阅读说明：本技术 双离合变速箱离合器扭矩的控制算法、装置及车辆 (Control algorithm and device for clutch torque of double-clutch gearbox and vehicle ) 是由 王德伟 孟斌 周立 闵立 杜强 于 2021-07-15 设计创作，主要内容包括：本发明公开了一种双离合变速箱离合器扭矩的控制算法,在目标车辆行驶过程中,获取所述目标车辆的发动机信号扭矩,实际转速和油门参数；根据所述实际转速和获取的目标转速,确定转速差；根据所述转速差和所述油门参数,确定PID比例系数；根据所述PID比例系数和所述信号扭矩,确定所述离合器的补偿扭矩；根据所述补偿扭矩调整所述离合器的控制扭矩。本发明提供的一种双离合变速箱离合器扭矩的控制算法、装置及车辆,能够有效提高扭矩控制的准确度,降低换挡过程转速波动和换挡冲击导致车辆损伤的概率。(The invention discloses a control algorithm of clutch torque of a double-clutch transmission, which is used for acquiring engine signal torque, actual rotating speed and accelerator parameters of a target vehicle in the running process of the target vehicle; determining a rotation speed difference according to the actual rotation speed and the obtained target rotation speed; determining a PID proportion coefficient according to the rotation speed difference and the accelerator parameter; determining the compensation torque of the clutch according to the PID proportionality coefficient and the signal torque; and adjusting the control torque of the clutch according to the compensation torque. The control algorithm and device for the clutch torque of the double-clutch transmission and the vehicle can effectively improve the accuracy of torque control and reduce the probability of vehicle damage caused by rotation speed fluctuation and gear shifting impact in the gear shifting process.)

1. A control algorithm for clutch torque in a dual clutch transmission, the method comprising:

acquiring signal torque, actual rotating speed and accelerator parameters of an engine of a target vehicle in the running process of the target vehicle;

determining a rotation speed difference according to the actual rotation speed and the obtained target rotation speed;

determining a PID proportion coefficient according to the rotation speed difference and the accelerator parameter;

determining the compensation torque of the clutch according to the PID proportionality coefficient and the signal torque;

and adjusting the control torque of the clutch according to the compensation torque.

2. The method of claim 1, wherein determining a rotational speed difference based on the actual rotational speed and the obtained target rotational speed comprises:

calculating the target rotating speed through the TCU according to the acquired whole vehicle working condition and gear information of the target vehicle;

and determining the rotation speed difference according to the actual rotation speed and the target rotation speed.

3. The method of claim 2, wherein determining a PID scaling factor based on the speed differential and the throttle parameter comprises:

and determining the PID proportion coefficient from a preset coefficient corresponding table according to the rotating speed difference and the accelerator parameter, wherein the coefficient corresponding table comprises the corresponding relation between the rotating speed difference and the accelerator and the proportion coefficient.

4. The method of claim 3, wherein the speed difference in the coefficient map is proportional to a scaling coefficient.

5. The method of claim 4, wherein said determining a compensation torque for said clutch based on said PID scaling factor and said signal torque comprises:

and determining the compensation torque according to the PID proportionality coefficient, the signal torque and the rotating speed difference.

6. The method of claim 5, wherein said adjusting a control torque of said clutch based on said compensation torque comprises:

and determining a target torque of the clutch according to the compensation torque and the signal torque, and adjusting the control torque of the clutch to the target torque.

7. The method of claim 6, wherein said obtaining an actual speed of an engine of said target vehicle comprises:

and receiving the signal rotating speed sent by the controller, and taking the signal rotating speed as the actual rotating speed.

8. A control arrangement for clutch torque in a dual clutch transmission, said method comprising:

the device comprises a parameter acquisition unit, a control unit and a control unit, wherein the parameter acquisition unit is used for acquiring signal torque, actual rotating speed and accelerator parameters of an engine of a target vehicle in the running process of the target vehicle;

the rotating speed difference obtaining unit is used for determining a rotating speed difference according to the actual rotating speed and the obtained target rotating speed;

the proportional coefficient determining unit is used for determining a PID proportional coefficient according to the rotating speed difference and the accelerator parameter;

the compensation torque determining unit is used for determining the compensation torque of the clutch according to the PID proportionality coefficient and the signal torque;

and the torque adjusting unit is used for adjusting the control torque of the clutch according to the compensation torque.

