CN103197703A - Method for alleviating slip vibration - Google Patents
Method for alleviating slip vibration Download PDFInfo
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- CN103197703A CN103197703A CN2012105970679A CN201210597067A CN103197703A CN 103197703 A CN103197703 A CN 103197703A CN 2012105970679 A CN2012105970679 A CN 2012105970679A CN 201210597067 A CN201210597067 A CN 201210597067A CN 103197703 A CN103197703 A CN 103197703A
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- cosine
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D48/00—External control of clutches
- F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/30—Signal inputs
- F16D2500/308—Signal inputs from the transmission
- F16D2500/3081—Signal inputs from the transmission from the input shaft
- F16D2500/30816—Speed of the input shaft
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2500/00—External control of clutches by electric or electronic means
- F16D2500/50—Problem to be solved by the control system
- F16D2500/502—Relating the clutch
- F16D2500/50293—Reduction of vibrations
Abstract
The invention relates to a method for alleviating slip vibration in a power train of a motor vehicle, and the power train has a driving unit, a transmission and an automatic friction clutch.
Description
The present invention relates to a kind of be used to the method that alleviates the slippage vibration.
The present invention relates to a kind of method of implementing as software strategy, for the slippage vibration (Rupfschwingung) of the power clutch that alleviates electromechanical integration control.
According to for example being used for the prior art that the vibration of antiskid difference is regulated described in the DE10323567A1, unfiltered, as to contain vibration variator input revolution signal and the difference between corresponding the filtered signal are used as the input signal use of regulating device.That this input signal is used as weighting and be added on the actuator voltage as auxiliary voltage with its derivative.The meaning of derivative is, for vibration signal, obtains the signal (annotate: the derivative of sine function is that cosine function and this cosine function are again the sine functions of 90 ° of phase shifts) of 90 ° of phase shifts.
Under the resonance situation, the principal component of above-mentioned weighted sum is the time-derivative of this difference signal.At first this signal has very noisy, thereby must provide the voltage that very noisy should be arranged mutually on clutch actuator.In addition, the higher frequency components in the variator input revolution also together is exaggerated.Only directly consider a unique frequency for the slippage vibration in addition, thereby outside the resonance of basic power train natural frequency, correctly do not consider phase shift.If the vibration of investigating is for example caused by an excitation higher-frequency or low frequency that then system is by the anti-phase or in phase vibration of trend.Therefore, the weight of design in 90 ° of phase shifts is not correct, is not damped vibration but excited vibration under worst case.
Task of the present invention is, seeks a kind of solution, makes to decide with level and smooth as far as possible signal, do not encourage higher-frequency component ground to carry out the control of clutch actuator according to the vibration frequency that occurs.
This task solves by the method with feature of the present invention.
According to the present invention, a kind of method for the slippage vibration that alleviates motor vehicle powertrain is proposed, this motor vehicle powertrain has driver element, variator and automated friction clutch, wherein, the step below carrying out:
The current demand signal value that the current demand signal value of a signal of describing the sine function with original frequency in time course and variator are imported revolution signal (IPS signal) multiplies each other and draws a sinusoidal product currency, describing a current demand signal value with the current demand signal value of signal of cosine function of original frequency and variator input revolution signal (IPS signal) with one in time course multiplies each other and draws a cosine product currency
Ask moving average to draw a sinusoidal component value to this sine product currency and from all sinusoidal product values that this sine product currency begins to try to achieve through the one-period of original frequency, ask moving average to draw a cosine component value to cosine product currency and from all cosine product values that this cosine product currency begins to try to achieve through the one-period of original frequency
Try to achieve amplitude (amplitude) by this sinusoidal component value and cosine component value,
Try to achieve the phase shift (phase place) between variator input revolution signal (IPS signal) and this cosine function,
Try to achieve one by this amplitude (amplitude) and phase shift (phase place) and represent the signal that slippage vibrates,
Try to achieve the value of phase shift of the signal of this representative slippage vibration, wherein, this value is so selected, and obtains a control signal that acts on the clutch actuator when making signal in this representative slippage vibration with this value phase shift, and this control signal alleviates slippage and vibrates.
Stipulate that in of the present invention one favourable embodiment the value of the phase shift of the signal of this representative slippage vibration is 90 °.
In another favourable embodiment of the present invention, stipulate, describedly try to achieve amplitude (amplitude) by asking root to carry out by the quadratic sum of sinusoidal component and these two values of cosine component by sinusoidal component value and cosine component value.
