CN115143276B - Dual-clutch automatic transmission start control method, device, equipment and storage medium - Google Patents

Abstract

The invention discloses a starting control method, a device, equipment and a storage medium of a double-clutch automatic transmission, wherein the method comprises the following steps: when a vehicle starting instruction is received, filling oil into the clutch to a preset oil pressure value; collecting the current rotating speed of the engine in real time, and carrying out fuzzy self-adaptive PID control on the control current of the clutch according to the current rotating speed and the target rotating speed of the engine; when the difference value between the current rotating speed and the target rotating speed of the engine is smaller than a first preset threshold value, acquiring the current torque of the engine; obtaining a feedforward current of a clutch according to the current torque of the engine; obtaining PID correction current of the clutch according to the speed difference between the current speed of the engine and the current speed of the clutch; and obtaining the final control current of the clutch according to the feedforward current and the PID correction current. The invention can solve the problems of engine rotation speed oscillation, starting setback and poor robustness of the existing starting control method of the double-clutch automatic transmission.

Description

Dual-clutch automatic transmission start control method, device, equipment and storage medium

technical field

The present invention relates to the technical field of vehicle start control, in particular to a method, device, equipment and storage medium for start control of a dual-clutch automatic transmission.

Background technique

Starting performance is an important part of vehicle drivability, and it is also a difficult point in the process of transmission control. The starting process of the wet dual clutch transmission is usually divided into three stages: 1. The pre-charging stage, where the clutch is filled with oil so that the clutch oil pressure reaches the set value; 2. The speed control stage, the goal of this stage is to control the engine speed near the target speed; 3. The speed synchronization stage, which is the stage to realize the synchronization of the clutch and engine speed.

The current start-up control method of wet dual-clutch transmission mainly refers to the engine torque and clutch characteristics to control the start-up of the transmission. However, due to the low accuracy of the engine torque and the difference in clutch characteristics over time, the engine speed oscillates, the start stumbles, and the robustness is poor.

Contents of the invention

The purpose of the embodiment of the present invention is to propose a dual-clutch automatic transmission start control method, device, equipment and storage medium to solve the problems of the existing dual-clutch automatic transmission start control method due to engine torque and clutch characteristics to control the start caused by engine speed oscillation, start frustration, and poor robustness.

In order to achieve the above object, an embodiment of the present invention provides a dual-clutch automatic transmission start control method, comprising the following steps:

When a vehicle start instruction is received, oil is charged to the clutch to a preset oil pressure value, so that the clutch transmits torque to the engine;

Collecting the current speed of the engine in real time, and performing fuzzy adaptive PID control on the control current of the clutch according to the current speed of the engine and the target speed, so that the difference between the current speed of the engine and the target speed is smaller than a first preset threshold;

Acquiring the current torque of the engine when the difference between the current rotational speed of the engine and the target rotational speed is less than a first preset threshold;

obtaining the feed-forward current of the clutch according to the current torque of the engine;

Obtain the PID correction current of the clutch according to the speed difference between the current speed of the engine and the current speed of the clutch;

According to the feed-forward current and the PID correction current, the final control current of the clutch is obtained, so as to control the difference between the rotation speed of the engine and the rotation speed of the clutch to be less than a second preset threshold.

Preferably, the real-time acquisition of the current speed of the engine, and performing fuzzy adaptive PID control on the control current of the clutch according to the current speed of the engine and the target speed, so that the difference between the current speed of the engine and the target speed is less than a first preset threshold, specifically includes:

Collecting the current rotational speed of the engine in real time, calculating the difference between the current rotational speed of the engine and the target rotational speed, and calculating the difference increment of the difference compared with the difference in the previous sampling period;

According to the fuzzy rule table of the difference, the difference increment and the preset Kp, Ki, Kd, obtain the membership function of the corresponding Kp, Ki, Kd;

Solve the membership functions of Kp, Ki, and Kd to obtain the membership degrees corresponding to Kp, Ki, and Kd;

According to the membership degree values of Kp, Ki, and Kd, the control current corresponding to the clutch in each sampling period is obtained;

When the difference is smaller than the third preset threshold and the difference increment is smaller than the fourth preset threshold, it is determined that the difference between the current speed of the engine and the target speed is smaller than the first preset threshold.

