DE102019211756B3 - Method, control device and computer program product for actuating a friction clutch of a drive train of a motorized watercraft - Google Patents

Abstract

The invention relates to a method for actuating a friction clutch (19, 20) of a drive train (1) of a motor-driven watercraft, the friction clutch (19, 20) being closed with an actuation characteristic. In order to be able to adapt the actuation to different situations, the actuation characteristic is selected in advance as a function of at least one parameter from a plurality of stored characteristics. The characteristics are each characterized by a transition from a start-up curve (27; 28; 29) to a control of an output speed (nAb) of the friction clutch (19; 20), with a transition point (R) depending on a predetermined ratio of the output speed (nAb ) is selected for a target speed (nz). In addition, a corresponding control device and a computer program product are proposed.

Description

The invention relates to a method for actuating a friction clutch of a drive train of a motor-driven watercraft, the friction clutch being closed with an actuation process. The invention also relates to a control device for regulating an actuation of a friction clutch of a drive train and a computer program product.

In drive trains of motor-driven watercraft, a respective drive machine, which is mostly an internal combustion engine, can usually be connected to one or more propellers via intermediate friction clutches in order to drive the watercraft in a corresponding direction of travel, depending on the selected friction clutch. A friction clutch is often designed as a multi-disc clutch and is hydraulically actuated, with a characteristic of the actuation of the friction clutch via a respective, mostly hydraulic actuating device having a decisive influence on the duration and comfort of the start-up process of the watercraft.

From the DE 10 2015 209 478 A1 discloses a method for actuating a friction clutch of a drive train of a watercraft, wherein the friction clutch is closed with an actuation characteristic. A hydraulic actuation device of the friction clutch is activated according to the actuation characteristic, the actuation characteristic being composed of different sections with differing rates of pressure increase. This is intended to result in a short shifting process when the friction clutch is actuated with a high level of shifting comfort at the same time.

From the DE 10 2011 077 649 A1 a hydraulic control of a ship's transmission for controlling a clutch is known. This document also describes that, depending on the clutch and the desired switching behavior, any modulation curves are stored in an electronic control unit.

In the DE 39 07 841 A1 describes a control device for propelling a watercraft. This control device comprises a mode selector switch knob having two positions, namely a travel mode detent position and a troll mode area in which the knob can be rotated to change the engine speed.

Finally from the DE 41 25 432 A1 a control system for operating a propulsion system of a ship is known. A mode selection device for selecting either a travel mode or a slow travel mode is described. A certain operating mode can therefore be preselected. Depending on which operating mode is preselected, a specific function is assigned to a control lever of the control system.

Starting from the prior art described above, the object of the present invention is to create a method for actuating a friction clutch of a drive train of a motor-driven watercraft, the actuation being intended to be adaptable to different situations.

This object is achieved on the basis of the preamble of claim 1 in conjunction with its characterizing features. The further claims that follow each reproduce advantageous developments of the invention. A control device, via which actuation of a friction clutch can be regulated, is also the subject matter of claim 6. Finally, claim 7 relates to a computer program product for a control device.

According to the invention, in a method for actuating a friction clutch of a drive train of a motor-driven watercraft, the friction clutch is closed with an actuation characteristic. In the context of the invention, closing of the friction clutch, i.e. a transfer of the friction clutch into a state in which it couples connected components of the drive train with one another, carried out with an actuation characteristic. In the context of the invention, an “actuation characteristic” is to be understood as an actuation of the friction clutch via an associated actuation device in such a way that the friction clutch exhibits a desired behavior when it is transferred from its open state to the fully or partially closed state adjusts.

The friction clutch is preferably in the form of a multi-disk clutch and in particular comprises several inner disks and several outer disks of a disk set, which are arranged alternately and which can be pressed together to couple the components of the drive train connected to the friction clutch. The friction clutch is hydraulically actuated and has in particular a hydraulic actuation device with a piston which, by pressurizing an associated actuation chamber, can act on the disk pack of the friction clutch and thereby bring about the closing of the friction clutch. In this case, the actuation characteristics when closing the friction clutch in Essentially defined by a pressure curve when the piston of the hydraulic actuating device is activated.

Within the drive train of the watercraft, the friction clutch is preferably assigned to a transmission and is used to couple at least one propeller of the watercraft to a drive machine of the watercraft, which is in particular an internal combustion engine. This coupling preferably takes place with power flow guidance via one or more gear stages of the transmission.

