CN111536228B - Method for synchronously controlling shifting forks of double-clutch automatic transmission - Google Patents
Method for synchronously controlling shifting forks of double-clutch automatic transmission Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/04—Smoothing ratio shift
- F16H61/0437—Smoothing ratio shift by using electrical signals
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/68—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings
- F16H61/684—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive
- F16H61/688—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive with two inputs, e.g. selection of one of two torque-flow paths by clutches
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/26—Generation or transmission of movements for final actuating mechanisms
- F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
- F16H2061/2823—Controlling actuator force way characteristic, i.e. controlling force or movement depending on the actuator position, e.g. for adapting force to synchronisation and engagement of gear clutch
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Abstract
The invention discloses a method for synchronously controlling a shifting fork of a double-clutch automatic transmission, which comprises the following steps of: s1, judging whether the shifting fork enters a synchronous state or not according to the value of the position of the shifting fork acquired by the sensor; s2, after entering a synchronous state, determining the synchronous basic force and the synchronous maximum force of the shifting fork; s3, determining the increasing slope of the synchronous force of the shifting fork, and outputting the synchronous force of the shifting fork in real time; still include to carry out real-time detection to the shift fork position, adjust the position of the shift fork that gets into the synchronization state according to the testing result, include following step: s10, detecting synchronous self-adaptive entering conditions of the shifting fork; s11, calculating the synchronous position of the shifting fork; s12, judging whether the synchronous position of the shifting fork is reasonable; and S13, processing the recently stored N NVM synchronization point adaptive values, and updating the synchronization points of the shifting fork according to the processing result. The invention has the advantages of good gear shifting stability and low gear shifting noise.
Description
Technical Field
The invention relates to the field of automobile transmissions, in particular to a synchronous control method for a double-clutch automatic transmission shifting fork.
Background
The automatic transmission greatly improves the operation convenience and the driving safety of vehicles, and in recent years, along with the improvement of the living standard of people, the requirements on the comfort, the safety, the operation convenience and the intellectualization of the automobiles are higher and higher, and the development of the automatic transmission enters the golden period. The double-clutch automatic transmission has the advantages of high gear shifting speed, high transmission efficiency, uninterrupted gear shifting power and the like, and is favored by various international and domestic host machines. Because of two separation and reunion automatic gearbox adopt the synchronous ware structure of shifting gears, the noise of shifting gears and the stability of shifting gears almost become the common fault of double clutch automatic speed changing, and it is especially obvious under the braking condition, and present international, domestic synchronous process control can divide into two kinds of schemes:
firstly, the closed-loop control is completely carried out based on the target rotating speed, namely: and calculating a target rotating speed according to the rotating speed difference and the synchronous time before and after gear shifting, and performing PID closed-loop control according to the target rotating speed and the current rotating speed, wherein the synchronous force is adjusted in real time in the control process, and the synchronous time is relatively fixed but is easy to cause gear shifting noise.
Secondly, semi-closed loop control is carried out based on the target rotating speed, namely: the target rotating speed is calculated according to the rotating speed difference and the synchronous time before and after gear shifting, the gear shifting force is PID closed-loop control closed-loop force according to the gear rotational inertia, the open-loop force calculated by dragging of the clutch and the target rotating speed and the current rotating speed, although the adjustment of the gear shifting force in the gear shifting process is weakened, the jumping of the gear shifting force can still be avoided, and gear shifting noise can also occur.
The existing synchronization processes are all based on a rotating speed closed loop or a semi-closed loop, and although the closed-loop control can complete the synchronization process at the specified time as far as possible, the stability and the noise of the force in the synchronization process cannot be controlled, and even the service life of a synchronizer is influenced; the synchronization points have no self-adaptive strategy, and the consistency is obtained by adopting a mode of sacrificing the gear shifting time. For special working conditions, some companies adopt unconventional means, such as delayed gear shifting or engine closed shift shaft clutch speed regulation, wherein the former causes slow power response, and the latter causes idling of an engine in the braking process, so that driving experience and fuel economy are influenced. Due to this, no better solution is available for international and domestic dual clutch transmission manufacturers at present.
At present, the judgment of the entering and exiting synchronization process in international and domestic is basically based on the synchronization point, but no self-adaptive strategy is used for the synchronization point, and the dispersion of parts and the wear of life cycle parts are difficult to cover. The general solution is: and setting a synchronization point which can be covered by using statistical data, entering and delaying the synchronization stage in advance, and sacrificing the gear shifting time.
