kept;

and the returning unit is used for adding one to the count of the counter and judging whether the current count value of the counter is greater than a preset count threshold value if the current running state of the gear shifting motor is the locked-rotor state, otherwise, determining the next duty ratio in the duty ratio queue as a new target duty ratio, circularly executing the steps of determining the current duty ratio input into the gear shifting motor as the first duty ratio, replacing the first duty ratio with the target duty ratio and keeping a preset time interval under the condition that the count value of the counter is not greater than the preset count threshold value, and continuing the gear shifting process until the current running state of the gear shifting motor is not the locked-rotor state.

The above apparatus, optionally, the returning unit, includes:

the first determining subunit is configured to determine, if the current target duty cycle is the last duty cycle in the duty cycle queue, the first duty cycle in the duty cycle queue as a new target duty cycle;

and the second determining subunit is used for determining the next duty cycle in the duty cycle queue as the new target duty cycle if the current target duty cycle is not the last duty cycle in the duty cycle queue.

The above apparatus, optionally, further comprises:

the first control unit is used for controlling the gear shifting motor to perform position backspacing according to a preset backspacing strategy if the current counting number of the counter is greater than the counting threshold;

the second judgment unit is used for judging whether the current running state of the gear shifting motor is a locked-rotor state or not;

the second replacement unit is used for replacing the duty ratio input into the gear shifting motor currently with a preset first duty ratio threshold value if the current running state of the gear shifting motor is a locked-rotor state;

and the second control unit is used for continuing the gear shifting process if the current running state of the gear shifting motor is not the locked-rotor state.

A storage medium comprising stored instructions, wherein the instructions, when executed, control a device in which the storage medium is located to perform the above-described method of adjusting shift motor stalling.

An electronic device includes a memory, and one or more instructions, wherein the one or more instructions are stored in the memory and configured to be executed by one or more processors to perform the method for adjusting a shift motor stall.

Compared with the prior art, the invention has the following advantages:

the invention provides a method for adjusting locked rotor of a gear shifting motor, which comprises the following steps: if the current operation state of the gear shifting motor is in a locked-rotor state, determining the current duty ratio input into the gear shifting motor as a first duty ratio, starting a counter to count, determining the first duty ratio in a preset duty ratio queue as a target duty ratio, replacing the first duty ratio with the target duty ratio, after a preset time interval is kept, judging whether the current operation state of the gear shifting motor is in a locked-rotor state, if the current operation state of the gear shifting motor is in a locked-rotor state, adding one to the count of the counter, judging whether the current count value of the counter is greater than a preset count threshold value, if not, determining the next duty ratio in the duty ratio queue as a new target duty ratio, circularly executing the steps of determining the current duty ratio input into the gear shifting motor as the first duty ratio, replacing the first duty ratio with the target duty ratio and keeping the preset time interval, and continuing the gear shifting process until the current running state of the gear shifting motor is not in the locked-rotor state. By applying the method for adjusting the locked-rotor of the gear shifting motor, the duty ratio input into the gear shifting motor is adjusted in time after the gear shifting motor is locked-rotor, so that the time for entering the gear shifting process again is shortened, and the success rate of gear shifting is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a flowchart of a method for adjusting locked-rotor of a shift motor according to the present invention;

FIG. 2 is a flowchart of another method of adjusting locked-rotor of the shift motor according to the present invention;

FIG. 3 is a flowchart of another method of adjusting locked-rotor of the shift motor according to the present invention;

FIG. 4 is a flowchart of another method of adjusting locked-rotor of the shift motor according to the present invention;

FIG. 5 is an exemplary diagram illustrating a method for adjusting locked-rotor of the shift motor according to the present invention;

FIG. 6 is a diagram illustrating another exemplary method of adjusting locked-rotor of the shift motor according to the present invention;

FIG. 7 is a schematic structural diagram of an adjusting device for blocking a shift motor according to the present invention;

fig. 8 is a schematic structural diagram of an electronic device provided in the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides a method for adjusting locked-rotor of a gear shifting motor, which can be applied to an AMT system, wherein an execution main body of the method can be a control execution mechanism, and a flow chart of the method for adjusting locked-rotor of the gear shifting motor is shown in figure 1 and specifically comprises the following steps:

s101: and in the gear shifting process, judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided by the embodiment of the invention, in the gear shifting process, whether the current running state of the gear shifting motor is the locked-rotor state or not is judged according to the current relevant indexes of the gear shifting motor.

