CN104204626B - 用于同步一个变速器轴上的齿轮的方法 - Google Patents

用于同步一个变速器轴上的齿轮的方法 Download PDF

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CN104204626B
CN104204626B CN201380018390.9A CN201380018390A CN104204626B CN 104204626 B CN104204626 B CN 104204626B CN 201380018390 A CN201380018390 A CN 201380018390A CN 104204626 B CN104204626 B CN 104204626B
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speed
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A·马卢姆
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Renault SAS
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04Smoothing ratio shift
    • F16H61/0437Smoothing ratio shift by using electrical signals
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04Smoothing ratio shift
    • F16H61/0403Synchronisation before shifting
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04Smoothing ratio shift
    • F16H61/0403Synchronisation before shifting
    • F16H2061/0422Synchronisation before shifting by an electric machine, e.g. by accelerating or braking the input shaft
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04Smoothing ratio shift
    • F16H2061/0474Smoothing ratio shift by smoothing engagement or release of positive clutches; Methods or means for shock free engagement of dog clutches
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H2200/00Transmissions for multiple ratios
    • F16H2200/0008Transmissions for multiple ratios specially adapted for front-wheel-driven vehicles
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H2200/00Transmissions for multiple ratios
    • F16H2200/0021Transmissions for multiple ratios specially adapted for electric vehicles
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H2200/00Transmissions for multiple ratios
    • F16H2200/003Transmissions for multiple ratios characterised by the number of forward speeds
    • F16H2200/0039Transmissions for multiple ratios characterised by the number of forward speeds the gear ratios comprising three forward speeds
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H3/00Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/02Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
    • F16H3/08Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts
    • F16H3/087Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts characterised by the disposition of the gears
    • F16H3/089Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts characterised by the disposition of the gears all of the meshing gears being supported by a pair of parallel shafts, one being the input shaft and the other the output shaft, there being no countershaft involved
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H3/00Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/02Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion
    • F16H3/08Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts
    • F16H3/12Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts with means for synchronisation not incorporated in the clutches
    • F16H3/126Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion without gears having orbital motion exclusively or essentially with continuously meshing gears, that can be disengaged from their shafts with means for synchronisation not incorporated in the clutches using an electric drive
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H61/00Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04Smoothing ratio shift
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16HGEARING
    • F16H63/00Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
    • F16H63/40Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
    • F16H63/50Signals to an engine or motor
    • F16H63/502Signals to an engine or motor for smoothing gear shifts
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10STECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S903/00Hybrid electric vehicles, HEVS
    • Y10S903/902Prime movers comprising electrical and internal combustion motors
    • Y10S903/903Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
    • Y10S903/945Characterized by control of gearing, e.g. control of transmission ratio

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Hybrid Electric Vehicles (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

用于同步车辆平行轴变速器轴上的齿轮的方法,该变速器包括至少一个与动力源相连的主轴、由主轴驱动以便将驱动转矩通过几级传动比传递至车轮的一个副轴、以及将齿轮联接到其轴上以便在没有机械同步元件的情况下接合一个传动比的至少一个装置,其特征在于,使得该动力源用产生一个控制该参考转矩信号(T1ref)的方式来运行,该参考转矩等于最小可传递转矩以便当该相关的齿轮联接到其轴上时使得初级速度(ω1)与乘以减速比(K)的次级速度(ω2)之间的差值(ω2K-ω1)最小化,其特征在于,该控制信号是由这个和(Kw.K.ω2-Ks.ω1+T1int)给定的,其中(Τ1int)是通过对初级速度(ω1)进行积分得到的项。

