阅读说明：本技术 一种换挡控制方法、装置及控制器 (Gear shifting control method and device and controller ) 是由 徐亚美 李强 苗强 韩福强 李军营 于 2021-02-07 设计创作，主要内容包括：本发明公开了一种换挡控制方法、装置及控制器。换挡控制方法包括：设定检测周期,在检测周期内对电机的转速进行采样,若相邻两采样时刻的转速差值大于转速差阈值,则第一计数值加一,若相邻两采样时刻的转速差值小于转速差阈值,则第二计数值加一；检测周期结束后,若第一计数值小于第一阈值且第二计数值大于第二阈值,则根据电机的转速进行升档或降档。利用发明提出的换挡控制方法,可以避免由于电机转速一发生异常突变则立即进行升档或降档控制,从而引发频繁换挡,造成电机容易出现过流故障的问题。(The invention discloses a gear shifting control method, a gear shifting control device and a controller. The shift control method includes: setting a detection period, sampling the rotating speed of the motor in the detection period, adding one to a first count value if the rotating speed difference value of two adjacent sampling moments is greater than a rotating speed difference threshold value, and adding one to a second count value if the rotating speed difference value of two adjacent sampling moments is less than the rotating speed difference threshold value; and after the detection period is finished, if the first count value is smaller than the first threshold value and the second count value is larger than the second threshold value, upshifting or downshifting is carried out according to the rotating speed of the motor. By using the gear shifting control method provided by the invention, the problem that the motor is easy to have overcurrent faults due to frequent gear shifting caused by the fact that the gear shifting or the downshift control is immediately carried out when the abnormal sudden change of the rotating speed of the motor occurs can be solved.)

1. A shift control method characterized by comprising:

setting a detection period, sampling the rotating speed of the motor in the detection period, adding one to a first count value if the rotating speed difference value of two adjacent sampling moments is greater than a rotating speed difference threshold value, and adding one to a second count value if the rotating speed difference value of two adjacent sampling moments is less than the rotating speed difference threshold value;

and after the detection period is finished, if the first count value is smaller than a first threshold value and the second count value is larger than a second threshold value, upshifting or downshifting is carried out according to the rotating speed of the motor.

2. The shift control method according to claim 1, characterized by further comprising:

judging whether the vehicle is in a slipping state, if so, controlling the gear to be in the current gear, and not sampling the rotating speed of the motor in the detection period;

and if the vehicle is not in the slipping state, sampling the rotating speed of the motor in the detection period, and after the detection period is finished, if the first count value is greater than a first threshold value or the second count value is less than a second threshold value, controlling the gear to be in the current gear.

3. The shift control method according to claim 1, wherein an average value of the sampled values of the rotational speed in the detection period is calculated, and upshifting or downshifting is performed based on the average value.

4. The shift control method according to claim 1, further comprising, before sampling the rotational speed of the motor during the detection period:

and judging whether the rotating speed of the motor changes suddenly or not, and if so, sampling the rotating speed of the motor in the detection period.

5. The shift control method according to claim 2, characterized by further comprising, after one of the detection periods is ended:

and clearing the first count value and the second count value.

6. The shift control method of claim 1, wherein determining whether the speed at the current sampling time is greater than the speed input threshold;

and if the rotating speed at the current sampling moment is greater than the rotating speed input threshold, generating a gear-shifting control instruction, performing gear shifting, and stopping sampling the rotating speed of the motor in the detection period.

7. The shift control method according to claim 6, wherein if the rotation speed at the current sampling timing is not greater than the rotation speed input threshold, the first count value is incremented if the difference between the rotation speeds at the current sampling timing and the previous sampling timing is greater than a first threshold, and the second count value is incremented if the difference between the rotation speeds at the current sampling timing and the previous sampling timing is less than or equal to the first threshold.

8. The shift control method according to claim 1, characterized in that at least four of said sampling instants are included in one of said detection periods.

