CN100410557C - Clutch control apparatus and method - Google Patents
Clutch control apparatus and method Download PDFInfo
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- CN100410557C CN100410557C CNB2006100597605A CN200610059760A CN100410557C CN 100410557 C CN100410557 C CN 100410557C CN B2006100597605 A CNB2006100597605 A CN B2006100597605A CN 200610059760 A CN200610059760 A CN 200610059760A CN 100410557 C CN100410557 C CN 100410557C
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Abstract
A clutch control apparatus for a power transmission system including an input rotating member and an output rotating member. The clutch control apparatus includes a friction clutch, and a control unit. The control unit sets a first desired clutch torque setting in accordance with a clutch slip indicator; sets a second desired clutch torque setting to an amount of torque input from the input rotating member to the friction clutch; controls the clutch torque to be the first desired clutch torque setting during a starting stage of the friction clutch; controls the clutch torque to be the second desired clutch torque setting during a steady-state stage of the friction clutch; and controls the clutch torque to gradually change from the first desired clutch torque setting to the second desired clutch torque setting during a transition stage between the starting stage and the steady-state stage.
Description
Technical field
The present invention relates to be used to be controlled at the input rotary component of dynamic transfer system and export the clutch control device and the method for the torque of being transmitted between the rotary component.
Background technique
Conventionally, known a kind of Clutch Control technical equipment that is used for motor vehicle, it is by engaging automatically at vehicle launch or during travelling or the amplitude of the torque that cut-off clutch is controlled from the motor to the driving wheel to be transmitted.Disclosed Japanese patent application H9-72353 number (below be called " JP9-72353 ") has illustrated a kind of Clutch Control technology, it uses the predefine figure that limits the relation between clutch speed ratio and the clutch torque capacity coefficient, obtain the clutch torque capacity coefficient according to clutch speed ratio (it is defined as the rotating speed of slave end rotary component and the ratio of the rotating speed of driving side rotary component), calculate the target torque capacity according to clutch torque capacity coefficient and engine speed, and adjust the activating pressure of clutch by the hydraulic pressure of regulating clutch position, according to the automatic solenoidoperated cluthes torque capacity of target clutch torque capacity.In JP9-72353, according to throttle opening, the three width of cloth different figure relevant with the clutch torque capacity coefficient is produced and is selected.In each width of cloth figure, when the clutch speed ratio equal to represent clutch be in complete jointing state 1.0 the time, the clutch torque capacity coefficient is set to minimum value.Specifically, each width of cloth figure is expressed in so a kind of mode: promptly along with the clutch speed ratio from 1.0 increase or reduce amount with trackslip (slip) that increases clutch, increase the clutch torque capacity coefficient.For example, during vehicle launch, the clutch torque capacity is set to increase along with the increase of clutch slippage speed, and clutch-apply pressure is controlled automatically so that the clutch speed ratio changes towards 1.0.On the other hand, during vehicle stable state that clutch is engaged fully drove, the clutch torque capacity coefficient was set to less, so the clutch torque capacity calculated lessly, made clutch-apply pressure also smaller.Therefore, the torque the earth within reason that transmits by clutch increases, and has reduced the potential joint impact in engaging clutch.
In above-mentioned torque capacity control, when the clutch speed ratio was 1.0, the clutch torque capacity coefficient was set to be higher than to a certain extent the actual value that is transferred to the torque of slave end from driving side.That is, clutch is controlled in by being higher than the activating pressure of actual required activating pressure, and slave end and driving side are engaged with under the state of guaranteeing complete torque transfer.
Summary of the invention
Under above-mentioned conventional torque capacity control, during driving of vehicle stable state or driven state, clutch is engaged fully.When the clutch speed ratio was 1.0, the clutch torque capacity was set to larger than torque from the driving side actual transmissions to slave end to guarantee torque transfer completely.Between clutch is by complete joint aging time, between driving side and slave end, can not produce speed discrepancy.Therefore, the stiction greater than moving (dynamic) frictional force acts between the clutch parts.
On the other hand, in the last few years, a kind of technology that equates with actual required activating pressure that under the state that clutch is conventionally engaged fully activating pressure is controlled to be had been proposed.Promptly during vehicle is in stable state and drives, clutch, is made to form ad infinitum near the state that trackslips of jointing state fully (or ad infinitum near jointing state of the state that trackslips) with balance clutch capacity and the torque of importing from driving side by control automatically.The above-mentioned technology of avoiding clutch to engage fully during vehicle launch is intended to realize a kind of like this state, promptly is in the controllability that stiction under the state that engages fully strengthens clutch under not acting between driving side and the slave end with the situation of guaranteeing torque transfer efficient at clutch.
Yet, if after the control mode of the above-mentioned routine techniques that engages fully according to clutch, with the pattern that is called clutch slippage control is arranged, wherein controlled in torque capacity during the vehicle launch, trackslip (slip) between driving and slave end measures controlled and is held under predetermined speed, then be difficult to transform mode control smoothly, thereby make and to produce the driving sensation that torque shock ends has influenced trailer reversing unfriendly.In addition, in conventional torque capacity control, be set up, therefore may not directly control the amount of trackslipping on demand according to clutch speed ratio torque capacity.For example, when will produce the predetermined amount of trackslipping between driving side and slave end the time, the clutch torque capacity is controlled to change the rotating ratio between driving side and slave end.Therefore, under routine techniques, the clutch slippage speed that may not be maintained fixed.Therefore, may conventional torque capacity control technique can not be according to the clutch torque capacity amount of trackslipping of solenoidoperated cluthes at random.
Therefore, the purpose of this invention is to provide a kind of clutch control device and clutch control method,, improve the controllability of clutch according to input torque with in the process that is included in the conversion between control mode and the Steady-State Control pattern of trackslipping.