Aiming at the NVH of gear shifting, some manufacturers adopt a non-special means for optimization, for example, aiming at the 1 st and 2 nd working conditions of braking and downshifting, the problem of synchronization is solved by closing a gear shifting shaft clutch for speed regulation; the problem of NVH of gear shifting is solved by delaying 1 gear shifting (within 3km/h of vehicle speed).
Disclosure of Invention
The invention provides a synchronous control method for a shifting fork of a double-clutch automatic transmission, which has good gear shifting stability and low gear shifting noise.
The technical scheme for realizing the purpose is as follows:
the method for synchronously controlling the shifting forks of the double-clutch automatic transmission comprises the following steps of controlling the shifting force of the shifting forks:
s1, judging whether the shifting fork enters a synchronous state or not according to the value of the position of the shifting fork acquired by the sensor;
s2, after entering a synchronous state, determining the synchronous basic force and the synchronous maximum force of the shifting fork;
s3, determining the increasing slope of the synchronous force of the shifting fork, and outputting the synchronous force of the shifting fork in real time;
still include to carry out real-time detection to the shift fork position, adjust the position of the shift fork that gets into the synchronization state according to the testing result, include following step:
s10, detecting synchronous self-adaptive entering conditions of the shifting fork;
s11, calculating the synchronous position of the shifting fork;
s12, judging whether the synchronous position of the shifting fork is reasonable;
and S13, processing the recently stored N NVM synchronization point adaptive values, and updating the synchronization points of the shifting fork according to the processing result.
The invention uses two sets of self-adaptive algorithms to mutually check and process the self-adaptive data by the data processing system, thereby ensuring the accuracy of the synchronization point; meanwhile, according to different working conditions and use scenes, different open-loop control strategies of shifting basic force, maximum force and slope increasing are adopted, and the stability and adjustability of the synchronous force are achieved. The gear shifting smoothness and the gear shifting NVH are good; the control strategy coverage is high, and the consistency is good; meanwhile, the gear-shifting service life of the synchronizer is prolonged, and the problems of driving quality and power economy caused by using unconventional measures (delaying gear shifting or using an engine for speed regulation) cannot be solved due to gear-shifting noise are solved.
The beneficial technical effects of the invention are as follows:
1. the gear shifting synchronization process adopts a three-parameter control mode of synchronizing basic force, increasing slope synchronously and synchronizing maximum force, the synchronizer is stressed stably and has no sudden change in the synchronization process, the synchronizer is stressed like manual operation, the impact on the synchronizer is small, and the gear shifting synchronization process has the advantages of good gear shifting stability, low gear shifting noise, prolonging of the service life of the synchronizer and the like.
2. The invention diagnoses the synchronous points of key elements of the gear shifting control of the synchronizer, adopts two sets of self-adaptive strategies, one set is based on the change slope of the rotating speed of a gear shifting input shaft, the other set is based on the current of a gear shifting motor, the former is from the angle fed back by the synchronizer, the latter is from the angle of the positive driving stress of the synchronizer, the self-adaptation is respectively carried out from the driving angle and the feedback angle, the two sets of self-adaptive mutual inspection are carried out, and a data processing algorithm for eliminating gross errors is introduced, the characteristics of stable, accurate and reliable self-adaptive points and the like are realized, the stable gear shifting and the low gear shifting noise of the transmission in the gear shifting process are ensured, the performance of the transmission is kept in the life cycle, and the performance of the transmission is consistent with that of the transmission.
3. The invention jumps into the synchronization stage from the pre-synchronization stage, and jumps into the locking stage in the synchronization stage all adopt position plus time double judgment, and in terms of the position, the invention ensures that the synchronizer enters the next stage after reaching the physical position, and in terms of time, the invention avoids the gear shifting termination caused by external interference factors (such as mechanism clamping stagnation), and improves the stability of gear shifting.
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FIG. 1 is a flow chart of a method for synchronously controlling the shifting forks of a dual clutch automatic transmission.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The method for synchronously controlling the shifting forks of the double-clutch automatic transmission comprises the following steps of controlling the shifting force of the shifting forks:
s1, judging whether the shifting fork enters a synchronous state or not according to the value of the position of the shifting fork acquired by the sensor;
s2, after entering a synchronous state, determining the synchronous basic force and the synchronous maximum force of the shifting fork;
s3, determining the increasing slope of the synchronous force of the shifting fork, and outputting the synchronous force of the shifting fork in real time;
still include to carry out real-time detection to the shift fork position, adjust the position of the shift fork that gets into the synchronization state according to the testing result, include following step:
s10, detecting synchronous self-adaptive entering conditions of the shifting fork;
s11, calculating the synchronous position of the shifting fork;
s12, judging whether the synchronous position of the shifting fork is reasonable;
and S13, processing the recently stored N NVM synchronization point adaptive values, and updating the synchronization points of the shifting fork according to the processing result.