Description

用于同步一个变速器轴上的齿轮的方法
本发明涉及在变速器中控制换挡的领域。
更确切地说,本发明涉及一种同步车辆变速器平行轴上的齿轮的方法,该变速器包括至少一个连接到动力源的主轴、一个由主轴驱动以将原动转矩通过几级传动比传递至多个轮子的副轴、以及至少一个将齿轮联接到其轴上以便在没有机械同步元件的情况下接合一个传动比的装置。
本发明适用于任何如下的平行轴变速器,即,其中实施伴有转矩传递间断的换挡是通过移动两个传动比齿轮之间的联接装置,而这两个传动比齿轮是在与该车辆的这些车轮相连接的一个轴上可自由旋转的。
本发明在配备有一个内燃发动机以及一个电动机器的机动车辆的混合动力变速器中找到了一种非限定应用,该混合动力变速器包括:两个同轴的主轴,每个主轴支承至少一个齿轮,该齿轮对一个与车辆多个车轮相连的副轴传动;以及在两主轴间的一个第一联接装置,该联接装置可以占据三个位置,在这些位置中:该内燃发动机被与将该电动机器连接到这些车轮的传动轴系解除联接,该内燃发动机在有或没有来自该电动机器的动力补充的情况下驱动这些车轮,或者该内燃发动机被联接至该电动机器从而使得它们的转矩可以组合。
图1描述了利用本设计原理的一种混合动力变速器的一个非限定实例。这种变速器包括一个实心主轴1的减振轮毂,其通过一个过滤系统(减震器、双飞轮或类似物)2而被直接连接到一台内燃发动机(未绘出)的惯性飞轮3上。该实心轴1支承一个惰轮4,该惰轮可以通过一个第一联接系统5(牙嵌式离合器、同步啮合或其他形式的渐进或非渐进式联接器)来与该实心轴相连接。一个空心主轴6被连接到一个电动机器7的转子上。该空心轴6支承两个固定的齿轮8、9。空心轴可以通过联接系统5而与实心主轴1相连。一个副轴10支承两个惰轮11和12。这些惰轮11、12可以通过一个第二联接系统13(牙嵌式离合器、同步啮合或其他形式的渐进或非渐进式联接器)而被连接到该主轴上。该副轴10还支承一个固定的齿轮14以及对差速器16传动的一个齿轮15,该差速器与该车辆的车轮相连。
如前所述,该第一联接装置5可以占据至少三个位置,在这些位置中:
-该燃烧发动机被与将电动机器7连接到这些车轮上的传动轴系解除联接(如图1、图2和图3中所示的滑动齿轮在中间),
-该燃烧发动机在该电动机器有或没有动力补充的情况下驱动这些车轮(滑动齿轮置左),并且
-该内燃发动机和该电动机器7二者均是联接的从而使得它们传递到这些车轮的相应的力矩被组合(滑动齿轮置右)。
在电动模式下(参见图2和图3),该电动机器驱动该空心主轴6,同时该实心轴并不从该内燃发动机接收转矩(位置1)。该变速器具有称为“城镇”和“高速公路”的两个电动传动比,其中转矩是经由固定齿轮8或9从副轴10传递的。为了从这两个比率中的一个比率转换到另一个比率,该变速箱具有第二联接系统13。由于没有同步环,利用一个牙嵌式离合器来使滑动齿轮与这些齿轮相联接的一个系统要求电动机器对初级速度的精确控制以免转矩的突变。
公开号FR2933247披露了用于将电动车辆或混合动力车辆的电动机器的轴与轮轴相联接的一种方法。所述方法包括以下步骤:
-对该电动机器被给送一个对应于该轮轴速度的速度设定点,而不考虑电动机器轴与轮轴之间的减速比,
-当电动机器的轴的速度达到一个标定阈值时,对其应用零转矩并且致动一个机械同步装置以便使该电动机器的轴的速度与和车轮相连的轴的速度相等,并且
-一旦该电动机器的轴的速度等于和车轮相连的轴的速度(不考虑减速比),就执行了牙嵌式离合器接合。