9. The control device according to claim 8, wherein the rotational speed difference acquisition unit is configured to calculate the target rotational speed by the TCU according to the acquired entire vehicle condition and gear information of the target vehicle; and determining the rotation speed difference according to the actual rotation speed and the target rotation speed.

10. A vehicle comprising a vehicle body and a dual clutch transmission clutch according to claim 8 or 9 disposed in the vehicle body, wherein the vehicle body has disposed therein control means of the dual clutch transmission clutch torque.

Technical Field

The invention relates to the technical field of engines, in particular to a control algorithm and device for clutch torque of a double-clutch transmission and a vehicle.

Background

Among the prior art, because two separation and reunion gearboxes are because transmission efficiency is high, the driving comfort is guaranteed in the unpowered interrupt of shifting for be provided with two separation and reunion gearboxes in more and more vehicles, experience in order to improve user's the driving.

However, the power transmitting component of the conventional dual clutch transmission is a clutch, the core control of the clutch is torque control, the clutch is usually controlled by using the desired torque of the clutch, and the desired torque is calculated by using the rotation speed difference between the actual rotation speed and the target rotation speed, so that the accuracy of the calculated desired torque is not high, and the accuracy of the torque control is not high.

Disclosure of Invention

The embodiment of the invention provides a control algorithm and device for clutch torque of a double-clutch transmission and a vehicle, which can effectively improve the accuracy of torque control and reduce the probability of vehicle damage caused by rotation speed fluctuation and gear shifting impact in the gear shifting process.

In a first aspect, an embodiment of the present invention provides a control algorithm for clutch torque of a dual clutch transmission, where the method includes:

acquiring signal torque, actual rotating speed and accelerator parameters of an engine of a target vehicle in the running process of the target vehicle;

determining a rotation speed difference according to the actual rotation speed and the obtained target rotation speed;

determining a PID proportion coefficient according to the rotation speed difference and the accelerator parameter;

determining the compensation torque of the clutch according to the PID proportionality coefficient and the signal torque;

and adjusting the control torque of the clutch according to the compensation torque.

Optionally, the determining a rotation speed difference according to the actual rotation speed and the obtained target rotation speed includes:

calculating the target rotating speed through the TCU according to the acquired whole vehicle working condition and gear information of the target vehicle;

and determining the rotation speed difference according to the actual rotation speed and the target rotation speed.

Optionally, the determining a PID scaling factor according to the rotation speed difference and the throttle parameter includes:

and determining the PID proportion coefficient from a preset coefficient corresponding table according to the rotating speed difference and the accelerator parameter, wherein the coefficient corresponding table comprises the corresponding relation between the rotating speed difference and the accelerator and the proportion coefficient.

Optionally, the difference in rotation speed in the coefficient correspondence table is proportional to the scaling coefficient.

Optionally, the determining the compensation torque of the clutch according to the PID scaling factor and the signal torque includes:

and determining the compensation torque according to the PID proportionality coefficient, the signal torque and the rotating speed difference.

Optionally, the adjusting the control torque of the clutch according to the compensation torque includes:

and determining a target torque of the clutch according to the compensation torque and the signal torque, and adjusting the control torque of the clutch to the target torque.

Optionally, the obtaining the actual rotation speed of the engine of the target vehicle includes:

and receiving the signal rotating speed sent by the controller, and taking the signal rotating speed as the actual rotating speed.