And (4) executing steps S1 to S3, wherein the synchronization point used in the gear shifting process is a key element of the control method, and in order to ensure the accuracy and stability of the synchronization point, the invention introduces a synchronization point self-adaptive method, such as steps S10 to S13, and step S10 is synchronous self-adaptive entering condition judgment, and the checking condition comprises the current gear shifting rotating speed, the transmission oil temperature and the gear shifting type. When the detection condition is met, entering a synchronization point self-adaption state; and when the condition is not met, checking the condition, not utilizing the gear shifting data of this time, and not updating the synchronization point.
Preferably, the basis for determining whether the shift fork is brought into the synchronized state in step S1 is based on the value collected by the sensor, and the difference between the value of the synchronization point obtained in step S13 and a correction value, wherein the correction value is a fixed value set in advance. If the collected value exceeds the sum of the value of the synchronization point and the correction value, entering a synchronization state, if the collected value does not meet the condition all the time, judging whether the time is overtime, and if the time is overtime, forcibly entering the synchronization state.
Synchronization basis force determination in step S2: the method comprises the following steps of firstly determining the total equivalent rotary inertia of a target gear of the transmission according to the rotary inertia of each gear, the dragging torque of a clutch and the oil temperature of the transmission, then determining basic target gear shifting time according to a gear shifting type, correcting the basic gear shifting time according to the NVH performance of rack gear shifting, finally obtaining basic synchronous force, and calculating according to the following calculation formula:
Ts=（ω1-ω2）Ir/Tc；
in the above formula, Ts is the synchronous time of the shift fork, omega1The target rotating speed of the input end of the transmission after gear shifting is equal to the rotating speed of the output end of the transmission multiplied by the target gear speed ratio, omega 2 is the rotating speed of the current input end of the transmission, Ir is the total equivalent moment of inertia of the target gear of the transmission, and Tc is shifting fork synchronous moment.
Synchronization maximum force determination in step S2: the method comprises the following steps of firstly determining the total equivalent rotary inertia of a target gear of the transmission according to the rotary inertia of each gear, the dragging torque of a clutch and the oil temperature of the transmission, then determining ideal shifting time according to a shifting type, correcting the ideal shifting time according to the NVH performance of rack shifting, finally obtaining the maximum synchronous force (the synchronous force is not greater than the design value of the synchronizer), and calculating according to the following calculation formula:
Ts=（ω1-ω2）Ir/Tc；
in the above formula, Ts is the synchronous time of the shift fork, omega1The target rotating speed of the input end of the transmission after gear shifting is equal to the rotating speed of the output end of the transmission multiplied by the target gear speed ratio, omega 2 is the rotating speed of the current input end of the transmission, Ir is the total equivalent moment of inertia of the target gear of the transmission, and Tc is shifting fork synchronous moment.
The synchronous force slope is mainly calculated by the oil temperature of the transmission, the gear shifting target time and the gear shifting type, and is comprehensively determined by combining with the NVH (noise vibration harshness) of the rack gear shifting. The shift types are divided into three types: the method comprises the steps of upshifting, downshifting, braking and downshifting 2 or 1, and longer target time is set due to the fact that the requirement on gear shifting time is lower during pre-gear shifting, so that better gear shifting NVH and reliability are obtained.
The specific method of the determination of the synchronization force increase slope in step S3 is: the method comprises the steps of firstly determining gear shifting target time according to oil temperature and gear shifting type of a transmission, then determining a synchronous force increasing slope according to a difference value of the target gear shifting time and ideal gear shifting time, and finally correcting the synchronous force increasing slope by combining rack gear shifting NVH.
Output fork control force determination in step S3: and according to the addition value of the synchronous basic force and the synchronous force increasing slope, and then, the calculation result and the synchronous maximum force are minimized to obtain the output shifting fork control force.
The process of controlling the fork shifting force further comprises:
and S4, judging whether to exit the synchronous state in real time according to the position of the shifting fork. The basis for judging whether the shift fork is out of the synchronized state in step S4 is based on the value collected by the sensor, and is compared with the sum of the value of the synchronization point obtained in step S13 and a correction value, wherein the correction value is a preset fixed value.
