CN100339575C - Device and method for control of accelerated slide of vehicle - Google Patents
Device and method for control of accelerated slide of vehicle Download PDFInfo
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Abstract
Device and method for control of accelerated slide of vehicle. Target drive torque Ttt and target turbine rotation speed Ntt for reducing acceleration slip are calculated (S60, 70), target speed ratio Et, target torque ratio Rt and target capacity coefficient Cpt of the torque converter are calculated (S80, 90), target engine torque Tet and target engine rotation speed Net are calculated based on those (S100, 110), feedback correction amount [Delta]Tet based on deviation of engine torque Tett corresponding to the target engine rotation speed Net and the target engine torque Teta corresponding to actual engine rotation speed is calculated (S120 - 140), target engine torque Tet is corrected by feedback correction amount [Delta]Tet (S150).
Description
Technical field
The present invention relates to the acceleration slide control device of vehicle, more particularly, relate in drive system and having in the vehicle of fluid torque converter, engine torque control is become the acceleration slide control device and the controlling method of target engine torque.
Background technique
As an example of the acceleration slide control device of vehicles such as automobile, for example known have an acceleration slide control device of being put down in writing in Japanese Patent Application Laid-Open 2001-107767 communique.In this quickens slide control device, at first, calculate target engine torque based on the target drive torque of the driving wheel of slide in order to the acceleration that reduces driving wheel (such as the slip of the wheel that when vehicle start quickens, is produced).Then, the based target engine torque calculates target engine speed, and utilizes the feedback modifiers amount of the deviation between based target engine speed and the practical engine speeds to come the revise goal engine torque.Afterwards, calculate target throttle valve, and the based target throttle opening is controlled the output of motor based on revised target engine torque and target engine speed.
According to described acceleration slide control device, utilize the feedback modifiers amount of the deviation between based target engine speed and the practical engine speeds to come the revise goal engine torque.Therefore, than the occasion that need not come the revise goal engine torque based on the feedback modifiers amount of the deviation of engine speed, can calculate target engine torque rightly, thereby the acceleration that can reduce driving wheel is rightly slided.
But in described acceleration slide control device, though utilize the characteristic and the based target engine torque that are arranged at the fluid torque converter in the drive system to calculate target engine speed, but the feedback modifiers amount is based on the reduction value that the deviation of engine speed is revised torque, and the feedback gain based on the deviation of engine speed is constant, does not therefore consider the characteristic of fluid torque converter when calculating the feedback modifiers amount.Thus, according to the working condition of fluid torque converter, be to utilize based on the feedback modifiers amount of the deviation of engine speed to come revise goal engine torque rightly sometimes.Also has room for improvement in this.
Particularly, quicken the motor calculation control device export target engine torque of the acceleration slip calculation control device of slip to the output of control motor from control, like this in this motor calculation control device, based on the whether correct problem of the feedback modifiers of the deviation of engine speed, not situation in based target engine torque and target engine speed calculating target throttle valve, but more remarkable under the situation of based target engine torque and practical engine speeds calculating target throttle valve.
Summary of the invention
The objective of the invention is to, by the characteristic of utilizing fluid torque converter calculate at target engine torque, based on the feedback modifiers amount of the deviation of engine speed, no matter thereby the working condition of fluid torque converter how, all can utilize based on the feedback modifiers amount of the deviation of engine speed and come revise goal engine torque rightly, can reduce the acceleration of driving wheel thus more rightly and slide.
First scheme of the present invention relates to and a kind ofly having in the vehicle of fluid torque converter in drive system, engine torque control is become the acceleration slide control device of target engine torque.Described control gear calculates target engine torque and target engine speed based on the situation that the acceleration of vehicle is slided, utilize the characteristic of described fluid torque converter calculate at described target engine torque, based on the feedback modifiers amount of the deviation between described target engine speed and the practical engine speeds, utilize described feedback modifiers amount to revise described target engine torque, thereby engine torque control is become described revised target engine torque.
According to above-mentioned formation, calculate target engine torque and target engine speed based on the situation that the acceleration of vehicle is slided, utilize the characteristic of fluid torque converter to calculate feedback modifiers amount at deviation target engine torque, between based target engine speed and the practical engine speeds, utilize the feedback modifiers amount to come the revise goal engine torque, thereby engine torque control is become revised target engine torque.Therefore, than at the existing acceleration slide control device that calculates under the situation of the characteristic of not utilizing fluid torque converter at the feedback modifiers amount of deviation target engine torque, between based target engine speed and the practical engine speeds, no matter the working condition of fluid torque converter how, all can utilize based on the feedback modifiers amount of the deviation of engine speed and come revise goal engine torque rightly, can reduce the acceleration of driving wheel thus more rightly and slide.