In a second aspect, the present invention provides a device for controlling clutch torque of a dual clutch transmission, the method including:

the device comprises a parameter acquisition unit, a control unit and a control unit, wherein the parameter acquisition unit is used for acquiring signal torque, actual rotating speed and accelerator parameters of an engine of a target vehicle in the running process of the target vehicle;

the rotating speed difference obtaining unit is used for determining a rotating speed difference according to the actual rotating speed and the obtained target rotating speed;

the proportional coefficient determining unit is used for determining a PID proportional coefficient according to the rotating speed difference and the accelerator parameter;

the compensation torque determining unit is used for determining the compensation torque of the clutch according to the PID proportionality coefficient and the signal torque;

and the torque adjusting unit is used for adjusting the control torque of the clutch according to the compensation torque.

Optionally, the rotational speed difference obtaining unit is configured to calculate the target rotational speed through the TCU according to the obtained entire vehicle operating condition and gear information of the target vehicle; and determining the rotation speed difference according to the actual rotation speed and the target rotation speed.

A third aspect of an embodiment of the present invention provides a vehicle including a vehicle body and a dual clutch transmission clutch provided in the vehicle body, wherein the vehicle body is provided therein with the control device of the dual clutch transmission clutch torque as provided in the second aspect.

The above one or at least one technical solution in the embodiments of the present application has at least the following technical effects:

based on the technical scheme, in the running process of a target vehicle, acquiring the signal torque, the actual rotating speed and the accelerator parameters of the engine of the target vehicle; determining a rotation speed difference according to the actual rotation speed and the obtained target rotation speed; determining a PID proportion coefficient according to the rotation speed difference and the accelerator parameter; determining the compensation torque of the clutch according to the PID proportionality coefficient and the signal torque; adjusting a control torque of the clutch according to the compensation torque; therefore, through the speed difference and the accelerator parameters, the PID proportion coefficient is determined, the PID proportion coefficient is more matched with the running road condition of the target vehicle, the accuracy of the PID proportion coefficient is further improved, the compensation torque is determined according to the PID proportion coefficient and the signal torque, on the basis that the accuracy of the PID proportion coefficient is higher, the accuracy of the compensation torque is also improved accordingly, on the basis that the accuracy of the compensation torque is high, the rotating speed of the engine can be controlled more accurately and quickly to reach the target rotating speed, the rotating speed fluctuation and the gear shifting impact in the gear shifting process are reduced, and the probability that the vehicle is damaged due to the rotating speed fluctuation and the gear shifting impact in the gear shifting process can be effectively reduced.

Drawings

FIG. 1 is a schematic flow chart illustrating a control algorithm for clutch torque of a dual clutch transmission according to an embodiment of the present disclosure;

fig. 2 is a block diagram of a control device for clutch torque of a dual clutch transmission according to an embodiment of the present application.

Detailed Description

The main implementation principle, the specific implementation mode and the corresponding beneficial effects of the technical scheme of the embodiment of the present application are explained in detail with reference to the accompanying drawings.

Examples

Referring to fig. 1, an embodiment of the present application provides a control algorithm for clutch torque of a dual clutch transmission, the method including:

s101, acquiring signal torque, actual rotating speed and accelerator parameters of an engine of a target vehicle in the running process of the target vehicle;

s102, determining a rotation speed difference according to the actual rotation speed and the obtained target rotation speed;

s103, determining a PID proportion coefficient according to the rotation speed difference and the accelerator parameter;

s104, determining the compensation torque of the clutch according to the PID proportionality coefficient and the signal torque;

and S105, adjusting the control torque of the clutch according to the compensation torque.

In the embodiment of the specification, the target vehicle may be a fuel vehicle and a hybrid vehicle.

In step S101, during the running process of the target vehicle, signal torque sent by a controller of an engine of the target vehicle is received; receiving the signal rotating speed sent by the controller, and taking the signal rotating speed as the actual rotating speed; and acquiring an accelerator parameter monitored by an accelerator sensor of the target vehicle, wherein the accelerator parameter can be the accelerator opening.

