WO2011069478A1 - Procédé de commande d'un embrayage - Google Patents

Procédé de commande d'un embrayage Download PDF

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Publication number
WO2011069478A1
WO2011069478A1 PCT/DE2010/001386 DE2010001386W WO2011069478A1 WO 2011069478 A1 WO2011069478 A1 WO 2011069478A1 DE 2010001386 W DE2010001386 W DE 2010001386W WO 2011069478 A1 WO2011069478 A1 WO 2011069478A1
Authority
WO
WIPO (PCT)
Prior art keywords
time interval
position setpoint
clutch
current
discretized
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE2010/001386
Other languages
German (de)
English (en)
Inventor
Michael Schuhen
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Schaeffler Technologies AG and Co KG
Original Assignee
Schaeffler Technologies AG and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Schaeffler Technologies AG and Co KG filed Critical Schaeffler Technologies AG and Co KG
Priority to JP2012542358A priority Critical patent/JP5693604B2/ja
Priority to DE112010004723T priority patent/DE112010004723A5/de
Publication of WO2011069478A1 publication Critical patent/WO2011069478A1/fr
Priority to US13/492,655 priority patent/US8352141B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • F16D48/064—Control of electrically or electromagnetically actuated clutches
    • 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
    • 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
    • F16D2500/7041—Position
    • 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
    • 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
    • F16D2500/70668—Signal filtering