Stipulate that in another favourable embodiment of the present invention sign and the arctan function of trying to achieve by sinusoidal component and these two values of cosine component of the phase shift (phase place) between variator input revolution signal (IPS signal) and the cosine function carry out.
In another favourable embodiment of the present invention, stipulate, time-derivative by the phase shift between the variator input revolution signal (IPS signal) of trying to achieve and the cosine function is obtained a frequency of amendment, wherein, by original frequency or an already present up-to-date corrected frequency (frequency of having revised) and this frequency of amendment are asked poor, try to achieve a corrected frequency (frequency of having revised).
Stipulate that in another favourable embodiment of the present invention sine _ function (30) and cosine _ function (20) are two mutually orthogonal, periodic mathematical functions.
The advantage of the inventive method is, the control of clutch actuator according to the vibration frequency that occurs different and ground, covert position with level and smooth as far as possible signal, do not encourage higher-frequency component ground to carry out.
Other advantages of the present invention and favourable scheme are following instructions and the theme of accompanying drawing and accompanying drawing description.
For the correlated components from the vibration of unfiltered variator input revolution signal extraction slippage, at first suppose an original frequency.What expect easily at this is basic power train natural frequency, and it is known in a narrow frequency band for a system.One-period through this original frequency, this unfiltered variator input revolution signal once multiplies each other with sine function with elective timeorigin with at the known phase place of this timeorigin, once multiply each other with cosine function, average respectively, for example the moving average on the one-period (annotate: this with frequency is won with limited strongly integrating range in leaf transformation similar).Sinusoidal component and cosine component also can be interpreted as with respect to amplitude (root of quadratic sum) and phase place (arc tangent of ratio) as basic known phase, and try to achieve amplitude and phase place by sinusoidal component and cosine component.This calculating is along with the time carries out continuously.If the original frequency ω as the basis
0With the slippage vibration ω that investigates
SigThe coupled vibration component be complementary i.e. frequencies omega
0And ω
SigUnanimity, the phase place that then obtains keep stable.If at ω
0And ω
SigBetween have (not too big) frequency departure, then phase place will with frequency departure
Pro rata according to:
Change.
This frequency departure can be used for coming adaptive frequency with respect to original frequency at this moment, and carries out this method with the frequency after adaptive again.Alternatively, only use time dependent phase place as frequency of amendment, this is equivalent to effective frequency of amendment, need not clearly obtain the adaptive of original frequency value.Because in the slippage vibration, have only the frequency near basic power train natural frequency (it is selected as original frequency) to work mostly, consider that in most cases the frequency departure that is drawn by time dependent phase place is just enough.
Below, as from good known physics and the electronic technology document, the harmonic oscillator that power train is reduced to driven vibration damping is investigated, and the characteristics of this harmonic oscillator are to have following characteristic:
Vibration frequency is equivalent to excitation frequency in the starting of oscillation state.
If excitation frequency apparently higher than natural frequency, then encourages and vibrates then is anti-phase.
If excitation frequency is starkly lower than natural frequency, then encouraging and vibrating then is homophase.
If excitation frequency is identical with natural frequency, then both directly exist 90 ° of phase differential and amplitude maximum (resonance).
Produce following consequence thus:
Decide according to the frequency that will decay, be necessary for vibration damping and produce the designature with respective phase.
The amplitude of described designature also must correspondingly mate.
Therefore, this designature can correspondingly produce, and its mode is to produce one with respect to the phase place that is detected and have the sinusoidal vibration of respective amplitudes and correspondingly used as adjusting parameter, be used for the moment modulation on the clutch coupling.At this, also can pass through signal transit time or hardware dynamic characteristic corresponding consideration time delay in phase place, can be used and phase matching as the frequency of surveying.
1 illustrate this method by a specific embodiment with reference to the accompanying drawings below:
The result who obtains that multiplies each other is cosine product 40 and sinusoidal product 50.
Two moving averages of the one-period of process original frequency are cosine component 60 and cosine component 70.
The root of these two components (cosine component 60 and cosine component 70) quadratic sum is amplitude 80.
Phase shift between IPS signal 10 and the cosine function 20 can calculate and be designated as phase place 90 from these two components (cosine component 60 and cosine component 70) by sign and arctan function among Fig. 1.
