CN105074250B - 用于减小机动车辆的动力传动系中的摩擦离合器的拉拔振动的方法 - Google Patents
用于减小机动车辆的动力传动系中的摩擦离合器的拉拔振动的方法 Download PDFInfo
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- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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- F16D48/00—External control of clutches
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- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
- B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
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Abstract
本发明涉及一种用于减小在机动车辆的动力传动系中在内燃机和变速器之间设置的摩擦离合器的拉拔振动的方法,所述摩擦离合器由离合器致动器自动化地根据与要传递的离合器力矩相关联的期望离合器力矩来控制,所述摩擦离合器具有由于暂时出现的拉拔振动而含振动的实际离合器力矩。为了实现减小拉拔振动,从表示含振动的离合器力矩的输入信号中根据在内燃机和摩擦离合器之间的力矩变化导出的、振动选择的参考变量确定输入信号的绝对幅值和相位,根据表示参考变量到振动选择的离合器力矩的传递函数,确定相位选择的干扰离合器力矩,从所述干扰离合器力矩中确定同相的修正离合器力矩并且借助所述同相的修正离合器力矩对期望离合器力矩进行修正。
Description
技术领域
本发明涉及一种用于减小在机动车辆的动力传动系中设置在内燃机和变速器之间的摩擦离合器的拉拔振动,所述摩擦离合器由离合器致动器自动化地根据与要传递的离合器力矩相关联的期望离合器力矩控制,所述摩擦离合器具有由于有时出现的拉拔振动而含振动的实际离合器力矩。在机动车辆的动力传动系中在内燃机和变速器之间的自动化的摩擦离合器很久以来广为人知。在此,替代驾驶者的脚,借助于控制装置控制的离合器致动器沿着操作路径移动操作元件、例如离合器杆、盘簧、杆弹簧或类似元件。操作路径与例如可匹配于外部情况、例如离合器温度、离合器衬片的摩擦特性、运行时间等并且例如可借助于采样点校准到操作路径上的力矩特性曲线相关联。例如与摩擦离合器的由驾驶者期望的或由变速器控制造成的工作状态,由控制单元确定期望离合器力矩或与所述期望离合器力矩关联的变量并且作为控制变量输出以设定离合器致动器的对应于期望离合器力矩的操作路径。根据离合器致动器的构成方案,所述变量在电驱动离合器致动器的情况下能够为电变量,如供电电压的脉冲宽度、电压、电流,或者在液压或气动运行的离合器致动器的情况下能够为压力、体积流等。操作路径的设定能够借助于相对的和/或绝对的路径传感器来监控或调制。
背景技术
在这种摩擦离合器上,取决于几何的、不对应于理想状态的特性和制造公差,例如在摩擦离合器的摩擦副之间出现引起摩擦作用的角度和/或轴偏移,即所谓的拉拔振动,在出现所述拉拔振动的情况下,与预设的幅值和频率叠加的干扰离合器力矩的基于预设的期望离合器力矩设定的期望离合器力矩叠加,这能够引起机动车辆的舒适性干扰和提高的磨损。为了减小这种拉拔振动,例如从没有在先公开的德国专利申请10 2012 217 132.0中已知一种方法,其中确定与变速器输入信号叠加的振动的频率、幅值和相位。根据确定的频率,在此产生相同频率的增强的并且移相的信号并且将其作为控制信号调制成期望离合器力矩,以便消除变速器输入信号的振动。在确定的区域中出现具有相似的幅值的多个频率分量的情况下,所述补偿能够引起难于可控的性能。此外,如果在变速器输入信号中发生相位突变,频率确定是很难的,在幅值或频率剧烈改变的情况下同样如此,因为幅值、相位和频率调制彼此关联。
在没有在先公开的德国专利申请10 2013 204 698.7中公开了一种方法,以便通过减小谐振频率来衰减通常形式的动力传动系振动。借助于所述方法,减小几何相关的拉拔振动仅是有限可能的。虽然通过调制过滤器参数能够改变已知的激励频率,以便为所述激励执行优化,然而由此能够增强其他激励频率,例如促进其他频率的几何相关的拉拔。
发明内容
