CN105291802A - Method for controlling and/or regulating a transmission system - Google Patents

Method for controlling and/or regulating a transmission system Download PDF

Info

Publication number
CN105291802A
CN105291802A CN201510354297.6A CN201510354297A CN105291802A CN 105291802 A CN105291802 A CN 105291802A CN 201510354297 A CN201510354297 A CN 201510354297A CN 105291802 A CN105291802 A CN 105291802A
Authority
CN
China
Prior art keywords
gas
hydraulic
pressure
temperature
pressure reservoir
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510354297.6A
Other languages
Chinese (zh)
Inventor
B·齐克格拉夫
S·斯里拉姆
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN105291802A publication Critical patent/CN105291802A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60K6/08—Prime-movers comprising combustion engines and mechanical or fluid energy storing means
    • B60K6/12—Prime-movers comprising combustion engines and mechanical or fluid energy storing means by means of a chargeable fluidic accumulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F15B1/04—Accumulators
    • F15B1/08—Accumulators using a gas cushion; Gas charging devices; Indicators or floats therefor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/007—Simulation or modelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B60W2050/0037—Mathematical models of vehicle sub-units
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2201/00—Accumulators
    • F15B2201/50—Monitoring, detection and testing means for accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2201/00—Accumulators
    • F15B2201/50—Monitoring, detection and testing means for accumulators
    • F15B2201/51—Pressure detection
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6343—Electronic controllers using input signals representing a temperature
    • Y—GENERAL 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Supply Devices, Intensifiers, Converters, And Telemotors (AREA)

Abstract

Method for controlling and/or regulating a transmission system (1) for a motor vehicle is provided. The transmission system is provided with at least one pressure accumulator (27), and each pressure accumulator is provided with an air chamber (46) and a hydraulic fluid chamber (45). The method includes the steps of: guiding a hydraulic fluid into at least one pressure accumulator (27)to make a gas volume of the pressure accumulator reduced and the real temperature and pressure of the gas increased, and/or exporting the hydraulic fluid from the at least one pressure accumulator (27) to make the gas volume of the pressure accumulator (27) increased, and the real temperature and the pressure of the gas reduced, acquiring the measurement pressure of the gas in the at least one pressure accumulator (27) with at least one pressure sensor (47) corresponding to a first time delay of the real pressure of the gas according to a time variation, determining the initial temperature of the gas, determining the ambient temperature of the pressure accumulator (27), determining the temperature of the hydraulic fluid guided and/or exported the pressure accumulator (27), performing a model calculation by using the initial temperature of the gas, the ambient temperature of the pressure accumulator (27), the measurement pressure of the gas and the temperature of the hydraulic fluid guided and/or exported the pressure accumulator (27), calculating the model temperature of the gas by the model calculation, and calculating the gas volume by using the model temperature of the gas.

Description

For controlling and/or adjust the method for transmission system
Technical field
The present invention relates to a kind of preamble according to claim 1 for controlling and/or adjust the method for transmission system and the transmission system of preamble according to claim 13.
Background technology
Self-propelled vehicle with combustion engine has transmission system, for power is delivered at least one drive wheel from combustion engine.At this, in general, self-propelled vehicle there are two drive wheels to be driven by a difference transmission device.Combustion engine engine shaft provides mechanical energy, the mechanical energy of engine shaft can be assigned on the first and second output shafts on power dividing transmission device by means of this power dividing transmission device.Here, the first output shaft drives a mechanical drive train part of described transmission system, and in this mechanical drive train part, mechanical energy is only mechanically delivered at least one drive wheel or difference transmission device.Second drive shaft one hydrostatic drive pastern divides, integrated or enclose a hydraulic gear in this hydrostatic drive pastern divides, and makes to divide at hydrostatic drive pastern the transmission also hydraulically can carrying out mechanical energy.In order to run this hydraulic gear, one is needed to export shaft drying pump and a HM Hydraulic Motor driven by the hydraulic fluid of pump by second.HM Hydraulic Motor drives this difference transmission device or at least one drive wheel with the axle drive shaft in a HM Hydraulic Motor or hydraulic gear axle drive shaft at it in that.In addition, transmission system has the pressure reservoir that the pressure for hydraulic energy stores.Utilize and exported shaft drying pump by second of power dividing transmission device, hydraulic fluid can not only be transported to HM Hydraulic Motor, also can be transported to the pressure reservoir for storing hydraulic energy.This hydraulic energy be stored in pressure reservoir is used for driving this at least one drive wheel or difference transmission device by hydraulic fluid is directed to HM Hydraulic Motor from pressure reservoir later.In waste heat recycling is run, the kinetic energy of self-propelled vehicle can be stored as hydraulic energy in pressure reservoir.
