CN114992258B - Method, device, equipment and storage medium for calibrating position of clutch half-combining point - Google Patents
Method, device, equipment and storage medium for calibrating position of clutch half-combining point Download PDFInfo
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- CN114992258B CN114992258B CN202210613989.8A CN202210613989A CN114992258B CN 114992258 B CN114992258 B CN 114992258B CN 202210613989 A CN202210613989 A CN 202210613989A CN 114992258 B CN114992258 B CN 114992258B
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- 230000008569 process Effects 0.000 claims description 6
- 238000012216 screening Methods 0.000 claims description 4
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Classifications
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/102—Actuator
- F16D2500/1021—Electrical type
- F16D2500/1023—Electric motor
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/104—Clutch
- F16D2500/10443—Clutch type
- F16D2500/1045—Friction clutch
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/10—System to be controlled
- F16D2500/11—Application
- F16D2500/1107—Vehicles
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/302—Signal inputs from the actuator
- F16D2500/3027—Torque
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/304—Signal inputs from the clutch
- F16D2500/30406—Clutch slip
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/50—Problem to be solved by the control system
- F16D2500/502—Relating the clutch
- F16D2500/50245—Calibration or recalibration of the clutch touch-point
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/50—Problem to be solved by the control system
- F16D2500/502—Relating the clutch
- F16D2500/50245—Calibration or recalibration of the clutch touch-point
- F16D2500/50266—Way of detection
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
- F16D2500/70402—Actuator parameters
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/70—Details about the implementation of the control system
- F16D2500/706—Strategy of control
- F16D2500/70605—Adaptive correction; Modifying control system parameters, e.g. gains, constants, look-up tables
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
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Abstract
The embodiment of the invention discloses a method, a device, equipment and a storage medium for calibrating the position of a clutch half-combining point. The method comprises the following steps: determining a relation curve of the torque change rate of the execution motor and the position of the execution motor by acquiring the torque of the execution motor and the position of the execution motor at different rotation speeds of the execution motor; determining two-dimensional arrays of the torque change rates of at least two groups of execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states; and carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point. By adopting the technical scheme of the embodiment of the invention, the accuracy of the self-learning result of the clutch half-junction is improved by comprehensively optimizing the control parameters in three dimensions of the rotating speed of the executing motor, the position deviation of the executing motor and the sliding and rubbing times.
Description
Technical Field
The embodiment of the invention relates to the technical field of automobile transmission systems, in particular to a method, a device, equipment and a storage medium for calibrating the position of a half-junction point of a clutch.
Background
The clutch is one of core components of an automobile transmission and a transfer case, the torque transmission precision of the clutch has very important influence on the drivability of the automobile, the torque transmission precision of the clutch depends on whether the half-junction point of the clutch is accurately selected or not to a great extent, if the half-junction point of the clutch is deviated from the actual point, the whole torque transmission line is deviated, and the torque transmission precision of the clutch under various working conditions is deviated.
The half-joint point of the clutch is generally obtained by actual measurement during offline detection, but in actual use, the unpredictable wear condition of the clutch occurs along with the increase of the driving mileage of the whole vehicle, so that the half-joint point of the clutch changes unpredictably, and the half-joint point of the clutch cannot be directly measured on the whole vehicle.
Therefore, how to accurately obtain the position of the clutch half-engagement point is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for calibrating the position of a clutch half-joint, which improve the accuracy of a self-learning result of the clutch half-joint by executing three dimensions of comprehensive optimization control parameters including motor rotation speed, motor position deviation and sliding and friction times.
In a first aspect, an embodiment of the present invention provides a method for calibrating a position of a half-junction point of a clutch, including:
acquiring the torque and the position of an execution motor of the execution motor under different rotation speeds of the execution motor, and determining a relation curve of the torque change rate and the position of the execution motor;
determining two-dimensional arrays of the torque change rates of at least two groups of execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states;
and carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point.