本发明的目的是,提出一种用于减小动力传动系振动、尤其几何激励的拉拔振动的方法。
所述目的通过根据本发明的一种用于减小在机动车辆的动力传动系中设置在内燃机和变速器之间的摩擦离合器的拉拔振动的方法来实现。下文描绘所述方法的有利的实施方式。
提出的方法为软件策略,以便减小机电控制的摩擦离合器上的已知频率的受迫的拉拔振动。典型地,这为动力传动系振动,所述动力传动系振动通过离合器系统中的几何的误差感应引起并且例如通过内燃机的转速、变速器输入或滑动转速激励。示出下述方法,如何从对示出舒适性相关的拉拔振动的输入信号、例如变速器输入转速或车辆加速信号和对应于期望的激励的频率的其他信号、例如滑动转速的分析中计算离合器致动装置中的需要的控制修正。提出的方法适合于其他含振动的过程,使得替代离合器特定的变量、例如期望离合器力矩、实际离合器力矩、干扰离合器力矩、修正离合器力矩、拉拔振动等,能够使用普遍的变量,例如期望力矩、实际力矩、干扰力矩、修正力矩、振动等,所述普遍变量以相应的方式适用于相应的过程。此外,在用在离合器控制过程中时,能够补偿其他的几何的激励,例如发动机侧的不平衡等。如果离合器例如鉴于其动态能力不能够进行这种补偿,修正力矩在具有可接通内燃机的电机的混合动力车辆中替选地或附加地通过所述电机提供,只要所述电机在动力传动系侧以支持摩擦离合器的方式设置。此外,不单独取决于拉拔激励的振动在摩擦离合器附着的情况下由电机补偿。
提出的方法提出减小机动车辆的动力传动系中的自动化地操作的摩擦离合器的拉拔振动,其中摩擦离合器设置在驱动单元、如内燃机、燃力机和具有由内燃机在摩擦离合器闭合的情况下驱动的变速器输入轴的变速器之间。在此能够提出,借助于包括离合器力矩波动的输入信号并且借助于用作为基准变量的参考频率信号执行傅里叶分析,其中在期望离合器力矩和输入信号之间使用传递函数。在方法的一个优选的实施方式中提出,输入信号是变速器输入转速信号或车辆加速度信号,其中输入信号通过振动频率、幅值和相位表示。在方法的一个优选的实施方式中提出,参考频率是例如驱动单元的、例如内燃机的转速。
在方法的一个尤其优选的实施方式中提出,将从傅里叶分析中确定的幅值和相位借助于传递函数的逆函数以及符号反转和/或对幅值和相位的修正引回,以修正期望离合器力矩,其中为了确定同相的期望离合器力矩偏差考虑参考频率,并且其中为了减少拉拔振动,替代期望离合器力矩考虑期望离合器力矩和期望离合器力矩偏差的和。在本发明的一个优选的实施方式中提出,修正借助于积分调节器来进行。以所述方式,能够补偿不期望的拉拔振动、尤其几何的拉拔。
具体而言,所提出的方法涉及减小摩擦离合器的拉拔振动、尤其是通过摩擦离合器的几何偏移受迫造成的几何的拉拔振动。这由离合器致动器自动化地根据与要传递的离合器力矩相关联的期望离合器力矩来控制。摩擦离合器优选地在机动车辆的动力传动系中设置在内燃机和变速器之间。在摩擦离合器上,取决于几何引起的拉拔振动能够出现暂时含振动的实际离合器力矩。在此,从表示含振动的离合器力矩的输入信号中根据在内燃机和摩擦离合器之间的力矩变化中导出的、振动选择的参考变量确定输入信号的相位和为绝对值的幅值。据此,借助于表示输入信号到振动选择的离合器力矩的传递函数来确定相位选择的干扰离合器力矩,据此确定同相的修正离合器力矩并且借此修正期望离合器力矩。输入信号能够由变速器输入信号、例如变速器输入轴的转动特征值如转速和/或车辆加速度信号形成或者由此确定。参考变量能够是转动特征值、例如内燃机的转速。
例如,能够从参考变量中确定相位选择的幅值。所述相位选择的幅值能够用作为用于确定输入信号的相位选择的幅值的基准变量。参考变量的或输入信号的一个或两个相位选择的幅值能够借助于对输入信号的傅里叶分析来确定。
确定用于相位选择地补偿所确定的干扰离合器力矩的修正离合器力矩能够借助于干扰离合器力矩的逆变来进行。期望离合器力矩的修正能够以不同的类型进行,例如借助于调节器来调节和/或借助于预控制装置来预控制。修正能够持久或也能够暂时地、例如与阈值相关地有时间限制地进行。期望离合器力矩例如能够借助于P调节器借助修正离合器力矩来进行。替选地或附加地,修正离合器力矩的幅值能够持续地借助于I调节器来修正。对含振动的离合器力矩的修正能够在输入信号的、干扰离合器力矩的、修正离合器力矩的和/或参考变量的预设的幅值和/或相移之内提出。此外,对期望离合器力矩的修正能够暂时根据滞后来延迟。
尤其地,在具有支持内燃机的电机的混合动力传动系中,相位选择的干扰离合器力矩能够借助于由电机提供的、对应于修正离合器力矩的力矩来提供。
提出的方法的特征还在于下述有利的特征:
-方法尤其适合于下述情况,具有摩擦离合器的离合器系统中的几何误差引起干扰离合器力矩,所述干扰离合器力矩关于其幅值在较长的时间中、即例如在离合器致动器的特征性的再调节时间之内是稳定的,并且优选地具有关于参考变量的稳定的相位关系。
-优选地,提出可变的频率或可变的频率窗,其中出现取决于几何拉拔的干扰离合器力矩,所述干扰离合器力矩引起对具有所述频率的输入信号的调制。
-关于所述频率连续地确定输入信号的振动分量的幅值和相位。
-输入信号的幅值和相位借助于传递函数转换成干扰离合器力矩。优选地,从干扰离合器力矩中形成其逆变并且作为离合器补偿力矩输送给期望离合器力矩。
-对期望离合器力矩的修正能够借助于修正离合器力矩的限定的分量、例如其幅值来进行。分量、例如50%能够固定地、调节地或与其他参数相关地预设。
-将修正离合器力矩反馈到期望离合器力矩上能够借助于I调节器来进行。
-能够同时以不同的参考变量设有多个修正(控制分量/调节器),其中其结果能够相加地叠加。
-除了已经执行的对离合器控制的振动措施之外,能够使用提出的方法,其中能够将在不同方法中确定的调制力矩彼此叠加。
-提出的方法优选地在用于控制摩擦离合器的控制单元中执行。
-提出的方法为用于减小拉拔振动的鲁棒的方法。
概括而言,在出现几何的、即构型相关的拉拔振动的情况下,振动频率相对于已知激励源的频率发生改变。如果激励频率与动力传动系的固有频率相交,那么振动尤其清楚地表现并且在动力传动系之外可感觉到并且可测量。虽然振动频率原则上是已知的并且振动原则上能够通过对具有所述频率的摩擦离合器的反相的控制来尽可能地消除,但非常难的是,以正确的相位和幅值执行所述消除,因为物理的离合器力矩不能够简单地直接测量。所测量的用作为用于离合器力矩的标识的信号通常在幅值和相位方面具有大的频率相关性(参见运行的衰减的谐振器的谐振通道),所述频率相关性通常不准确已知。提出的方法使用所述大概已知的相关性,以便通过下述方式得到稳定的调节信号:将特征在于振动频率、幅值和相位的所观察的输入信号振动换算成时间相关的振动的离合器补偿力矩,所述离合器补偿力矩在恒定的几何误差的情况下在相位和幅值方向明显更稳定。借此能够实现修正,所述修正经由相应的反相的期望力矩调制来减少振动。通过反馈到稳定的信号,也能够应用慢的调节器设计、例如I调节器,所述I调节器在理想情况下在控制硬件允许的范围中补偿振动。
具体实施方式
根据唯一的附图来详细阐述本发明。所述附图示出提出的方法的方框图1。方框图1的上部部分示出对本身已知的借助于离合器致动器自动化地控制的摩擦离合器的控制。控制设备对此输出期望离合器力矩M(soll)。在框2中,从离合器期望值M(soll)中根据离合器特性曲线确定控制变量SG、例如电致动器电压等。借助于在框3中示出的致动器机构,例如以预控制并接着跟踪调节(weggeregelt)的方式来调节实际离合器力矩M(ist)。在框4中示出在摩擦离合器和周围的动力传动系中的动态的相互作用,所述相互作用引起几何的拉拔振动。结果是例如在变速器输入端上的、例如在变速器输入轴上的随后的含振动的离合器力矩M(s)。在摩擦离合器的输出端上、例如在变速器输入轴上,在支路6上截取由于拉拔振动而含振动的具有幅值A和相位的输入信号例如含振动的转速并且将其输送给修正模块5。此外,将参考变量F(n)、例如内燃机的转速n输送给修正模块5。出于所述原因,在传递函数中从输入信号根据幅值和相位确定相位选择的修正离合器力矩M(korr),借助于所述修正离合器力矩在支路7上相位选择地修正期望离合器力矩M(soll)。修正模块8能够包含类似的或其他的修正振动的算法,其中能够输送输入信号E(x)和至少一个其他变量G,并且能够将修正离合器力矩M(korr2)馈入到支路7中。能够设有其他的相应于修正模块8的模块。
方框图1的下部部分详细示出上部部分的修正模块5。在此,输入信号和参考变量F(n)在框9中接受傅里叶分析,其中参考变量作为基准变量用于估计输入信号的频率并且确定输入信号的幅值A和相位参考变量F(n)例如能够是内燃机的转速,因为离合器系统中的几何误差能够经由发动机旋转而产生在离合器的压力中的不均匀性。参考变量F(n)作为参考频率信号能够用作为用于对输入信号进行傅里叶分析的基准变量。傅里叶分析能够在参考频率的最后的振动周期上连续地进行。从傅里叶分析中计算出的复数的分量(幅值和相位)现在存在于输入信号的单元中。在框10中,从所述变量根据传递函数来计算干扰离合器力矩M(st),根据经验或者根据模型由摩擦离合器的函数形成所述传递函数。在框11、12中,从干扰离合器力矩M(st)中例如通过逆变和调节、例如借助于相应的逆变算法和I调节器、P调节器和/或类似调节器来确定修正离合器力矩M(korr)。