Pressure reservoir is configured to such as piston memory device or bellows memory device.In order to control and/or adjust transmission system, the current loading condition of pressure reservoir must be known.For this reason, the pressure of the gas in pressure reservoir can be obtained with pressure sensor, obtain the temperature of gas with temperature sensor, and calculate the volume of gas thus, because the volume of gas is the parameter of the loading condition of pressure reservoir.When being imported by hydraulic fluid or deriving pressure reservoir, actual pressure and the actual temperature of gas change in time.Pressure sensor obtains actual pressure as gaging pressure using first time lag of about 0.01 second, and temperature memory device obtains actual temperature as measuring tempeature using second time lag of about 2 to 3 seconds.Therefore second time lag of temperature memory device is obviously greater than the first time lag of pressure sensor.In order to the amount of gas and mol gas constant known time utilize the thermodynamic equation of state of idea1 gas to calculate gas volume, the pressure and temperature of same time must be known as far as possible exactly, the volume of gas can be calculated as far as possible exactly.Because the second time lag of the measuring tempeature obtained by temperature sensor is higher, so the volume of gas can only calculate with lower or not enough accuracy, thus make enough to determine loading condition exactly when loading condition changes fast.
CH405934 shows a kind of inclined plate axial piston pump, its not around cylinder body can longitudinal sliding motion to change operational throughput with delivery pressure, wherein by spring increase operational throughput direction on pressurized cylinder body on be fixed with the control sliding element that has sliding piston.
DE2733870C2 shows a kind of control setup for inclined plate axial piston pump, wherein, wobble-member both sides for making inclined plate swing respectively there is one the pivotable flap of hydraulic loaded can be engaged in motor, the board-like control cock slide block that wherein these two motors can be arranged around the pivot of wobble-member pivotly by one controls, and for regulating the operational throughput of pump.
DE19542427A1 illustrates a kind of hydrostatic drive system of the vehicle for hydrostatic operation.
Summary of the invention
The present invention relates to a kind of for controlling and/or the method for transmission system of reconditioner motor-car, described transmission system has at least one pressure reservoir, described pressure reservoir has air chamber and hydraulic pressure liquid chamber separately, described method has following steps: imported to by hydraulic fluid at least one pressure reservoir described, thus the gas volume in this pressure reservoir is reduced and the actual temperature of gas and actual pressure are raised; And/or hydraulic fluid is derived from least one pressure reservoir described, thus the gas volume in described pressure reservoir is raised and the actual temperature of gas and actual pressure are reduced; Utilize at least one pressure sensor to obtain the gaging pressure of the gas at least one pressure reservoir described relative to the first time lag of the gas actual pressure according to time variations, wherein, determine the initial temperature of gas and determine the ambient temperature of described pressure reservoir; Determine the temperature of the hydraulic fluid importing and/or derive described pressure reservoir; The temperature implementation model of the hydraulic fluid utilizing the ambient temperature of the initial temperature of gas, pressure reservoir, the gaging pressure of gas and importing and/or derive described pressure reservoir calculates; Described model is utilized to calculate the model temperature of gas and utilize the model temperature of gas to calculate the volume of gas.Obtain the thermodynamic property of pressure reservoir by model, make the model temperature that can calculate gas thus.Therefore, it is possible to obtain gaseous tension by pressure sensor and substantially side by side calculate model temperature, make can calculate gas volume with high precision and thus calculate the loading condition of pressure sensor, because gas volume is the parameter of the loading condition of pressure reservoir thus.
In an additional project, determine the initial temperature of gas, its mode is, especially before at least one pressure reservoir place in operation described and/or have after exiting use in time change and when the gas temperature of substantial constant, utilize at least one temperature sensor to obtain the initial temperature of the gas at least one pressure reservoir described relative to the second time lag of gas actual temperature, wherein, the second time lag is greater than time lag between the model temperature of the first time lag and/or gas and actual temperature substantially corresponding to described first time lag.Initial temperature preferably preferably obtains continuously outside the operation of pressure reservoir, such as in self-propelled vehicle quiescence, make can provide initial temperature when place in operation, and due to gas temperature substantial constant during self-propelled vehicle quiescence, the second larger time lag therefore can be ignored.