According to an aspect of the present invention, a kind of clutch control device that is used to comprise the input rotary component and exports the dynamic transfer system of rotary component, described clutch control device comprises: friction clutcch, be suitable for to import rotary component and couple, so that clutch torque is transferred to the output rotary component from the input rotary component with the output rotary component with the variable engagement degree; Clutch actuator is configured to regulate the conjugation grade of friction clutcch with the solenoidoperated cluthes torque; And control unit, be connected for signal communication with clutch actuator, described control unit comprises: the clutch torque based on speed ratio is provided with calculating section, be used for the first target clutch torque setting being set according to the clutch slippage indicator parameter that is illustrated in the amount of trackslipping between input rotary component and the output rotary component; With the starting control section, be used for during the starting period of friction clutcch, with controlling clutch torque is the first target clutch torque setting, it is characterized in that described control unit also comprises: the clutch torque based on torque is provided with calculating section, is used for the amount that the second target clutch torque setting is set to be input to from the input rotary component torque of friction clutcch; The Steady-State Control part is used for during the steady-state process of friction clutcch, is the second target clutch torque setting with controlling clutch torque; And the transition control section, being used for during the transition stage between starting period and the steady-state process, the solenoidoperated cluthes torque changes to the second target clutch torque setting gradually from the first target clutch torque setting.
According to another aspect of the present invention, a kind of clutch control device that is used to comprise the input rotary component and the dynamic transfer system of rotary component is shown comprises: rubbing device is used for will importing rotary component with the variable engagement degree and couples so that clutch torque is transferred to the output rotary component from the input rotary component with the output rotary component; Actuator is used to regulate the conjugation grade of rubbing device with the solenoidoperated cluthes torque; Control gear is used to carry out following operation: the clutch slippage indicator parameter according to being illustrated in the amount of trackslipping between input rotary component and the output rotary component is provided with the first target clutch torque; The second target clutch torque setting is set to be input to from the input rotary component amount of the torque of rubbing device; During the starting period of rubbing device, be the first target clutch torque setting with controlling clutch torque; During the steady-state process of rubbing device, be the second target clutch torque setting with controlling clutch torque; During the transition stage between starting period and the steady-state process, the solenoidoperated cluthes torque is to change to the second target clutch torque setting gradually from the first target clutch torque setting.
According to another aspect of the present invention, a kind of clutch control method of controlling dynamic transfer system, described dynamic transfer system comprises input rotary component and output rotary component, being suitable for will importing rotary component with the variable engagement degree couples clutch torque is transferred to the friction clutcch of output rotary component from the input rotary component with the output rotary component, and be configured to regulate the clutch actuator of the conjugation grade of friction clutcch with the solenoidoperated cluthes torque, described clutch control method comprises: the clutch slippage indicator parameter according to being illustrated in the amount of trackslipping between input rotary component and the output rotary component is provided with the first target clutch torque setting; And during the starting period of friction clutcch, be the first target clutch torque setting with controlling clutch torque, it is characterized in that the second target clutch torque setting is set to be input to from the input rotary component amount of the torque of friction clutcch; During the steady-state process of friction clutcch, be the second target clutch torque setting with controlling clutch torque; And during the transition stage between starting period and the steady-state process, the solenoidoperated cluthes torque changes to the second target clutch torque setting gradually from the first target clutch torque setting.
Description of drawings
Fig. 1 is that explanation has the schematic block diagram according to the dynamic transfer system of the motor vehicle of the clutch control device of the first embodiment of the present invention;
Fig. 2 is the controlling party block diagram of explanation computational process in the clutch control device of Fig. 1;
Fig. 3 is that explanation combination parameter under the transition control mode of the clutch control device of Fig. 1 is the diagrammatic sketch how to change;
Fig. 4 be explanation under the starting control mode of the clutch control device of Fig. 1 the clutch speed ratio and the diagrammatic sketch of the relation between the clutch torque capacity coefficient;
Fig. 5 is the flow chart of control procedure of the clutch control device of explanatory drawing 1.
Embodiment
Referring now to Fig. 1, it shows the configuration of clutch control device according to an embodiment of the invention.Fig. 1 is that explanation has the schematic block diagram of the dynamic transfer system of the motor vehicle of clutch control device according to an embodiment of the invention.In this dynamic transfer system, the driving torque of exporting from motor 1 is transferred to driving wheel 8,8 by speed changer 7.On the power train that connects motor 1 and driving wheel 8,8, specifically, between motor 1 and speed changer 7, multi-disc wet clutch 2 is set up as friction clutcch.Clutch 2 comprises and drives mating part 2a, as is configured to driving clutch plate and driven mating part 2b by the driving torque rotation of motor 1, as with drive the driven clutch plate that mating part 2a be arranged in parallel.Specifically, clutch 2 comprises: friction clutcch is suitable for will importing rotary component with variable conjugation grade and couples so that clutch torque is transferred to the output rotary component from the input rotary component with the output rotary component; And clutch actuator, the conjugation grade (degree of engagement) that is configured to regulate friction clutcch is with the solenoidoperated cluthes torque.Clutch actuator is configured to produce the clutch-apply pressure of clutch 2 with the solenoidoperated cluthes torque.Be connected with driven mating part 2b or disconnect by driving mating part 2a,, be connected or disconnect from the driving torque of motor 1 promptly by clutch 2 is controlled to jointing state or separated state.By ECU (Electrical Control Unit) (ECU) 4 as controller, the joint that drives mating part 2a and driven mating part 2b with separate controlled.Driving side speed probe (engine rotation speed sensor) 3a is set at the upstream of the clutch 2 in the power train and is configured to measure the rotational speed omega that drives mating part 2a
ENGSlave end speed probe 3b is set at the downstream of the clutch 2 in the power train and is configured to measure the rotational speed omega of driven mating part 2b
CTHThe rotational speed omega of each measurement
ENGAnd ω
CTHAll be imported into ECU 4.
ECU 4 receiving sensor data, as: from driving side speed probe 3a with from the rotational speed omega of slave end speed probe 3b input
ENGAnd ω
CTH, from the throttle of throttle position sensor input, (be equal to rotational speed omega from the vehicle velocity V and the engine speed Ne of vehicle speed sensor input
ENG), calculate to drive target (desired) conjugation grade of mating part 2a and driven mating part 2b according to sensing data, and according to the order of target conjugation grade output clutch hydraulic pressure with control or regulate clutch 2.ECU 4 adopts three kinds of control modes, be included in the starting control mode of vehicle, the Steady-State Control pattern of solenoidoperated cluthes 2 and transition (transition) control mode between starting control mode and Steady-State Control pattern during the vehicle stable state drives from static solenoidoperated cluthes during starts 2.Under the starting control mode, according to the clutch speed ratio (speed ratio) of clutch 2, clutch 2 is controlled.On the other hand, under the Steady-State Control pattern, according to the amplitude that is input to the torque of clutch 2 from motor 1, clutch 2 is controlled.The transition control mode is used to be converted to the plateau control mode from the starting control mode smoothly.