It should be noted that the locked-up condition of the shift motor according to the present invention occurs in the gear selection stage, the speed regulation stage and the gear engagement stage.

Optionally, judging whether the current operation state of the shift motor is a locked-rotor state includes:

judging whether the current value output by the gear shifting motor, the difference value between the current position value of the gear shifting motor and the position value corresponding to the previous step length and the difference value between the current position value of the gear shifting motor and the position values corresponding to the previous N step lengths meet the corresponding locked-rotor conditions; n is a positive number;

if the current running state of the gear shifting motor is in the locked-rotor state, judging that the current running state of the gear shifting motor is in the locked-rotor state;

and if any item is not satisfied, judging that the current running state of the gear shifting motor is a non-locked-rotor state.

In the method provided by the embodiment of the invention, when the current value output by the gear shifting motor is greater than a first threshold value, the difference value between the current position value of the gear shifting motor and the position value corresponding to the previous step length is less than a second threshold value, and the difference value between the current position value of the gear shifting motor and the position values corresponding to the previous N step lengths is less than a third threshold value, the current operation state of the gear shifting motor is judged to be a locked-rotor state; if the current value output by the gear shifting motor is not greater than the first threshold, the difference between the current position value of the gear shifting motor and the position value corresponding to the previous step is not less than the second threshold, or the difference between the current position value of the gear shifting motor and the position values corresponding to the previous N steps is not less than the third threshold, the current operation state of the gear shifting motor is judged to be a non-locked state, namely the gear shifting motor is judged to have a position change, and optionally, the current value output by the gear shifting motor in the non-locked state is greater than the fourth threshold, namely the current value output by the gear shifting motor in the non-locked state is greater than the fourth threshold and is less than or equal to the first threshold.

It should be noted that the first threshold, the second threshold, and the third threshold are preset and may be adjusted according to the user requirement.

S102: and if the current running state of the gear shifting motor is the locked-rotor state, starting a preset counter to count, and determining a first duty ratio in a preset duty ratio queue as a target duty ratio.

In the method provided by the embodiment of the invention, if the current running state of the gear shifting motor is the locked-rotor state, a preset counter is started to start initial counting, namely, the counting is zero.

In the method provided by the embodiment of the invention, a duty ratio queue is preset, at least four duty ratios are preset in the duty ratio queue, and the first duty ratio in the duty ratio queue is used as a target duty ratio.

It should be noted that the number of duty cycles in the duty cycle queue and the value of each duty cycle may be adjusted according to the requirement.

S103: and replacing the duty ratio of the current input gear shifting motor with the target duty ratio.

In the method provided by the embodiment of the present invention, the duty ratio of the currently input shift motor is replaced with the target duty ratio, that is, the duty ratio of the currently input shift motor is controlled to be equal to the target duty ratio.

Alternatively, the manner of replacing the duty ratio of the currently input shift motor with the target duty ratio includes, but is not limited to, directly replacing the duty ratio of the currently input shift motor with the target duty ratio, or controlling the duty ratio of the currently input shift motor to slowly increase or decrease to the target duty ratio according to a preset slope.

S104: and after keeping the preset time interval, judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided by the embodiment of the invention, the duty ratio input into the gear shifting motor at present is replaced by the target duty ratio, and after the preset time interval is kept, whether the current running state of the gear shifting motor is the locked-rotor state or not is judged. It should be noted that, the specific process of determining whether the current operation state of the shift motor is the locked-rotor state is described in step S101, and details thereof are not repeated here. If the current operation state of the shift motor is determined to be the locked state, step S105 is executed, and if the current operation state of the shift motor is determined not to be the locked state, step S106 is executed.

For example, the duty ratio A, B, C, D exists in the duty ratio queue, the preset time interval t1 is maintained after the first duty ratio is replaced with a if the current target duty ratio is a, the time interval t2 is maintained after the first duty ratio is replaced with B if the current target duty ratio is B, the time interval t3 is maintained after the first duty ratio is replaced with C if the current target duty ratio is C, and the time intervals t4, t1, t2, t3, and t4 may be the same or different after the first duty ratio is replaced with D if the current target duty ratio is D.