9. A shift control device, characterized by comprising:

the sampling unit is used for sampling the rotating speed of the motor in a detection period;

the calculating unit is used for adding one to the first counting value if the rotating speed difference value of two adjacent sampling moments is larger than the rotating speed difference threshold value, and adding one to the second counting value if the rotating speed difference value of two adjacent sampling moments is smaller than the rotating speed difference threshold value;

and the control unit is used for performing upshift or downshift according to the rotating speed of the motor if the first count value is smaller than a first threshold value and the second count value is larger than a second threshold value after the detection period is ended.

10. A vehicle controller characterized in that the vehicle controller is provided with the shift control method according to any one of claims 1 to 8.

Technical Field

The embodiment of the invention relates to the vehicle engineering technology, in particular to a gear shifting control method, a gear shifting control device and a controller.

Background

Currently, conventional shift control schemes include speed-based shift control methods and torque-based shift control methods. A gear shift control method based on the rotation speed generally sets the gear shift rotation speed, and when the rotation speed of the motor reaches the gear shift rotation speed, the gear shift is performed; torque-based shifting methods typically set a shift torque, and shift when the output torque of the electric machine reaches the shift torque.

In the running process of the vehicle, the output torque of the motor and the rotating speed form a certain functional relation under normal conditions, when the vehicle passes through a bumpy road or slips during running, the load of the vehicle changes suddenly, and because the rotating speed of the motor is influenced by the output torque and the load at the same time, when the load changes suddenly, the rotating speed changes suddenly when the output torque is unchanged, if a traditional gear shifting control method based on the rotating speed is adopted, the phenomenon of frequent gear shifting can occur, and the motor in a power system is easy to generate overcurrent faults; if the traditional gear shifting control method based on the torque is adopted, the phenomenon of galloping is easy to occur.

Disclosure of Invention

The invention provides a gear shifting control method, a gear shifting control device and a controller, which aim to solve the problem of frequent gear shifting when the rotating speed of a motor fluctuates abnormally.

In a first aspect, an embodiment of the present invention provides a shift control method, including:

setting a detection period, sampling the rotating speed of the motor in the detection period, adding one to a first count value if the rotating speed difference value of two adjacent sampling moments is greater than a rotating speed difference threshold value, and adding one to a second count value if the rotating speed difference value of two adjacent sampling moments is less than the rotating speed difference threshold value;

and after the detection period is finished, if the first count value is smaller than a first threshold value and the second count value is larger than a second threshold value, upshifting or downshifting is carried out according to the rotating speed of the motor.

Further, the method also comprises the following steps:

judging whether the vehicle is in a slipping state, if so, controlling the gear to be in the current gear, and not sampling the rotating speed of the motor in the detection period;

and if the vehicle is not in the slipping state, sampling the rotating speed of the motor in the detection period, and after the detection period is finished, if the first count value is greater than a first threshold value or the second count value is less than a second threshold value, controlling the gear to be in the current gear.

Further, the method also comprises the following steps:

judging whether the rotating speed at the sampling moment is greater than a rotating speed input threshold value or not;

and if the rotating speed at the sampling moment is greater than the rotating speed input threshold, generating a gear-shifting control instruction, performing gear shifting, and stopping sampling the rotating speed of the motor in the detection period.

Further, the average value of the rotating speed sampling values in the detection period is calculated, and upshifting or downshifting is carried out according to the average value.

Further, before sampling the rotation speed of the motor in the detection period, the method further includes:

and judging whether the rotating speed of the motor changes suddenly or not, and if so, sampling the rotating speed of the motor in the detection period.

Further, after one of the detection periods is over, the method further includes:

and clearing the first count value and the second count value.

Further, judging whether the rotating speed at the current sampling moment is greater than the rotating speed input threshold value;

and if the rotating speed at the current sampling moment is greater than the rotating speed input threshold, generating a gear-shifting control instruction, performing gear shifting, and stopping sampling the rotating speed of the motor in the detection period.

Further, if the rotating speed at the current sampling time is not greater than the rotating speed input threshold, if the rotating speed difference value between the current sampling time and the last sampling time is greater than a first threshold, the first count value is increased by one, and if the rotating speed difference value between the current sampling time and the last sampling time is less than or equal to the first threshold, the second count value is increased by one.