附图标记列表:
1 方框图
2 框
3 框
4 框
5 修正模块
6 支路
7 支路
8 修正模块
9 框
10 框
11 框
12 框
A 幅值
输入信号
E(x) 输入信号
F(n) 参考变量
G 变量
M(ist) 实际离合器力矩
M(korr) 修正离合器力矩
M(korr2) 修正离合器力矩
M(s) 含振动的离合器力矩
M(soll) 期望离合器力矩
M(st) 干扰离合器力矩
SG 控制变量
相位
Claims (10)
1.一种用于减小在机动车辆的动力传动系中设置在内燃机和变速器之间的摩擦离合器的拉拔振动的方法,所述摩擦离合器由离合器致动器自动化地根据与要传递的离合器力矩相关联的期望离合器力矩(M(soll))控制,所述摩擦离合器具有由于暂时出现的振动而含振动的实际离合器力矩(M(ist)),
其特征在于,从代表含振动的离合器力矩(M(s))的输入信号(E(A,))中根据在内燃机和摩擦离合器之间的力矩变化中导出的、振动选择的参考变量(F(n))确定所述输入信号(E(A,))的相位和为绝对值的幅值(A),从所述相位和为绝对值的所述幅值中借助于表示振动选择的离合器力矩的传递函数来确定相位选择的干扰离合器力矩(M(st)),从所述干扰离合器力矩中确定同相的修正离合器力矩(M(korr)),并且借助所述修正离合器力矩修正期望离合器力矩(M(soll))。
2.根据权利要求1所述的方法,其特征在于,所述输入信号(E(A,))是变速器输入信号或车辆加速度信号。
3.根据权利要求1或2所述的方法,其特征在于,所述参考变量(F(n))是内燃机的转动特征值。
4.根据权利要求1或2所述的方法,其特征在于,从所述参考变量(F(n))中确定相位选择的幅值(A)。
5.根据权利要求1或2所述的方法,其特征在于,所述参考变量(F(n))用作为用于对所述输入信号进行傅里叶分析的基准变量。
6.根据权利要求1或2所述的方法,其特征在于,所述修正离合器力矩(M(korr))从干扰离合器力矩(M(st))的逆变中实现。
7.根据权利要求1或2所述的方法,其特征在于,将所述期望离合器力矩(M(soll))借助于P调节器用所述修正离合器力矩((M(korr))来修正。
8.根据权利要求1或2所述的方法,其特征在于,将所述修正离合器力矩(M(korr))的幅值持续地借助于I调节器来修正。
9.根据权利要求1或2所述的方法,其特征在于,对含振动的离合器力矩(M(s))在输入信号(E(A,))的、干扰离合器力矩(M(st))的、修正离合器力矩(M(korr))的和/或参考变量(F(n))的幅值和/或相移之内进行修正。
10.根据权利要求1或2所述的方法,其特征在于,在具有支持内燃机的电机的动力传动系中,借助于由所述电机提供的、对应于所述修正离合器力矩(M(korr))的力矩来提供相位选择的干扰离合器力矩(M(st))。
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- 2014-04-01 WO PCT/DE2014/200153 patent/WO2014166490A2/de active Application Filing
- 2014-04-01 DE DE112014001944.5T patent/DE112014001944A5/de active Pending
- 2014-04-01 CN CN201480019383.5A patent/CN105074250B/zh active Active
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Also Published As
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US20160047428A1 (en) | 2016-02-18 |
DE102014206183A1 (de) | 2014-10-16 |
CN105074250A (zh) | 2015-11-18 |
DE112014001944A5 (de) | 2016-01-07 |
WO2014166490A3 (de) | 2015-08-20 |
WO2014166490A2 (de) | 2014-10-16 |
US9518624B2 (en) | 2016-12-13 |
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