S105: and adding one to the count of the counter, and determining the next duty ratio in the duty ratio queue as the new target duty ratio when the current count value of the counter is judged not to be greater than the preset count threshold value.

In the method provided by the embodiment of the present invention, if the current operation state of the shift motor is the locked-rotor state, the count of the counter is increased by one, and whether the current count value of the counter is greater than the preset count threshold value is determined, if the current count value of the counter is not greater than the count threshold value, the next duty ratio in the duty ratio queue is determined as the new target duty ratio, and the step S103 is executed again until the current operation state of the shift motor is the non-locked-rotor state.

Optionally, determining the next duty cycle in the duty cycle queue as the new target duty cycle may include:

if the current target duty ratio is the last duty ratio in the duty ratio queue, determining the first duty ratio in the duty ratio queue as a new target duty ratio;

and if the current target duty ratio is not the last duty ratio in the duty ratio queue, determining the next duty ratio in the duty ratio queue as the new target duty ratio.

In the method provided by the embodiment of the present invention, if the current target duty ratio is the last duty ratio in the duty ratio queue, the first duty ratio in the duty ratio queue is determined as the new target duty ratio, and if the current target duty ratio is not the last duty ratio in the duty ratio queue, the next duty ratio in the duty ratio queue is determined as the new target duty ratio. For example, there are A, B, C, D four duty cycles in the duty cycle queue, and if the current target duty cycle is a, the next duty cycle in the duty cycle queue is determined as a new target duty cycle, that is, B is determined as a new target duty cycle; if the current target duty ratio is B, determining the next duty ratio in the duty ratio queue as a new target duty ratio, namely determining C as a new target duty ratio; if the current target duty ratio is C, determining the next duty ratio in the duty ratio queue as a new target duty ratio, namely determining D as a new target duty ratio; if the current target duty ratio is D, determining the next duty ratio in the duty ratio queue as a new target duty ratio, namely determining A as a new target duty ratio.

S106: the shifting process continues.

In the method provided by the embodiment of the invention, if the current operation state of the gear shifting motor is a non-locked-rotor state, the locked-rotor adjustment of the gear shifting motor is completed, and the gear shifting process can be continued.

The method for adjusting locked-rotor of a shift motor according to an embodiment of the present invention starts a counter to count if the current operation state of the shift motor is in a locked-rotor state, determines a first duty ratio in a preset duty ratio queue as a target duty ratio, replaces the currently input duty ratio of the shift motor with the target duty ratio, determines whether the current operation state of the shift motor is in a locked-rotor state after maintaining a preset time interval, increments the count of the counter if the current operation state of the shift motor is in a locked-rotor state, determines a next duty ratio in the duty ratio queue as a new target duty ratio when it is determined that the current count value of the counter is not greater than a preset count threshold value, and returns to perform the step of replacing the currently input duty ratio of the shift motor with the target duty ratio until the current operation state of the shift motor is not in a locked-rotor state, and finishing the adjustment of locked rotor of the gear shifting motor and continuing the gear shifting process. By applying the method for adjusting the locked-rotor of the gear shifting motor, the duty ratio input into the gear shifting motor is adjusted in time after the gear shifting motor is locked-rotor, so that the time for entering the gear shifting process again is shortened, and the success rate of gear shifting is improved.

Step S106 disclosed in fig. 1 of the above embodiment of the present invention, as shown in fig. 2, may further include the following steps:

s201: and if the current counting number of the counter is greater than the counting threshold, controlling the gear shifting motor to perform position backspacing according to a preset backspacing strategy.

In the method provided by the embodiment of the present invention, if the current count value of the counter is greater than the preset count threshold, it indicates that the adjustment of the duty ratio input to the shift motor cannot change the locked-rotor state of the shift motor, and it is necessary to adopt another locked-rotor adjustment strategy for the shift motor, that is, to control the shift motor to perform position rollback according to the preset rollback strategy.