In a second aspect, an embodiment of the present invention further provides a device for calibrating a position of a half-junction point of a clutch, including:
the relation curve acquisition module is used for acquiring the torque and the position of the execution motor under different rotation speeds of the execution motor and determining a relation curve of the torque change rate and the position of the execution motor;
the two-dimensional array determining module is used for determining two-dimensional arrays of the torque change rate of at least two groups of the execution motors according to the relation curves of the torque change rate of the execution motors and the positions of the execution motors in different sliding states;
and the position calibration module is used for carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the half-coupling point of the clutch.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
one or more processors;
a storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the clutch half-tie-up point position calibration method according to any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer readable storage medium, where a computer program is stored, where the program when executed by a processor implements the method for calibrating a clutch half-combining point position according to any embodiment of the present invention.
The embodiment of the invention provides a method, a device, equipment and a storage medium for calibrating the position of a clutch half-combining point, which are used for determining a relation curve of the torque change rate of an execution motor and the position of the execution motor by acquiring the torque of the execution motor and the position of the execution motor under different rotation speeds of the execution motor; determining two-dimensional arrays of the torque change rates of at least two groups of execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states; and carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point. By adopting the technical scheme of the embodiment of the invention, the accuracy of the self-learning result of the clutch half-combining point is improved by comprehensively optimizing the control parameters in three dimensions of the rotating speed of the executing motor, the position deviation of the executing motor and the sliding times, and the initial half-combining point detected in a offline mode is corrected by self-learning so as to ensure that the half-combining point is accurate in the whole life cycle of the clutch.
Drawings
Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
FIG. 1A is a flowchart of a method for calibrating a clutch half-tie-up point position according to an embodiment of the present invention;
FIG. 1B is a flow chart of another clutch half-tie-point position calibration method provided in an embodiment of the invention;
FIG. 2A is a flowchart of a method for calibrating a clutch half-tie-point position according to a second embodiment of the present invention;
FIG. 2B is a schematic diagram of a torque and position versus time relationship of an actuator motor according to an embodiment of the present invention;
FIG. 2C is a graphical illustration of a motor torque filtering and filtering performed in accordance with an embodiment of the present invention;
FIG. 2D is a graph showing a relationship between a torque change rate of an actuator motor and a position of the actuator motor according to an embodiment of the present invention;
FIG. 2E is a schematic diagram of a self-learning error relationship between the rotational speed of the motor and the clutch half-engagement point according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a clutch half-junction position calibration device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations (or steps) can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example 1
Fig. 1A is a flowchart of a method for calibrating a clutch half-joining point position according to an embodiment of the present invention, where the method of the present invention may be implemented by a device for calibrating a clutch half-joining point position, and the device may be implemented in hardware and/or software. The device can be configured in a server for calibrating the position of the half-combining point of the clutch. The method specifically comprises the following steps:
s110, acquiring the torque and the position of the execution motor under different rotation speeds of the execution motor, and determining a relation curve of the torque change rate and the position of the execution motor.
Wherein, the executing motor can be used for making a quick response along with the input signal, and the executing motor is combined with the speed measuring element and the position element to form a speed closed-loop system and a position closed-loop system; for example, the gear ratio of the actuator motor may be varied depending on the vehicle speed and the steering angle of the steering wheel of the driver, and a suitable gear ratio may be obtained by the control system, thereby improving the drivability, stability and track-keeping performance of the vehicle.
The torque may refer to a special torque for rotating an object, and the torque of the execution motor may refer to a torque output from a crankshaft end by the execution motor; the greater the torque of the motor is executed, the greater the traction provided to the vehicle, and the accuracy of the torque of the motor is executed with a very important effect on the drivability of the vehicle.
The implement motor position may refer to a position corresponding to a clutch half-tie-up point; for example, at a clutch half-tie-up position, the implement motor position is P1; the clutch half-engagement point is shifted, and the position of the execution motor is shifted correspondingly, for example, the position of the execution motor after shifting is P2.
In the embodiment of the invention, the corresponding relation between the torque of the execution motor and the time and the corresponding relation between the position of the execution motor and the time are determined by acquiring the torque of the execution motor and the position of the execution motor under different rotation speeds of the execution motor, and the corresponding relation between the torque of the execution motor and the time and the corresponding relation between the position of the execution motor and the time are processed to determine the relation curve between the torque change rate of the execution motor and the position of the execution motor.
S120, determining two-dimensional arrays of the torque change rates of at least two groups of the execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states.