The invention now includes the technical teaching that the actuation characteristic is selected in advance as a function of at least one parameter from several stored characteristics. In other words, before the friction clutch is closed with the actuation characteristic, there is a selection from several, permanently stored characteristics, the actuation characteristic then being designed in accordance with one of these stored characteristics. The selection is made depending on at least one parameter.

Such a method for actuating a friction clutch has the advantage that an actuation of the friction clutch with different characteristics and thus an adaptation to different situations during operation of the watercraft is possible. Because by selecting the actuation characteristic from several stored characteristics, depending on the at least one parameter, it is possible to react in advance to the prevailing conditions or to a desired or expected starting behavior of the watercraft. Since permanently stored characteristics are used here, the effort for regulating the actuation is kept within limits, so that the method can be implemented overall with little effort.

In the DE10 2015 209 478 A1 on the other hand, a fixed actuation characteristic is specified in which, although different pressure profiles are made when a hydraulic actuation device is activated, no adaptation to different situations is possible.

In the context of the invention, several characteristics are stored, which means that there are at least two different characteristics. However, more than two different characteristics are particularly preferably stored, five different characteristics being involved in one embodiment of the invention. These characteristics are also designed so differently that an actuation behavior of the friction clutch differs when changing between the characteristics. This is because a different behavior when the friction clutch is actuated and the associated coupling of the components of the drive train connected to it can also be achieved as a result. Particularly preferably, on the one hand, a sporty and clearly perceptible actuation and, on the other hand, a slow and gentle actuation of the friction clutch can be implemented.

In the context of the invention, the characteristics are preferably stored in a data memory which is, in particular, the data memory of a control device via which the friction clutch can be regulated.

According to the invention, the characteristics each include a start-up curve which is formed by a profile of an actuation pressure of a hydraulic actuation device of the friction clutch over an actuation time. In this case, therefore, part of every characteristic is a start-up curve which is defined by a pressure curve of a hydraulic actuating device. The hydraulic actuating device preferably comprises a hydraulic actuating element in the form of a piston which, when pressurized with the actuating pressure, moves against a spring element and here acts on the friction clutch and subsequently acts on it in the direction of an actuated state.

According to the invention, the characteristics are each characterized by a transition of the respective starting curve in each case a control of an output speed of the friction clutch, a transition point being selected as a function of a predetermined ratio of the output speed to a target speed. In addition to the start-up curve, the individual characteristics are also defined by the transition from the start-up curve to an automatic control of an output speed of the friction clutch. Depending on where this transition is selected, a hard or even a soft transition to the control can take place here and a corresponding behavior can thus also be mapped. In this way, the illustration of sporty behavior or even slow actuation of the friction clutch can be additionally supported.

According to one possible embodiment of the invention, the friction clutch is brought into a slipping state by closing. In this case, there is no complete closing of the friction clutch within the scope of the method according to the invention, but the clutch is only actuated to a certain extent, so that a slipping transmission of a rotary movement occurs adjusts. This can be of interest, for example, in the context of so-called trolling, when the watercraft is to be moved at a slow speed, such as during docking maneuvers, when the watercraft is held in a certain position or even when trawling.

As an alternative to this, it is a variant of the invention that the friction clutch is completely closed by closing. In this variant of the method, the friction clutch is completely actuated, so that it is transferred to a state in which it connects the components of the drive train connected to it to one another in a rotationally fixed manner. The actuation preferably takes place in the context of the representation of a start-up process of the watercraft in which the watercraft is accelerated from standstill to the target travel speed.

It is a further embodiment of the invention that a selection of at least one driving mode of the watercraft is used as a parameter. In this case, the selection of one of the stored characteristics is made dependent on whether a specific driving mode of the watercraft is selected. Different driving modes can also be possible, each of which is assigned one of the different characteristics. If, for example, a driving mode is selected here in which a sporty actuation of the friction clutch is advantageous, then the corresponding characteristic is selected. Conversely, if, on the other hand, another driving mode that requires gentle actuation of the friction clutch or, if necessary, normal driving is selected, a characteristic is used that results in slow and gentle and thus comfortable starting and actuation of the friction clutch.

As an alternative or in addition to the aforementioned embodiment, it is also conceivable within the scope of the invention that a selection of a specific characteristic by a vehicle operator of the watercraft is used as a parameter. In this case, the vehicle driver can directly select which of the possible characteristics he would like to have used for actuating the friction clutch. It is thus conceivable within the scope of the invention that the individual characteristics can be selected on a corresponding operating element of the watercraft.