Further, at least four sampling moments are included in one detection period.

In a second aspect, an embodiment of the present invention further provides a shift control device, including a sampling unit, configured to sample a rotation speed of a motor in a detection period;

the calculating unit is used for adding one to the first counting value if the rotating speed difference value of two adjacent sampling moments is larger than the rotating speed difference threshold value, and adding one to the second counting value if the rotating speed difference value of two adjacent sampling moments is smaller than the rotating speed difference threshold value;

and the control unit is used for performing upshift or downshift according to the rotating speed of the motor if the first count value is smaller than a first threshold value and the second count value is larger than a second threshold value after the detection period is ended.

In a third aspect, the embodiment of the invention further provides a vehicle controller, and the vehicle controller is provided with the gear shifting control method described in the embodiment of the invention.

Compared with the prior art, the invention has the beneficial effects that: the gear shifting control method provided by the invention is characterized in that a detection period, a first counting value and a second counting value are set, the degree of motor rotation speed fluctuation caused by abnormal sudden change of the motor rotation speed in the detection period is represented by the first counting value and the second counting value, if the motor rotation speed does not fluctuate seriously in the detection period, normal gear shifting or gear shifting control is carried out, and the problem that frequent gear shifting is caused and the motor is easy to have overcurrent fault because the gear shifting or gear shifting control is carried out immediately when the abnormal sudden change of the motor rotation speed occurs is avoided.

Drawings

FIG. 1 is a shift control method flowchart in an embodiment;

FIG. 2 is a flowchart of another shift control method in an embodiment;

FIG. 3 is a flowchart of another shift control method in an embodiment;

fig. 4 is a flowchart of the shift control apparatus in the embodiment.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a flowchart of a shift control method in an embodiment, and referring to fig. 1, the shift control method includes:

s101, setting a detection period, sampling the rotating speed of the motor in the detection period, adding one to a first count value if the rotating speed difference value of two adjacent sampling moments is larger than a rotating speed difference threshold value, and adding one to a second count value if the rotating speed difference value of two adjacent sampling moments is smaller than the rotating speed difference threshold value.

For example, in this step, the duration of one detection period is set according to requirements, for example, 10 seconds, 20 seconds, and the like, and in one detection period, the sampling interval for sampling may be determined according to the duration of the detection period, so that a sufficient number of sampling values may be collected in one detection period to complete the subsequent calculation process. For example, if the duration of the detection period is 10 seconds, the sampling interval may be set to 1 second, and 10 sampling points may be acquired in one detection period, and if the duration of the detection period is 20 seconds, the sampling interval may be set to 2 seconds, and 10 sampling points may be acquired in one detection period as well.

As an implementation, in this embodiment, at least four sampling moments are included in one detection period, and at least three rotation speed difference values are calculated.

For example, in this step, a first count value and a second count value are configured, and initial values of the first count value and the second count value may be configured to be 0.

In this step, for each two times of sampling of the rotation speed of the motor, a rotation speed difference is calculated, and it is determined whether a difference value between the rotation speeds acquired at two adjacent sampling times is greater than a rotation speed difference threshold, if the rotation speed difference is greater than the rotation speed difference threshold, the first count value is incremented by 1, and if the rotation speed difference is smaller than the rotation speed difference threshold, the second count value is incremented by 1. The threshold value of the speed difference can be set according to a test, and the threshold value of the speed difference is used for judging whether the rotating speed of two adjacent sampling moments is abnormally suddenly changed.

In the step, the absolute value of the difference value of the collected rotating speeds at two adjacent sampling moments is calculated, and the first counting value self-increment 1 or the second counting value self-increment 1 is determined by comparing the absolute value of the difference value with the rotating speed difference threshold value.

And S102, after the detection period is finished, if the first count value is smaller than the first threshold value and the second count value is larger than the second threshold value, upshifting or downshifting is carried out according to the rotating speed of the motor.

In this step, two reference values, namely a first threshold value and a second threshold value, are set, and if the first count value is smaller than the first threshold value and the second count value is greater than the second threshold value, it indicates that the rotating speed of the motor does not fluctuate abnormally in the detection period.