Preferably, the obtaining the feed-forward current of the clutch according to the current torque of the engine specifically includes:

Obtaining the required torque of the clutch according to the current torque of the engine;

According to the required torque of the clutch and a preset clutch characteristic table, the feedforward current of the clutch is obtained; wherein, the clutch characteristic table includes a corresponding relationship between clutch control current and clutch torque.

Preferably, the obtaining the required torque of the clutch according to the current torque of the engine specifically includes:

obtaining the input torque of the transmission according to the current torque of the engine;

Obtaining a preset torque proportional coefficient between the transmission and the clutch, and correcting the torque proportional coefficient according to the difference between the current rotational speed of the engine and the target rotational speed;

According to the product of the corrected torque proportional coefficient and the input torque of the transmission, the required torque of the clutch is obtained.

Preferably, the PID correction current of the clutch is obtained according to the speed difference between the current speed of the engine and the current speed of the clutch, which specifically includes:

Inputting the speed difference between the current speed of the engine and the current speed of the clutch into a PID controller of the clutch to obtain a PID correction current of the clutch.

Preferably, the preset oil pressure value is determined in the following manner:

Obtain the target transmission torque of the clutch according to the current transmission oil temperature, the current throttle opening and the current torque of the engine;

According to the target transmission torque of the clutch and the preset clutch characteristic table, the control current of the clutch is obtained; wherein, the clutch characteristic table includes the corresponding relationship between the clutch control current and the clutch torque;

According to the control current of the clutch, the corresponding oil pressure value is obtained.

Another embodiment of the present invention provides a dual-clutch automatic transmission start control device, including:

The pre-filling module is used to charge the clutch to a preset oil pressure value when receiving a vehicle start command, so that the clutch can transmit torque to the engine;

The speed control module is used to collect the current speed of the engine in real time, and perform fuzzy adaptive PID control on the control current of the clutch according to the current speed of the engine and the target speed, so that the difference between the current speed of the engine and the target speed is smaller than a first preset threshold;

A torque acquiring module, configured to acquire the current torque of the engine when the difference between the current rotational speed of the engine and the target rotational speed is less than a first preset threshold;

A current acquisition module, configured to obtain the feed-forward current of the clutch according to the current torque of the engine;

A current correction module, configured to obtain the PID correction current of the clutch according to the speed difference between the current speed of the engine and the current speed of the clutch;

The current determination module is used to obtain the final control current of the clutch according to the feed-forward current and the PID correction current, so as to control the difference between the rotation speed of the engine and the rotation speed of the clutch to be less than a second preset threshold.

Another embodiment of the present invention also provides a corresponding terminal device, including a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the start-up control method of a dual-clutch automatic transmission as described in any one of the above.

Another embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium includes a stored computer program, wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the start-up control method for a dual-clutch automatic transmission as described in any one of the above.

Compared with the prior art, a dual-clutch automatic transmission start control method, device, equipment and storage medium disclosed in the embodiment of the present invention adopts a fuzzy PID control method based on the speed difference and the change of the speed difference in the speed control stage of the vehicle start control. On the one hand, it does not directly refer to the engine torque and clutch characteristics, and can avoid driving problems caused by differences in engine torque accuracy and clutch characteristics to the greatest extent, and enhance the robustness of control; , so that the engine speed reaches the target speed quickly.

Description of drawings

Fig. 1 is a schematic flow chart of a dual-clutch automatic transmission start-up control method provided by an embodiment of the present invention;

Fig. 2 is a schematic flow chart of a dual-clutch automatic transmission start-up control method provided by another embodiment of the present invention;

Fig. 3 is a schematic flow chart of fuzzy PID control in the rotational speed control stage provided by an embodiment of the present invention;

Fig. 4 is a schematic flow chart of the synchronous control stage provided by an embodiment of the present invention;

Fig. 5 is a structural schematic diagram of a starting control device for a dual-clutch automatic transmission provided by an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a terminal device provided by an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Referring to FIG. 1 , it is a schematic flow chart of a method for controlling the start of a dual-clutch automatic transmission provided by this embodiment of the present invention. The method includes steps S1 to S6:

S1. When a vehicle start instruction is received, oil is charged to the clutch to a preset oil pressure value, so that the clutch transmits torque to the engine;