Also can utilize the characteristic of described fluid torque converter to calculate corresponding to the engine torque of described target engine speed with corresponding to the engine torque of practical engine speeds, and, calculate described feedback modifiers amount based on corresponding to the engine torque of described target engine speed with corresponding to the deviation between the engine torque of practical engine speeds.
According to above-mentioned formation, utilize the characteristic of fluid torque converter to calculate corresponding to the engine torque of target engine speed with corresponding to the engine torque of practical engine speeds, and, calculate the feedback modifiers amount based on corresponding to the engine torque of target engine speed with corresponding to the deviation between the engine torque of practical engine speeds.Therefore, no matter the working condition of fluid torque converter how, all can correctly calculate the feedback modifiers amount based on the deviation of engine speed, can correctly carry out feedback to target engine torque thus based on the deviation of engine speed.
Also can calculate target throttle valve, and make it become described target throttle valve by the control throttle opening engine torque control is become described revised target engine torque based on described revised target engine torque and practical engine speeds or described target engine speed.
According to above-mentioned formation, calculate target throttle valve based on revised target engine torque and practical engine speeds or target engine speed, and make it become target throttle valve by the control throttle opening engine torque control is become revised target engine torque.Therefore, can correctly calculate target throttle valve based on correct target engine torque.
Also can calculate the target output torque and the target output speed of described fluid torque converter based on the situation that the acceleration of vehicle is slided, export torque and target output speed and utilize the characteristic of described fluid torque converter to calculate described target engine torque and described target engine speed based on the target of described fluid torque converter.
According to above-mentioned formation, the situation of sliding based on the acceleration of vehicle is calculated the target output torque and the target output speed of fluid torque converter, based on the target output torque and the target output speed of fluid torque converter and utilize the characteristic of fluid torque converter to calculate target engine torque and target engine speed.Therefore, no matter the working condition of fluid torque converter how, all can correctly calculate target engine torque and target engine speed.
The characteristic of described fluid torque converter also can comprise the input output torque of described fluid torque converter and the relation of input output rotating speed.
According to above-mentioned formation, because the characteristic of fluid torque converter comprises the input output torque of fluid torque converter and the relation of input output rotating speed, therefore can utilize the characteristic of fluid torque converter correctly to calculate feedback modifiers amount reliably at deviation target engine torque, between based target engine speed and the practical engine speeds.
The input output torque of described fluid torque converter and the relation of input output rotating speed also can be the relations of the fluid torque converter model corresponding with described fluid torque converter.
In addition, according to above-mentioned formation, because the relation of the input output torque of fluid torque converter and input output rotating speed is the relation of the fluid torque converter model corresponding with fluid torque converter, therefore, can reflect that actual fluid torque converter idiocratically calculates the feedback modifiers amount at deviation target engine torque, based target engine speed and practical engine speeds, can also stably carry out the calculating of feedback modifiers amount simultaneously.
Alternative plan of the present invention is a kind of acceleration control method by sliding that is used for vehicle, and described vehicle has fluid torque converter in drive system, and engine torque control is become target engine torque.In described method, calculate target engine torque and target engine speed based on the situation that the acceleration of vehicle is slided, utilize the characteristic of described fluid torque converter calculate at described target engine torque, based on the feedback modifiers amount of the deviation between described target engine speed and the practical engine speeds, utilize described feedback modifiers amount to revise described target engine torque, thereby engine torque control is become described revised target engine torque.
Yet, if the input speed (engine speed) and the output speed (secondary speed) of fluid torque converter are made as Ne, Nt respectively, the input torque (engine torque) and the output torque (runner torque) of fluid torque converter are made as Te, Tt respectively, and then the speed of fluid torque converter can be expressed as following formula 1 and 2 respectively than E and torque ratio R.
E＝Nt/Ne……(1)
R＝Tt/Te……(2)
In addition, if the capacity coefficient of fluid torque converter is made as Cp, then because the output torque Tt of fluid torque converter can be expressed as following formula 3, so have following formula 4 to set up according to formula 1～3.