The concrete function of ECU 4 is described below.ECU 4 comprises: calculating section 5 is used to calculate the various clutch torque settings relevant with the control of clutch 2; And control section (clutch control section) 6, be used for solenoidoperated cluthes 2 being set according to the various clutch torques that calculated at calculating section 5.Calculating section 5 comprises that the clutch torque based on speed ratio is provided with calculating section 5a, based on the clutch torque of torque calculating section 5b, clutch torque is set and is provided with and adjusts calculating section 5c and the combined clutch torque is provided with calculating section 5d.Control section 6 comprises starting control section 6a, transition control section 6b and Steady-State Control part 6c.
Clutch torque based on speed ratio is provided with the amount that calculating section 5a is configured to calculate the clutch torque capacity (capacity) of the clutch 2 relevant with starting control.Specifically, use following equation (1), according to rotational speed omega
ENGAnd ω
CTH, clutch slippage speed (slipspeed) (clutch differential) ω
SLAt first calculated, wherein with respect to input speed, the clutch slippage speed omega
SLBe defined as the amount of trackslipping of clutch 2.
ω
SL＝ω
ENG-ω
CTH ......(1)
On the other hand, based on the clutch torque of speed ratio calculating section 5a is set and comprises clutch speed ratio calculating section 5f, be used to calculate rotating ratio driving between mating part 2a and the driven mating part 2b.Clutch speed ratio calculating section 5f is configured to use following equation (2) calculating to be defined in rotational speed omega
ENGAnd ω
CTHBetween the clutch speed ratio e of ratio.
e＝ω
CTH/ω
ENG ......(2)
Therefore, based on the clutch torque of speed ratio calculating section 5a is set the clutch slippage indicator parameter (indicator) that is illustrated in the amount of trackslipping between input rotary component and the output rotary component at first is set.In addition, based on the clutch torque of speed ratio calculating section 5a is set and is configured to use the predetermined properties plotted curve, calculate first target clutch torque setting (as the target clutch torque capacity of the clutch 2 of control setting point) T according to the clutch speed ratio e that is calculated by clutch speed ratio calculating section 5f
STSpecifically, based on the clutch torque of speed ratio calculating section 5a being set uses performance diagram as shown in Figure 4 to determine clutch torque capacity coefficient C
T, and according to clutch torque capacity coefficient C
TThe torque capacity of calculating clutch 2 with engine speed Ne is provided with (setting) T as the first target clutch torque
STAccording to the target properties of clutch 2, be limited to clutch torque capacity coefficient C
TAnd the performance diagram of the relation between the clutch speed ratio e is at random determined.In the present embodiment, performance diagram is scheduled, as shown in Figure 4, makes when clutch speed ratio e is 1.0 clutch torque capacity coefficient C
TAdopt minimum value.Clutch torque capacity coefficient C
TAlong with respect to the increase that departs from of 1.0 clutch speed ratio e (promptly along with clutch speed ratio e from 1.0 increase or clutch speed ratio e from 1.0 reduce) and increase.In addition, at clutch speed ratio e and clutch torque capacity coefficient C
TBetween relation be defined and make clutch torque capacity coefficient C
TVariation (increase) speed along with respect to the increase that departs from of 1.0 clutch speed ratio e and reduce.The rotating speed that e=1.0 represents wherein to drive mating part 2a equals the state of the rotating speed of driven mating part 2b.Along with the increase of the amount of trackslipping between these mating part, the calculated value of clutch speed ratio e departs from mutually with 1.0.The above-mentioned clutch operating of having realized similar change commentaries on classics device that is provided with.That is, because the torque capacity of clutch 2 is set to greatlyyer during vehicle launch, so the activating pressure of clutch 2 is made that by control smoothly or automatically clutch speed ratio e can be near 1.0.Owing to the torque capacity of clutch 2 is set to along with clutch speed ratio e reduces near 1.0, therefore make clutch 2 can respond depressing of throttle (accelerator) at an easy rate or discharge and trackslip, with the torque shock ends that reduces to cause by more fierce operation to throttle.
On the other hand, the clutch torque capacity that calculating section 5b is used to calculate Steady-State Control is set, and is configured to calculate the second target clutch torque relevant T is set with Steady-State Control based on the clutch torque of torque
INThe second target clutch torque is provided with T
INBe set to be input to the amplitude of torque of the driving mating part 2a of clutch 2, make clutch 2 be in the stable state jointing state that the torque of wherein importing from driving side is transferred to slave end fully neither too much or too littlely from motor 1.Therefore, use the method for the Steady-State Control of control activating pressure when clutch engages fully, the torque capacity of clutch 2 is calculated as and equals actual required activating pressure, and is defined as the second target clutch torque T is set
IN
Clutch torque capacity adjustment calculating section 5c also is used to calculate the clutch torque capacity under the Steady-State Control, and is configured to calculate the required clutch slippage torque T of the predetermined aim parameter that trackslips that is created between driving mating part 2a and the driven mating part 2b
SLBy the feedback of current clutch slippage speed, clutch slippage torque T
SLCalculated as manipulated variable.In the present embodiment, poor according between the target clutch slippage speed aim parameter that trackslips of speed or clutch (the predetermined clutch device trackslip) and actual current clutch slippage speed (the clutch slippage speed of measurement or the actual amount that trackslips of clutch), clutch slippage torque T
SLCalculated.Target clutch slippage speed can be set to particular value, as 10rpm, maybe can be set to and the driving side rotational speed omega
ENGThe value that is directly proportional.When target clutch slippage speed was set to 0, clutch 2 controlled feasible driving mating part 2a and driven mating part 2b were mutually by synchronously with as the rotation of unit.In this case, the torque capacity of clutch 2 and the amount of torque balance of importing from driving side.In the present embodiment, target clutch slippage speed is set to 0.According to circumstances, clutch slippage torque T
SLAmplitude in time be arranged so that the actual clutch that in equation (1), the is calculated speed omega of trackslipping
SLNear 0.