Definitions

  • the invention relates to a method for driving a clutch in the drive train of a motor vehicle, wherein the method of the clutch - in the context of this document means operating the clutch in terms of moving - at predetermined preset time intervals in each case a position setpoint is generated and in each Default time interval, the clutch is controlled in several predetermined controller sampling time intervals.
  • the clutch position controller receives, for example from the clutch control for the method of the clutch position specifications, which are calculated from the desired clutch desired torque.
  • the position specifications are updated at predetermined default time intervals. If the clutch position controller operates in controller sampling time intervals of shorter duration, the clutch control position settings discretized in the preset time intervals represent the sequence of setpoint jumps operating in controller sampling time intervals. This can lead to oscillations in the control loop, particularly in the case of highly dynamic clutch actuation , in particular vibrations in the drive voltage lead. This exposes the hardware, such as the EC motor of the clutch actuator, to increased load and wear.
  • DE 10 2004 037 708 A1 proposes a method for controlling and / or regulating at least one clutch of a transmission of a vehicle with a motor in a drive train, in which the clutch is controlled as a function of a speed of the motor to be determined.
  • a position control of the clutch can take place at the same time, in which the final value is specified directly as a desired value, such as when the clutch is closed, up to a desired nominal torque.
  • a disadvantage of this method is the fact that an additional link between the position control and the speed control is necessary and therefore very expensive.
  • such a method requires a good measurable speed of the clutch actuator motor, especially at low speeds.
  • the position command value change into a number of intermediate position command values determined as a function of the ratio of the command value to the controller sampling time interval and to specify this step by step to control the clutch.
  • the position setpoint changes requested in the default time intervals can each be resolved in a course of intermediate position setpoints discretized in the controller sample time intervals and continuously set to drive the clutch, i. the intermediate position command values are updated every controller sample time interval.
  • the current position setpoint change can simply be determined from the difference between the current position setpoint specified in the current default time interval and the position setpoint preset in the default time interval preceding the current default time interval.
  • the current position setpoint change is divided into a number of intermediate steps corresponding to the integer ratio of the preset time interval and the controller sampling time interval.
  • the position change requested in the current default time interval is divided into intermediate steps discretized in the controller sampling time interval.
  • the total change in position requested in the current default time interval is preferably carried out in subset position changes that are equally sized and preferably divided into motor increments, each of which is discretized in the controller sample time interval.
  • the intermediate position setpoint values discretized in the controller sampling time interval in the respective intermediate step are determined by adding a position setpoint change related to the respective intermediate step to the intermediate position setpoint determined in the preceding step.
  • the position setpoint change related to the respective intermediate step is changed from the position setpoint value remaining in the respective intermediate step. Bende remaining number of intermediate steps related fractional part of each remaining residual position setpoint change determined. The sum is assigned in each case as the intermediate position setpoint determined in the respective intermediate step and discretized in the controller sampling time interval.
  • the remaining position setpoint value change remaining in the respective intermediate step is preferably determined from the difference between the position setpoint value generated in the current default time interval and the intermediate position setpoint value determined in the respective preceding intermediate step and discretized in the controller sampling time interval.
  • the remaining position setpoint change corresponds to the entire position setpoint change requested at the beginning specified in the current default time interval.
  • the first intermediate position setpoint discretized in the controller sampling time interval is determined in which the fractional part of the total current position setpoint change related to the total number of intermediate steps is added in the default time interval to the position setpoint generated in the preset time interval preceding the current default time interval.
  • the sum is assigned in each case as the intermediate position setpoint determined in the first intermediate step and discretized in the controller sampling time interval.
  • the last intermediate position setpoint discretized in the controller sampling time interval corresponds to the position setpoint generated in the current default time interval.
  • the method according to the invention in a first step, it is first determined whether the amount of the current position setpoint change requested in the current default time interval is greater than a predetermined minimum value and less than a predetermined maximum value.
  • the method according to the invention is preferably carried out only in the event that the amount lies within the predetermined range.
  • the abovementioned maximum value and minimum value can be selected, for example, in such a way that, on the one hand, requested large changes in position or desired position jumps are not prevented and, on the other hand, in the case of very small requested position changes, in which there is no danger of a vibration buildup in the control loop or in which the Switching threshold of the control unit is not reached T the implementation of unnecessary additional process steps is avoided.
  • the maximum is determined from the magnitude comparison of the fraction of the position setpoint change and the predetermined switch-on threshold of the clutch position controller, which is initially specified, and the predetermined maximum is determined to determine the intermediate position setpoint discriminated in the controller sampling time interval