S2. Collect the current speed of the engine in real time, and perform fuzzy adaptive PID control on the control current of the clutch according to the current speed of the engine and the target speed, so that the difference between the current speed of the engine and the target speed is smaller than a first preset threshold;

S3. Acquiring the current torque of the engine when the difference between the current rotational speed of the engine and the target rotational speed is less than a first preset threshold;

S4. Obtain the feed-forward current of the clutch according to the current torque of the engine;

S5. Obtain the PID correction current of the clutch according to the speed difference between the current speed of the engine and the current speed of the clutch;

S6. Obtain a final control current of the clutch according to the feed-forward current and the PID correction current, so as to control the difference between the rotation speed of the engine and the rotation speed of the clutch to be smaller than a second preset threshold.

It should be noted that the present invention is mainly aimed at wet dual-clutch transmissions, and the start-up process of wet dual-clutch transmissions is usually divided into three stages: 1. pre-charging stage, where the clutch is filled with oil so that the clutch oil pressure reaches a set value; 2. speed control stage, where the target is to control the engine speed near the target speed; 3. speed synchronization stage. Referring to Fig. 2, it is a schematic flow chart of a dual-clutch automatic transmission start-up control method provided by another embodiment of the present invention. As can be seen from Fig. 2, when the handle is turned to the D/R gear and the accelerator is stepped on, the pre-charge phase begins, and the clutch is filled with oil to make the pressure of the clutch rise at a constant slope. When the clutch oil pressure reaches a preset value, the pre-charge phase ends and the speed control phase is entered. The ID controller controls the clutch pressure to synchronize the engine speed with the clutch speed.

Specifically, when a start command of the vehicle is received, oil is charged to the clutch to a preset oil pressure value, so that the clutch transmits torque to the engine. This step corresponds to the pre-charging stage, which is mainly to fill the clutch to the preset oil pressure value with a fixed slope, so that the clutch can quickly enter the pressure-torque linear region.

The current speed of the engine is collected in real time, and fuzzy adaptive PID control is performed on the control current of the clutch according to the current speed of the engine and the target speed, and then the speed of the engine is adjusted smoothly and quickly through the control current of the clutch, so that the difference between the current speed of the engine and the target speed is less than the first preset threshold.

When the difference between the current rotational speed of the engine and the target rotational speed is less than a first preset threshold, the current torque of the engine is obtained. After the speed control phase is over, that is, when the speed of the engine reaches the target speed, in order to better synchronize the speed of the engine and the clutch, it is necessary to reverse the demand torque of the clutch according to the current torque of the engine, and then obtain the corresponding control current of the clutch, that is, obtain the feedforward current of the clutch according to the current torque of the engine.

According to the speed difference between the current speed of the engine and the current speed of the clutch, the PID correction current of the clutch is obtained. Input the speed difference between the engine and the clutch into the PID controller of the clutch, and the corresponding PID correction current can be obtained.

According to the feedforward current and the PID correction current, the final control current of the clutch is obtained, that is, the final control current is equal to the sum of the feedforward current and the PID correction current, so as to control the difference between the speed of the engine and the speed of the clutch to be smaller than the second preset threshold.

The starting control method of a dual-clutch automatic transmission provided by this embodiment of the present invention ignores the monitoring of the engine torque during the entire control process, takes the engine speed as the target, uses the PID to adjust the duty ratio of the clutch control current as a means, performs fuzzy processing on the difference between the engine speed and the target speed and its change rate, dynamically adjusts the PID parameters of the clutch current duty cycle, and makes the engine speed reach the target quickly. The sum of the current and the PID correction current controls the control current of the clutch so as to quickly synchronize the speed of the engine and the clutch.

As an improvement of the above solution, the real-time acquisition of the current speed of the engine, and performing fuzzy adaptive PID control on the control current of the clutch according to the current speed of the engine and the target speed, so that the difference between the current speed of the engine and the target speed is less than a first preset threshold, specifically includes:

Collecting the current rotational speed of the engine in real time, calculating the difference between the current rotational speed of the engine and the target rotational speed, and calculating the difference increment of the difference compared with the difference in the previous sampling period;

According to the fuzzy rule table of the difference, the difference increment and the preset Kp, Ki, Kd, obtain the membership function of the corresponding Kp, Ki, Kd;

Solve the membership functions of Kp, Ki, and Kd to obtain the membership degrees corresponding to Kp, Ki, and Kd;

According to the membership degree values of Kp, Ki, and Kd, the control current corresponding to the clutch in each sampling period is obtained;

When the difference is smaller than the third preset threshold and the difference increment is smaller than the fourth preset threshold, it is determined that the difference between the current speed of the engine and the target speed is smaller than the first preset threshold.