The more specific process for judging the exit condition of the synchronization state is as follows: and judging whether the shifting fork exits the synchronous state in real time according to the position of the shifting fork, wherein the basis for judging whether the shifting fork exits the synchronous state in the step S4 is based on the value collected by the sensor, and the sum of the value of the synchronous point obtained in the step S13 and a corrected value, wherein the corrected value is a preset fixed value. If the collected value exceeds the sum of the value of the synchronization point and the correction value, entering a synchronization state, if the collected value does not meet the condition all the time, judging whether the time is overtime, and if the time is overtime, forcibly exiting the synchronization state.
In step S10, detecting synchronous adaptive entry conditions of the shift fork including a current shift speed, a transmission oil temperature, and a shift type, and entering a synchronous point adaptive state when a detected speed range, oil temperature interval, and shift type are satisfied; and when the condition is not met, checking the condition, not utilizing the gear shifting data of this time, and not updating the synchronization point.
In step S11, the calculating of the synchronous position of the shift fork includes calculating the synchronous position S110 by a change slope of the input shaft rotation speed or calculating the synchronous position S111 by a change slope of the motor feedback current.
The step of calculating the synchronous position S110 by the input shaft speed change slope includes:
1) low-pass filtering the rotation speed of the input shaft;
2) calculating the change rate of the single operation period of the rotating speed of the input shaft in real time;
3) taking the change rate calculated in the first period as an initial maximum change rate;
4) and comparing the change rate calculated in the current operation period with the maximum change rate, and if the change rate of the current period is greater than the maximum change rate, taking the change rate of the current period as the maximum change rate and recording the position fed back by the sensor.
5) And taking the sensor position recorded by the maximum change rate in the synchronization process as the synchronization point of the adjustment.
Before calculating the change slope of the rotation speed of the input shaft, in order to avoid misjudgment caused by jump of the rotation speed of the input shaft, the rotation speed of the input shaft needs to be filtered, the filtering mode can be common low-pass filtering or mean filtering, the invention preferably adopts low-pass filtering, namely: the result of this filtering is new sample value × filter coefficient ÷ 65535 + the result of the last filtering (65535-filter coefficient) ÷ 65535. When the synchronous operation is carried out, the current input shaft rotating speed change rate and the shifting fork position are recorded, in the synchronous process, when the fact that the input shaft rotating speed change slope is larger than the last recorded input shaft rotating speed change slope is detected, the current input shaft rotating speed change slope and the shifting fork position are recorded, otherwise, data are not updated, and when the synchronous operation is completed, the shifting fork position corresponding to the maximum value of the input shaft rotating speed change slope recorded in the process is the synchronous point.
The motor feedback current change slope calculation synchronization position S111 includes:
1) carrying out low-pass filtering on the current value fed back by the driving motor;
2) taking the feedback current value of the first period as an initial maximum feedback current value;
3) comparing the feedback current value of the motor in the current operation period with the maximum feedback current value, and if the feedback current value in the current operation period is greater than the maximum feedback current value, taking the feedback current value of the motor in the current operation period as the maximum feedback current value and recording the feedback position of the sensor;
4) and taking the position of the sensor recorded by the maximum motor feedback current value in the synchronization process as the synchronization point of the current adjustment.
In order to avoid misjudgment caused by the jump of the motor feedback current, the motor feedback current needs to be filtered, and the filtering mode can be common low-pass filtering or average filtering, the invention adopts low-pass filtering, namely: the result of this filtering is new sample value × filter coefficient ÷ 65535 + the result of the last filtering (65535-filter coefficient) ÷ 65535. When the synchronous control is finished, the shifting fork position corresponding to the maximum value of the change slope of the motor feedback current recorded in the process is the synchronous point.
Step S12 judges whether or not the synchronizing position of the shift fork is reasonable:
1) judging whether the synchronization point of the self-adaptive value is in a set range, wherein the range is determined by transmission hardware according to a size chain and a design tolerance so as to eliminate a gross error;
2) judging whether the mutual difference value of the synchronization point of the self-adaptive value and the self-adaptive value obtained by the last gear shifting calculation is in a set range or not;
3) and judging whether the difference value between the adaptive value and the currently used synchronization point exceeds a set range.
In this step, the synchronization point of the adaptive value is a synchronization point at which the rotation speed change slope of the input shaft calculates the synchronization position or a synchronization point at which the feedback current of the motor calculates the synchronization position. After the rationality judgment is carried out, the obtained self-adaptive values of the two algorithms are averaged and stored in the control NVM as the self-adaptive result. The NVM sets N storage intervals, and stores the most advanced N times of adaptive values respectively. In this embodiment, the value of N is preferably 10.