Optionally, controlling the shift motor to perform position retraction according to a preset retraction strategy may include:

acquiring a current position value of the gear shifting motor;

judging whether the current position value of the gear shifting motor is larger than a position threshold value or not; the position threshold value is a calculated value between a position value corresponding to a target gear and a position value corresponding to a neutral gear;

if the current position value of the gear shifting motor is larger than the position threshold value, controlling the gear shifting motor to retreat by N1 step lengths; the N1 is a positive number;

if the current position value of the gear shifting motor is not larger than the position threshold value, controlling the gear shifting motor to retreat by N2 steps; the N2 is a positive number, the N1 is greater than the N2.

In the method provided by the embodiment of the invention, a current position value of a gear shifting motor is determined, and whether the current position value of the gear shifting motor is greater than a position threshold value is judged, wherein the position threshold value is a calculated value between a position value corresponding to a target gear and a position value corresponding to a neutral gear, optionally, the calculated value can be an absolute value of half of a difference value, namely the position threshold value is an absolute value of half of a difference value between the position value corresponding to the target gear and the position value corresponding to the neutral gear, and the target gear is a gear to be engaged; if the current position value of the shift motor is greater than the position threshold, controlling the shift motor to retreat by N1 steps, and if the current position value of the shift motor is not greater than the position threshold, controlling the shift motor to retreat by N2 steps, wherein N1 and N2 are positive numbers, and N1 is greater than N2.

It should be noted that the limit value for controlling the shift motor to perform the position retraction is the neutral position, that is, the maximum retraction of the shift motor can only be performed to the neutral position, but not to exceed the neutral position.

S202: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided in the embodiment of the present invention, after controlling the shift motor to perform position retraction, it is determined whether the current operation state of the shift motor is the locked-rotor state, wherein a specific process of determining whether the current operation state of the shift motor is the locked-rotor state is described in step S101, which is not repeated here, if it is determined that the current operation state of the shift motor is the locked-rotor state, it is indicated that controlling the shift motor to perform position retraction cannot break the locked-rotor position value of the shift motor, that is, the shift motor is still invalid through position retraction, and step S203 is performed, if the current operation state of the shift motor is the non-locked-rotor state, the locked-rotor adjustment of the shift motor is completed, and step S204 is performed.

S203: and replacing the duty ratio of the current input gear shifting motor with a preset first duty ratio threshold value.

In the method provided by the embodiment of the present invention, if the current operation state of the shift motor is the locked-rotor state, the duty ratio currently input to the shift motor is replaced with the preset first duty ratio threshold, and optionally, the duty ratio direction currently input to the shift motor is increased to the preset first duty ratio threshold according to the preset first slope, that is, the duty ratio input to the shift motor is adjusted.

S204: the shifting process continues.

In the method provided by the embodiment of the invention, if the current operation state of the gear shifting motor is a non-locked-rotor state, the gear shifting process can be continued.

S205: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided by the embodiment of the present invention, after the duty ratio of the shift motor is adjusted, whether the current operation state of the shift motor is in the locked state is determined again, if the current operation state of the shift motor is in the locked state, step S206 is executed, and if the current operation state of the shift motor is in the non-locked state, step S204 is executed.

S206: a fault warning is issued.

In the method provided by the embodiment of the invention, if the current running state or the locked-rotor state of the gear shifting motor is detected, it is indicated that the duty ratio of the gear shifting motor is adjusted and input, and the gear shifting motor is controlled to carry out position rollback, which is invalid, that is, the gear shifting motor has a fault currently, and if the gear shifting motor has a fault, a fault warning is sent out, and the gear shifting process is stopped.

Alternatively, a fault warning may be issued by a preset audio signal.

In the method for adjusting locked-rotor of a shift motor provided by the embodiment of the invention, under the condition that the duty ratio of the shift motor is adjusted and input to be invalid, the shift motor is controlled to carry out position backspacing through a preset backspacing strategy, if the position backspacing of the shift motor is still invalid, the duty ratio of the shift motor after the position backspacing is adjusted, and the locked-rotor of the shift motor is adjusted by adopting various adjustment strategies, so that the problem that the gear shifting cannot be realized after the locked-rotor of the shift motor is solved, and the gear shifting efficiency is improved.