In another form of implementation, determine the ambient temperature of surrounding environment, its mode is, obtains the ambient temperature of described pressure reservoir surrounding environment with at least one ambient temperature sensor described; And/or determine the temperature of the hydraulic fluid importing and/or derive described pressure reservoir, its mode is, obtains or calculate with model the temperature of the hydraulic fluid importing and/or derive described pressure reservoir with hydraulic temperature sensor; And/or obtain by hydraulic pressure volume sensor or calculate with model or by for being that at least one Hydraulic Pump of hydraulic energy and/or the data of at least one HM Hydraulic Motor calculate importing and/or derive the volume of hydraulic fluid of described pressure reservoir by changes mechanical energy.
In another form of implementation, described pressure reservoir, especially wall and/or hydraulic fluid and/or dividing element are divided into imaginary sub-element, with described imaginary sub-element dividually implementation model calculate.By the single component of pressure sensor, especially pressure sensor is divided into sub-element as wall, dividing element, hydraulic pressure liquid chamber, the assembly with different sub-feature can be reproduced more accurately by model.
In an additional form of implementation, when model calculates, the wall of described pressure reservoir is divided into imaginary sub-wall elements, and on described sub-wall elements, implementation model calculates dividually; And/or when model calculates, the hydraulic pressure liquid chamber that hydraulic fluid is housed of described pressure reservoir is divided into imaginary sub-Hydraulic Elements, on described sub-Hydraulic Elements, implementation model calculates dividually; And/or when model calculates, described in be equipped with hydraulic fluid hydraulic pressure liquid chamber and band gas air chamber between dividing element be divided into imaginary sub-dividing element, on described sub-dividing element dividually implementation model calculate.
Meet object and require ground, the amount of the gas at least one pressure reservoir described is considered when model calculates, and/or at least one sub-element of at least one pressure reservoir described, the capacity of heat transmission of preferred multiple sub-element, and/or at least one sub-element of at least one pressure reservoir described, the heat accumulation of preferred multiple sub-element holds and/or imports and/or derive the volume of hydraulic fluid and/or the quality of described pressure reservoir, and/or import and/or derive the temperature of hydraulic fluid of described pressure reservoir, and/or the heat accumulation of the hydraulic fluid importing and/or derive described pressure reservoir holds, and/or the heat accumulation of gas holds, and/or the surface of the described wall of at least one pressure reservoir described, and/or first time lag, and/or second time lag.Thus, in model calculates, consider different parameters, it is possible for making accurately to calculate model temperature in an advantageous manner.The sub-element of pressure sensor is the fact of pressure reservoir and/or imaginary parts, as the imaginary part of the imagination part of whole wall of all gas in whole dividing element, air chamber, pressure sensor or the wall of pressure sensor, whole hydraulic fluids or hydraulic fluid.
In another form of implementation, at least one is listed in model calculates, preferably multiple about the heat conducting equation between sub-element, and the capacity of heat transmission preferably between consideration sub-element and/or the capacity of heat transmission of sub-element, and/or at least one is listed in model calculates, preferably multiple about gas due to import the gas compression of hydraulic fluid and generation and the heat that obtains and about gas due to the equation of heat of deriving hydraulic fluid and produce gas expansion and lose, and/or at least one is listed in model calculates, preferably multiple equation about gas temperature change due to gas pressure change, this pressure is obtained by pressure sensor, and/or at least one is listed in model calculates, preferably multiple about hydraulic fluid, especially described sub-Hydraulic Elements import due to hydraulic fluid and derive described hydraulic pressure liquid chamber and lose and obtain the equation of heat, and/or at least one is listed in model calculates, preferably multiple about described wall, especially the heat conducting equation between described sub-wall elements and surrounding environment, preferably at least one, described wall is considered in preferred multiple equation, the capacity of heat transmission of especially described sub-wall elements and/or heat accumulation hold.These equations obtain the different parameters of pressure sensor in a model, for accurately computation model temperature.
In another form of implementation, multiple set of equations is synthesized one and is had at least one unknown parameter, the temperature of especially described sub-element and/or the temperature of hydraulic fluid of importing and derivation hydraulic pressure liquid chamber and/or the system of equations of volume, solve this system of equations, the model temperature of gas is calculated as unknown parameter.By multiple equation, the system of equations for solving multiple unknown parameter can be listed.
In a supplementary form of implementation, from the mol gas constant of the model temperature of the gas calculated by system of equations, the gaging pressure of gas obtained by pressure sensor, the amount of gas and gas, calculate gas volume, especially utilize the thermodynamic equation of state of idea1 gas.
In another form of implementation, volume according to the determination of gas controls and/or adjusts transmission system, especially, control according to the volume of the determination of gas and/or adjust described hydraulic fluid to the importing at least one pressure reservoir described and/or described hydraulic fluid from the derivation at least one pressure reservoir described.