Te＝Cp·Ne
2……(3)
Tt＝R·Cp·Ne
2
＝R·Cp·(Nt/E)
2……(4)
Owing to have following formula 5 to set up according to above-mentioned formula 4, therefore, when the right with formula 5 is defined as f (E), can precomputes as the speed of fluid torque converter f (E), and can obtain the velocity ratio E of fluid torque converter according to following formula 6 than the function of E.
Nt
2/Tt＝E
2/(R·Cp)……(5)
E＝f
-1(Nt
2/Tt)……(6)
According to above-mentioned formula 6, can based target driving torque Ttt and target secondary speed Ntt calculate the target speed ratio Et of fluid torque converter, in addition, torque ratio R and capacity coefficient Cp are the function of speed than E, and the speed that can be set in is than the fluid torque converter model of stipulating certain relation between E and torque ratio R and the capacity coefficient Cp.Therefore, can calculate target torque based on the target speed ratio Et of fluid torque converter than Rt and target capacity coefficient Cpt.Thus, according to above-mentioned formula 2, but based target driving torque Ttt and target torque calculate target engine torque Tet than Rt.
In addition, according to above-mentioned 1 formula, but the target speed ratio Et of based target secondary speed Ntt and fluid torque converter calculates target engine speed Net.Perhaps according to above-mentioned various, but the target speed ratio Et of based target secondary speed Ntt, target capacity coefficient Cpt and fluid torque converter calculates target engine speed Net.
And, according to above-mentioned 3 formulas, but based target engine speed Net and target capacity coefficient Cpt calculate the engine torque Tett corresponding to target engine speed Net, and can calculate engine torque Teta corresponding to practical engine speeds Ne based on practical engine speeds Ne and target capacity coefficient Cpt.Thereby, by calculating, can calculate feedback modifiers amount Δ Tet at deviation target engine torque Tet, between based target engine speed Net and the practical engine speeds Ne corresponding to the engine torque Tett of target engine speed Net with corresponding to the deviation between the engine torque Teta of practical engine speeds Ne.Thus, can utilize the characteristic of fluid torque converter correctly to calculate feedback modifiers amount based on the deviation of engine speed.
Utilize above-mentioned each formula, also can be in above-mentioned first and second scheme, based target driving torque Ttt and target secondary speed Ntt also calculate the target speed ratio Et of fluid torque converter according to the following formula 7 corresponding with above-mentioned formula 6.
Et＝f
-1(Ntt
2/Ttt)……(7)
Also can calculate target torque based on the target speed ratio Et of fluid torque converter than Rt and target capacity coefficient Cpt.
Also can based target driving torque Ttt and target torque calculate target engine torque Tet than Rt and according to the following formula 8 corresponding with above-mentioned formula 2.
Tet＝Ttt/Rt……(8)
In addition, the target speed ratio Et that also can work as fluid torque converter is during greater than predefined reference value, the target speed ratio Et of based target secondary speed Ntt and fluid torque converter also calculates target engine speed Net according to the following formula 9 corresponding with above-mentioned formula 1, when the target speed ratio Et of fluid torque converter when predefined reference value is following, based target engine speed Net, target torque calculate target engine speed Net than Rt and target capacity coefficient Cpt and according to the following formula 10 corresponding with above-mentioned formula 2 and 3.
Net＝Ntt/Et……(9)
Net＝{Ttt/(Rt·Cpt)}
1/2……(10)
Also can based target engine speed Net and target capacity coefficient Cpt and calculate engine torque Tett corresponding to target engine speed Net according to the following formula 11 corresponding with above-mentioned formula 3.
Tett＝Cpt·Net
2……(11)
Also can calculate engine torque Teta based on practical engine speeds Ne and target capacity coefficient Cpt and according to the following formula 12 corresponding with above-mentioned formula 3 corresponding to practical engine speeds Ne.
Teta＝Cpt·Ne
2……(12)
Also Kp can be calculated feedback modifiers amount Δ Tet at deviation target engine torque Tet, between based target engine speed Net and the practical engine speeds Ne as feedback gain (positive constant) and according to following formula 13.
ΔTet＝Kp(Tett-Teta)……(13)
Also can calculate target throttle valve based on revised target engine torque and practical engine speeds.