The combined clutch torque is provided with the clutch torque capacity that calculating section 5d is used to calculate transition control, and the clutch torque that is configured to calculation combination is provided with T
BS, clutch torque is provided with T
BSBy making up the first target clutch torque T is set with combination parameter (weighting parameters) α
STWith the second target clutch torque T is set
INBe established.The combined clutch torque is provided with calculating section 5d and comprises that the combination parameter that is used to be provided with combination parameter α is provided with part 5e.Combination parameter is provided with part 5e combination parameter is increased to 1, the clutch torque value of the setting T that makes combination gradually from 0
BSFrom the first target clutch torque value of setting T
STChange to the second target clutch torque value of setting T smoothly
INThe combined clutch torque is provided with calculating section 5d and uses the clutch torque of following equation (3) calculation combination that T is set
BS
T
BS＝(1-α)T
ST+αT
IN ......(3)
As shown in above-mentioned equation (3), combination parameter α is provided with T with the clutch torque that acts on calculation combination
BSThe first target clutch torque T is set
STWith the second target clutch torque T is set
INWeighting indicator parameter (indicator).When combination parameter is 0, the clutch torque of combination is provided with T
BSEqual the first target clutch torque T is set
STWhen combination parameter is 1, the clutch torque of combination is provided with T
BSEqual the second target clutch torque T is set
INThe first target clutch torque is provided with T
STWeighting increase along with the reducing (near 0) of combination parameter α, and the second target clutch torque is provided with T
INWeighting increase along with the increase (near 1) of combination parameter α.Therefore, when α hour, by the method for approximate starting control, clutch 2 is controlled.When α was big, by the method for approximation steady state control, clutch 2 was controlled.As shown in Figure 3, control stage combination parameter α is set to 0 in starting, is set to increase along with the time (0＜α＜1) in the transition control stage, is fixed to 1 in the Steady-State Control stage.Therefore, in the present embodiment, combination parameter α is set to the value (0≤α≤1) in the number range between 0 and 1.As mentioned above, by the second target clutch torque is provided with T
INWith as be less than or equal to 1 on the occasion of combination parameter α first long-pending and by the first target clutch torque is provided with T
STWith the second long-pending addition that deducts the value (1-α) that combination parameter α produced from 1, the clutch torque that the combined clutch torque is provided with calculating section 5d calculation combination is provided with T
BS
In control section 6, during vehicle launch, by adjusting the conjugation grade of clutch 2, starting control section 6a carries out starting control according to the first target clutch torque that calculating section 5a calculated is set by the clutch torque based on speed ratio T to be set
STThe torque capacity of solenoidoperated cluthes 2.Promptly, the calculating of calculating section 5a is set according to the clutch torque based on speed ratio, in starting control section 6a, starting control is undertaken by actual, in the present embodiment, " during vehicle launch " is defined as such a case, and promptly vehicle begins from halted state to clutch slippage speed omega wherein
SLBe reduced to the travelling state that is lower than predetermined threshold rotating speed A (A＞0).Control section 6 determines according to engine speed Ne and throttle whether vehicle begins to travel.
After the starting control of starting control section 6a, transition control section 6b execution transition control is provided with T with the torque capacity of solenoidoperated cluthes 2 from the first target clutch torque
STChange to and by clutch torque the second target clutch torque that calculating section 5b calculated is set T is set based on torque
IN, till clutch 2 is engaged fully.In transition control, T is set according to the clutch torque that the combination that calculating section 5d calculated is set by the combined clutch torque
BS, the conjugation grade of clutch 2 is adjusted.Specifically, the conjugation grade of clutch 2 is adjusted and makes the transmission torque of clutch 2 equal by clutch torque the clutch slippage torque T that adjustment calculating section 5c is calculated to be set
SLWith the clutch torque of combination T is set
BSAnd.According to above-mentioned control, when combination parameter α was provided with part 5e control and is increased to the state of α=1 gradually with the state from α=0 by combination parameter, the transmission torque of clutch 2 was provided with T from the first target clutch torque
STChange to smoothly by the second target clutch torque is provided with T
INWith clutch slippage torque T
SLThe torque that addition produced.Therefore, clutch control device is seamlessly carried out starting control and transition control.
In the present embodiment, be provided with among the adjustment calculating section 5c at clutch torque, target clutch slippage speed is set to 0, makes the transmission torque of clutch 2 from the first target clutch torque T is set smoothly
STChange to the second target clutch torque T is set
INThe condition that is used to begin transition control is limited like this: the clutch slippage speed omega of clutch 2
SLBe lower than predetermined threshold rotating speed A (A＞0), this predetermined threshold rotating speed A is according to the rotational speed omega of throttle, vehicle velocity V, driving mating part 2a
ENGRotational speed omega with driven mating part 2b
CTHIn at least one calculated.In starting control, clutch 2 is controlled towards complete jointing state, wherein the clutch slippage speed omega
SLBe 0, make the clutch slippage speed omega of clutch 2
SLReduce gradually.Because being used to begin the condition of transition control is limited like this: the clutch slippage speed omega of clutch 2
SLBe lower than predetermined threshold rotating speed A (A＞0), therefore transition control is begun reliably before clutch 2 is engaged fully.When transition control section 6b determined to satisfy the condition of beginning transition control, starting control section 6a stopped starting control, and transition control section 6b begins to carry out transition control subsequently.
Rotational speed omega according to throttle, vehicle velocity V, driving mating part 2a
ENGRotational speed omega with driven mating part 2b
CTHIn at least one, the time S of transition control is calculated.For example, transient time, S was set to along with the clutch slippage speed omega
SLInitial value increase and increase.After transient time S, transition control section 6b stops transition control.In the present embodiment, from transient time of beginning transition control after the S, combination parameter part 5e combination parameter α is set to 1.