In another form of implementation, as the situation of at least one pressure reservoir described, the method is implemented for piston memory device and/or bellows memory device; And/or in waste heat recycling is run, the driving of the kinetic energy of self-propelled vehicle and/or the combustion engine of self-propelled vehicle can be converted into hydraulic energy by Hydraulic Pump and be stored in a pressure reservoir, its mode is, the described Hydraulic Pump of hydraulic fluid imports in described pressure reservoir, gas volume in described pressure reservoir reduces, and the actual temperature of gas and actual pressure raise.
In a supplementary form of implementation, when load and unloading, the amount of the gas in described pressure reservoir keeps constant and/or when load and unloading, and in described pressure reservoir, the amount of hydraulic fluid and/or quality change.
Preferably in hydraulic-driven state, the hydraulic energy transfer of HM Hydraulic Motor is mechanical energy, with this mechanical energy driving machine motor-car, its mode is, hydraulic fluid is derived from described pressure reservoir and is directed to described HM Hydraulic Motor, gas volume in described pressure reservoir raises, and the actual temperature of gas and actual pressure reduce.
In a supplementary form of implementation, the time lag between the model temperature of gas and actual temperature is less than 20 times of the first time lag, 10 times, 5 times, 2 times or 0.2 times.
Meet object and require ground, the determination of gas model temperature is later than the determination of gas initial temperature in time.Especially, carry out credibility with the measuring tempeature (this measuring tempeature is obtained by the temperature sensor with the second time lag) of gas to the model temperature calculated to check.
The transmission system that the present invention is used for self-propelled vehicle comprises at least one Hydraulic Pump and at least one HM Hydraulic Motor, for being hydraulic energy and reversed conversion by changes mechanical energy, also comprise at least one pressure reservoir, wherein, utilize the method that this transmission system can be implemented described in present patent application.
In another embodiment, Hydraulic Pump is become by inclined plate mechanism with HM Hydraulic Motor, especially, transmission system comprises two and hydraulically to connect mutually and as the inclined plate machine of hydraulic gear work, and/or described transmission system comprises two pressure reservoir as high pressure accumulator and low pressure memory device, and/or at least one pressure reservoir described is configured to piston memory device and/or bellows memory device.
In another form of implementation, at least one pressure reservoir described respectively has the temperature sensor of initial temperature and/or measuring tempeature for obtaining gas and the pressure sensor for the gaging pressure that obtains gas, and/or described transmission system comprises the ambient temperature sensor for obtaining the ambient temperature in described pressure reservoir, and/or described transmission system comprises the hydraulic temperature sensor of the temperature for obtaining the hydraulic fluid importing and derive described pressure reservoir, and/or described transmission system comprises the calculating unit with computing machine and data memory.
In another form of implementation, described transmission system comprises the power train portion of machinery and hydraulic pressure.
The present invention also comprises computer program, this computer program has the program code medium be stored in computer-readable data carrier, with the method for this computer program of box lunch on computers or when corresponding calculating unit performs described in enforcement present patent application.
Component part of the present invention also comprises a kind of computer program with the program code medium be stored in computer-readable data carrier, with the method for this computer program of box lunch on computers or when corresponding calculating unit performs described in enforcement present patent application.
Accompanying drawing explanation
Embodiments of the invention are described in detail below when reference accompanying drawing.In accompanying drawing:
Fig. 1: the diagram greatly simplified that transmission system is shown;
Fig. 2: the vertical section that piston memory device is shown;
Fig. 3: the lateral plan that bellows memory device is shown; With
Fig. 4: the vertical section that the bellows memory device according to Fig. 3 is shown.
Detailed description of the invention
Transmission system 1 shown in Fig. 1 is for transmitting force or two drive wheels 32 for mechanical energy to be delivered to unshowned self-propelled vehicle from the combustion engine 5 with stroke piston 6.Here, described transmission system 1 is divided into a mechanical drive train part 2 and a hydrostatic drive pastern divides 3, and described hydrostatic drive pastern divides and has hydraulic gear 22, and in described hydraulic gear, changes mechanical energy is hydraulic energy or conversely.