Description of drawings
In conjunction with the accompanying drawings, by description of preferred embodiments, above-mentioned and other purposes can be clear and definite of the present invention, feature and advantage, similar label is used to represent similar parts in the described accompanying drawing, wherein:
Figure 1A is the brief configuration figure that expression is applicable to the mode of execution of the acceleration slide control device rear wheel drive car, vehicle according to the invention;
Figure 1B is the control system block diagram of mode of execution;
Fig. 2 is that expression is used for the flow chart that mode of execution quickens the target engine torque calculation control program of Sliding Control;
Fig. 3 is the flow chart of target secondary speed computer program in the step 70 of expression flow chart shown in Figure 2;
Fig. 4 is that the expression target speed ratio Et of fluid torque converter and target torque are than the plotted curve that concerns between Rt and the target capacity coefficient Cpt.
Embodiment
With reference to the accompanying drawings, describe preferred implementation of the present invention in detail.
Figure 1A is the brief configuration figure that expression is applicable to the mode of execution of the acceleration slide control device rear wheel drive car, vehicle according to the invention.Figure 1B is the control system block diagram of this mode of execution.
The driving force of the motor 10 shown in Figure 1A reaches on the live axle 18 by the automatic transmission 16 that comprises fluid torque converter 12 and gearbox 14.The driving force of live axle 18 reaches left rear wheel axletree 22L and off hind wheel axletree 22R by differential mechanism 20, drives left and right sides trailing wheel 24RL and 24RR rotation as driving wheel thus.
On the other hand, left and right sides front-wheel 24FL and 24FR are follower and as handwheel, left and right sides front-wheel 24FL and 24FR are handled with known manner by steering tie rod (tie-rod) by power steering gear that do not illustrate among Figure 1A, the rack-and-pinion formula, wherein, this power steering gear response driver is driven the handling maneuver of steering wheel.
Control air imbibed quantity by being arranged at closure 28 in the air suction way 26 to motor 10.Closure 28 is driven by the throttle actuator 30 that comprises motor.Engine controlling unit 34 is according to the amount of jamming on by throttle position switch 32 detected gas pedals 33, and controls the aperture of closure 28 by throttle actuator 30.And, in the air supply opening of each cylinder of the air suction way 26 of motor 10, be provided with the nozzle 36 of the fuel that is used for injected petrol and so on.The fuel injection amount of nozzle 36 is also controlled by engine controlling unit 34.
In engine controlling unit 34, the signal of representing the amount of jamming on (accelerator open degree Ap) of gas pedals 33 from throttle position switch 32 inputs, from the signal of the aperture φ of throttle position sensor 38 input expression closures 28, and to engine controlling unit 34, import the signal of representing engine speed Ne and other engine control information from other not shown sensors.
And, in engine controlling unit 34, import the signal of expression target engine torque Tet as required from acceleration slide control device 40 described later.Engine controlling unit 34 is when having imported the signal of expression target engine torque Tet from acceleration slide control device 40, calculate the target aperture φ st of closure 28 based on this target engine torque Tet and practical engine speeds Ne, and become target aperture φ st by aperture control and come the output torque of motor is increased and decreased control closure 28.Certainly, engine controlling unit 34 also can based target engine torque Tet and target engine speed come the control target throttle opening.
The braking force of left and right sides front-wheel 24FL, 24FR and left and right sides trailing wheel 24RL, 24RR is pressed by the braking of controlling corresponding wheel cylinder 46FL, 46FR, 46RL, 46RR by the oil hydraulic circuit 44 of braking device 42 and is controlled.Though do not illustrate in the drawings, oil hydraulic circuit 44 comprises liquid-storage container, oil pump and various control valve units etc., and the braking of each wheel cylinder is pressed and controlled by master cylinder 50 usually, and this master cylinder 50 response drivers are driven the jamming on operation of brake petal 48.
Shown in Figure 1B, in quickening slide control device 40, the signal of the front and back acceleration Gx of post-acceleration sensor 52 input expression vehicles, and the signal of representing wheel velocity (peripheral speed) Vwi (i=fl, fr, rl, rr) of each wheel from vehicle-wheel speed sensor 54j (j=FL, FR, RL, RR) input in the past.In addition, in quickening slide control device 40, from the signal of engine controlling unit 34 input expression accelerator open degree Ap and expression signal as the engine speed Ne of the input speed of fluid torque converter 12, and from the signal of the speed ratio Rg of gear change control device 60 input expression gearboxes 14 and the expression signal as the secondary speed Nt of the output speed of fluid torque converter 12.