The Steady-State Control that is configured to Steady-State Control part 6c carry out is provided with T according to the second target clutch torque after finishing with the transition control at transition control section 6b
INAmplitude solenoidoperated cluthes 2.Specifically, the conjugation grade of clutch is adjusted and makes the transmission torque of clutch 2 equal by clutch torque the slipping torque T that adjustment calculating section 5c is calculated to be set
SLWith the second target clutch torque T is set
INAnd.
When transition control section 6b finished transition control, combination parameter α equaled 1.At this moment, the clutch torque of combination is provided with T
BSAmplitude equal the second target clutch torque T be set
IN, make slipping torque T in transition control
SLWith the clutch torque of combination T is set
BSAnd and the slipping torque T under Steady-State Control
SLWith the second target clutch torque T is set
INAnd equate.Therefore, transition control and Steady-State Control are seamlessly carried out.In starting control section 6a, transition control section 6b and Steady-State Control part 6c, the torque T that is transmitted by clutch 2
CTHUse following equation (4) to be calculated, to adjust the conjugation grade of clutch 2.
T
CTH＝T
BS+T
SL
＝(1-α)T
ST+αT
IN+T
SL ......(4)
Wherein in starting control, (start under the control of control section 6a) a=0 and T
SL=0, (under the control of transition control section 6b) 0＜α＜1 in transition control, (under the control of Steady-State Control part 6c) α=1 under Steady-State Control.Clutch torque T according to this calculating
CTH, the conjugation grade of clutch 2 is adjusted.
Fig. 2 is the controlling party block diagram of the computational process of explanation equation (4).Each of equation (4) the right (is torque T
ST, T
INAnd T
SL) in the each several part of calculating section 5, calculated.As mentioned above, based on the clutch torque of speed ratio calculating section 5a being set calculates the first target clutch torque T is set
ST, based on the clutch torque of torque calculating section 5b is set and calculates the second target clutch torque T is set
INWith clutch torque adjustment calculating section 5c is set and calculates slipping torque T
SLPart (1-α) T on equation (4) the right
ST+ α T
INFor the clutch torque that makes up is provided with T
BS, it is provided with calculating section 5d by the combined clutch torque and is calculated.By clutch torque T is set with combination
BSWith clutch slippage torque T
SLAddition produces clutch torque T
CTHThe clutch torque T that each output clutch hydraulic pressure order of starting control section 6a, transition control section 6b and Steady-State Control part 6c is calculated as mentioned above with basis
CTHDrive clutch 2, thereby regulate the conjugation grade of clutch 2.By from each the clutch hydraulic pressure order among control section 6a, 6b and the 6c, the activating pressure that drives mating part 2a and driven mating part 2b is conditioned.
Describe below by the performed operation of the clutch control device of present embodiment.Fig. 5 is the flow chart of control procedure of the clutch control device of explanation present embodiment.The control procedure of Fig. 5 is repeated to carry out in ECU 4 with preset time at interval.At first, in steps A 10, ECU 4 reads the input data of the parameter relevant with Clutch Control.Specifically, ECU 4 reads engine speed Ne, throttle, vehicle velocity V, the driving side rotational speed omega of clutch 2
ENGWith driven hand hay cutter rotational speed omega
CTHSubsequently in steps A 10, in steps A 20, ECU 4 determines whether vehicles start.Specifically, according to vehicle velocity V and throttle, determine that in control section 6 vehicle remains static or vehicle has begun to travel.When definite vehicle was started, routine entered steps A 30 and is used to start the later step of control.On the other hand, when definite vehicle was not also started, promptly when definite vehicle remained static, routine was returned.Therefore only after beginning to travel, just starts by vehicle control.
In steps A 30, ECU 4 reads the predetermined threshold rotating speed A that is used to limit the beginning condition that begins transition control.Subsequently, in steps A 40, ECU 4 calculates the clutch slippage speed omega of clutch 2
SLWith clutch speed ratio e.Subsequently, in steps A 50, ECU 4 carries out starting control.Specifically, in steps A 50, based on the clutch torque of speed ratio calculating section 5a is set and uses as shown in Figure 4 performance diagram, calculate clutch torque capacity coefficient C according to clutch speed ratio e
T, and according to clutch torque capacity coefficient C
TCalculate the first target clutch torque with engine speed Ne T is set
STThen, starting control section 6a uses aforesaid equation (4) to calculate the clutch torque T that will transmit by clutch 2
CTHAnd adjust the conjugation grade of clutch 2, make the transmission torque of clutch 2 equal the clutch torque T that is calculated
CTHBecause the T of clutch slippage torque at this moment
SLBe 0 and combination parameter α be 0, so the conjugation grade of clutch 2 is adjusted and makes the transmission torque of clutch 2 equal the first target clutch torque T is set
STThen, be output to clutch 2 as the clutch hydraulic pressure order with the relevant control signal of starting control.
Next, in steps A 60, ECU 4 determines the current clutch slippage speed omega calculated in steps A 40
SLWhether be lower than the predetermined threshold rotating speed A that in steps A 30, is read.That is, determine whether to satisfy the condition that controls to the conversion of Steady-State Control from starting.When in steps A 60, determining ω
SL＜A satisfies when being used to begin the condition of transition control, and routine enters steps A 70 and is used for the step subsequently of transition control.On the other hand, as definite ω
SLDuring 〉=A, routine turns back to steps A 40, makes starting control be repeated.ω
SLThe situation of 〉=A represents that driven mating part 2b is bigger with the amount of trackslipping that drives mating part 2a.Therefore, starting control is repeated with solenoidoperated cluthes 2, makes the clutch slippage speed omega
SLReduce gradually.When the clutch slippage speed omega
SLBecome when being lower than the predetermined threshold rotating speed A of starting control, routine enters steps A 70.
In steps A 70, ECU 4 calculates S transient time of transition control section 6b.Specifically, by the number of times of repeating step A90-A110, transient time, S was defined.Next, in steps A 80, be provided with among the part 5e at combination parameter, the step delta α of ECU 4 combination parameter α is set to 1/S.For example, when the transient time of being calculated in steps A 70, S was 100, Δ α was set to 0.01.