Slip may refer to repeated durable friction of the clutch half-engagement point, among other things. When the clutch is actually used, with the increase of the driving mileage of the whole vehicle, unpredictable wear conditions can appear on the clutch, so that unpredictable changes can occur on the half-junction point. According to the embodiment of the invention, the clutch is subjected to sliding friction treatment, so that the clutch can be more similar to the actual use state of the clutch, and the relation curve of the torque change rate of the executing motor and the position of the executing motor under different wear states can be effectively obtained.
The relation curve of the torque change rate of the execution motor and the position of the execution motor may refer to a relation curve of the torque change rate of the execution motor and the position of the execution motor, which is obtained by preprocessing the torque of the execution motor and the position of the execution motor, and determining the click position of the execution motor; wherein the preprocessing includes, but is not limited to, filtering and derivation. According to the relation curve of the torque change rate of the executing motor and the position of the executing motor, the torque change rate of the executing motor at different executing motor positions can be obtained.
S130, performing error analysis on the two-dimensional arrays of the torque change rates of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point.
The two-dimensional array of the torque change rate of the execution motor can refer to the two-dimensional array of the torque change rate of the execution motor determined according to the acquired array of the torque change rate of the execution motor and the array of the rotation speed of the execution motor; performing error analysis on the two-dimensional array of the torque change rate of the execution motor, and determining the torque change rate errors of the execution motor in the same execution motor rotating speed, the same execution motor position and different slip states; reversely pushing the position error of the execution motor according to the torque change rate error of the execution motor and the relation curve of the filtered torque change rate of the execution motor and the position of the execution motor; and taking the error of the position of the execution motor as the target execution motor rotating speed and the target execution motor position to calibrate the position of the clutch half-combining point.
FIG. 1B is a flowchart of another method for calibrating a clutch half-tie-up point position according to an embodiment of the present invention, and referring to FIG. 1B, the method may include:
a1: identifying a control amount and a measured value of the clutch actuator;
a2: acquiring the position of an executing motor corresponding to the accurate test clutch half-combining point;
a3: obtaining a group of execution motor position arrays with fixed deviation from a clutch half-combining point;
a4: testing the corresponding relation between the position and time of the executing motor and the torque of the executing motor under different rotating speeds of the executing motor;
a5: filtering the torque of the executing motor;
a6: acquiring the relation between the torque change rate of the executing motor and time;
a7: filtering the torque change rate of the executing motor;
a8: obtaining a two-dimensional array of torque change rate of the execution motor corresponding to the position of the execution motor;
a9: judging whether the sliding friction endurance test is finished; if not, carrying out clutch slip durability test for a certain number of times;
a10: if the sliding friction endurance test is completed, calculating an error of the torque change rate of the executing motor;
a11: calculating an error of the position of the executing motor;
a12: and (3) selecting the rotation speed of the execution motor with the minimum screening error and the position deviation of the execution motor as the optimal control parameter.
The embodiment of the invention provides a clutch half-junction position calibration method, which is used for determining a relation curve of a torque change rate of an execution motor and the position of the execution motor by acquiring the torque of the execution motor and the position of the execution motor under different rotation speeds of the execution motor; determining two-dimensional arrays of the torque change rates of at least two groups of execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states; and carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point. By adopting the technical scheme of the embodiment of the invention, the accuracy of the self-learning result of the clutch half-combining point is improved by comprehensively optimizing the control parameters in three dimensions of the rotating speed of the executing motor, the position deviation of the executing motor and the sliding times, and the initial half-combining point detected in a offline mode is corrected by self-learning so as to ensure that the half-combining point is accurate in the whole life cycle of the clutch.
Example two
Fig. 2A is a flowchart of a method for calibrating a position of a half-junction of a clutch according to a second embodiment of the present invention. Embodiments of the present invention may be further optimized on the basis of the foregoing embodiments, and may be combined with each of the alternatives of one or more of the foregoing embodiments. As shown in fig. 2A, the method for calibrating the position of the half-junction point of the clutch according to the embodiment of the present invention may include the following steps:
s210, performing sliding friction processing on the clutch to obtain at least two preset deviation positions of the execution motor.
Before the clutch is subjected to sliding friction treatment, acquiring an initial position of an execution motor corresponding to a half-combining point of the clutch; and (3) taking the clutch half-combining point as a starting point, performing offset processing on the clutch half-combining point, and determining at least one preset deviation position of the executing motor corresponding to the clutch half-combining point.