For example, on the basis of step S101, in the operation process of the motor, a plurality of consecutive detection periods may be configured, and after one detection period is ended, the first count value and the second count value are cleared, so that when the next detection period starts, the first count value and the second count value are increased from 0, so as to ensure that whether the rotational speed of the motor fluctuates abnormally or not in the current detection period can be accurately determined through the first count value and the second count value.

For example, in this embodiment, if it is determined that the shift control is possible, the upshift control or the downshift control is determined according to the rotation speed of the motor, the rotation speed according to the shift may be the rotation speed of the motor at the current time or an average value of the rotation speeds of the motor in one detection period, and if the average value of the rotation speeds of the motor in the detection period is used as a reference value, the average value may be calculated by using the rotation speed sampling value in the detection period.

In the scheme shown in fig. 1, a detection period, a first count value and a second count value are set, the degree of fluctuation of the motor rotation speed caused by abnormal sudden change of the motor rotation speed in the detection period is indicated by the first count value and the second count value, if the motor rotation speed does not fluctuate seriously in the detection period, normal upshift or downshift control is performed, and the problem that frequent gear shifting is caused and overcurrent faults easily occur to the motor due to the fact that the upshift or downshift control is performed immediately when abnormal sudden change of the motor rotation speed occurs is avoided.

Fig. 2 is a flowchart of another gear shift control method in the embodiment, and referring to fig. 2, the gear shift control method may further be:

s201, judging whether the rotating speed of the motor changes suddenly, and if so, sampling the rotating speed of the motor in a detection period.

In this step, the rotation speed of the motor is sampled at two adjacent moments, if the difference between the rotation speeds is greater than a set value, it is determined that the rotation speed of the motor has an abnormal sudden change, and if the rotation speed of the motor has the abnormal sudden change, the rotation speed of the motor continues to be sampled according to a detection period.

S202, judging whether the rotating speed at the current sampling moment is greater than a rotating speed input threshold value.

On the basis of the step S201, in this step, the rotation speed of the motor is sampled in the detection period, and each time a rotation speed sampling value is collected, it is determined whether the sampled rotation speed is greater than the rotation speed input threshold.

In this step, the rotation speed input threshold is exemplarily the maximum rotation speed value of the motor that can be adapted to the transmission.

S203, if the rotating speed at the current sampling moment is larger than the rotating speed input threshold, generating a gear-shifting control instruction, performing gear shifting, and stopping sampling the rotating speed of the motor in the detection period.

In this step, if the rotation speed at the current sampling time is greater than the rotation speed input threshold, gear-disengaging control is performed to control the rotation speed of the motor to decrease, the gearbox is controlled to downshift step by step until the gear is placed in the neutral gear, the motor is controlled to stop rotating after the gear is placed in the neutral gear, and if a starting instruction is received, the motor is started, and step S201 is executed again.

The gear-off control can also be that the gear in the control gearbox is placed in a separation state from an engagement state, a transmission path from the motor to the gearbox is cut off, meanwhile, the first count value and the second count value are cleared by 0, the rotating speed of the motor is not sampled according to a detection period any more, the first count value or the second count value is not accumulated any more, the rotating speed is still sampled, if the rotating speed is continuously greater than a rotating speed input threshold value, the gear-off state is always kept, if the rotating speed is changed to be less than the rotating speed input threshold value, the gear is engaged again, the gear is placed in the gear before gear-off, and the step S201 is executed again.

And S204, if the rotating speed of the current sampling moment is not greater than the rotating speed input threshold, adding one to the first count value if the rotating speed difference value between the current sampling moment and the last sampling moment is greater than a first threshold, and adding one to the second count value if the rotating speed difference value between the current sampling moment and the last sampling moment is less than the first threshold.

S205, after the detection period is finished, if the first count value is smaller than the first threshold value and the second count value is larger than the second threshold value, upshifting or downshifting is carried out according to the rotating speed of the motor, and if the first count value is larger than the first threshold value or the second count value is smaller than the second threshold value, the gear is controlled to be in the current gear.