Before the step S107 disclosed in fig. 1 of the embodiment of the present invention is continued to the shifting process, the method further includes the following steps:

acquiring current gear shifting impact;

judging that the gear shifting impact degree meets a preset impact degree threshold value;

if not, compensating the current duty ratio; the current duty ratio is a duty ratio currently input to the shift motor.

In the method provided by the embodiment of the invention, before continuing the gear shifting process, the current gear shifting impact is obtained, whether the gear shifting impact meets a preset impact threshold is judged, optionally, whether the gear shifting impact is smaller than the impact threshold is judged, if the gear shifting motor impact is smaller than the impact threshold, the gear shifting process is continued, if the gear shifting motor impact is not smaller than the impact threshold, the duty ratio of the currently input gear shifting motor is compensated, because the gear shifting motor may cause a larger output current value after stalling, thereby causing a larger gear shifting impact, possibly causing gear shifting impact, abnormal sound, even tooth beating, therefore the duty ratio of the currently input gear shifting motor needs to be compensated, optionally, the duty ratio of the currently input gear shifting motor is multiplied by a threshold smaller than 1 to realize the compensation of the duty ratio of the input gear shifting motor, the gear shifting device solves the problems of gear shifting impact, abnormal sound and gear striking, and therefore user experience is improved.

In the method provided in the embodiment of the present invention, the overall implementation process of the method for adjusting the locked-rotor of the shift motor is specifically described, as shown in fig. 3, the method includes the following steps:

s301: and if the current running state of the gear shifting motor is the locked-rotor state, executing a first operation on the gear shifting motor.

In the method provided by the embodiment of the present invention, in the gear shifting process, it is determined whether the current operation state of the gear shifting motor is the locked-rotor state, wherein the specific determination process is as described in S101, which is not described herein again, and if the current operation state of the gear shifting motor is the locked-rotor state, the first operation is performed on the gear shifting motor.

Alternatively, referring to fig. 4, the first operation performed on the shift motor may include:

s401: the duty ratio of the current input gear shifting motor is determined as a first duty ratio, and a counter is started to start counting.

In the method provided by the embodiment of the invention, the current duty ratio input to the shift motor is determined as the first duty ratio, for example, if the current duty ratio input to the shift motor is PWM0, PWM0 is used as the first duty ratio, and the counter is started to start counting to zero.

S402: and increasing the first duty ratio to a preset second duty ratio threshold value, and keeping a preset first time interval.

In the method provided by the embodiment of the present invention, the first duty ratio is directly increased to the preset second duty ratio threshold, for example, the second duty ratio threshold is PWM1, so that the first duty ratio is equal to PWM1, and the preset first time interval is maintained.

S403: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided in the embodiment of the present invention, after a preset first time interval is maintained, it is determined whether a current operation state of the shift motor is a locked-rotor state, that is, it is determined whether a current position of the shift motor changes, where a specific determination process is as described in step S101, which is not described herein again, if it is determined that the current operation state of the shift motor is the locked-rotor state, step S404 is executed, and if the current operation state of the shift motor is a non-locked-rotor state, the operation is ended.

S404: and according to the preset second slope, controlling the first duty ratio to slowly increase from the second duty ratio threshold value to a preset third duty ratio threshold value, and keeping a preset second time interval.

In the method provided by the embodiment of the present invention, after the duty ratio is increased for the first time, if the shift motor is not changed in position, the first duty ratio is controlled to be slowly increased from the second duty ratio threshold to the preset third duty ratio threshold according to the second slope, that is, the locked-up of the shift motor is adjusted such that the duty ratio is increased again and the preset second time interval is maintained on the basis of the first increase of the duty ratio, referring to fig. 5, where PWM0 is the first duty ratio, PWM1 is the second duty ratio threshold, and Max is the third duty ratio threshold, and the first duty ratio is controlled to be slowly increased from PWM1 to Max and the time interval of (T3-T2) is maintained according to the second slope k2, where (T1-T0) is the first time interval.

S405: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided in the embodiment of the present invention, if it is determined that the current operation state of the shift motor is the locked-rotor state, step S406 is executed, and if it is determined that the current operation state of the shift motor is the non-locked-rotor state, the process is ended.

S406: the count of the counter is incremented by one.

S407: and judging whether the current counting value of the counter is greater than a preset counting threshold value.