Can calculate signal after the filtration by amplitude 80 and phase place 90 now, this signal represents the slippage vibration and be denoted as the vibration 100 of isolation in Fig. 1.At this, the frequency of signal 100 in time course owing to the phase place 90 that changes changes.
This signal 100 can be loaded with a phase place, in the example of Fig. 1 with 90 ° of loadings.Its result is denoted as control signal 110 in Fig. 1.
Time-derivative by the phase place 90 of trying to achieve draws a frequency of amendment, and this frequency of amendment is as describing corrected frequency 130 with the difference of original frequency.This corrected frequency can be used for for 130 this moments: replace original frequency, implement this method again with this corrected frequency 130.This repetition can disposablely be carried out, perhaps for example frequently carry out until frequency of amendment be lower than one can be predetermined threshold value, namely enough little.As top in the vibration 100 of being tried to achieve isolation by amplitude 80 and phase place 90 as described in, can only use time dependent phase place 90 as frequency of amendment, this is equivalent to effective frequency of amendment, and needn't obtain the coupling of original frequency value clearly.Because only occur near the original frequency frequency in practice mostly as slippage vibration, only consider so in most cases that the frequency shift (FS) that is drawn by time dependent phase place 90 is just enough.
According to the frequency of trying to achieve (according to there being situation, it should be constant original frequency or be drawn by time dependent phase place 90 by effective frequency of amendment, frequency in the signal of the vibration of isolating 100, perhaps it just should be corrected frequency 130 when having corrected frequency 130), can carry out phase shift having explained when signal 100 is loaded the control signal 110 that obtains with phase place trying to achieve as top now, namely consider the above-mentioned characteristic of forced vibration and the reaction time of system, make that generation is to the vibration damping of slippage vibration when transmitting torque on clutch coupling.Simplify in the embodiment one, control signal 110 is by obtaining the signal loading of the vibration 100 the isolated phase place in-migration with 90 °.
Namely, by introducing this phase shift and introducing the amplitude 80 of trying to achieve, and according to existing situation to introduce original frequency or introducing the frequency that is obtained by the vibration of isolating 100 or when having corrected frequency 130, then introduce this corrected frequency 130, generate control signal 110, this control signal is used as the given torque modulation signal of clutch adjuster, so that the interfering slippage vibration of active damping.
Disturb vibration from the signal of variator input revolution signal 10 or the undesirable torque modulation from other reflection clutch couplinges, to extract.
For the clutch coupling that skids, this takes place based on basic power train natural frequency (slippage vibration frequency).At this, not only definite interference that occurs is vibrated the frequency departure with respect to the slippage vibration frequency, and definite phase place and amplitude.
Particularly advantageous characteristics of this method are, suppress noise and higher-frequency and/or low frequency component.
Generate one according to amplitude, phase place and frequency departure and adjust signal, this adjustment signal for example can be used as the given moment modulation signal of clutch coupling adjuster, vibrates with the active attenuation slippage.
Calculating to the moving average of the product of input signal (IPS signal) and the vibration that produces and original frequency (original frequency) or the frequency (corrected frequency) revised is carried out continuously.
This application is in order to improve driver comfort under sliding (rupfenden) dry dual clutch situation.Especially to improve hardware for the franchise of moment unbalance and reduce waste product with this.
Contribution of the present invention is that the tendency of skidding of clutch system (because can reduce by the present invention) is no longer so important, therefore can optimize other parameters (moment capacity, wearing and tearing etc.).
For the reason in serviceable life, vibration calculate should be only with a base frequency, be that described initial frequency is carried out, because can optimize the calculating of moving average so strongly.But also can consider frequency feedback, be used for further improving signal quality.
Not to use sine function or cosine function to survey, can use other periodic functions (as box function, Kastenfunktion) in principle yet.Also can use adaptive function to produce adjustable parameter, this function is also non-linear in the taking into account system respondent behavior for example.Phase shift also can produce by different way.
Can use the input and output signal that meets power train moment on various, the most important significance, for example the motor vehicle longitudinal acceleration as input signal or regulator pressure as output signal.
The present invention relates to, by regulating the slippage vibration that clutch position comes active attenuation to occur at power clutch, to improve driver comfort.Should not encourage higher-frequency and vibration low frequency as far as possible at this.Special concern of the present invention is even excitation frequency also can provide phase place correct negative feedback near basic power train natural frequency the time.