The invention also relates to a control device for regulating the actuation of a friction clutch of a drive train of a motorized watercraft, the control device being set up to close the friction clutch with an actuation characteristic and to select the actuation characteristic as a function of at least one parameter from several stored characteristics. Furthermore, the control device can then also be set up to carry out one or more of the variants described in advance.

The present invention also relates to a computer program product for a control device, a routine for designing the actuation characteristics of the friction clutch as a function of at least one parameter corresponding to one of several stored characteristics being implemented by means of corresponding stored control commands. The subject matter of the invention can then also be a data carrier on which an aforementioned computer program product is stored in a retrievable manner.

The invention is not restricted to the specified combination of the features of the independent claims or the claims which are dependent thereon. In addition, there are possibilities of combining individual features with one another, also insofar as they emerge from the claims, the following description of a preferred embodiment of the invention or directly from the drawings. The reference of the claims to the drawings through the use of reference signs is not intended to limit the scope of protection of the claims.

• 1 eine schematische Ansicht eines Antriebsstranges eines Wasserfahrzeugs gemäß einer bevorzugten Ausführungsform der Erfindung;
• 2 ein Ablaufdiagramm eines Verfahrens zum Betätigen einer Reibkupplung des Antriebsstranges aus 1, gemäß einer bevorzugten Ausgestaltungsmöglichkeit der Erfindung; und
• 3 bis 5 jeweils Diagramme des Verfahrens aus 2.

An advantageous embodiment of the invention, which is explained below, is shown in the drawings. It shows:

• 1 a schematic view of a drive train of a watercraft according to a preferred embodiment of the invention;
• 2 a flowchart of a method for actuating a friction clutch of the drive train 1 , according to a preferred embodiment of the invention; and
• 3 to 5 in each case diagrams of the procedure 2 .

1 shows a schematic view of a drive train 1 a watercraft, wherein the drive train 1 a prime mover 2 includes, which is in particular an internal combustion engine. An output shaft 3 the prime mover 2 is on a flange 4th non-rotatably with an input shaft 5 a transmission 6th connected to an output shaft 7th of the transmission 6th can be coupled. The output shaft 7th is then in turn on a flange 8th rotatably with a shaft 9 of a propeller 10 in connection, via which the watercraft can be set in motion.

The prime mover 2 is via an engine control unit 11 regulated, which with a control system 12th is in connection and from this with corresponding, for the regulation of the prime mover 2 necessary data is supplied. Among other things, there is the control system 12th with a selector lever 13 and an input element 14th in connection, via which a boat operator of the watercraft can make appropriate entries. The control system 12th is also at an interface 15th with a control unit 16 of the transmission 6th in connection to also this control unit 16 to be able to supply the relevant data. The signals from the selector lever are thereby activated 13 used to, depending on whether the watercraft is moving forward or backward via the selector lever 13 is selected, a drive movement of the prime mover 2 via the input shaft 5 with an identical or opposite direction of rotation on the output shaft 7th and with it the wave 9 to translate. This is the purpose of the gearbox 6th via two spur gear stages 17th and 18th , each with an associated friction clutch 19th or. 20th can be integrated into the power flow and thereby different directions of rotation on the output shaft 7th cause. The friction clutches 19th and 20th are each designed as multi-plate clutches.

To operate the friction clutches 19th and 20th is the control unit 16 with a hydraulic control device 21st connected, via which - not further shown here - hydraulic actuating devices of the friction clutches 19th and 20th can be controlled. The individual hydraulic actuation device of the respective friction clutch 19th or. 20th comprises, in a manner known in principle to the person skilled in the art, a piston which is moved against a spring element by the application of pressure to an actuating chamber and thereby onto a disk pack of the respective friction clutch 19th or. 20th acts so that respective friction clutch 19th or. 20th is transferred into an actuated state and as a result a power flow guidance via the respective spur gear stage 17th or. 18th evokes.

The control unit 16 is also with a valve unit 22nd , Speed sensors 23 and 24 as well as a temperature sensor 25th connected. Via the speed sensor 23 becomes a speed of the input shaft 5 detected while the speed sensor 24 determining a speed of the output shaft 7th and thus also the wave 9 serves. There is also a service interface 26th provided over on the control unit 16 can be accessed.