Specifically, the current engine speed is collected in real time, and the difference e between the current engine speed and the target speed is calculated, and the difference increment ec between the difference e and the difference e of the previous sampling period is calculated; that is, ec=e _i -e _i-1 . That is to say, in each sampling period, two data can be obtained through calculation: difference e and difference increment ec.

According to the difference e, the difference increment ec and the preset fuzzy rule table of Kp, Ki, Kd, the corresponding membership functions of Kp, Ki, Kd are obtained. The preset fuzzy rule tables of Kp, Ki, and Kd are established in advance according to the relatively fixed speed range and torque range of the engine. These two ranges are generally obtained based on actual vehicle experience. Preferably, the speed difference e ranges from -500 to 1000rpm, and the range of ec is from -30 to 30/min/s, that is, the speed range is E=[-500,1000], and the torque range is EC=[-30,30]. Value increment ec ∈ EC.

Solve the membership function of Kp, Ki, Kd by center of gravity method, and obtain the corresponding membership degree value of Kp, Ki, Kd;

According to the membership degree values of Kp, Ki, and Kd, that is to say, the three control currents obtained from the solution, P, I, and D, are summed to obtain the corresponding control current of the clutch in each sampling period. In addition, the control current can be obtained only by controlling P and I. Experience shows that P and I can achieve the effect, which can greatly reduce the calibration workload.

After several cycles of control adjustments, in the above-mentioned cyclic calculation, the absolute values of e and ec will gradually decrease.

When the difference e is smaller than the third preset threshold and the difference increment ec is smaller than the fourth preset threshold, that is, when e<δ and ec<ε, it is determined that the difference between the current engine speed and the target speed is smaller than the first preset threshold. δ is the third preset threshold, and ε is the fourth preset threshold. At this time, the rotational speed of the engine has reached near the target rotational speed, and the rotational speed control phase ends.

In order to deepen the understanding of this embodiment of the present invention, refer to FIG. 3 , which is a schematic flowchart of fuzzy PID control in the rotational speed control stage provided by this embodiment of the present invention. It can be seen from Figure 3 that the error and error change of the rotational speed of each sampling period are calculated first, and then combined with the fuzzy rule tables of Kp, Ki, and Kd to obtain the corresponding membership function of Kp, Ki, and Kd, and then solve the corresponding membership of Kp, Ki, and Kd, and then obtain the corresponding control current of the corresponding clutch, and then obtain the corresponding coupling pressure of the clutch.

As an improvement of the above solution, the obtaining the feed-forward current of the clutch according to the current torque of the engine specifically includes:

Obtaining the required torque of the clutch according to the current torque of the engine;

According to the required torque of the clutch and a preset clutch characteristic table, the feedforward current of the clutch is obtained; wherein, the clutch characteristic table includes a corresponding relationship between clutch control current and clutch torque.

Specifically, according to the current torque of the engine, the required torque of the clutch is obtained. The transmission input torque is calculated from the engine torque, multiplied by a preset proportional coefficient to calculate the clutch demand torque, and the proportional coefficient is a calibration value obtained through real vehicle calibration.

According to the required torque of the clutch and the preset clutch characteristic table, the feedforward current of the clutch is obtained; wherein, the clutch characteristic table includes the corresponding relationship between the clutch control current and the clutch torque, that is, the clutch characteristic table is a clutch current-torque characteristic table.

As an improvement of the above solution, the obtaining the required torque of the clutch according to the current torque of the engine specifically includes:

obtaining the input torque of the transmission according to the current torque of the engine;

Obtaining a preset torque proportional coefficient between the transmission and the clutch, and correcting the torque proportional coefficient according to the difference between the current rotational speed of the engine and the target rotational speed;

According to the product of the corrected torque proportional coefficient and the input torque of the transmission, the required torque of the clutch is obtained.