Next, in steps A 90, in transition control section 6b, ECU 4 is increased in step delta α set in the steps A 80 with combination parameter α.Next, in steps A 100, be provided with among the calculating section 5d in the combined clutch torque, the clutch torque of ECU 4 user's formula (3) calculation combination is provided with T
BS, and carry out transition control.In this steps A 100, clutch torque is provided with adjusts calculating section 5c calculating clutch slippage torque T
SL, the clutch torque that the combined clutch torque is provided with calculating section 5d calculation combination is provided with T
BSThen, the conjugation grade of transition control section 6b adjustment clutch 2 makes the transmission torque of clutch 2 equal clutch torque T
CTH, promptly be provided with and adjust the clutch slippage torque T that calculating section 5c is calculated by clutch torque
SLWith the clutch torque of combination T is set
BSAnd, and will output to clutch 2 as the clutch hydraulic pressure order with the relevant control signal of starting control.
Next, in steps A 110, ECU 4 determines that whether combination parameter α is more than or equal to 1.When definite α＜1, routine turns back to steps A 90 to repeat transition control.Therefore, by increasing Δ α repeatedly, combination parameter is provided with part 5e increases combination parameter α from 0 gradually in steps A 90.Therefore, by equation (3) the clutch torque of given combination T is set
BSFrom the first target clutch torque T is set smoothly
STChange to the second target clutch torque T is set
IN
For example, when the transient time of being calculated in steps A 70, S was 100, Δ α was set to 0.01.Therefore, be repeated after 100 times in the adding of Δ α, α reaches 1.In the present embodiment, for convenience's sake, determine that in steps A 110 condition is α 〉=1.Yet the scope of α is 0≤α≤1.When owing in steps A 90 Δ α is added to combination parameter α, α surpasses at 1 o'clock, can consider that α is set to 1.Therefore, determine in steps A 110 condition can be whether α equals 1.In steps A 100, when using Δ α to upgrade α each time, the clutch torque of ECU 4 calculation combination is provided with T
BSNew value.Therefore, at the transition control period, be the clutch torque T of the dbjective state of clutch 2
CTHBe repeated to calculate S time.Therefore, along with the increase of S transient time, clutch torque T
CTHThe calculation times increase make transition control be carried out smoothly.When beginning transition control, the initial value of combination parameter α is 0, makes the clutch torque of combination that T is set
BsEqual the first target clutch torque T is set
STTherefore, starting control and transition control seamless link is not to produce the caused impact of variation owing to the transmission torque.In the transition control that steps A 100 repeats, the transmission torque of clutch 2 is provided with T from the first target clutch torque smoothly
STChange to by the second target clutch torque is provided with T
INWith clutch slippage torque T
SLThe torque that addition produced.When determining α 〉=1 in steps A 110, routine enters the steps A 120 that Steady-State Control wherein is performed.When finishing transition control, the end value of combination parameter α is 1, makes the clutch torque of combination that T is set
BSEqual the second target clutch torque T is set
INTherefore, transition control and Steady-State Control by seamless link with do not produce since the transmission torque the caused impact of variation.
In steps A 120, based on the clutch torque of torque calculating section 5b is set and calculates the second target clutch torque according to the amplitude that is input to the engine torque of clutch 2 T is set
IN, and Steady-State Control part 6c carries out Steady-State Control to adjust the conjugation grade of clutch 2, makes the transmission torque of clutch 2 change to be provided with by clutch torque to adjust the clutch slippage torque T that calculating section 5c is calculated
SLWith the second target clutch torque T is set
INAnd.
The effect or the advantage of the clutch control device generation of present embodiment will be described below.The control of the clutch control device of present embodiment controls to conversion based on the Steady-State Control of input torque from the starting based on the clutch speed ratio, and does not produce torque shock ends.In addition, clutch control device is carried out starting control so that the suitable sensation of trailer reversing to be provided during vehicle launch, and clutch control device is carried out Steady-State Control to be in the controllability that improves clutch during stable state drives at vehicle.
In starting control, according to the clutch slippage speed omega
SLClutch 2 is controlled to reduce because the more fierce caused torque shock ends of throttle operation.In transition control, by combination parameter part 5e combination parameter α is set and is set to from 0 be increased to 1 gradually, make starting control and transition control and seamlessly carried out.
Be configured to shown in above-mentioned control routine, add the clutch control device that Δ α increases the present embodiment of combination parameter α gradually, T be set for the clutch torque that calculates each the circuit combination that adds Δ α by each circulation in transition control
BSWith clutch torque T
CTH, thus with short loop control clutch 2, it is effective that feasible clutch hydraulic pressure order by 6 pairs of clutches 2 of control section changed smoothly in the transition control stage.
Be configured to when determining that in transition control combination parameter α begins the clutch control device of the present embodiment of Steady-State Control when being in the condition of α 〉=1 (or α=1), be provided with T for the clutch torque when combination
BSEqual the second target clutch torque T is set
INThe time the seamless conversion of carrying out controlling to Steady-State Control from transition be effective.
The conjugation grade that is configured to solenoidoperated cluthes 2 in Steady-State Control makes the transmission torque of clutch 2 equal clutch slippage torque T
SLWith the second target clutch torque T is set
INAnd the clutch control device of present embodiment, for the state that keeps clutch 2 during driving in stable state, wherein the target amount of trackslipping of clutch 2 is with respect to the engine speed ω of input
ENGBy producing consistently is effective.
The torque capacity of clutch 2 (is the clutch slippage speed omega with the state that balances each other from the torque that drives the hand hay cutter input to be configured to be controlled at clutch 2 wherein
SLBe 0 and the amount that is input to the torque of clutch 2 equate with the amount of torque by clutch 2 actual transmissions) the clutch control device of present embodiment, be effective to making the state that trackslips ad infinitum remain on the stiction that is not created between driving side and the slave end near jointing state with the controllability that improves clutch.