Reference numerals list
10 IPS signals (variator input signal)
20 cosine functions
30 sine functions
40 cosine products
50 sinusoidal products
60 cosine components
70 sinusoidal components
80 amplitudes
90 phase places
100 independent vibrations
110 control signals
120 original frequencies
130 frequency of amendments
Claims (6)
1. for the method for the slippage vibration that alleviates power train, this power train has the power clutch of driver element, transmission for vehicles and robotization, it is characterized in that, implements following steps:
The current demand signal value that the current demand signal value of a signal of describing the sine function (30) with original frequency in time course and variator are imported the signal of revolution (10) multiplies each other and draws sinusoidal product (a 50) currency, describing a current demand signal value with signal of the current demand signal value of signal of cosine function (20) of original frequency and variator input revolution (10) with one in time course multiplies each other and draws cosine product (a 40) currency
Ask moving average to draw a sinusoidal component (70) value to this sine product (50) currency and from sinusoidal product (50) all values that this sine product (50) currency begins to try to achieve through the one-period of this original frequency, ask moving average to draw a cosine component (60) value to this cosine product (40) currency and from cosine product (40) all values that this cosine product (40) currency begins to try to achieve through the one-period of this original frequency
Try to achieve amplitude (80) by this sinusoidal component (70) value and cosine component (60) value,
Try to achieve the signal of variator input revolution (10) and the phase shift (90) between this cosine function (20),
Try to achieve one by this amplitude (80) and phase shift (90) and represent the signal (100) that this slippage vibrates,
Try to achieve the value of phase shift of the signal (100) of this representative slippage vibration, wherein, this value is so selected, and obtains a control signal that acts on the clutch actuator when making signal (100) in this representative slippage vibration with this value phase shift, and this control signal alleviates this slippage and vibrates.
2. in accordance with the method for claim 1, it is characterized in that the value of the phase shift of the signal (100) of described representative slippage vibration is 90 °.
3. according to claim 1 or 2 described methods, it is characterized in that, try to achieve amplitude (80) by asking root to carry out to the quadratic sum of these two value sinusoidal components (70) and cosine component (60) by sinusoidal component (70) value and cosine component (60) value.
4. each described method in requiring according to aforesaid right, it is characterized in that the phase shift (90) between variator input revolution (10) signal and the cosine function (20) is tried to achieve by sinusoidal component (70) and (60) two values of cosine component by sign and arctan function.
5. each described method in requiring according to aforesaid right, it is characterized in that, time-derivative by the phase shift of trying to achieve between variator input revolution (10) signal and the cosine function (20) is tried to achieve a frequency of amendment, wherein, by trying to achieve a corrected frequency (130) by frequency and the frequency of amendment of original frequency or already present up-to-date correction.
6. each described method in requiring according to aforesaid right is characterized in that, sine function (30) is two quadrature, periodic mathematical functions mutually with cosine function (20).
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011083991.7 | 2011-10-04 | ||
| DE102011083991 | 2011-10-04 | ||
| DE102011086579 | 2011-11-17 | ||
| DE102011086579.9 | 2011-11-17 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103197703A true CN103197703A (en) | 2013-07-10 |
| CN103197703B CN103197703B (en) | 2016-09-28 |
Family
ID=47878814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210597067.9A Expired - Fee Related CN103197703B (en) | 2011-10-04 | 2012-09-29 | For the method alleviating slippage vibration |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103197703B (en) |
| DE (1) | DE102012217132B4 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106233022A (en) * | 2014-04-16 | 2016-12-14 | 舍弗勒技术股份两合公司 | The method buffeting vibration of the friction clutch in the PWTN reducing motor vehicles |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104204591B (en) * | 2012-04-11 | 2017-05-10 | 舍弗勒技术股份两合公司 | Method for reducing juddering vibrations |