And, engine controlling unit 34, acceleration slide control device 40, gear change control device 60 comprise CPU, ROM, RAM and input/output port device etc. in fact respectively, and they can contain by interconnective microcomputer and the drive circuit with known configurations of two-way common bus.Be the lateral acceleration G y that normal incidence detects vehicle when in addition, lateral acceleration sensor 52 turns left with vehicle.
Particularly, in the illustrated embodiment, quicken slide control device 40 according to Fig. 2 and flow chart shown in Figure 3, slide when excessive in the acceleration of left and right sides trailing wheel 24RL, 24RR, calculate the target engine torque Tet that is used to reduce the acceleration slip, and represent the signal of target engine torque Tet to engine controlling unit 34 outputs.The output torque of motor 10 is descended, reduce the acceleration of left and right sides trailing wheel 24RL, 24RR and slide, thus the starting performance and the acceleration performance of raising vehicle.
At this moment, quicken slide control device 40 and when the acceleration slip is excessive, calculate target drive torque (the target output torque of fluid torque converter 12) Ttt and target secondary speed (the target output speed of the fluid torque converter 12) Ntt that is used to reduce the acceleration slip.And, utilize the characteristic (relation of above-mentioned each formula) and the based target driving torque Ttt of fluid torque converter 12 to calculate target engine torque Tet, utilize the characteristic of fluid torque converter 12 and based target secondary speed Ntt to calculate target engine speed Net simultaneously.
And, quicken property calculation that slide control device 40 utilizes fluid torque converter 12 corresponding to the engine torque Tett of target engine speed Net and corresponding to the engine torque Teta of practical engine speeds Ne, deviation based on engine torque Tett and Teta calculates feedback modifiers amount Δ Tet, utilize feedback modifiers amount Δ Tet revise goal engine torque Tet, and represent the signal of revised target engine torque Tet to engine controlling unit 34 outputs.
Then, the target engine torque calculation control program that is used for the acceleration slippery control of mode of execution with reference to flow chart explanation shown in Figure 2.The control of carrying out based on flow chart shown in Figure 2 begins by the closure of not shown ignition switch, and repeats every preset time.
At first, in step 10, carry out reading in to the signal etc. of the front and back acceleration Gx of expression vehicle.In step 20, whether be in the judgement of quickening in the Sliding Control.Get back to step 40 when in step 20, having carried out negative evaluation.And enter step 30 when in step 20, having carried out affirmative determination.
In step 30, for example whether the acceleration by left and right sides trailing wheel 24RL, 24RR is slided and to be finished judgement below the reference value in control, carries out the judgement whether termination condition of Sliding Control is set up.When in step 30, having carried out affirmative determination, return step 10, and enter step 60 when in step 30, having carried out negative evaluation.
In step 40, the judgement whether the beginning condition of Sliding Control is set up is quickened in for example whether judgement more than control beginning reference value of sliding of the acceleration by left and right sides trailing wheel 24RL, 24RR.When in step 40, having carried out negative evaluation, return step 10.When in step 40, having carried out affirmative determination, enter step 50.
In step 50, for example by present engine torque Ted whether the judgement more than predefined reference value Tedo quicken the judgement whether enabled condition of Sliding Control is set up, wherein, described engine torque Ted is based on that accelerator open degree Ap and practical engine speeds Ne infer.When in step 50, having carried out negative evaluation, return step 10.When in step 50, having carried out affirmative determination, enter step 60.
In addition, the judgement that judgement that the judgement that the termination condition of the Sliding Control in step 30～50 is set up, beginning condition are set up and enabled condition are set up does not constitute main contents of the present invention, as long as these judgements utilize any main points well known in the art to carry out.
In step 60, wheel velocity Vwi based on each wheel comes calculation body speed of vehicle Vb, based on the target slippage St of left and right sides trailing wheel 24RL, 24RR and infer the target rotational speed Vwrt that body speed of vehicle Vb calculates left and right sides trailing wheel, actual rotational speed Vwrl, the Vwrr of based target rotational speed Vwrt and left and right sides trailing wheel calculates slippage Srl, the Srr of left and right sides trailing wheel, and calculates target drive torque (the target output torque of the fluid torque converter 12) Ttt that the driving that is used to control left and right sides trailing wheel 24RL, 24RR is slided based on slippage Srl, Srr.
In step 70, calculate target secondary speed (the target output speed of fluid torque converter 12) Ntt, described target secondary speed Ntt is used to control as the driving of left and right sides trailing wheel 24RL, the 24RR of driving wheel slide.