以这种方法,首先使得该电动机器运行来达到接近于但不完全与和车轮相连的轴的速度相等的一个速度上;一个同步装置然后会完成使得这两个轴之间的速度相等,于是就实现了这个传动比的牙嵌式离合器的最终接合。
本发明力图省略掉机械同步装置。
为此,本发明提出使得该电动机器一直运转直到该电动机器的轴和与车轮相连的轴的速度完全相等,不考虑减速比。
为此,本发明计划使得该动力源以产生一个参考转矩控制信号T1 ref的方式来运行,该参考转矩等于最小可传递转矩以便在该相关的齿轮正连接到其轴上时使得初级速度ω1与乘以减速比(K)的次级速度ω2之间的差值ω2K-ω1最小化。
出于优选,该参考转矩控制信号T1 ref是通过将一个修正项反馈到该初级与次级速度之间的差值ω2K-ω1上来控制的。
本发明将从其非限制性实施例的以下说明的阅读中并参照附图得到更好地理解,在附图中:
-图1、图2和图3以空挡和两级电力传动比示出了一个混合动力变速器的传动轴系,并且
-图4展示了所提出的操作。
在图2中,第一联接系统5是断开的,而第二联接系统13是闭合的以将小传动比的惰轮12连接到副轴10上。该变速器以该小传动比或第一前进挡传动比处于电动模式。由该电动机器供应到空心主轴6上的扭矩通过第一固定齿轮8传递到惰轮12上。联接系统13将齿轮12和轴10在旋转意义上相连接。该转矩从该辅助路线经过齿轮15传递到差速器16上。
在图3中,第一联接系统5仍然是断开的(位置1),而第二联接系统13是闭合的以便将中间传动比的惰轮11连接到副轴10上。该变速器以该中间传动比或第二前进挡传动比处于电动模式。由该电动机器7供应到空心主轴6上的转矩通过第二固定齿轮9传递到惰轮11上。联接系统13将齿轮11和轴10在旋转意义上相连接。如图2所示,该转矩从该辅助路线经过齿轮15传递到差速器16上。
如上所指出的,这种变速器遇到的问题是在联接这两个轴的阶段开始之前通过牙嵌式离合这些齿轮来同步这两个轴6和10的速度。当联接器5没有配备同步环时。因此问题是在没有机械同步元件的情况下同步一个平行轴式车辆变速器上的齿轮以便接合一个传动比,该变速器包括至少一个与动力源相连的主轴、一个由主轴驱动的副轴。这种同步需要对驾驶者完全透明并且要持续满足转矩需求地发生。这一问题尤其产生在当在两个电动传动比之间进行换挡时,这种换挡通过副轴10上的齿轮8和9的牙嵌式离合产生并伴有转矩间断。
在图1至图3中所展示的变速箱中,ω1是与动力源相连的轴、也就是与电动机器7相连的空心主轴的速度,并且ω2是与车轮相连的轴、也就是该副轴10的速度。
假设,在初始状态下,这两个轴完全解除联接,并且应用机械基本原理,可以获得以下动态模型:
-对于主轴:以及
-对于副轴:
这些方程式是动力学基本方程式,其中J1是关于该主轴的惯量,J2是关于该副轴的惯量,并且Td1和Td2是在这些轴上的阻力转矩,它们是未知的外部输入。
图4中计算的目的在于产生一个控制信号,该控制信号允许速度ω2和ω1被同步,即允许创造的条件,其中K是该动力源和该副轴之间的减速比,从而使得滑动齿轮和这些齿轮之间完美联接的条件得以满足。
该计算的结果是一个用于该电动机器7的参考转矩控制信号“T1 ref”,其允许主轴6的速度ω1与副轴10的速度ω2同步,而不考虑减速比K。
根据本发明,因此使得该动力源以产生该参考转矩控制信号T1 ref的方式来运行,该转矩等于最小可传递转矩,以便在该相关的齿轮正连接到其轴上时使得初级速度ω1与乘以减速比(K)的次级速度ω2之间的差值ω2K-ω1最小化。