| DE112014001944A5 (en) | 2013-04-11 | 2016-01-07 | Schaeffler Technologies AG & Co. KG | A method of reducing juddering vibration of a friction clutch in a powertrain of a vehicle |
| KR101601445B1 (en) * | 2014-07-04 | 2016-03-09 | 현대자동차주식회사 | Dry clutch control method for vehicle |
| DE102015207152B4 (en) * | 2015-04-20 | 2021-08-12 | Zf Friedrichshafen Ag | Method for regulating an automated friction clutch and a drive train for a motor vehicle and a control device for operating an automated friction clutch arranged in a drive train of a motor vehicle |
| DE102015226275B4 (en) | 2015-12-21 | 2022-09-22 | Schaeffler Technologies AG & Co. KG | Procedure for testing a friction clutch |
| DE102017123953B4 (en) | 2017-10-16 | 2021-09-30 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method and device for determining a transfer function of a drive train component |
| DE102018111150B4 (en) | 2018-05-09 | 2019-12-05 | Schaeffler Technologies AG & Co. KG | Method for determining the drive train sensitivity of a drive train of a motor vehicle |
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| JPH0642579A (en) * | 1992-07-20 | 1994-02-15 | Mazda Motor Corp | Vehicle vibration reducing device |
| CN1386687A (en) * | 2001-05-21 | 2002-12-25 | Dbt自动化有限公司 | Method for controlling chain transmission of working mechanism in mine, and chain grab conveyer |
| DE10323567A1 (en) * | 2002-05-27 | 2003-12-11 | Luk Lamellen & Kupplungsbau | Process for modulating the torque transmitted from vehicle clutch, during engagement of the clutch during starting, comprises modulating the torque according to variable derived exclusively from the rotational speed of the clutch disk |
| CN1514916A (en) * | 2001-06-13 | 2004-07-21 | ¬��Ħ��Ƭ����������Ϲ�˾ | Method and system for regulating torque transmiision capacity of frictionally engaged, torque transmitting assembly |
| CN1547647A (en) * | 2001-08-24 | 2004-11-17 | ¬��Ħ��Ƭ����������Ϲ�˾ | Method and system for control of an automatic friction clutch arranged between an engine and a gearbox on a motor vehicle |
| DE102005034526A1 (en) * | 2004-08-24 | 2006-03-02 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method uses a position controller of an automatic clutch for reducing position oscillations of an actuator |
| CN102112763A (en) * | 2008-07-14 | 2011-06-29 | 舍弗勒技术两合公司 | Dual clutch |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009003454A2 (en) | 2007-07-05 | 2009-01-08 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method and device for controlling the slip of a vehicle clutch |
-
2012
- 2012-09-24 DE DE102012217132.0A patent/DE102012217132B4/en not_active Expired - Fee Related
- 2012-09-29 CN CN201210597067.9A patent/CN103197703B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0642579A (en) * | 1992-07-20 | 1994-02-15 | Mazda Motor Corp | Vehicle vibration reducing device |
| CN1386687A (en) * | 2001-05-21 | 2002-12-25 | Dbt自动化有限公司 | Method for controlling chain transmission of working mechanism in mine, and chain grab conveyer |
| CN1514916A (en) * | 2001-06-13 | 2004-07-21 | ¬��Ħ��Ƭ����������Ϲ�˾ | Method and system for regulating torque transmiision capacity of frictionally engaged, torque transmitting assembly |
| CN1547647A (en) * | 2001-08-24 | 2004-11-17 | ¬��Ħ��Ƭ����������Ϲ�˾ | Method and system for control of an automatic friction clutch arranged between an engine and a gearbox on a motor vehicle |
| DE10323567A1 (en) * | 2002-05-27 | 2003-12-11 | Luk Lamellen & Kupplungsbau | Process for modulating the torque transmitted from vehicle clutch, during engagement of the clutch during starting, comprises modulating the torque according to variable derived exclusively from the rotational speed of the clutch disk |
| DE102005034526A1 (en) * | 2004-08-24 | 2006-03-02 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method uses a position controller of an automatic clutch for reducing position oscillations of an actuator |
| CN102112763A (en) * | 2008-07-14 | 2011-06-29 | 舍弗勒技术两合公司 | Dual clutch |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106233022A (en) * | 2014-04-16 | 2016-12-14 | 舍弗勒技术股份两合公司 | The method buffeting vibration of the friction clutch in the PWTN reducing motor vehicles |
| CN106233024A (en) * | 2014-04-16 | 2016-12-14 | 舍弗勒技术股份两合公司 | The method of the low-frequency vibration in the PWTN reducing motor vehicles |
| CN106233022B (en) * | 2014-04-16 | 2019-02-15 | 舍弗勒技术股份两合公司 | The method of the buffeting vibration of the friction clutch in powertrain for reducing motor vehicles |
| CN106233024B (en) * | 2014-04-16 | 2019-06-07 | 舍弗勒技术股份两合公司 | The method of the low-frequency vibration in powertrain for reducing motor vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102012217132A1 (en) | 2013-04-04 |
| DE102012217132B4 (en) | 2021-12-02 |
| CN103197703B (en) | 2016-09-28 |
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