In step 80, based target driving torque Ttt and target secondary speed Ntt also calculate the target speed ratio Et of fluid torque converter 12 according to above-mentioned formula 7.In step 90, based target speed is calculated the target torque of fluid torque converter 12 than Rt and target capacity coefficient Cpt than Et and according to the mapping corresponding with curve shown in Figure 4.In step 100, based target driving torque Ttt and target torque calculate target engine torque Tet than Rt and according to above-mentioned formula 8.In addition, target speed ratio Et shown in Figure 4 and target torque are not the actual relationships of fluid torque converter 12 than the relation between Rt and the target capacity coefficient Cpt, but for making the relation of the fluid torque converter model that calculation stability sets.
In step 110, based target secondary speed Ntt and target speed ratio Et calculate target engine speed Net.At this moment, when target speed ratio Et greater than reference value Ep, for example be 0.5 o'clock, calculate target engine speed Net according to above-mentioned formula 9, when target speed ratio Et calculates target engine speed Net according to above-mentioned formula 10 when said reference value Ep is following.
In step 120, based target engine speed Net and target capacity coefficient Cpt also calculate engine torque Tett corresponding to target engine speed Net according to above-mentioned formula 11.In step 130, calculate target engine torque Teta corresponding to practical engine speeds Ne based on practical engine speeds Ne and target capacity coefficient Cpt and according to above-mentioned formula 12.
In step 140, calculate at the based target engine speed Net of target engine torque Tet and the feedback modifiers amount Δ Tet of the deviation between the practical engine speeds Ne according to above-mentioned formula 130.In addition, the feedback gain Kp in the above-mentioned formula 13 is positive constant, still, also can be set to variable along with for example inferring body speed of vehicle Vb etc.
In step 150, calculate revised target engine torque Tet by add feedback modifiers amount Δ Tet to the target engine torque Tet that calculates from above-mentioned steps 100.In step 160, with Kd as DG Differential Gain (positive constant), s is increased to (1+Kds) doubly as Laplace operator with revised target engine torque Tet, thus revised target engine torque Tet is carried out Shelving, simultaneously, the target engine torque Tet after the described Shelving is outputed to engine controlling unit 34 from quickening slide control device 40.Then, engine controlling unit 34 based target engine torque Tet and practical engine speeds are come the control target throttle opening.
Below, reference flow chart shown in Figure 3 illustrates the compute control program of target secondary speed Ntt in the illustrated mode of execution.
At first, in step 72, calculate the actual speed Nwra of left and right sides trailing wheel based on the mean value Vwra of actual rotational speed Vwrl, the Vwrr of left and right sides trailing wheel, and by actual speed Nwra is calculated the speed ratio Rag of automatic transmission 16 divided by the secondary speed Nt of fluid torque converter 12.At this moment, determine the precision of the speed ratio Rag of automatic transmission 16 based on the speed ratio Rg of gearbox 14.
In step 74, calculate the rotating speed of target Nwrt of left and right sides trailing wheel based on the target rotational speed Vwrt of the left and right sides trailing wheel that in step 60, calculates.In step 76, the speed ratio of differential gear mechanism 20 as Rd, and is calculated target secondary speed Ntt according to following formula 14.
Like this, according to illustrated mode of execution, when being in excessive situation when sliding as the driving of left and right sides trailing wheel 24RL, the 24RR of driving wheel, carry out negative evaluation or carry out affirmative determination in step 30, be used to reduce target drive torque Ttt and the target secondary speed Ntt that drives slip thereby in step 60 and 70, calculate respectively in step 50.Then, utilize the characteristic of fluid torque converter 12 in step 80, to calculate the target speed ratio Et of fluid torque converter 12, the target torque that simultaneously calculates fluid torque converter 12 in step 90 is than Rt and target capacity coefficient Cpt, and calculates target engine torque Tet and target engine speed Net respectively based on these in step 100 and 110.
Then, in step 120 and 130, calculate respectively corresponding to the engine torque Tett of target engine speed Net and corresponding to the target engine torque Teta of practical engine speeds Ne.Afterwards, utilize the characteristic of fluid torque converter 12 in step 140, to calculate the feedback modifiers amount Δ Tet at target engine torque Tet of the deviation between based target engine speed Net and the practical engine speeds Ne.And, in step 150, utilize feedback modifiers amount Δ Tet that target engine torque Tet is carried out the addition correction, calculate revised target engine torque Tet thus.Afterwards, in step 160, revised target engine torque Tet is carried out Shelving, simultaneously the target engine torque Tet after the described Shelving is outputed to engine controlling unit 34 from quickening slide control device 40.