In an alternative of the embodiment of the invention, firstly, the control quantity of the clutch actuating mechanism needs to be identified and measured; the control amounts are the execution motor rotation speed and the execution motor position, and are measured as the execution motor torque. The clutch half-combining point, namely the corresponding executing motor position when the clutch transmits fixed torque, can be tested on a preset test bed through a rack motor, a torque sensor and the control of the executing motor position, the clutch half-combining point is required to be measured for at least 3 times, the average value of the clutch half-combining point is taken, and the average value is recorded as P 0 The method comprises the steps of carrying out a first treatment on the surface of the To clutch half-engagement point P 0 And performing offset processing, namely determining at least one preset deviation position of the execution motor corresponding to the clutch half-combining point by taking the clutch half-combining point as a starting point. Performing deviation processing on the clutch half-combining point to obtain an array composed of a group of arithmetic progression, wherein P= { P 0 ,P 0 +δP,P 0 +2·δP……P 0 +y.δP, the start of the array is the clutch half-engagement point P 0 The values of delta P and y are determined according to the maximum reachable position of the execution motor, and the number of the general array is not less than 5 points; δP is the offset of the clutch half-engagement point and y is the maximum number of times the clutch half-engagement point can be moved.
S220, determining a first corresponding relation and a second corresponding relation under different rotating speeds of the execution motor according to the preset deviation positions of the execution motor.
Optionally, the determining the first corresponding relationship and the second corresponding relationship under different rotation speeds of the execution motor according to the preset deviation position of the execution motor includes:
setting different rotating speeds of an execution motor, and controlling the execution motor to move from an initial position to a preset deviation position of the execution motor by a preset distance;
detecting the position and torque of an execution motor in real time, and determining a first corresponding relation and a second corresponding relation under different rotation speeds of the execution motor; the first corresponding relation refers to the corresponding relation between the torque of the executing motor and the time, and the second corresponding relation refers to the corresponding relation between the position of the executing motor and the time.
Fig. 2B is a schematic diagram of a corresponding relationship between torque and position of an execution motor and time of the execution motor according to an embodiment of the present invention, and in fig. 2B, different rotation speeds of the execution motor are set under a static or rotating condition, the position of the execution motor is controlled to move from an initial position to a certain fixed position, and during the movement of the execution motor, the position of the execution motor and the torque of the execution motor are detected in real time, so as to obtain a relationship between torque and time of the execution motor and a relationship between the position of the execution motor and time under different rotation speeds of the execution motor.
S230, processing the first corresponding relation and the second corresponding relation under the different execution motor rotating speeds, and determining a relation curve of the torque change rate of the execution motor and the position of the execution motor.
Fig. 2C is a schematic diagram of a graph before and after the torque filtering of the execution motor according to the embodiment of the present invention, referring to fig. 2C, the torque of the execution motor in the first correspondence is filtered, so as to filter the torque of the execution motor with larger fluctuation, and make the torque of the execution motor change with time to be monotonous.
Performing derivative processing on the torque of the execution motor after filtering, and calculating the corresponding relation between the torque change rate of the execution motor and time; fig. 2D is a schematic diagram of a relationship between a torque change rate of an execution motor and a position of the execution motor, and referring to fig. 2D, the torque change rate of the execution motor is filtered, so that the torque change rate of the execution motor changes monotonically with time, and a relationship between the torque change rate of the execution motor after filtering and the position of the execution motor is obtained at different rotation speeds of the execution motor.
S240, determining two-dimensional arrays of the torque change rates of at least two groups of the execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states.
Optionally, determining at least two sets of two-dimensional arrays of torque change rates of the execution motor according to a relationship curve between torque change rates of the execution motor and positions of the execution motor in different sliding states includes:
determining an execution motor torque change rate array according to the preset deviation position of the execution motor and a relation curve of the execution motor torque change rate and the execution motor position;
determining an execution motor rotation speed array according to different execution motor rotation speeds;
and determining at least two groups of two-dimensional arrays of the torque change rate of the execution motor under different sliding states according to the torque change rate array of the execution motor and the rotating speed array of the execution motor.