Specifically, according to the current torque of the engine, the input torque of the transmission is obtained. For each real vehicle, the torque of the engine is in one-to-one correspondence with the torque of the transmission. When one of the data is known, another data can be obtained according to their corresponding relationship.

Obtain the preset torque ratio coefficient between the transmission and the clutch, and correct the torque ratio coefficient according to the difference between the current engine speed and the target speed, so that the torque of the clutch can be further corrected and the gap with the theoretical torque can be reduced.

According to the product of the corrected torque proportional coefficient and the input torque of the transmission, the required torque of the clutch is obtained. Generally, the corrected torque proportional coefficient is a preset torque proportional coefficient multiplied by a correction coefficient.

As an improvement of the above solution, the PID correction current of the clutch is obtained according to the speed difference between the current speed of the engine and the current speed of the clutch, which specifically includes:

Inputting the speed difference between the current speed of the engine and the current speed of the clutch into a PID controller of the clutch to obtain a PID correction current of the clutch.

Specifically, the speed difference between the current speed of the engine and the current speed of the clutch is input into the PID controller of the clutch to obtain the PID correction current of the clutch. It is worth noting that the current PID control is classical PID control, not fuzzy PID control, and its corresponding relevant parameters are pre-set according to empirical values, so the corresponding current value can be obtained by inputting the speed difference.

In order to deepen the understanding of the synchronous control stage of the present invention, refer to FIG. 4 , which is a schematic flowchart of the synchronous control stage provided by this embodiment of the present invention. It can be seen from Fig. 4 that two currents are involved in the synchronization phase: feedforward current and PID correction current. With the engine torque as input, the basic control current, that is, the feedforward current, is solved according to the clutch pressure-torque characteristic dynamics and pressure-current characteristics. Based on this, the difference between the engine speed and the clutch speed is used as the input, and the PID dynamically adjusts the clutch current to realize the synchronization of the engine and clutch speed. Wherein, in order to obtain a more accurate feed-forward current, the feed-forward current is first corrected according to the difference between the engine speed and the target speed.

As an improvement of the above solution, the preset oil pressure value is determined in the following manner:

Obtain the target transmission torque of the clutch according to the current transmission oil temperature, the current throttle opening and the current torque of the engine;

According to the target transmission torque of the clutch and the preset clutch characteristic table, the control current of the clutch is obtained; wherein, the clutch characteristic table includes the corresponding relationship between the clutch control current and the clutch torque;

According to the control current of the clutch, the corresponding oil pressure value is obtained.

Specifically, according to the current transmission oil temperature, the current accelerator opening, and the current engine torque, the target transmission torque of the clutch is obtained, and the target transmission torque of the clutch can be obtained by looking up data such as the engine torque, the current accelerator, and the transmission oil temperature.

According to the target transmission torque of the clutch and the preset clutch characteristic table, the control current of the clutch is obtained; wherein, the clutch characteristic table contains the corresponding relationship between the clutch control current and the clutch torque; that is, the clutch characteristic table is the current-torque characteristic table of the clutch. The clutch control current refers to the control current of the solenoid valve of the clutch.

According to the control current of the clutch, the corresponding oil pressure value is obtained. The clutch oil pressure, that is, the clutch engagement pressure, controls the current of the solenoid valve to change the opening of the solenoid valve, thereby controlling the clutch engagement pressure. The speed of the engine is controlled by the clutch engagement pressure, that is, the purpose of controlling the engine speed is achieved by controlling the engagement pressure of the clutch to change the torque transmitted by the clutch.

Referring to FIG. 5 , it is a structural schematic diagram of a start control device for a dual-clutch automatic transmission provided by this embodiment of the present invention. The device includes:

The pre-filling module 11 is used to charge the clutch to a preset oil pressure value when receiving a vehicle start command, so that the clutch transmits torque to the engine;

The speed control module 12 is used to collect the current speed of the engine in real time, and perform fuzzy adaptive PID control on the control current of the clutch according to the current speed of the engine and the target speed, so that the difference between the current speed of the engine and the target speed is less than a first preset threshold;

A torque acquiring module 13, configured to acquire the current torque of the engine when the difference between the current rotational speed of the engine and the target rotational speed is less than a first preset threshold;

A current calculation module 14, configured to obtain the feed-forward current of the clutch according to the current torque of the engine;

The current correction module 15 is used to obtain the PID correction current of the clutch according to the speed difference between the current speed of the engine and the current speed of the clutch;

The current determination module 16 is configured to obtain the final control current of the clutch according to the feedforward current and the PID correction current, so as to control the difference between the rotation speed of the engine and the rotation speed of the clutch to be less than a second preset threshold.