As an implementation scheme, a plurality of continuous detection periods can be configured during the operation of the motor, and after one detection period is finished, the first count value and the second count value are cleared no matter whether the upshift and downshift control is performed or the current gear is kept unchanged.

As an implementation, in the solution shown in fig. 2, step S204 may also be: and if the rotating speed at the current sampling moment is not greater than the rotating speed input threshold, adding one to the first count value if the rotating speed difference value between the current sampling moment and the last sampling moment is greater than a first threshold, and adding one to the second count value if the rotating speed difference value between the current sampling moment and the last sampling moment is less than or equal to the first threshold.

Step S205 may also be: after the detection period is finished, if the first count value is smaller than the first threshold value and the second count value is larger than the second threshold value, upshifting or downshifting is carried out according to the rotating speed of the motor, and if the first count value is larger than the first threshold value and the second count value is smaller than the second threshold value, the gear is controlled to be in the current gear.

In this embodiment, for example, a plurality of consecutive detection cycles may be arranged, and after one detection cycle is completed, when an upshift or downshift operation is performed, the first count value and the second count value are cleared, and when the next detection cycle is started, the first count value and the second count value are incremented from 0. If the current gear is kept, the first count value and the second count value are not cleared, when the next detection period begins, the self-increment is continuously carried out from the current values of the first count value and the second count value, if the first count value is larger than the first threshold value and the second count value is smaller than the second threshold value after the end of one detection period, the gear is controlled to be in the current gear, and if the first count value is not larger than the first threshold value and the second count value is smaller than the second threshold value, the gear is controlled to be in the current gear.

For example, in one detection cycle, 10 times of sampling are performed, 9 rotation speed difference values may be calculated, after the detection cycle is ended, the first count value is 6, the second count value is 3, if the first threshold value is set to be 5 and the second threshold value is set to be 4, the first count value is greater than the first threshold value and the second count value is less than the second threshold value, at this time, the gear is kept in the current gear, the next detection cycle is entered, and the rotation speed of the motor is continuously sampled, after the detection cycle is ended, the first count value is 6, the second count value is 12, at this time, the first count value is still greater than the first threshold value, but the second count value is greater than the second threshold value, which indicates that the fluctuation degree of the rotation speed of the motor is small in the last detection cycle, and therefore, if there is a gear shift demand, the gear shift is normally performed.

As an alternative, in the scheme shown in fig. 2, step S202 may also be: and judging whether the rotating speed at the sampling moment is greater than a rotating speed input threshold value or not.

Step S203 may also be: and if the rotating speed at the sampling moment is greater than the rotating speed input threshold, generating a gear-shifting control instruction, performing gear shifting, and stopping sampling the rotating speed of the motor in the detection period.

In an exemplary embodiment, in the above scheme, the rotation speed of the motor is sampled in the detection period, and each time two rotation speed sampling values are collected, it is determined whether the sampled rotation speeds are both greater than a rotation speed input threshold, and if the rotation speeds at two sampling times are both greater than the rotation speed input threshold, a gear-shifting control instruction is generated, gear shifting is performed, and sampling of the rotation speed of the motor in the detection period is stopped.

Fig. 3 is a flowchart of another gear shift control method in the embodiment, and referring to fig. 3, the gear shift control method may further be:

s301, judging whether the rotating speed of the motor changes suddenly, and if so, sampling the rotating speed of the motor in a detection period.

S302, judging whether the rotating speed at the current sampling moment is greater than a rotating speed input threshold value.

And S303, if the rotating speed at the current sampling moment is greater than the rotating speed input threshold, generating a gear-shifting control instruction, performing gear shifting, and stopping sampling the rotating speed of the motor in the detection period.

S304, if the rotating speed at the current sampling moment is not larger than the rotating speed input threshold value, judging whether the vehicle is in a slipping state, if the vehicle is in the slipping state, controlling the gear to be in the current gear, and stopping sampling the rotating speed of the motor in the detection period.