The method comprises the steps that at least one preset deviation position of an execution motor corresponding to a clutch half-combining point is obtained, and the preset deviation positions are respectively obtained in the figure 2D, so that a corresponding execution motor torque change rate array is obtained; determining an execution motor rotation speed array, wherein n= { n0, 2.n0, 3.n … … x.n0 } according to different execution motor rotation speeds, wherein n0 is the initial rotation speed of the execution motor, x is the maximum multiple of the initial execution motor rotation speed, the values of n0 and x can be determined according to motor rotation speed control precision and control range, and the array is generally not less than 10 points; different arrays can be obtained under different execution motor rotating speeds, a two-dimensional array is formed according to the execution motor torque change rate array and the execution motor rotating speed array, and each element in the array is the execution motor torque change rate corresponding to the clutch half-combining point under certain rotating speed and certain execution motor position deviation.
And carrying out sliding friction endurance tests on the clutch, and obtaining at least two groups of two-dimensional arrays of torque change rate of the execution motor after different sliding friction endurance times after different test times are reached.
S250, performing error analysis on the two-dimensional arrays of the torque change rates of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point.
Optionally, the performing error analysis on the two-dimensional arrays of torque change rates of the at least two groups of execution motors to determine a target execution motor speed and a target execution motor position, so as to calibrate a clutch half-junction position, includes:
determining the torque change rate errors of the execution motor in the same execution motor rotating speed, the same execution motor position and different slip states according to the two-dimensional arrays of the torque change rates of the at least two groups of the execution motors;
determining the position error of the execution motor according to the torque change rate error of the execution motor and the relation curve of the filtered torque change rate of the execution motor and the position of the execution motor for different sliding states;
and screening the position errors of the executing motor, and taking the position error of the executing motor with the smallest error as the target executing motor rotating speed and the target executing motor position so as to calibrate the position of the clutch half-combining point.
The data are summarized, the torque change rates of the execution motors obtained by the same execution motor rotating speed, the same execution motor position deviation amount and different clutch slip times are compared, and errors of the torque change rates and the average value are calculated. And according to the relation curve of the torque change rate of the execution motor and the position of the execution motor after filtering and the torque change rate error of the execution motor, reversely calculating the position error of the execution motor. And calculating the errors of the positions of the execution motors under the rotating speeds and the position deviation of the execution motors according to the errors, and obtaining a two-dimensional array of the errors of the positions of the execution motors. Comparing all the errors of the execution motor rotation speed and the execution motor position obtained in the execution motor position deviation, wherein the execution motor rotation speed and the execution motor position deviation when the errors are minimum are the optimal control parameters. When the vehicle is used, the clutch half-combining point self-learning is carried out on the rotating speed of the executing motor and the position error of the executing motor when the error is minimum, so that the clutch half-combining point in the current state of the clutch can be obtained, and the error is minimum. Fig. 2E is a schematic diagram of a relationship between a rotational speed of an execution motor and a self-learning error of a clutch half-combining point, which is shown in fig. 2E, in the embodiment of the invention, the rotational speed of the execution motor is P 01 At the same time, under different sliding states, the belt is separated from the beltThe self-learning error of the combiner half junction is minimal.
The embodiment of the invention provides a method for calibrating the position of a half-junction point of a clutch, which comprises the steps of carrying out sliding friction treatment on the clutch to obtain at least two preset deviation positions of an execution motor; determining a first corresponding relation and a second corresponding relation under different execution motor rotating speeds according to preset deviation positions of the execution motor; the first corresponding relation refers to the corresponding relation between the torque of the executing motor and the time, and the second corresponding relation refers to the corresponding relation between the position of the executing motor and the time; and processing the first corresponding relation and the second corresponding relation under the rotating speeds of the different execution motors, and determining a relation curve of the torque change rate of the execution motor and the position of the execution motor. Determining two-dimensional arrays of the torque change rates of at least two groups of execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states; and carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point. By adopting the technical scheme of the embodiment of the invention, the measuring method and the calibrating method suitable for self-learning of the clutch half-combining point provided with the motor executing mechanism are provided, and the self-learning of the clutch half-combining point can be realized through the control and the measuring parameters carried by the motor executing mechanism; the invention adopts a data processing method of secondary filtering, which can ensure that the processed data is smooth and undistorted; the accuracy of the self-learning result of the clutch half-combining point is improved to the greatest extent by executing the motor rotating speed, executing the motor position deviation and comprehensively optimizing the control parameters in three dimensions of the sliding number.