Preferably, the rotational speed control module 12 specifically includes:

An error calculation unit, configured to collect the current rotational speed of the engine in real time, calculate the difference between the current rotational speed of the engine and the target rotational speed, and calculate the difference increment of the difference from the difference in the previous sampling period;

The degree of membership acquisition unit is used to obtain the corresponding membership degree functions of Kp, Ki, and Kd according to the difference, the increment of the difference, and the preset fuzzy rule table of Kp, Ki, and Kd;

The degree of membership calculation unit is used to solve the degree of membership function of Kp, Ki, Kd, and obtain the degree of membership value corresponding to Kp, Ki, Kd;

The current calculation unit is used to obtain the corresponding control current of the clutch in each sampling period according to the membership degree values of Kp, Ki, and Kd;

A judging unit, configured to determine that the difference between the current rotational speed and the target rotational speed of the engine is less than a first preset threshold when the difference is smaller than a third preset threshold and the difference increment is smaller than a fourth preset threshold.

Preferably, the current calculation module 14 specifically includes:

a clutch torque calculation unit, configured to obtain the required torque of the clutch according to the current torque of the engine;

The feed-forward current acquisition unit is used to obtain the feed-forward current of the clutch according to the required torque of the clutch and a preset clutch characteristic table; wherein, the clutch characteristic table includes a corresponding relationship between clutch control current and clutch torque.

Preferably, the clutch torque calculation unit specifically includes:

The transmission torque calculation subunit is used to obtain the input torque of the transmission according to the current torque of the engine;

A correction subunit, configured to obtain a preset torque proportional coefficient between the transmission and the clutch, and correct the torque proportional coefficient according to the difference between the current rotational speed of the engine and the target rotational speed;

The torque determination subunit is used to obtain the required torque of the clutch according to the product of the corrected torque proportional coefficient and the input torque of the transmission.

Preferably, the current determination module 16 is specifically used for:

Inputting the speed difference between the current speed of the engine and the current speed of the clutch into a PID controller of the clutch to obtain a PID correction current of the clutch.

A starting control device for a dual-clutch automatic transmission provided in an embodiment of the present invention can realize all processes of the starting control method for a dual-clutch automatic transmission described in any of the above-mentioned embodiments, and the functions and technical effects of each module and unit in the device are the same as those of the starting control method for a dual-clutch automatic transmission described in the above-mentioned embodiments.

Referring to FIG. 6 , it is a schematic structural diagram of a terminal device provided by this embodiment of the present invention. The terminal device includes a processor 10, a memory 20, and a computer program stored in the memory 20 and configured to be executed by the processor 10. When the processor 10 executes the computer program, it implements the dual-clutch automatic transmission start control method described in any of the above-mentioned embodiments.

Exemplarily, the computer program can be divided into one or more modules/units, and one or more modules/units are stored in the memory 20 and executed by the processor 10 to implement the present invention. One or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program in a dual-clutch automatic transmission start-up control method. For example, the computer program can be divided into a pre-charging module, a speed control module, a torque acquisition module, a current calculation module, a current correction module and a current determination module. The specific functions of each module are as follows:

The pre-filling module 11 is used to charge the clutch to a preset oil pressure value when receiving a vehicle start command, so that the clutch transmits torque to the engine;

The speed control module 12 is used to collect the current speed of the engine in real time, and perform fuzzy adaptive PID control on the control current of the clutch according to the current speed of the engine and the target speed, so that the difference between the current speed of the engine and the target speed is less than a first preset threshold;

A torque acquiring module 13, configured to acquire the current torque of the engine when the difference between the current rotational speed of the engine and the target rotational speed is less than a first preset threshold;

A current calculation module 14, configured to obtain the feed-forward current of the clutch according to the current torque of the engine;

The current correction module 15 is used to obtain the PID correction current of the clutch according to the speed difference between the current speed of the engine and the current speed of the clutch;

The current determination module 16 is configured to obtain the final control current of the clutch according to the feedforward current and the PID correction current, so as to control the difference between the rotation speed of the engine and the rotation speed of the clutch to be less than a second preset threshold.