为了产生该参考信号“T1 ref”,首先有必要将在该副轴10上测得的速度乘以一个第一增益K,该增益K是该动力源与该副轴10之间的减速比,从而使得这个计算结果可以与主轴6的测得速度进行比较。将这些速度之间的差值ω2K-ω1积分两次并且将其乘以一个增益就产生一个“积分作用T1 int”。其结果提供了一个预期值“T1 anti”。该初级速度被乘以一个第三增益Ks以提供一个状态反馈“T1 ret”。将由积分作用“T1 int”产生的这些信号、预期“T1 anti”和状态反馈“T1 ret”求和。该装置的一个原创的特征在于将“KrT1 int”反馈到这些速度的比较项中。该参考转矩控制信号(T1 ref)因此是通过将一个修正项反馈到该初级速度与次级速度之间的差值(ω2K-ω1)中来控制的。修正这些速度的差值ω2K-ω1的该修正项是与T1 int成比例的。这个反馈回路确保了当这些速度被同步时,即当时,该转矩T1 ref是为了实现此目的而可以被传递的最小值,即便当该次级速度不同时也是如此,即当:时。
用于该电动机器的转矩控制信号“T1 ref”(其是图4中的计算结果)是基于和Kw.K.ω2–Ks1+T1 int的,其中KW和KS是常数。其是通过Kw.K.ω2–Ks1+T1 int之和给出的,其中T1 int是初级速度ω1的一个积分项。考虑到阻力转矩Td1和Td2,就有可能写作:
J 1 dω 1 dt = K w K ω 2 - K s ω 1 + T 1 int + T d 1
J 2 dω 2 dt = T d 2
并且由图4可得:
d 2 T 1 int dt 2 + K i K r ( dT 1 int dt + T 1 int ) = K i ( K ω 2 - ω 1 )
常数KW和KS是固定的,以确保该参考转矩信号T1 ref的稳定性。为了计算这些增益Kr、Ks、Kw和Ki,就需要设置好对该控制信号所要求的总体稳定性条件以及来自指标的参数,即响应时间(使速度ω1达到Kω2的95%所需的时间)和过冲(超过Kω2值的最大值)。
总之,本发明所采用的策略使其有可能在联接以下同步阶段的过程中最小化联接器处的转矩。转速差迅速减小以达到大约每分钟30转,该转速允许联接平滑地完成。该方法因此允许使得联接这两个轴的下一个阶段就用户而言是尽可能的透明,而不用管转矩的恢复,即尽可能平滑地。该方法尤其允许对具有倾斜性质的路径的控制,而这对应于重度刹车这样不利的情况。最后,因为转矩不再有突然的变动,该联接系统上的机械零件的磨损是有限的。

Claims (4)

1.一种用于同步平行轴式车辆变速器上的齿轮的方法,该变速器包括至少一个与动力源相连的主轴、一个由该主轴驱动以将驱动转矩通过几级传动比传递至多个车轮的副轴、以及将齿轮联接到其轴上以便在没有机械同步元件的情况下接合一个传动比的至少一个装置,其中使得该动力源用产生一个参考转矩控制信号的方式来运行,该参考转矩等于最小可传递转矩以便在该相关的齿轮正联接到其轴上时使得初级速度ω1与乘以减速比K的次级速度ω2之间的差值ω2K-ω1最小化,其特征在于,该参考转矩控制信号是由这个和 给定的,其中是初级速度ω1的积分项,该参考转矩控制信号是基于这个和的,其中Kw和Ks是常数。
2.如权利要求1所述的同步方法,其特征在于,该参考转矩控制信号是通过将一个修正项反馈到该初级速度与次级速度之间的差值ω2K-ω1中来控制的。
3.如权利要求1所述的同步方法,其特征在于,常数Kw和Ks是以确保该参考转矩控制信号的稳定性的方式固定的。
4.如权利要求2所述的同步方法,其特征在于,用于修正速度差值ω2K-ω1的该修正项是与成比例的。
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