• Zu Beginn des Verfahrens und mit Start eines Anfahrvorganges des Wasserfahrzeugs wird zunächst in einem ersten Schritt S1 abgefragt, ob aktuell die Trolling-Funktion aktiviert ist. Dies kann dabei dadurch gegeben sein, dass der Bootsführer eine entsprechende Eingabe an dem Eingabeelement 14 vorgenommen oder eine bestimmte Fahrfunktionen, wie beispielsweise das automatische Halten einer aktuellen Position des Wasserfahrzeugs, gewählt ist. Ist keine Trolling Funktion aktiviert, so wird direkt zu einem Ende des Verfahrens gesprungen. Ist das Ergebnis in S1 hingegen positiv, so wird zu einem Schritt S2 übergegangen, in welchem zumindest ein Parameter abgefragt wird, durch welchen eine Betätigungscharakteristik zum Betätigen der jeweiligen Reibkupplung 19 oder 20 vorgegeben ist. Dabei kann der zumindest eine Parameter eine aktuell gewählte Fahrfunktionen widerspiegeln, die die Wahl einer bestimmten Betätigungscharakteristik voraussetzt, oder auch in Form einer direkten Vorgabe des Fahrzeugführers zur Wahl einer bestimmten Betätigungscharakteristik vorliegen. Dazu sind zwei oder mehr unterschiedliche Charakteristiken fest hinterlegt, von welchen eine aufgrund des mindestens einen Parameters in einem folgenden Schritt S3 als Betätigungscharakteristik ausgewählt wird.

The valve unit 22nd is used to implement a so-called trolling function, in which a drive movement from the input shaft 5 on the output shaft 7th in the slip mode of the respective actuated friction clutch 19th or 20th can be translated. This trolling function is used, for example, for starting up, during mooring maneuvers, in a driving mode for automatically holding the watercraft in a predetermined position, or the like. A special feature is the start of the watercraft in the trolling function while actuating one of the two friction clutches 19th or 20th , depending on the selected direction of travel, carried out according to a method according to the invention, which now with the aid of the flowchart 2 should be explained:

• At the beginning of the process and when a start-up process of the watercraft is started, the first step is S1 queried whether the trolling function is currently activated. This can be given by the boat operator making a corresponding input on the input element 14th made or a certain driving function, such as the automatic holding of a current position of the watercraft, is selected. If no trolling function is activated, the process will jump straight to the end. Is the result in S1 on the other hand positive, a transition is made to a step S2 in which at least one parameter is queried by which an actuation characteristic for actuating the respective friction clutch 19th or 20th is given. The at least one parameter can reflect a currently selected driving function that requires the selection of a certain actuation characteristic, or it can also be in the form of a direct specification by the vehicle driver for selecting a certain actuation characteristic. For this purpose, two or more different characteristics are permanently stored, one of which is selected as the actuation characteristic on the basis of the at least one parameter in a subsequent step S3.

In a step S4, the respective friction clutch is then closed 19th or 20th carried out according to the actuation characteristics selected and the process ended. In the diagrams of the 3 to 5 three different actuation characteristics are shown, the course of an actuation pressure in the respective figure in the diagram shown above P the respective hydraulic actuation device of the respective friction clutch 19th or. 20th over time t is plotted, while in the diagram shown below, a course of an output speed n _from the output shaft 7th and thus also the wave 9 over time t are shown.

As from the 3 to 5 It can be seen that, regardless of the selected actuation characteristic, the respective actuation space of the respective hydraulic actuation device of the friction clutch is initially filled 19th or 20th made so that a disk play on the respective disk pack of the friction clutch 19th or 20th is almost overcome. However, at the end of this so-called rapid filling phase, the lamella play must not yet be completely overcome in order to avoid an uncontrolled, sudden build-up of pressure. Instead, the subsequent pressure build-up should take place in a controlled manner.

A start-up curve then follows the filling 27 or. 28 or. 29 in which the actuation pressure P for example is increased linearly. In other designs, the pressure can also increase in a different form, for example remain parabolic or constant. The characteristics differ in an actuation time t _on , within which the actuation pressure P from a start pressure Po on a target pressure Pz is raised, and thus in their rate of pressure increase. 3 shows the course of the actuation characteristic when a particularly sporty characteristic is selected, in which the target pressure Pz in shortest time t _on is achieved. In contrast, in 4th a more moderate increase in pressure and in 5 a slow pressure increase was chosen. The time t _on is then correspondingly longer.

In addition, the individual characteristics are made up by the transition of the respective approach curve 27 or. 28 or. 29 into a control of the output speed n _from characterized by a transition point R. is chosen differently. The point in time of the transition and thus the transition point becomes R. depending on a ratio of the output speed specified for the respective characteristic n _from to a target speed nz and after the transition to the control of the output speed n _from a different behavior of the output speed n _from result. So is in with the sporty characteristics 3 the transition point R. chosen so that the output speed n _from in the transition point R. the target speed nz corresponds. As can be seen, the choice of in 3 The characteristic shown here is a strong overshoot of the output speed n _from result, so that overall there is a rapid but also clearly noticeable start-up of the watercraft.