The terminal device may include, but not limited to, a processor and a memory. Those skilled in the art can understand that the schematic diagram 6 is only an example of a terminal device, and does not constitute a limitation on the terminal device. It may include more or less components than those shown in the figure, or combine certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

The processor 10 may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor 10 may also be any conventional processor, etc. The processor 10 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

The memory 20 can be used to store the computer programs and/or modules, and the processor 10 realizes various functions of the vehicle terminal by running or executing the computer programs and/or modules stored in the memory 20 and calling the data stored in the memory 20 . The memory 20 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one required application program for a function (such as a sound playback function, an image playback function, etc.); In addition, the memory 20 may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one magnetic disk storage device, a flash memory device, or other volatile solid-state storage devices.

Wherein, if the integrated modules of the terminal equipment are realized in the form of software function units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the present invention realizes all or part of the processes in the methods of the above embodiments, and can also be completed by instructing related hardware through a computer program. The above computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can realize the steps of each of the above method embodiments. Wherein, the above-mentioned computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, removable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, software distribution medium, etc. It should be noted that the content contained in computer readable media can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunication signals according to legislation and patent practice.

An embodiment of the present invention also provides a computer-readable storage medium, the computer-readable storage medium includes a stored computer program, wherein, when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the dual-clutch automatic transmission startup control method described in any of the above-mentioned embodiments.

To sum up, a dual-clutch automatic transmission start control method, device, equipment and storage medium provided by the embodiment of the present invention adopts a fuzzy PID control method based on the speed difference and the change of the speed difference in the speed control stage of the vehicle start control. On the one hand, it does not directly refer to the engine torque and clutch characteristics, which can maximize the avoidance of driving problems caused by differences in engine torque accuracy and clutch characteristics, and enhance the robustness of control; So that the engine speed reaches the target speed faster. The invention can not only better adapt the torque control accuracy of the engine and the transmission hardware manufacturing dispersion, but also adapt to the power system performance attenuation that occurs with the mileage and time, and can also shorten the starting time, reduce the sliding friction work, improve the starting drivability, and reduce the fuel consumption.

The above is a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered as protection scope of the present invention.

Claims (8)

1. The starting control method of the double-clutch automatic transmission is characterized by comprising the following steps of:

when a vehicle starting instruction is received, filling oil to a clutch to a preset oil pressure value so that the clutch transmits torque to an engine;

collecting the current rotating speed of the engine in real time, and carrying out fuzzy self-adaptive PID control on the control current of the clutch according to the current rotating speed and the target rotating speed of the engine so that the difference value between the current rotating speed and the target rotating speed of the engine is smaller than a first preset threshold value;

when the difference value between the current rotating speed and the target rotating speed of the engine is smaller than a first preset threshold value, acquiring the current torque of the engine;

obtaining a feed-forward current of the clutch according to the current torque of the engine;

obtaining PID correction current of the clutch according to the speed difference between the current speed of the engine and the current speed of the clutch;

obtaining final control current of the clutch according to the feedforward current and the PID correction current so as to control the difference value between the rotating speed of the engine and the rotating speed of the clutch to be smaller than a second preset threshold value;

the method specifically includes the steps of collecting the current rotating speed of the engine in real time, and carrying out fuzzy self-adaptive PID control on the control current of the clutch according to the current rotating speed and the target rotating speed of the engine so that the difference value between the current rotating speed and the target rotating speed of the engine is smaller than a first preset threshold value, and specifically includes:

collecting the current rotating speed of the engine in real time, calculating the difference between the current rotating speed of the engine and the target rotating speed, and calculating the difference increment of the difference compared with the difference of the last sampling period;

obtaining membership functions of the corresponding Kp, ki and Kd according to the difference value, the difference value increment and a preset fuzzy rule table of the Kp, ki and Kd;

solving membership functions of Kp, ki and Kd to obtain membership values of the corresponding Kp, ki and Kd;

obtaining control current corresponding to the clutch in each sampling period according to membership values of Kp, ki and Kd;

and when the difference value is smaller than a third preset threshold value and the difference increment is smaller than a fourth preset threshold value, judging that the difference value between the current rotating speed and the target rotating speed of the engine is smaller than the first preset threshold value.