Specifically, a signal torque transmitted from the controller EMS to the CAN network may be received; the current rotating speed measured by the rotating speed sensor CAN be used, then the controller EMS converts the measured current rotating speed into a signal, converts the signal into a signal and sends the signal to the CAN network, and then the signal rotating speed sent to the CAN network CAN be received and is used as the actual rotating speed.

After the signal torque, the actual rotation speed and the throttle parameter are acquired, step S102 is executed.

In step S102, a target rotation speed is first acquired, and when the target rotation speed is acquired, the entire vehicle condition and gear information of the target vehicle may be acquired; then according to the whole vehicle working condition and gear information of the target vehicle, usually the TCU calculates the target rotating speed; and after determining the target rotation speed, determining a rotation speed difference according to the actual rotation speed and the target rotation speed.

Specifically, when the target rotating speed is determined, the transmission controller TCU calculates the target rotating speed according to the working condition and gear information of the whole vehicle. After the target rotation speed is calculated, the value obtained by subtracting the actual rotation speed from the target rotation speed is used as the rotation speed difference. For example, if the rotational speed difference is represented by P, the actual rotational speed is represented by P1, and the target rotational speed is represented by P2, P is P2 to P1.

After the rotational speed difference is determined, step S103 is executed.

In step S103, a PID scaling factor may be determined from a preset factor mapping table according to the speed difference and the accelerator parameter, where the factor mapping table includes a correspondence between the speed difference and the accelerator and the scaling factor. The coefficient correspondence table has a rotation speed difference proportional to the scaling factor, and the larger the rotation speed difference is, the larger the corresponding scaling factor is.

In the embodiment of the specification, the combiner torque algorithm mainly comprises 2 variables which are respectively a reference quantity and a compensation quantity, wherein the signal torque is the reference quantity, the PID proportional coefficient is the compensation quantity, and when the PID controller is used for correcting, the PID proportional coefficient needs to be determined firstly; wherein, P control (proportional control) is adopted in PID control, and a PID proportional coefficient Kp is determined according to the rotating speed difference and the accelerator parameter. Kp can be calibrated according to requirements, and a calibration parameter table of Kp is specifically shown in the following table 1:

TABLE 1

In table 1, the accelerator parameter is specifically an accelerator opening, and in table 1, KP is larger as the rotation speed difference is larger, so that the response speed of the target vehicle is faster.

For example, taking table 1 as an example, if P is P2-P1 is 400 and the accelerator parameter is 30, and KP corresponding to 30 is found to be 5 from table 1, 5 is taken as PID scaling factor.

Specifically, the proportional coefficient and the rotating speed difference in the coefficient corresponding table correspond to the accelerator parameter, so that the matching degree of the proportional coefficient and the rotating speed difference is higher, and the accuracy of the determined PID proportional coefficient can be effectively improved.

After the PID scaling factor is determined, step S104 is performed.

In step S104, the compensation torque of the clutch may be determined directly according to the PID scaling factor and the signal torque, and at this time, the compensation torque may be obtained by multiplying the product of the PID scaling factor and the signal torque by a set factor.

Specifically, the compensation torque may also be determined based on the PID scaling factor, the signal torque, and the rotational speed difference. At this time, the product of the PID proportionality coefficient, the signal torque and the rotational speed difference can be multiplied by the proportionality coefficient to obtain the compensation torque. For example, when the compensation torque is N and the signal torque is N1, N is N1 × (PID proportionality coefficient × (P/3000)). If N is negative, the clutch is opened; if N is positive, the clutch is prohibited from opening. On the basis of higher PID proportionality coefficient precision, the accuracy of obtaining the compensation torque according to the PID proportionality coefficient, the signal torque and the rotating speed difference is improved.

After the compensation torque is determined, step S105 is executed.

In step S105, a target torque of the clutch may be determined according to the compensation torque and the signal torque, and the control torque of the clutch may be adjusted to the target torque, such that the control torque of the clutch is more closely matched with the signal torque of the engine by adjusting the control torque of the clutch to the target torque, and the target torque is determined by the compensation torque and the signal torque, so that the engine speed rapidly reaches the target speed.