Is the actuation characteristic of the respective friction clutch 19th or. 20th however, according to the in 4th is selected, in addition to a moderate rise in the start-up curve 28 also the transition point R. placed at a point in time at which the output speed n _from only part, especially 75%, of the target speed nz corresponds. Compared to the characteristic 3 this has a significantly lower overshoot of the output speed n _from result. In other versions of the method, the transition point R. be placed at a point in time at which the output speed n _from has a value other than 75%. This value can be adapted to the corresponding gear unit, ship and the respective application.

Finally, the 5 characteristic shown of the transition point R. placed on a point in time in which the output speed n _from one compared to 4th even lower proportion of the target speed nz corresponds, for example, only 50%. In combination with the slowly increasing approach curve 29 will result in the target speed nz very moderately approximated. Although this results in the watercraft moving slowly in the trolling function, this takes place without jerks or at least almost without jerks and thus very comfortably. Which of the 3 to 5 partially also only with approach curves indicated by dashed lines 27 to 29 characteristics shown ultimately as actuation characteristics when actuating the respective friction clutch 19th or. 20th is used, can depend either on a specification of the vehicle driver or a specification of the control unit based on a currently selected driving function.

In the context of the invention, it is in principle also conceivable to select an actuation characteristic of the respective friction clutch 19th or. 20th to be made from different characteristics even if no trolling function is selected, but a complete closing of the respective friction clutch 19th or. 20th should be brought about. An actuation characteristic would then also be designed in accordance with one of the stored characteristics in the event of a regular start-up as a function of at least one parameter.

By means of a method according to the invention, actuation of a friction clutch can be adapted to different situations.

List of reference symbols

1

Powertrain

2

Prime mover

3

Output shaft

4th

flange

5

Input shaft

6th

transmission

7th

Output shaft

8th

flange

9

wave

10

propeller

11

Engine control unit

12

Control system

13

Selector lever

14th

Input element

15th

interface

16

Control unit

17th

Spur gear stage

18th

Spur gear stage

19th

Friction clutch

20th

Friction clutch

21st

hydraulic control device

22nd

Valve unit

23

Speed sensor

24

Speed sensor

25th

Temperature sensor

26th

Service interface

27

Approach curve

28

Approach curve

29

Approach curve

P

Actuation pressure

t

time

t _on

Operating time

Po

Starting pressure

Pz

Target pressure

R.

Transition point

n _from

Output speed

nz

Target speed

S1 to S4

Single steps

Claims (7)

Method for actuating a friction clutch (19; 20) of a drive train (1) of a motor-driven watercraft, the friction clutch (19; 20) being closed with an actuation characteristic, the actuation characteristic in advance as a function of at least one parameter from a plurality of stored characteristics is selected, the characteristics each comprising a start-up curve (27; 28; 29) which is formed by a profile of an actuation pressure (P) of a hydraulic actuation device of the friction clutch (19; 20) over an actuation time (t), characterized in that, that the characteristics are each characterized by a transition of the respective starting curve (27; 28; 29) in each case a control of an output speed (n _Ab ) of the friction clutch (19; 20), with a transition point (R) depending on a predetermined ratio the output speed (n _Ab ) is selected to a target speed (nz). Procedure according to Claim 1 , characterized in that the friction clutch (19; 20) is brought into a slipping state by closing. Method according to one of the Claims 1 to 2 , characterized in that the friction clutch (19; 20) is completely closed by closing. Method according to one of the preceding claims, characterized in that a selection of at least one driving mode of the watercraft is used as the parameter. Method according to one of the preceding claims, characterized in that a selection of a specific characteristic by a vehicle driver is used as the parameter. Control device (16) for regulating an actuation of a friction clutch (19; 20) of a drive train (1) of a motor-driven watercraft, the control device (16) being set up to close the friction clutch (19; 20) with an actuation characteristic and thereby the Selecting actuation characteristics as a function of at least one parameter from a plurality of stored characteristics, characterized in that the control device (16) is set up, a method according to one or more of the Claims 1 to 5 perform. Computer program product for a control device (16) Claim 6 to carry out a method according to one of the Claims 1 to 5 , wherein a routine for selecting the actuation characteristics of the friction clutch (19; 20) as a function of at least one parameter from a plurality of stored characteristics is implemented by means of corresponding control commands stored in software.

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