In the method provided by the embodiment of the present invention, it is determined whether the current count value of the counter is greater than the count threshold, if not, step S408 is executed, and if so, the process is directly ended.

S408: and reducing the first duty ratio to a preset fourth duty ratio threshold value, and keeping a preset third time interval.

In the method provided by the embodiment of the present invention, if the position of the shift motor cannot be changed by increasing the duty ratio input to the shift motor, a strategy of decreasing the duty ratio input to the shift motor is adopted, that is, the first duty ratio is directly decreased to a preset fourth duty ratio threshold, for example, the first duty ratio is equal to PWM2, where a value corresponding to PWM2 is smaller than a value corresponding to the first duty ratio.

S409: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided in the embodiment of the present invention, if it is determined that the current operation state of the shift motor is the locked-rotor state, step S410 is executed, and if it is determined that the current operation state of the shift motor is the non-locked-rotor state, the process is ended.

S410: and controlling the first duty ratio to be reduced from the fourth duty ratio threshold value to a preset fifth duty ratio threshold value according to a preset third slope, and keeping a preset fourth time interval.

In the method according to the embodiment of the present invention, after the duty ratio is decreased for the first time, if the shift motor is not changed in position, the first duty ratio is controlled to be decreased slowly from the fourth duty ratio threshold to the preset fifth duty ratio threshold according to the third slope, that is, the locked-up of the shift motor is adjusted such that the duty ratio is decreased again on the basis of the first decrease of the duty ratio and the preset fourth time interval is maintained, referring to fig. 6, where PWM0 is the first duty ratio, PWM2 is the fourth duty ratio threshold, and Min is the fifth duty ratio threshold, and the first duty ratio is controlled to be decreased slowly from PWM2 to Min according to the third slope k3 and the time interval of (T6-T5) is maintained, where (T4-T0) is the third time interval.

S411: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided in the embodiment of the present invention, if it is determined that the current operation state of the shift motor is the locked-rotor state, step S412 is executed, and if it is determined that the current operation state of the shift motor is the non-locked-rotor state, the process is ended.

S412: the count of the counter is incremented by one.

S413: and judging whether the current counting value of the counter is greater than a preset counting threshold value.

In the method provided by the embodiment of the present invention, it is determined whether the current count value of the counter is greater than the count threshold, if not, the step S402 is executed again, and if so, the process is directly ended.

S302: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method according to the embodiment of the present invention, if the current operation state of the shift motor is the locked state, step S303 is executed, and if the current operation state of the shift motor is the non-locked state, step S304 is executed.

S303: and controlling the gear shifting motor to perform position rollback according to a preset rollback strategy.

In the method provided in the embodiment of the present invention, if the position of the shift motor is not changed after the first operation is performed on the shift motor, that is, the current operation state or the locked-rotor state of the shift motor, the shift motor is controlled to perform position rollback according to a preset rollback strategy, wherein a specific process of controlling the shift motor to perform position rollback according to the preset rollback strategy is as described in step S201, and is not described herein again.

S304: the shifting process continues.

In the method provided by the embodiment of the invention, if the current operation state of the gear shifting motor is a non-locked-rotor state, which indicates that the position of the gear shifting motor is changed, the normal gear shifting process can be continued.

S305: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided in the embodiment of the present invention, after controlling the shift motor to perform position retraction, it is determined whether the current operation state of the shift motor is the locked-rotor state, wherein a specific process of determining whether the current operation state of the shift motor is the locked-rotor state is described in step S101, which is not repeated here, if it is determined that the current operation state of the shift motor is the locked-rotor state, it is indicated that controlling the shift motor to perform position retraction cannot break the locked-rotor position value of the shift motor, that is, the shift motor is still invalid through position retraction, and step S306 is executed, if the current operation state of the shift motor is the non-locked-rotor state, the adjustment of the locked-rotor of the shift motor is completed, and step S304 is executed.

S306: and replacing the duty ratio of the current input gear shifting motor with a preset first duty ratio threshold value.

In the method provided in the embodiment of the present invention, the specific implementation process of step S306 is as described in step S203, and details are not described here.

S307: and judging whether the current running state of the gear shifting motor is a locked-rotor state.