The step S13 of processing the recently stored N NVM adaptation values includes:
1) sequencing N self-adaptive synchronization point data to be processed;
2) determining the difference value between the minimum data and the maximum data, and defining the difference value as a maximum deviation value;
3) comparing the difference value of two adjacent numbers with the maximum deviation value in sequence, if the difference value exceeds a set value, discarding the number far away from the central data until the maximum deviation value of the discarded data set is less than the set value;
4) taking the arithmetic mean value of the data left after abandoning as a calculation result;
5) and calculating a difference value between the calculation result and the original synchronization point, and taking 20% of the difference value as a compensation updating synchronization point.
Through the method, the synchronization point is determined through two sets of self-adaptive algorithms, and the synchronization basic force, the synchronization maximum force and the synchronization force increasing slope are determined according to the working condition. The synchronous starting point is accurate and reliable; the synchronization process is similar to manual gear shifting, and the synchronization force is stable and does not change suddenly. The problem of the smoothness of shifting gears, the noise of shifting gears is solved.
The invention introduces two sets of synchronous point self-adaptive algorithms, the two sets of algorithms are mutually checked, and a data processing system is adopted to process self-adaptive results. The problem of shift performance stability and the uniformity between the car that arouses because of mechanical error in the bicycle life cycle is solved.
The synchronizing force in the synchronizing process is automatically adjusted according to the gear shifting working condition, the problem of consistency of multiple working conditions of a single vehicle is solved, and meanwhile, the service life of the synchronizer is prolonged.
Claims (7)
1. The method for synchronously controlling the shifting forks of the double-clutch automatic transmission is characterized by comprising the following steps of controlling shifting fork shifting force:
s1, judging whether the shifting fork enters a synchronous state or not according to the value of the position of the shifting fork acquired by the sensor;
s2, after entering a synchronous state, determining the synchronous basic force and the synchronous maximum force of the shifting fork;
s3, determining the increasing slope of the synchronous force of the shifting fork, and outputting the synchronous force of the shifting fork in real time;
still include to carry out real-time detection to the shift fork position, adjust the position of the shift fork that gets into the synchronization state according to the testing result, include following step:
s10, detecting synchronous self-adaptive entering conditions of the shifting fork;
s11, calculating the synchronous position of the shifting fork through the change slope of the input shaft rotating speed or the change slope of the motor feedback current:
firstly, when the synchronous position of the shifting fork is calculated through the change slope of the rotation speed of the input shaft, the specific steps are as follows:
1) low-pass filtering the rotation speed of the input shaft;
2) calculating the change rate of the single operation period of the rotating speed of the input shaft in real time;
3) taking the change rate calculated in the first period as an initial maximum change rate;
4) comparing the change rate calculated by the current operation period with the maximum change rate, and if the change rate of the current period is greater than the maximum change rate, taking the change rate of the current period as the maximum change rate and recording the position fed back by the sensor;
5) taking the position of the sensor recorded by the maximum change rate in the synchronization process as a synchronization point of the adjustment;
secondly, when the synchronous position of the shifting fork is calculated by the change slope of the feedback current of the motor, the specific steps are as follows:
1) carrying out low-pass filtering on the current value fed back by the driving motor;
2) taking the feedback current value of the first period as an initial maximum feedback current value;
3) comparing the motor feedback current value of the current operation period with the maximum feedback current value, and if the motor feedback current value of the current operation period is larger than the maximum feedback current value, taking the motor feedback current value of the current operation period as the maximum feedback current value and recording the position fed back by the sensor;
4) taking the position of the sensor recorded by the maximum feedback current value in the synchronization process as a synchronization point of the adjustment;
s12, judging whether the synchronous position of the shifting fork is reasonable;
and S13, processing the recently stored N NVM synchronization point adaptive values, and updating the synchronization points of the shifting fork according to the processing result.
2. The method for controlling the shift forks of the automatic transmission according to claim 1, wherein the basis for judging whether the shift forks are brought into the synchronized state in the step S1 is based on the value collected by the sensor, and is compared with the difference between the value of the synchronization point obtained in the step S13 and a correction value, wherein the correction value is a fixed value set in advance.