Example III
Fig. 3 is a schematic structural diagram of a clutch half-junction position calibration device according to a third embodiment of the present invention, where the device includes: a relationship curve acquisition module 310, a two-dimensional array determination module 320, and a position calibration module 330. Wherein:
the relation curve acquisition module is used for acquiring the torque and the position of the execution motor under different rotation speeds of the execution motor and determining a relation curve of the torque change rate and the position of the execution motor;
the two-dimensional array determining module is used for determining two-dimensional arrays of the torque change rate of at least two groups of the execution motors according to the relation curves of the torque change rate of the execution motors and the positions of the execution motors in different sliding states;
and the position calibration module is used for carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the half-coupling point of the clutch.
On the basis of the foregoing embodiment, optionally, the relationship curve obtaining module includes:
carrying out sliding friction treatment on the clutch to obtain at least two preset deviation positions of the execution motor;
determining a first corresponding relation and a second corresponding relation under different execution motor rotating speeds according to preset deviation positions of the execution motor; the first corresponding relation refers to the corresponding relation between the torque of the executing motor and the time, and the second corresponding relation refers to the corresponding relation between the position of the executing motor and the time;
and processing the first corresponding relation and the second corresponding relation under the rotating speeds of the different execution motors, and determining a relation curve of the torque change rate of the execution motor and the position of the execution motor.
On the basis of the foregoing embodiment, optionally, the relationship curve obtaining module further includes:
before the clutch is subjected to sliding friction treatment, acquiring an initial position of an executing motor corresponding to a half-combining point of the clutch;
and (3) taking the clutch half-combining point as a starting point, performing offset processing on the clutch half-combining point, and determining at least one preset deviation position of the executing motor corresponding to the clutch half-combining point.
On the basis of the foregoing embodiment, optionally, the relationship curve obtaining module further includes:
setting different rotating speeds of an execution motor, and controlling the execution motor to move from an initial position to a preset deviation position of the execution motor by a preset distance;
detecting the position and torque of an execution motor in real time, and determining a first corresponding relation and a second corresponding relation under different rotation speeds of the execution motor; the first corresponding relation refers to the corresponding relation between the torque of the executing motor and the time, and the second corresponding relation refers to the corresponding relation between the position of the executing motor and the time.
On the basis of the foregoing embodiment, optionally, the relationship curve obtaining module further includes:
filtering the torque of the executing motor to ensure that the torque of the executing motor changes in monotone trend along with time;
processing the filtered torque of the execution motor, and determining the corresponding relation between the torque change rate of the execution motor and time;
and filtering the torque change rate of the execution motor to enable the change of the torque change rate of the execution motor to be in a monotone trend along with the change of time, and determining a relation curve of the torque change rate of the execution motor after filtering and the position of the execution motor.
On the basis of the foregoing embodiment, optionally, the two-dimensional array determining module includes:
determining an execution motor torque change rate array according to the preset deviation position of the execution motor and a relation curve of the execution motor torque change rate and the execution motor position;
determining an execution motor rotation speed array according to different execution motor rotation speeds;
and determining at least two groups of two-dimensional arrays of the torque change rate of the execution motor under different sliding states according to the torque change rate array of the execution motor and the rotating speed array of the execution motor.
On the basis of the foregoing embodiment, optionally, the position calibration module includes:
determining the torque change rate errors of the execution motor in the same execution motor rotating speed, the same execution motor position and different slip states according to the two-dimensional arrays of the torque change rates of the at least two groups of the execution motors;
determining the position error of the execution motor according to the torque change rate error of the execution motor and the relation curve of the filtered torque change rate of the execution motor and the position of the execution motor for different sliding states;
and screening the position errors of the executing motor, and taking the position error of the executing motor with the smallest error as the target executing motor rotating speed and the target executing motor position so as to calibrate the position of the clutch half-combining point.
The device for calibrating the position of the half-joint of the clutch provided by the embodiment of the invention can execute the method for calibrating the position of the half-joint of the clutch provided by any embodiment of the invention, has the corresponding functions and beneficial effects of executing the method for calibrating the position of the half-joint of the clutch, and the detailed process refers to the related operation of the method for calibrating the position of the half-joint of the clutch in the embodiment.