In the method provided in the embodiment of the present invention, after the duty ratio input to the shift motor is adjusted, whether the current operation state of the shift motor is in the locked state is determined again, if the current operation state of the shift motor is in the locked state, step S308 is executed, and if the current operation state of the shift motor is in the non-locked state, step S304 is executed.

S308: a fault warning is issued.

In the method provided by the embodiment of the invention, if the current running state or the locked-rotor state of the gear shifting motor is detected, the duty ratio of the gear shifting motor is adjusted and input, and the gear shifting motor is controlled to carry out position rollback, which means that the gear shifting motor has a fault, and after the gear shifting motor has the fault, a fault warning is sent out, and the gear shifting process is stopped.

Corresponding to the method shown in fig. 1, an embodiment of the present invention further provides an adjusting device for blocking rotation of a shift motor, which is used for implementing the method shown in fig. 1, and a schematic structural diagram of the adjusting device is shown in fig. 7, and specifically includes:

a first determining unit 701, configured to determine whether a current operating state of the shift motor is a locked-rotor state during a gear shifting process;

a first determining unit 702, configured to determine a duty ratio currently input to the shift motor as a first duty ratio if a current operation state of the shift motor is a locked-rotor state, and start a preset counter to start counting;

a second determining unit 703, configured to determine a first duty cycle in a preset duty cycle queue as a target duty cycle, where at least four duty cycles are preset in the duty cycle queue;

a first replacing unit 704, configured to replace the first duty ratio with the target duty ratio, and after a preset time interval is maintained, determine whether a current operating state of the shift motor is a locked-rotor state;

a returning unit 705, configured to, if the current operation state of the shift motor is a locked-rotor state, increment a count of the counter by one, and determine whether a current count value of the counter is greater than a preset count threshold, if not, determine a next duty cycle in the duty cycle queue as a new target duty cycle, and cyclically perform, under the condition that the count value of the counter is not greater than the preset count threshold, the step of determining a duty cycle currently input to the shift motor as a first duty cycle, replacing the first duty cycle with the target duty cycle, and maintaining a preset time interval, until the current operation state of the shift motor is not the locked-rotor state, continue the shift process.

In the device for adjusting locked-rotor of shift motor according to the embodiment of the present invention, if the current operating state of the shift motor is in a locked-rotor state, the counter is started to start counting, the first duty ratio in the preset duty ratio queue is determined as the target duty ratio, the currently input duty ratio of the shift motor is replaced by the target duty ratio, and after the preset time interval is maintained, whether the current operating state of the shift motor is in a locked-rotor state is determined, if the current operating state of the shift motor is in a locked-rotor state, the count of the counter is increased by one, and when the current count value of the counter is determined not to be greater than the preset count threshold value, the next duty ratio in the duty ratio queue is determined as the target duty ratio, and the step of replacing the currently input duty ratio of the shift motor by the target duty ratio is performed until the current operating state of the shift motor is not in a locked-rotor state, and finishing the adjustment of locked rotor of the gear shifting motor and continuing the gear shifting process. By applying the gear shifting motor locked-rotor adjusting device provided by the invention, the duty ratio input into the gear shifting motor is adjusted in time after the gear shifting motor is locked-rotor, so that the time for entering the gear shifting process again is shortened, and the success rate of gear shifting is improved.

In an embodiment of the present invention, based on the foregoing scheme, the returning unit 705 is configured to:

the first determining subunit is configured to determine, if the current target duty cycle is the last duty cycle in the duty cycle queue, the first duty cycle in the duty cycle queue as a new target duty cycle;

and the second determining subunit is used for determining the next duty cycle in the duty cycle queue as the new target duty cycle if the current target duty cycle is not the last duty cycle in the duty cycle queue.

In an embodiment of the present invention, based on the foregoing solution, the method may further include:

the first control unit is used for controlling the gear shifting motor to perform position backspacing according to a preset backspacing strategy if the current counting number of the counter is greater than the counting threshold;

the second judgment unit is used for judging whether the current running state of the gear shifting motor is a locked-rotor state or not;

the second replacement unit is used for replacing the duty ratio input into the gear shifting motor currently with a preset first duty ratio threshold value if the current running state of the gear shifting motor is a locked-rotor state;

and the second control unit is used for continuing the gear shifting process if the current running state of the gear shifting motor is not the locked-rotor state.