In this step, if the rotation speed of the motor suddenly changes and the sampled value of the rotation speed at the current moment is not greater than the input threshold of the rotation speed, it is determined whether the vehicle is in a slipping state.

For example, whether the vehicle is in a slipping state can be determined by the rotation speed of the tire and the vehicle speed of the vehicle, for example, the rotation speed of the tire is converted into a linear speed, and if the linear speed of the tire is significantly greater than the vehicle speed of the vehicle, the vehicle is determined to be in the slipping state.

In this step, when the vehicle is in a slipping state, the rotation speed of the motor is no longer sampled according to the detection period, the gear is controlled to be always in the current gear, and if the vehicle is restored from the slipping state to a normal driving state, step S301 is executed again.

S305, if the rotating speed at the current sampling moment is not greater than the rotating speed input threshold value, and the vehicle is not in a slipping state, if the rotating speed difference value between the current sampling moment and the last sampling moment is greater than a first threshold value, adding one to the first count value, and if the rotating speed difference value between the current sampling moment and the last sampling moment is less than the first threshold value, adding one to the second count value.

S306, after the detection period is finished, if the first count value is smaller than the first threshold value and the second count value is larger than the second threshold value, upshifting or downshifting is carried out according to the rotating speed of the motor, and if the first count value is larger than the first threshold value or the second count value is smaller than the second threshold value, the gear is controlled to be in the current gear.

Illustratively, the alternatives of step S305 and step S306 are the same as the alternatives of step S204 and step S205.

For example, in addition to the schemes shown in fig. 2 and 3, if a plurality of consecutive detection periods are configured, after one detection period is finished, if upshift or downshift control is performed, and after the first count value and the second count value are cleared of 0, the rotation speed of the motor is no longer sampled according to the detection period, and the first count value or the second count value is not accumulated, and if the rotation speed of the motor is abnormally suddenly changed again at a certain time, the shift control method shown in fig. 2 or 3 is executed again.

Example two

Fig. 4 is a schematic diagram of a shift control device in an embodiment, and referring to fig. 4, the shift control device includes:

and a sampling unit 100 for sampling the rotation speed of the motor in the detection period.

The calculating unit 200 is configured to add one to the first count value if the rotational speed difference between two adjacent sampling times is greater than the rotational speed difference threshold, and add one to the second count value if the rotational speed difference between two adjacent sampling times is less than the rotational speed difference threshold.

And a control unit 300 configured to perform an upshift or a downshift according to the rotation speed of the motor if the first count value is smaller than the first threshold value and the second count value is greater than the second threshold value after the detection period ends.

Optionally, the sampling unit 100 may be further configured to determine whether the rotation speed of the motor changes suddenly, and if the rotation speed of the motor changes suddenly, sample the rotation speed of the motor in the detection period; judging whether the vehicle is in a slipping state, and if the vehicle is not in the slipping state, sampling the rotating speed of the motor in a detection period; and judging whether the rotating speed at the current sampling moment is greater than a rotating speed input threshold value.

Optionally, the calculating unit 200 may be further configured to, if the vehicle is not in a slipping state, sample the rotation speed of the motor in the detection period, add one to the first count value if the rotation speed difference value between two adjacent sampling times is greater than the rotation speed difference threshold, and add one to the second count value if the rotation speed difference value between two adjacent sampling times is less than the rotation speed difference threshold; after one detection period is finished, clearing the first count value and the second count value; and calculating the average value of the rotating speed sampling values in the detection period.

Optionally, the control unit 300 may be further configured to control the gear to be in the current gear if the vehicle is in a slipping state; and if the rotating speed at the current sampling moment is greater than the rotating speed input threshold, generating a gear-shifting control instruction and performing gear shifting.

Based on the sampling unit 100, the calculating unit 200, and the control unit 300 in this embodiment, any one of the shift control methods in the first embodiment can be implemented, and the specific implementation process and the beneficial effects thereof are the same as those described in the first embodiment, and are not described herein again.

EXAMPLE III

The present embodiment proposes a vehicle controller that can configure and execute any one of the shift control methods described in the embodiment.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.