Example IV
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present application. The embodiment of the application provides electronic equipment, and the electronic equipment can integrate the interaction device for calibrating the position of the clutch half-combining point. As shown in fig. 4, the present embodiment provides an electronic device 400, which includes: one or more processors 420; a storage device 410, configured to store one or more programs that, when executed by the one or more processors 420, cause the one or more processors 420 to implement the clutch half-junction position calibration method provided in the embodiments of the present application, the method includes:
acquiring the torque and the position of an execution motor of the execution motor under different rotation speeds of the execution motor, and determining a relation curve of the torque change rate and the position of the execution motor;
determining two-dimensional arrays of the torque change rates of at least two groups of execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states;
and carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point.
Of course, those skilled in the art will appreciate that the processor 420 may implement the clutch half-junction position calibration method according to any embodiment of the present application.
The electronic device 400 shown in fig. 4 is merely an example and should not be construed as limiting the functionality and scope of use of embodiments of the present application.
As shown in fig. 4, the electronic device 400 includes a processor 420, a storage device 410, an input device 430, and an output device 440; the number of processors 420 in the electronic device may be one or more, one processor 420 being taken as an example in fig. 4; the processor 420, the storage device 410, the input device 430, and the output device 440 in the electronic device may be connected by a bus or other means, as exemplified by connection via a bus 450 in fig. 4.
The storage device 410 is used as a computer readable storage medium for storing a software program, a computer executable program, and a module unit, such as program instructions corresponding to the clutch half-coupling point position calibration method in the embodiment of the present application.
The storage device 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for functions; the storage data area may store data created according to the use of the terminal, etc. In addition, the storage 410 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some examples, storage device 410 may further include memory located remotely from processor 420, which may be connected via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 430 may be used to receive input numeric, character information, or voice information, and to generate key signal inputs related to user settings and function control of the electronic device. The output device 440 may include an electronic device such as a display screen, a speaker, etc.
The electronic equipment provided by the embodiment of the application can achieve the technical effect of improving the accuracy of the self-learning result of the clutch half-combining point by comprehensively optimizing the control parameters in three dimensions of the rotating speed of the executing motor, the position deviation of the executing motor and the sliding and rubbing times.
Example five
A fifth embodiment of the present invention also provides a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a clutch half-tie-point position calibration method, the method comprising:
acquiring the torque and the position of an execution motor of the execution motor under different rotation speeds of the execution motor, and determining a relation curve of the torque change rate and the position of the execution motor;
determining two-dimensional arrays of the torque change rates of at least two groups of execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states;
and carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), a flash Memory, an optical fiber, a portable CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. A computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to: electromagnetic signals, optical signals, or any suitable combination of the preceding. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, radio frequency (RadioFrequency, RF), and the like, or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. A method for calibrating a clutch half-junction position, the method comprising:
acquiring the torque and the position of an execution motor of the execution motor under different rotation speeds of the execution motor, and determining a relation curve of the torque change rate and the position of the execution motor;
determining two-dimensional arrays of the torque change rates of at least two groups of execution motors according to the relation curves of the torque change rates of the execution motors and the positions of the execution motors in different sliding states;
performing error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, and determining the rotating speed of the target execution motor and the position of the target execution motor so as to calibrate the position of the clutch half-combining point;
the method for determining the relation curve between the torque change rate of the execution motor and the position of the execution motor comprises the following steps of:
carrying out sliding friction treatment on the clutch to obtain at least two preset deviation positions of the execution motor; determining a first corresponding relation and a second corresponding relation under different execution motor rotating speeds according to preset deviation positions of the execution motor; the first corresponding relation refers to the corresponding relation between the torque of the executing motor and the time, and the second corresponding relation refers to the corresponding relation between the position of the executing motor and the time; and processing the first corresponding relation and the second corresponding relation under the rotating speeds of the different execution motors, and determining a relation curve of the torque change rate of the execution motor and the position of the execution motor.
2. The method of claim 1, wherein the performing a slip-on process on the clutch to obtain at least two preset offset positions of the actuator motor comprises:
before the clutch is subjected to sliding friction treatment, acquiring an initial position of an executing motor corresponding to a half-combining point of the clutch;
and (3) taking the clutch half-combining point as a starting point, performing offset processing on the clutch half-combining point, and determining at least one preset deviation position of the executing motor corresponding to the clutch half-combining point.