In an embodiment of the present invention, based on the foregoing solution, the method may further include:

the acquiring unit is used for acquiring the current gear shifting impact degree;

the third judging unit is used for judging that the gear shifting impact degree meets a preset impact degree threshold value;

the compensation unit is used for compensating the current duty ratio if the current duty ratio does not meet the requirement; the current duty ratio is a duty ratio currently input to the shift motor.

In an embodiment of the present invention, based on the foregoing solution, the method may further include:

the fourth judging unit is used for judging whether the current running state of the gear shifting motor is a locked-rotor state or not;

and the alarm unit is used for sending out fault warning if the current running state of the gear shifting motor is a locked-rotor state.

In an embodiment of the present invention, based on the foregoing solution, the second control unit is configured to:

the acquisition subunit is used for acquiring the current position value of the gear shifting motor;

the first judgment subunit is used for judging whether the current position value of the gear shifting motor is greater than a position threshold value or not; the position threshold value is a calculated value between a position value corresponding to a target gear and a position value corresponding to a neutral gear;

the first control subunit is used for controlling the shifting motor to retreat by N1 steps if the current position value of the shifting motor is larger than the position threshold value; the N1 is a positive number;

the second control subunit is used for controlling the shifting motor to retreat by N2 steps if the current position value of the shifting motor is not larger than the position threshold value; the N2 is a positive number, the N1 is greater than the N2.

In an embodiment of the present invention, based on the foregoing scheme, the first determining unit 701 is configured to:

the second judging subunit is used for judging whether the current value output by the gear shifting motor, the difference value between the current position value of the gear shifting motor and the position value corresponding to the previous step length and the difference value between the current position value of the gear shifting motor and the position values corresponding to the previous N step lengths all meet the corresponding locked-rotor conditions; n is a positive number;

the first judging subunit is used for judging that the current running state of the gear shifting motor is a locked-rotor state if the current running state of the gear shifting motor is met;

and the second stator judging unit is used for judging that the current running state of the gear shifting motor is a non-locked-rotor state if any one item is not met.

The embodiment of the invention also provides a storage medium, which comprises stored instructions, wherein when the instructions are executed, the equipment where the storage medium is located is controlled to execute the method for adjusting locked rotor of the gear shifting motor.

An electronic device is provided in an embodiment of the present invention, and the structural diagram of the electronic device is shown in fig. 8, which specifically includes a memory 801 and one or more instructions 802, where the one or more instructions 802 are stored in the memory 801 and configured to be executed by the one or more processors 603 to perform the following operations:

in the gear shifting process, judging whether the current running state of the gear shifting motor is a locked-rotor state;

if the current running state of the gear shifting motor is a locked-rotor state, determining the duty ratio input into the gear shifting motor at present as a first duty ratio, and starting a preset counter to start counting;

determining a first duty ratio in a preset duty ratio queue as a target duty ratio, wherein at least four duty ratios are preset in the duty ratio queue;

replacing the first duty ratio with the target duty ratio, and judging whether the current running state of the gear shifting motor is a locked rotor state or not after keeping a preset time interval;

if the current operation state of the gear shifting motor is the locked-rotor state, the counting of the counter is increased by one, whether the current counting value of the counter is larger than a preset counting threshold value or not is judged, if not, the next duty ratio in the duty ratio queue is determined as a new target duty ratio, and under the condition that the counting value of the counter is not larger than the preset counting threshold value, the steps of determining the duty ratio input to the gear shifting motor at present as a first duty ratio, replacing the first duty ratio with the target duty ratio and keeping a preset time interval are carried out in a circulating mode, and the gear shifting process is continued until the current operation state of the gear shifting motor is not the locked-rotor state.

It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

For convenience of description, the above devices are described as being divided into various units by function, and are described separately. Of course, the functions of the units may be implemented in the same software and/or hardware or in a plurality of software and/or hardware when implementing the invention.

From the above description of the embodiments, it is clear to those skilled in the art that the present invention can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which may be stored in a storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.

The method and the device for adjusting locked-rotor of a shift motor provided by the present invention are described in detail above, and the principle and the implementation manner of the present invention are explained in the present document by applying specific examples, and the description of the above embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.