  • the position setpoint generated in the default time interval preceding the current default time interval is added.
  • Figure 1 in one embodiment, the course of the position setpoints and the
  • Figure 2 is a schematic representation of the sequence of the method according to the invention in one embodiment.
  • FIG. 1 shows a two-part diagram in which the course of the position specifications in a curve XtgtOIdl are shown by way of example in the upper part for the method of an automated clutch.
  • the position defaults are calculated from the desired clutch torque to be transmitted to the powertrain of the motor vehicle at the clutch and generated as position setpoint values XTgtOIdl discretized at predetermined default time intervals, for example, by the clutch control.
  • the waveform XAct_Ecmc shows the clutch position controller operating in controller sample time intervals.
  • the bottom part of the diagram shows in a curve UTgtOut the progression of the control voltage with which the coupling position controller controls the clutch actuator, in this case the clutch actuator, in a ramp-like manner for the position change.
  • the duration of the default time interval and the controller sampling time interval is hardware-dependent predetermined.
  • the duration of the default time intervals here, for example, in so-called 10-ms interrupts and the duration of the controller sampling time intervals defined here, for example in so-called 2.5-ms interrupts.
  • the position setpoint curve which is optimized in accordance with the invention in controller sampling time intervals, here for example 2.5 ms interrupts, is shown in a further curve XTgt_Ecmc.
  • the current total position setpoint change predetermined in the course of XTgtOIdl in each case in the current 10 ms interrupt from the difference between the currently generated position setpoint and the position setpoint generated in the preceding 10 ms interrupt becomes respectively corresponding to the integer ratio of the default time interval and the controller sampling time interval
  • discretized intermediate position setpoints XTgt_Ecmc resolved and given the coupling position controller.
  • FIG. 2 shows a diagram of the sequence of the method according to the invention by way of example.
  • a branch 2 it is first determined at a branch 2 whether the change in the position setpoint lies within the desired range in the current 10 ms interrupt.
  • the amount of the difference is formed from the position setpoint XTgt given in the current 10 ms interrupt and the actual position setpoint XTgtOld generated in the 10 ms interrupt preceding the current 10 ms interrupt, and it is checked whether this amount is greater than a predetermined minimum value and less than a predetermined maximum value.
  • position changes are taken into account only from a predetermined minimum size and only up to a predetermined maximum size.
  • the procedure in the endpoint 3 is ended. If the change in the position command value is within the predetermined range, the position setpoint value XTgt generated in the current 10 ms interrupt is stored as the target position command value XTgtNew and the 10 msec preceding the current 10 ms interrupt is stored. Interruptly generated actual position setpoint XTgtOld as XTgt. Thereafter, the process continues in a predetermined number of n in 2.5 ms interrupts of discretized intermediate steps.
  • the total position command value change requested by the difference between the target position command value XTgtNew and the actual position command value XTgtOld in the current 10-ms interrupt is resolved into n intermediate position command values discretized in 2.5-ms interrupts, and this in FIG , 5-ms intermediate steps continuously sequentially specified the coupling position controller.
  • the number n of intermediate steps results from the integer ratio of the preset time interval to the controller sampling time interval, ie here in accordance with the ratio 10 ms to 2.5 ms in four intermediate steps in which four intermediate steps discretized in 2.5 ms interrupts Position setpoints are determined and assigned in the respective 2.5 ms interrupt.
  • the residual position setpoint change is formed in each case from the difference between the target position setpoint value XTgtNew stored in the current 10 ms interrupt and the position setpoint value XTgt stored in the step preceding the respective intermediate step.
  • the position setpoint change dX ascertained in block 6 is added in a further block 7 to the position setpoint value XTgt stored in the preceding intermediate step in the 2.5 ms interrupt.
  • the sum is then assigned as the intermediate position setpoint XTgt related to the current 2.5 ms interrupt.
  • the step counter i is incremented by one and the next 2.5 ms intermediate step is carried out as described above.
  • the respective residual position setpoint change is first calculated from the difference between the currently stored target position setpoint XTgtNew and the respectively determined in the preceding intermediate step and currently 2.5.
  • the method is passed via the further block 9 at a branch 8 connected between blocks 6 and 7.
  • the absolute maximum is determined from the position setpoint change dX calculated in the first intermediate step and from a predetermined switch-on threshold XE of the clutch position controller, and then dX is set equal to the previously determined maximum.
  • the intermediate position setpoint value XTgt determined in the first 2.5 ms interrupt then results in block 7 from the sum of the stored 10 ms actual position setpoint value XTgtOld and the maximum previously determined in block 9.
  • condition step counter i ⁇ n-1 does not exist at branch 5
  • the method is passed in the last intermediate step via the branch shown on the right side of the diagram.
  • the current target position setpoint value XTgtNew stored in the 10 ms interrupt is assigned as the last 2.5 ms intermediate position setpoint value XTgt.
  • the position setpoint generated in the current 10 ms interrupt is reached in the last 2.5 ms interrupt.
  • the current target position setpoint XTgtNew assigned in the last 2.5 ms interrupt is stored as the new actual position setpoint XTgtOld for the new subsequent 10 ms interrupt, and the step counter i is set to zero and then the method for Endpoint 3 led.
  • the block 11 is bypassed, and in block 12 the intermediate position setpoint XTgt assigned in the preceding 2.5 ms interrupt becomes the new actual position setpoint XTgtOld for the new subsequent 10 ms Interrupt stored and the step counter i is set to zero and then the procedure led to the end point 3.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