Thereby, according to illustrated mode of execution, deviation between target engine speed Net and the practical engine speeds Ne utilizes the characteristic of fluid torque converter 12 to be transformed to the deviation (Tett-Teta) of corresponding engine torque, and target engine torque Tet is revised by the feedback modifiers amount Δ Tet based on the deviation of engine torque thus.Therefore, with deviation between based target engine speed Net and the practical engine speeds Ne and utilize constant feedback gain to come the existing acceleration slide control device of direct revise goal engine torque Tet to compare, the reduction value of the deviation of based target engine speed and practical engine speeds can be fed back on the target engine torque Tet more rightly.Thus, no matter how, all can reducing the acceleration of left and right sides trailing wheel 24RL, 24RR more rightly, the working condition of fluid torque converter slides.
Particularly, in the illustrated embodiment, owing to the target speed ratio Et of fluid torque converter shown in Figure 4 and target torque are for making the relation of the fluid torque converter model that calculation stability sets than the relation between Rt and the target capacity coefficient Cpt, therefore, can stably carry out the calculating of target engine torque Tet.
More than, though according to specific mode of execution the present invention is had been described in detail, the present invention is not limited to above-mentioned mode of execution, and other various mode of executions can be arranged within the scope of the invention, about this point, be clearly for a person skilled in the art.
For example, in each above-mentioned mode of execution, target drive torque Ttt and target secondary speed Ntt calculate by specific main points in step 60 and 70 respectively, but the calculating itself of target drive torque Ttt and target secondary speed Ntt does not constitute main contents of the present invention, as long as utilize any main points well known in the art to obtain these values.
In addition, in each above-mentioned mode of execution, in step 120 and 130, calculate respectively respectively corresponding to the engine torque Tett of target engine speed Net and corresponding to the target engine torque Teta of practical engine speeds Ne, and in step 140, calculate the feedback modifiers amount Δ Tet at target engine torque Tet of the deviation between based target engine speed Net and the practical engine speeds Ne.But, also can be modified as like this: by calculate target engine speed Net square with practical engine speeds Ne square poor (Net
2-Ne
2), and should on dutyly calculate feedback modifiers amount Δ Tet with target capacity coefficient Cpt.
In addition, in each above-mentioned mode of execution, engine controlling unit 34 is when quickening slide control device 40 inputs the signal of expression target engine torque Tet is arranged, and calculates the target aperture φ st of closure 28 based on this target engine torque Tet and practical engine speeds Ne.But, also can be revised as the mode that based target engine torque Tet and target engine speed Net calculate the target aperture fst of closure 28.
In addition, in each above-mentioned mode of execution, vehicle is the rear wheel drive car, but the vehicle that the present invention is suitable for also can be front wheel drive car or four-wheel drive vehicle.
Claims (8)
1. the acceleration slide control device of a vehicle, described vehicle has fluid torque converter in drive system, and engine torque control is become target engine torque, and the acceleration slide control device of described vehicle is characterised in that,
Calculate target engine torque (Tet) and target engine speed (Net) based on the situation that the acceleration of vehicle is slided,
Utilize the characteristic of described fluid torque converter calculate at described target engine torque (Tet), based on the feedback modifiers amount (Δ Tet) of the deviation between described target engine speed (Net) and the practical engine speeds (Ne),
Utilize described feedback modifiers amount (Δ Tet) to revise described target engine torque (Tet),
Engine torque control is become described revised target engine torque (Tet), wherein
Utilize the characteristic of described fluid torque converter calculate corresponding to described target engine speed engine torque (Tett) and corresponding to the engine torque (Teta) of practical engine speeds,
Based on corresponding to the engine torque (Tett) of described target engine speed with corresponding to the deviation between the engine torque (Teta) of described practical engine speeds, calculate described feedback modifiers amount (Δ Tet).
2. the acceleration slide control device of vehicle as claimed in claim 1 is characterized in that,
Calculate target throttle valve (φ st) based on described revised target engine torque (Tet) and practical engine speeds (Ne) or described target engine speed (Net),
Make it become described target throttle valve (φ st) by the control throttle opening, engine torque control is become described revised target engine torque (Tet).