In the clutch control device of present embodiment, according to the clutch slippage speed omega of clutch 2
SLCan detect the state that clutch 2 is not wherein engaged fully at an easy rate.Be configured to be provided with from starting and control to condition that Steady-State Control begins to change and according to the rotational speed omega of throttle, vehicle velocity V, driving mating part 2a
ENGRotational speed omega with driven mating part 2b
CTHIn at least one the clutch control device of the present embodiment of transition control time S is set, be effective to beginning at reasonable time and carrying out transition control.Transient time, the adjustment of S changed flatness or the rapidity that transition is controlled.When transition time S is set to when longer, the rate of change of the transmission torque in transition stage is reduced.On the other hand, S is set to more in short-term when the transition time, can finish transition soon.
Because universal equation formula (4) is used to the calculating of the clutch torque in starting control section 6a, transition control section 6b and Steady-State Control part 6c, the therefore conjugation grade of solenoidoperated cluthes 2 at an easy rate.Under conventional Clutch Control, since controlled according to the clutch speed ratio clutch, therefore be difficult to the clutch hydraulic pressure order of directly calculating clutch according to trackslip in target speed and actual difference of trackslipping between the speed.On the other hand, in the clutch control device of present embodiment, because it is controlled according to input torque clutch 2, therefore use the driving mating part 2a of clutch 2 and at least one inertia and the rotating speed motion equation that can set up clutch 2 at an easy rate among the driven mating part 2b, calculate to simplify.
Be configured to use contrary clutch model, according to clutch torque T
CTHCalculating is used to drive the clutch control device of the present embodiment that comprises control section 6 of the conjugation grade of the clutch hydraulic pressure order of clutch 2 and solenoidoperated cluthes 2, is effective to the conjugation grade of determining to produce the required clutch 2 of the transmission torque of calculating with the hydraulic pressure of solenoidoperated cluthes 2 suitably.
Be configured under Steady-State Control, make in the driving side of clutch 2 and the clutch slippage speed omega between the slave end
SLRemain on 0, wherein do not produce the clutch control device of the present embodiment of stiction between the driving of clutch 2 and slave end, the efficient that can influence torque transfer to the controllability that strengthens clutch is effective sharply.In other words, between the driving of clutch 2 and slave end, apply the target amount of trackslipping that kinetic force of friction makes it possible to produce with sufficient response clutch 2 consistently, with solenoidoperated cluthes 2 more accurately on demand.
Improvement to illustrated embodiment will be described below.Although the clutch slippage torque T that adjusts among the calculating section 5c is set at clutch torque
SLCalculating in, the target speed of trackslipping is set to 0, but selectively the target speed of trackslipping is set to value as 10rpm, or it can be set to the rotational speed omega with driving side
ENG(for example 1% of the driving side rotating speed) is directly proportional.According to the target clutch slippage speed of this calculating, clutch slippage torque T among the adjustment calculating section 5c is set at clutch torque
SLAmplitude calculated and be used for determining clutch torque T
CTHAmplitude as the dbjective state of clutch 2, generally speaking, when setting up motion equation, preferably the torque of being transmitted is added, subtracts calculating between mating part 2a and 2b according to the motion state of clutch 2.Therefore, aforementioned calculation considers that promptly the clutch torque of clutch slippage torque is easy to and calculating exactly.
Owing to the clutch slippage torque T that adjustment calculating section 5c is calculated is set by clutch torque
SLBe applied to clutch 2 to produce trackslipping of clutch 2 in the stage to Steady-State Control, therefore guaranteed the robustness of Steady-State Control in the transition stage in transition stage.Similarly, because clutch slippage torque T
SLBe applied to clutch 2 in Steady-State Control, to produce trackslipping of clutch 2, therefore guaranteed the robustness of Steady-State Control by the joint fully that stops clutch 2.
Although in the above-described embodiments, be provided with among the calculating section 5a according to the driving side of clutch 2 and the clutch speed ratio between the slave end at clutch torque based on speed ratio, the first target clutch torque is provided with T
STAmplitude calculated, but selectively according to T being set at the driving hand hay cutter and the first target clutch torque of the clutch slippage speed calculation between the slave end of clutch 2
STFor example, except that clutch slippage speed,, can calculate the clutch speed ratio according to driving and one of them actual speed of slave end.
This patent application is based on the Japanese patent application formerly 2005-066110 number of on March 9th, 2005 application and the Japanese patent application formerly applied on June 3rd, 2005 2005-164568 number.The whole contents of these Japanese patent applications 2005-066110 number and 2005-164568 number is comprised in here in the mode of reference.
Although above reference some embodiment of the present invention has described the present invention, the invention is not restricted to the embodiments described.In view of above-mentioned instruction, those skilled in the art can carry out various modifications and variations to the foregoing description.With reference to appended claim, scope of the present invention is defined.
Claims (12)
1. one kind is used to comprise the clutch control device of importing rotary component and exporting the dynamic transfer system of rotary component, and described clutch control device comprises:
Friction clutcch is suitable for will importing rotary component with the variable engagement degree and couples with the output rotary component, so that clutch torque is transferred to the output rotary component from the input rotary component;
Clutch actuator is configured to regulate the conjugation grade of friction clutcch with the solenoidoperated cluthes torque; With
Control unit is connected for the signal communication with clutch actuator, and described control unit comprises:
Clutch torque based on speed ratio is provided with calculating section, is used for according to the clutch slippage indicator parameter that is illustrated in the amount of trackslipping between input rotary component and the output rotary component the first target clutch torque setting being set; With
The starting control section is used for during the starting period of friction clutcch, is the first target clutch torque setting with controlling clutch torque,
It is characterized in that
Described control unit also comprises:
Clutch torque based on torque is provided with calculating section, is used for the amount that the second target clutch torque setting is set to be input to from the input rotary component torque of friction clutcch;
The Steady-State Control part is used for during the steady-state process of friction clutcch, is the second target clutch torque setting with controlling clutch torque; And
The transition control section is used for during the transition stage between starting period and the steady-state process, and the solenoidoperated cluthes torque changes to the second target clutch torque setting gradually from the first target clutch torque setting.
2. clutch control device as claimed in claim 1, wherein said input rotary component links to each other with the motor of motor vehicle.