Specifically, by compensating the torque so that the engine speed quickly reaches the target speed, the engine speed is prevented from dropping too fast to cause flameout; the compensation torque adopts PID closed-loop control, so that the rotating speed of the engine can be more accurately controlled and quickly reach the target rotating speed, and the rotating speed fluctuation and the gear shifting impact in the gear shifting process can be reduced.

Specifically, when the target torque is a negative value, the clutch is started, and the control torque of the clutch is adjusted by the PID controller so that the control torque of the clutch is adjusted to the target torque.

Based on the technical scheme, in the running process of a target vehicle, acquiring the signal torque, the actual rotating speed and the accelerator parameters of the engine of the target vehicle; determining a rotation speed difference according to the actual rotation speed and the obtained target rotation speed; determining a PID proportion coefficient according to the rotation speed difference and the accelerator parameter; determining the compensation torque of the clutch according to the PID proportionality coefficient and the signal torque; adjusting a control torque of the clutch according to the compensation torque; therefore, through the speed difference and the accelerator parameters, the PID proportion coefficient is determined, the PID proportion coefficient is more matched with the running road condition of the target vehicle, the accuracy of the PID proportion coefficient is further improved, the compensation torque is determined according to the PID proportion coefficient and the signal torque, on the basis that the accuracy of the PID proportion coefficient is higher, the accuracy of the compensation torque is also improved accordingly, on the basis that the accuracy of the compensation torque is high, the rotating speed of the engine can be controlled more accurately and quickly to reach the target rotating speed, the rotating speed fluctuation and the gear shifting impact in the gear shifting process are reduced, and the probability that the vehicle is damaged due to the rotating speed fluctuation and the gear shifting impact in the gear shifting process can be effectively reduced.

To the above embodiments, a method for controlling clutch torque of a dual clutch transmission is provided, and an embodiment of the present application also provides a device for controlling clutch torque of a dual clutch transmission, referring to fig. 2, where the device includes:

a parameter obtaining unit 201, configured to obtain a signal torque, an actual rotation speed, and an accelerator parameter of an engine of a target vehicle during a running process of the target vehicle;

a rotation speed difference obtaining unit 202, configured to determine a rotation speed difference according to the actual rotation speed and the obtained target rotation speed;

a proportionality coefficient determining unit 203, configured to determine a PID proportionality coefficient according to the rotational speed difference and the accelerator parameter;

a compensation torque determination unit 204, configured to determine a compensation torque of the clutch according to the PID scaling factor and the signal torque;

a torque adjusting unit 205 for adjusting the control torque of the clutch according to the compensation torque.

In an optional embodiment, the rotational speed difference obtaining unit 202 is configured to calculate the target rotational speed through the TCU according to the obtained entire vehicle operating condition and gear information of the target vehicle; and determining the rotation speed difference according to the actual rotation speed and the target rotation speed.

In an optional embodiment, the scaling factor determining unit 203 is configured to determine the PID scaling factor from a preset factor correspondence table according to the rotational speed difference and the accelerator parameter, where the factor correspondence table includes a correspondence between the rotational speed difference and the accelerator and the scaling factor.

In an alternative embodiment, the difference in rotational speed in the coefficient map is proportional to a scaling coefficient.

In an alternative embodiment, the compensation torque determination unit 204 is configured to determine the compensation torque according to the PID scaling factor, the signal torque and the rotational speed difference.

In an alternative embodiment, the torque adjusting unit 205 is configured to determine a target torque of the clutch according to the compensation torque and the signal torque, and adjust a control torque of the clutch to the target torque.

In an optional embodiment, the parameter obtaining unit 201 is configured to receive a signal rotation speed sent by the controller, and use the signal rotation speed as the actual rotation speed.

With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.

A third aspect of an embodiment of the present invention provides a vehicle including a vehicle body and a dual clutch transmission clutch provided in the vehicle body, wherein the vehicle body is provided therein with the control device of the dual clutch transmission clutch torque as provided in the second aspect.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is only limited by the appended claims

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.