3. the acceleration slide control device of vehicle as claimed in claim 1 is characterized in that,
The situation of sliding based on the acceleration of vehicle is calculated the target output torque (Ttt) and the target output speed (Ntt) of described fluid torque converter,
Based on the target of described fluid torque converter output torque and target output speed and utilize the characteristic of described fluid torque converter, calculate described target engine torque (Tet) and described target engine speed (Net).
4. the acceleration slide control device of vehicle as claimed in claim 1 is characterized in that,
The characteristic of described fluid torque converter comprise described fluid torque converter the input output torque (Te, Tt) and input output rotating speed (Ne, relation Nt).
5. the acceleration slide control device of vehicle as claimed in claim 4 is characterized in that,
The characteristic of described fluid torque converter be based on described fluid torque converter the input output torque (Te, Tt), the input output rotating speed (Ne, Nt) and the characteristic of capacity.
6. the acceleration slide control device of vehicle as claimed in claim 4 is characterized in that,
The input output torque of described fluid torque converter and the relation of input output rotating speed are the relations of the fluid torque converter model corresponding with described fluid torque converter.
7. the acceleration slide control device of vehicle as claimed in claim 6 is characterized in that,
Described fluid torque converter model is the relation that is redefined for certain relation between the capacity coefficient (Cp) with the input torque of the ratio (E) of the input speed of fluid torque converter and output speed, fluid torque converter and output ratio (R) of torque and fluid torque converter.
8. acceleration control method by sliding that is used for vehicle, described vehicle has fluid torque converter in drive system, and engine torque control is become target engine torque, and described acceleration control method by sliding is characterised in that,
The situation of sliding based on the acceleration of vehicle calculate target engine torque and target engine speed (S100, S110),
Utilize the characteristic of described fluid torque converter calculate at described target engine torque, based on the feedback modifiers amount (S140) of the deviation between described target engine speed and the practical engine speeds,
Utilize described feedback modifiers amount to revise described target engine torque (S150),
Engine torque control is become described revised target engine torque, wherein
Utilize the characteristic of described fluid torque converter calculate corresponding to described target engine speed engine torque (S120) and corresponding to the engine torque (S130) of practical engine speeds,
Based on corresponding to the engine torque of described target engine speed with corresponding to the deviation between the engine torque of described practical engine speeds, calculate described feedback modifiers amount (S140).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003375322A JP4010294B2 (en) | 2003-11-05 | 2003-11-05 | Acceleration slip control device for vehicle |
| JP375322/2003 | 2003-11-05 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1614214A CN1614214A (en) | 2005-05-11 |
| CN100339575C true CN100339575C (en) | 2007-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2004100885552A Expired - Fee Related CN100339575C (en) | 2003-11-05 | 2004-11-05 | Device and method for control of accelerated slide of vehicle |
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| Country | Link |
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| JP (1) | JP4010294B2 (en) |
| CN (1) | CN100339575C (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7543670B2 (en) * | 2005-10-31 | 2009-06-09 | Gm Global Technology Operations, Inc. | Wheel slip control system |
| JP5126044B2 (en) * | 2008-12-18 | 2013-01-23 | トヨタ自動車株式会社 | Vehicle control device |
| JP5051117B2 (en) * | 2008-12-19 | 2012-10-17 | 日産自動車株式会社 | Hybrid vehicle start control device |
| DE102009054945A1 (en) * | 2009-12-18 | 2011-06-22 | Robert Bosch GmbH, 70469 | Method for operating a drive device and control device for a drive device |
| JP5760633B2 (en) * | 2011-04-19 | 2015-08-12 | トヨタ自動車株式会社 | Control device for internal combustion engine |
| JP6017674B2 (en) * | 2013-03-12 | 2016-11-02 | ヤマハ発動機株式会社 | Saddle type vehicle and control method of saddle type vehicle |
| CN107676186B (en) * | 2017-09-27 | 2020-07-07 | 广州汽车集团股份有限公司 | Engine torque control method |
| CN108674409A (en) * | 2018-05-23 | 2018-10-19 | 南通科技职业学院 | A kind of power-control method and device of intelligent automobile |
| CN112726703B (en) * | 2020-12-28 | 2022-08-23 | 山推工程机械股份有限公司 | Bulldozer and electronic control steering control method and device thereof |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP4010294B2 (en) | 2007-11-21 |
| JP2005139947A (en) | 2005-06-02 |
| CN1614214A (en) | 2005-05-11 |
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