3. clutch control device as claimed in claim 2, wherein said control unit is configured to carry out following operation:
According in the rotating speed of the rotating speed of the throttle opening of vehicle, the speed of a motor vehicle of vehicle, described input rotary component and described output rotary component at least one, determine the threshold value rotating speed; And
When the clutch slippage speed that is defined as importing the speed discrepancy between rotary component and the output rotary component is reduced to when being lower than the threshold value rotating speed, enter transition stage.
4. clutch control device as claimed in claim 2, wherein said control unit is configured at least one in the rotating speed of the rotating speed of the speed of a motor vehicle, input rotary component of throttle opening, vehicle according to vehicle and output rotary component, and the time of transition stage is set.
5. as any one described clutch control device of claim 1-4, wherein said control unit is configured to carry out following operation:
During transition stage, from 0 to 1 change combination parameter gradually in time;
By the use following equation combined clutch torque setting is set,
T
BS＝(1-α)·T
ST+α·T
IN
Wherein:
T
BSBe the clutch torque setting of combination,
T
STBe the first target clutch torque setting,
T
INBe the second target clutch torque setting and
α is a combination parameter; And
According to the clutch torque setting in the combination of transition stage, solenoidoperated cluthes torque.
6. clutch control device as claimed in claim 5, wherein control unit is configured to: when combination parameter reaches 1, enter steady-state process.
7. clutch control device as claimed in claim 5, wherein control unit is configured to carry out following operation:
Be provided for producing the clutch torque adjustment of clutch slippage speed, so that clutch slippage speed is adjusted to desired value, wherein clutch slippage speed is defined in the speed discrepancy between input rotary component and the output rotary component; And
During transition stage, adjust the solenoidoperated cluthes torque according to the clutch torque setting and the clutch torque of combination.
8. clutch control device as claimed in claim 7, wherein control unit is configured to: during steady-state process, the solenoidoperated cluthes torque is set and the clutch torque adjustment according to the second target clutch torque.
9. clutch control device as claimed in claim 7, wherein control unit is configured to: during transition stage, adjust according to clutch torque setting and the clutch torque of combination with, solenoidoperated cluthes torque.
10. the clutch control device described in claim 7, wherein control unit is configured to: according to the difference between the actual value of the desired value of clutch slippage speed and clutch slippage speed the clutch torque adjustment is set.
11. clutch control device as claimed in claim 1, wherein friction clutcch is wet multiplate clutch, wherein the clutch actuator clutch-apply pressure that is configured to produce friction clutcch is with the solenoidoperated cluthes torque, and wherein control unit is configured to the clutch hydraulic pressure order is outputed to clutch actuator to regulate clutch-apply pressure.
12. clutch control method of controlling dynamic transfer system, described dynamic transfer system comprises input rotary component and output rotary component, being suitable for will importing rotary component with the variable engagement degree couples clutch torque is transferred to the friction clutcch of output rotary component from the input rotary component with the output rotary component, and be configured to regulate the clutch actuator of the conjugation grade of friction clutcch with the solenoidoperated cluthes torque, described clutch control method comprises:
Clutch slippage indicator parameter according to being illustrated in the amount of trackslipping between input rotary component and the output rotary component is provided with the first target clutch torque setting; And
During the starting period of friction clutcch, be the first target clutch torque setting with controlling clutch torque,
It is characterized in that
The second target clutch torque setting is set to be input to from the input rotary component amount of the torque of friction clutcch;
During the steady-state process of friction clutcch, be the second target clutch torque setting with controlling clutch torque; And
During the transition stage between starting period and the steady-state process, the solenoidoperated cluthes torque changes to the second target clutch torque setting gradually from the first target clutch torque setting.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005066110 | 2005-03-09 | ||
| JP2005066110 | 2005-03-09 | ||
| JP2005164568 | 2005-06-03 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1831355A CN1831355A (en) | 2006-09-13 |
| CN100410557C true CN100410557C (en) | 2008-08-13 |
Family
ID=36993814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2006100597605A Expired - Fee Related CN100410557C (en) | 2005-03-09 | 2006-03-07 | Clutch control apparatus and method |
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| CN (1) | CN100410557C (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009082994A1 (en) * | 2008-01-02 | 2009-07-09 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Clutch actuator and method for the control thereof |
| CN103370557B (en) * | 2010-12-23 | 2016-03-02 | 研究业务流程重组财团-舍布鲁克大学法律部 | vehicle clutch control method |
| JP6052110B2 (en) * | 2013-08-30 | 2016-12-27 | アイシン精機株式会社 | Engine control device |
| DE102014221251B4 (en) * | 2014-10-20 | 2018-09-20 | Zf Friedrichshafen Ag | Method for controlling a drive train of a motor vehicle and motor vehicle drive train |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0972353A (en) * | 1995-08-31 | 1997-03-18 | Honda Motor Co Ltd | Start clutch control device |
| CN1189881A (en) * | 1996-04-23 | 1998-08-05 | 卢克驱动系统有限公司 | Control arrangment for torque transmission system |
| FR2812589A1 (en) * | 2000-08-02 | 2002-02-08 | Renault | Engine and gearbox control system uses variation in clutch operating pressure to maintain constant output speed and torque |
| WO2003019029A1 (en) * | 2001-08-24 | 2003-03-06 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method and system for control of an automatic friction clutch arranged between an engine and a gearbox on a motor vehicle |
-
2006
- 2006-03-07 CN CNB2006100597605A patent/CN100410557C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0972353A (en) * | 1995-08-31 | 1997-03-18 | Honda Motor Co Ltd | Start clutch control device |
| CN1189881A (en) * | 1996-04-23 | 1998-08-05 | 卢克驱动系统有限公司 | Control arrangment for torque transmission system |
| FR2812589A1 (en) * | 2000-08-02 | 2002-02-08 | Renault | Engine and gearbox control system uses variation in clutch operating pressure to maintain constant output speed and torque |
| WO2003019029A1 (en) * | 2001-08-24 | 2003-03-06 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method and system for control of an automatic friction clutch arranged between an engine and a gearbox on a motor vehicle |
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| CN1831355A (en) | 2006-09-13 |
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Correction item: Priority Correct: 2005.06.03 JP 2005-164568 False: Lack of priority second Number: 37 Page: The title page Volume: 22 |
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