L'invention concerne un procédé de commande d'un embrayage dans la chaîne cinématique d'un véhicule automobile, une valeur théorique de position étant respectivement produite pour le déplacement de l'embrayage dans des intervalles de temps prédéfinis et, au cours de chaque intervalle de temps prédéfini, la commande de l'embrayage s'effectuant en plusieurs intervalles de temps de détection de régulateur prédéterminés. Ledit procédé est caractérisé en ce qu'une modification de la valeur théorique de position est discrétisée en un nombre déterminé de valeurs théoriques de position intermédiaire en fonction du rapport entre l'intervalle de temps prédéfini et l'intervalle de temps de détection de régulateur et progressivement prédéfinie pour commander l'embrayage.
PCT/DE2010/001386 2009-12-10 2010-11-29 Procédé de commande d'un embrayage Ceased WO2011069478A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2012542358A JP5693604B2 (ja) 2009-12-10 2010-11-29 クラッチの駆動制御方法
DE112010004723T DE112010004723A5 (de) 2009-12-10 2010-11-29 Verfahren zur Ansteuerung einer Kupplung
US13/492,655 US8352141B2 (en) 2009-12-10 2012-06-08 Method for actuating a clutch

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009057831 2009-12-10
DE102009057831.5 2009-12-10

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US13/492,655 Continuation US8352141B2 (en) 2009-12-10 2012-06-08 Method for actuating a clutch

Publications (1)

Publication Number Publication Date
WO2011069478A1 true WO2011069478A1 (fr) 2011-06-16

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ID=43856186

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2010/001386 Ceased WO2011069478A1 (fr) 2009-12-10 2010-11-29 Procédé de commande d'un embrayage

Country Status (4)

Country Link
US (1) US8352141B2 (fr)
JP (1) JP5693604B2 (fr)
DE (2) DE102010052818A1 (fr)
WO (1) WO2011069478A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108287973A (zh) * 2018-02-01 2018-07-17 迈锐数据（北京）有限公司 交通状态的模拟方法及装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8574125B2 (en) 2010-12-30 2013-11-05 Ford Global Technologies, Llc Methods and systems for assisted direct start control
CN118482116B (zh) * 2024-05-20 2025-04-29 东风商用车有限公司 车辆干式离合器位置控制方法、装置、电子设备及介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3727191A (en) * 1971-03-15 1973-04-10 Giddings & Lewis Acceleration-deceleration for numerical control
DE3908844A1 (de) * 1989-03-17 1990-09-20 Siemens Ag Numerische steuerung fuer werkzeugmaschinen oder roboter
US5379367A (en) * 1990-12-28 1995-01-03 Samsung Electronics Co., Ltd. Linear interpolating method for robot control
DE102004037708A1 (de) 2003-08-16 2005-03-10 Luk Lamellen & Kupplungsbau Steuereinrichtung, Überwachungssystem und Verfahren zum Steuern und/oder Regeln eines Antriebsstranges eines Fahrzeuges

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58170924A (ja) * 1982-03-31 1983-10-07 Aisin Seiki Co Ltd 自動クラツチ制御装置
JP2005016673A (ja) * 2003-06-27 2005-01-20 Aisin Seiki Co Ltd 自動変速機の油圧特性値設定方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3727191A (en) * 1971-03-15 1973-04-10 Giddings & Lewis Acceleration-deceleration for numerical control
DE3908844A1 (de) * 1989-03-17 1990-09-20 Siemens Ag Numerische steuerung fuer werkzeugmaschinen oder roboter
US5379367A (en) * 1990-12-28 1995-01-03 Samsung Electronics Co., Ltd. Linear interpolating method for robot control
DE102004037708A1 (de) 2003-08-16 2005-03-10 Luk Lamellen & Kupplungsbau Steuereinrichtung, Überwachungssystem und Verfahren zum Steuern und/oder Regeln eines Antriebsstranges eines Fahrzeuges

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108287973A (zh) * 2018-02-01 2018-07-17 迈锐数据（北京）有限公司 交通状态的模拟方法及装置

Also Published As

Publication number Publication date
JP5693604B2 (ja) 2015-04-01
US8352141B2 (en) 2013-01-08
JP2013513764A (ja) 2013-04-22
DE112010004723A5 (de) 2012-09-20
US20120245813A1 (en) 2012-09-27
DE102010052818A1 (de) 2011-06-16

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