3. The method according to claim 1, wherein determining the first correspondence and the second correspondence at different execution motor speeds according to the execution motor preset deviation position includes:
setting different rotating speeds of an execution motor, and controlling the execution motor to move from an initial position to a preset deviation position of the execution motor by a preset distance;
detecting the position and torque of an execution motor in real time, and determining a first corresponding relation and a second corresponding relation under different rotation speeds of the execution motor; the first corresponding relation refers to the corresponding relation between the torque of the executing motor and the time, and the second corresponding relation refers to the corresponding relation between the position of the executing motor and the time.
4. The method of claim 1, wherein processing the first correspondence and the second correspondence at different execution motor speeds to determine a execution motor torque change rate versus execution motor position curve includes:
filtering the torque of the executing motor to ensure that the torque of the executing motor changes in monotone trend along with time;
processing the filtered torque of the execution motor, and determining the corresponding relation between the torque change rate of the execution motor and time;
and filtering the torque change rate of the execution motor to enable the change of the torque change rate of the execution motor to be in a monotone trend along with the change of time, and determining a relation curve of the torque change rate of the execution motor after filtering and the position of the execution motor.
5. The method of claim 1, wherein determining at least two-dimensional arrays of execution motor torque change rates based on execution motor torque change rates versus execution motor position for different slip conditions comprises:
determining an execution motor torque change rate array according to the preset deviation position of the execution motor and a relation curve of the execution motor torque change rate and the execution motor position;
determining an execution motor rotation speed array according to different execution motor rotation speeds;
and determining at least two groups of two-dimensional arrays of the torque change rate of the execution motor under different sliding states according to the torque change rate array of the execution motor and the rotating speed array of the execution motor.
6. The method of claim 1, wherein said performing an error analysis on the two-dimensional array of at least two sets of torque change rates of the execution motor to determine a target execution motor speed and a target execution motor position to calibrate a clutch half-tie-up position comprises:
determining the torque change rate errors of the execution motor in the same execution motor rotating speed, the same execution motor position and different slip states according to the two-dimensional arrays of the torque change rates of the at least two groups of the execution motors;
determining the position error of the execution motor according to the torque change rate error of the execution motor and the relation curve of the filtered torque change rate of the execution motor and the position of the execution motor for different sliding states;
and screening the position errors of the executing motor, and taking the position error of the executing motor with the smallest error as the target executing motor rotating speed and the target executing motor position so as to calibrate the position of the clutch half-combining point.
7. A clutch half-tie-up point position calibration device, the device comprising:
the relation curve acquisition module is used for acquiring the torque and the position of the execution motor under different rotation speeds of the execution motor and determining a relation curve of the torque change rate and the position of the execution motor;
the two-dimensional array determining module is used for determining two-dimensional arrays of the torque change rate of at least two groups of the execution motors according to the relation curves of the torque change rate of the execution motors and the positions of the execution motors in different sliding states;
the position calibration module is used for carrying out error analysis on the two-dimensional arrays of the torque change rate of the at least two groups of execution motors, determining the rotating speed of the target execution motor and the position of the target execution motor, and calibrating the position of the clutch half-combining point;
the relation curve acquisition module is specifically configured to:
carrying out sliding friction treatment on the clutch to obtain at least two preset deviation positions of the execution motor; determining a first corresponding relation and a second corresponding relation under different execution motor rotating speeds according to preset deviation positions of the execution motor; the first corresponding relation refers to the corresponding relation between the torque of the executing motor and the time, and the second corresponding relation refers to the corresponding relation between the position of the executing motor and the time; and processing the first corresponding relation and the second corresponding relation under the rotating speeds of the different execution motors, and determining a relation curve of the torque change rate of the execution motor and the position of the execution motor.
8. An electronic device, comprising:
one or more processors;
a storage means for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement the clutch half-tie-point position calibration method of any one of claims 1-6.
9. A storage medium containing computer executable instructions which, when executed by a computer processor, are for performing the clutch half-tie-point position calibration method of any one of claims 1-6.
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| CN114151469A (en) * | 2021-12-01 | 2022-03-08 | 中国第一汽车股份有限公司 | Self-learning control method, device, equipment and medium for clutch half-joint point position |
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