3. The shift fork synchronization control method for a dual clutch automatic transmission according to claim 1, wherein the synchronization basis force in step S2 is determined by: the method comprises the following steps of firstly determining the total equivalent rotary inertia of a target gear of the transmission according to the rotary inertia of each gear, the dragging torque of a clutch and the oil temperature of the transmission, then determining basic target gear shifting time according to the gear shifting type, then correcting the basic target gear shifting time according to the NVH performance of rack gear shifting, finally obtaining synchronous foundation force, and calculating according to the following calculation formula:
Ts=（ω1-ω2）Ir/Tc；
in the above formula, Ts is the synchronous time of the shift fork, omega1The target rotating speed of the input end of the transmission after gear shifting is equal to the rotating speed of the output end of the transmission multiplied by the target gear speed ratio, omega2And Ir is the total equivalent moment of inertia of the target gear of the transmission, and Tc is the shifting fork synchronous moment, wherein Ir is the rotating speed of the current input end of the transmission.
4. The method for synchronously controlling the shift forks of the double-clutch automatic transmission according to claim 1, wherein: synchronization maximum force determination in step S2: the method comprises the following steps of firstly determining the total equivalent rotary inertia of a target gear of the transmission according to the rotary inertia of each gear, the drag torque of a clutch and the oil temperature of the transmission, then determining ideal shifting time according to a shifting type, correcting the ideal shifting time according to the NVH performance of rack shifting, and finally obtaining the maximum synchronous force which is not greater than the design value of the synchronizer, and calculating according to the following calculation formula:
Ts=（ω1-ω2）Ir/Tc；
in the above formula, Ts is the synchronous time of the shift fork, omega1The target rotating speed of the input end of the transmission after gear shifting is equal to the rotating speed of the output end of the transmission multiplied by the target gear speed ratio, omega2Is the current input of the transmissionAnd the rotating speed of the end, Ir is the total equivalent moment of inertia of the target gear of the transmission, and Tc is the synchronous moment of the shifting fork.
5. The method for synchronously controlling the shift forks of the double-clutch automatic transmission according to claim 1, wherein: and (5) outputting control shifting fork synchronous force determination in the step S3: and according to the addition value of the synchronous basic force and the synchronous force increasing slope, and then, the calculation result and the synchronous maximum force are minimized to obtain the output control shifting fork synchronous force.
6. The method for synchronously controlling the shift forks of the double-clutch automatic transmission according to claim 1, wherein: step S12 judges whether or not the synchronizing position of the shift fork is reasonable:
1) judging whether the synchronization point of the adaptive value is in a set range, wherein the range is determined by transmission hardware according to a size chain and a design tolerance so as to eliminate a gross error;
2) judging whether the mutual difference value of the synchronous point of the adaptive value and the adaptive value obtained by the last gear shifting calculation is within a set range;
3) and judging whether the difference value between the synchronization point of the adaptive value and the currently used synchronization point exceeds a set range.
7. The method for synchronously controlling the shift forks of the double-clutch automatic transmission according to claim 1, wherein: step S13, processing the recently stored N NVM synchronization point adaptive values includes:
1) sorting the N NVM synchronization point adaptive values to be processed;
2) determining the difference value between the minimum data and the maximum data, and defining the difference value as a maximum deviation value;
3) comparing the difference value of two adjacent numbers with the maximum deviation value in sequence, if the difference value exceeds a set value, discarding the number far away from the central data until the maximum deviation value of the discarded data set is less than the set value;
4) taking the arithmetic mean value of the data left after abandoning as a calculation result;
5) and calculating a difference value between the calculation result and the original synchronization point, and taking 20% of the difference value as a compensation updating synchronization point.
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| CN115217967B (en) * | 2021-04-26 | 2023-08-04 | 广州汽车集团股份有限公司 | A self-learning method and system for automatic transmission synchronizer characteristic points |
| CN115217961B (en) * | 2022-07-07 | 2023-06-27 | 东风汽车集团股份有限公司 | Gear shifting system control method and related equipment |
| CN116066556B (en) * | 2023-01-02 | 2024-07-19 | 重庆长安汽车股份有限公司 | Control method and system for preventing shift fork of dual clutch transmission from being in gear failure and vehicle |
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| JP2002071017A (en) * | 2000-08-29 | 2002-03-08 | Aisin Ai Co Ltd | Change gear for synchromesh transmission |
| DE102004017794B4 (en) * | 2004-04-05 | 2007-09-13 | Getrag Getriebe- Und Zahnradfabrik Hermann Hagenmeyer Gmbh & Cie Kg | Switching optimization method and corresponding control unit |
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