2. The method for controlling start of a dual clutch automatic transmission according to claim 1, wherein the step of obtaining a feed-forward current of the clutch based on a current torque of the engine comprises:

obtaining the required torque of the clutch according to the current torque of the engine;

obtaining a feedforward current of the clutch according to the required torque of the clutch and a preset clutch characteristic table; the clutch characteristic table comprises a corresponding relation between clutch control current and clutch torque.

3. The dual clutch automatic transmission start control method according to claim 2, wherein the obtaining the required torque of the clutch according to the current torque of the engine specifically includes:

obtaining the input torque of a transmission according to the current torque of the engine;

acquiring a torque proportionality coefficient preset between the transmission and the clutch, and correcting the torque proportionality coefficient according to a difference value between the current rotating speed and the target rotating speed of the engine;

and obtaining the required torque of the clutch according to the product of the corrected torque proportionality coefficient and the input torque of the transmission.

4. The method for controlling start of a dual clutch automatic transmission according to claim 1, wherein obtaining the PID corrected current of the clutch according to a rotational speed difference between a current rotational speed of the engine and a current rotational speed of the clutch specifically comprises:

and inputting a rotation speed difference between the current rotation speed of the engine and the current rotation speed of the clutch into a PID controller of the clutch to obtain PID correction current of the clutch.

5. The dual clutch automatic transmission start control method according to claim 1, characterized in that the preset oil pressure value is determined according to:

obtaining target transmission torque of the clutch according to the current transmission oil temperature, the current accelerator opening and the current torque of the engine;

obtaining control current of the clutch according to the target transmission torque of the clutch and a preset clutch characteristic table; the clutch characteristic table comprises a corresponding relation between clutch control current and clutch torque;

and obtaining a corresponding oil pressure value according to the control current of the clutch.

6. A start control device of a double clutch automatic transmission, characterized by comprising:

the pre-charging module is used for charging oil to a clutch to a preset oil pressure value when a vehicle starting instruction is received, so that the clutch transmits torque to an engine;

the rotating speed control module is used for collecting the current rotating speed of the engine in real time, and carrying out fuzzy self-adaptive PID control on the control current of the clutch according to the current rotating speed and the target rotating speed of the engine so that the difference value between the current rotating speed and the target rotating speed of the engine is smaller than a first preset threshold value;

the torque acquisition module is used for acquiring the current torque of the engine when the difference value between the current rotating speed and the target rotating speed of the engine is smaller than a first preset threshold value;

the current acquisition module is used for acquiring the feedforward current of the clutch according to the current torque of the engine;

the current correction module is used for obtaining PID correction current of the clutch according to the rotation speed difference between the current rotation speed of the engine and the current rotation speed of the clutch;

the current determining module is used for obtaining final control current of the clutch according to the feedforward current and the PID correction current so as to control the difference value between the rotating speed of the engine and the rotating speed of the clutch to be smaller than a second preset threshold value;

wherein, the rotational speed control module specifically includes:

the error calculation unit is used for collecting the current rotating speed of the engine in real time, calculating the difference between the current rotating speed of the engine and the target rotating speed, and calculating the difference increment of the difference compared with the difference of the last sampling period;

the membership obtaining unit is used for obtaining membership functions of the corresponding Kp, ki and Kd according to the difference value, the difference value increment and a preset fuzzy rule table of the Kp, ki and Kd;

the membership calculation unit is used for solving membership functions of Kp, ki and Kd to obtain membership values corresponding to Kp, ki and Kd;

the current calculation unit is used for obtaining control current corresponding to each sampling period of the clutch according to membership values of Kp, ki and Kd;

and the judging unit is used for judging that the difference value between the current rotating speed of the engine and the target rotating speed is smaller than the first preset threshold value when the difference value is smaller than the third preset threshold value and the difference value increment is smaller than the fourth preset threshold value.

7. A terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the dual clutch automatic transmission start control method according to any one of claims 1 to 5 when executing the computer program.

8. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to execute the dual clutch automatic transmission start control method according to any one of claims 1 to 5.