The engine shaft 7 of combustion engine 5 drives a power dividing transmission device 8, axle drive shaft 10 as epicyclic transmission mechanism 9.Described epicyclic transmission mechanism 9 utilizes and is delivered to mechanical energy described epicyclic transmission mechanism 9 to drive the first output shaft 11 and the second output shaft 12 of described power dividing transmission device 8 from engine shaft 7.First output shaft 11 of described power dividing transmission device 8 drives described mechanical drive train part 2 with unshowned mechanical transmission mechanism, and the second output shaft 12 of described power dividing transmission device 8 drives described hydrostatic drive pastern to divide 3.Except described first output shaft 11, described mechanical drive train part 2 also has first clutch 13, and a transmission shaft 34 is connected with described first clutch.Thus, when first clutch 13 engages, mechanical energy can be delivered to the transmission shaft 34 of the first mechanical drive train part 2 from the first output shaft 11 and be delivered to a mechanical couplings unit 30 from this transmission shaft.When first clutch 13 disconnects joint, fix described first output shaft 11 with the first anchor fitting 37, make whole mechanical energy be delivered to the second output shaft 12 from epicyclic transmission mechanism 9.Described mechanical couplings unit 30 gathers described mechanical drive train part 2, the i.e. mechanical energy of described transmission shaft 34 and hydraulic gear axle drive shaft 21.Here, described mechanical couplings unit 30 is made up of gear, that is, the transmission shaft 34 of described mechanical drive train part 2 and described hydraulic gear axle drive shaft 21 have identical revolution ratio.The described transmission shaft 34 that mechanical energy is used as differential driving axle 35 is delivered to a difference transmission device 31 from described coupling unit 30.Described difference transmission device 31 is by the drive wheel 32 of two each self-driven unshowned self-propelled vehiclees of wheel shaft 33.
Described hydrostatic drive pastern divides 3 to be driven by the second output shaft 12 of described power dividing transmission device 8.Here, in the mode similar in appearance to described mechanical drive train part 2, can with second clutch 14 by the power stream of the axle drive shaft 17 from the second output shaft 12 to the first inclined plate machine 15 interrupt or connect.When second clutch 14 disconnects, described second output shaft 12 can be fixed with the second anchor fitting 38, make whole mechanical energy be delivered to the first output shaft 11 by described epicyclic transmission mechanism 9.Described hydraulic gear 22 has described first inclined plate machine 15 and a second inclined plate machine 18.Here, these two inclined plate machines 15,18 form the assembly 23 of described hydraulic gear 22.Here, described first inclined plate machine 15 can run as axial-piston motor 36 again as axial piston pump 16, and described second inclined plate machine 18 can run as axial-piston motor 20 again as axial piston pump 19.Hydraulic energy is converted into mechanical energy by described second inclined plate machine 18, drive axle drive shaft 21 or a hydraulic gear axle drive shaft 21 thus, described axle drive shaft or hydraulic gear axle drive shaft again at it in that described mechanical energy be delivered to described mechanical couplings unit 30 and thus also indirect transfer on described two drive wheels 32.These two inclined plate machines 15,18 two conduit under fluid pressures 24 hydraulically connect mutually.Here, these two conduit under fluid pressures 24 each in there is the valve 25 that is configured to triple valve 26, thus these two inclined plate machines 15,18 also can be hydraulically hydraulically connected with two pressure reservoir 27, i.e. a high pressure accumulator 28 and a low pressure memory device 29.
These two inclined plate machines 15,18 have the cylinder barrel (not shown) of rotation, and in described cylinder barrel, piston can move axially in piston hole.These two inclined plate machines 15, the inclined plate of 18 or pivotable wobble-member can with pivoting angle pivotables, pivoting angle is larger, then the volume flow transmitted of these two inclined plate machines 15,18 is also larger when the rotating speed of described axle drive shaft 17 and axle drive shaft 21 or hydraulic gear axle drive shaft 21 is identical.If do not have hydraulic fluid to import at hydraulic gear 22 run duration or derive pressure reservoir 27, then these two inclined plate machines 15, the pivotable wobble-member of 18 has identical pivoting angle, because these two inclined plate machines 15,18 structures are identical, namely especially there is the piston hole that the diameter of equal number is identical in cylinder barrel, and described axle drive shaft 17 and described hydraulic gear axle drive shaft 21 has identical rotating speed.The different rotating speed of described axle drive shaft 17 and hydraulic gear axle drive shaft 21 can realize with the different pivoting angles of the pivotable wobble-member of described first and second inclined plate machines 15,18.
At these two inclined plate machines 15, in 18 operations only as hydraulic gear 22, with described two conduit under fluid pressures 24, hydraulic energy is delivered to the second inclined plate machine 18 from the first inclined plate machine 15, these two inclined plate machines 15, the pivoting angle of 18 is larger, the volume flow then flowing to the hydraulic fluid of the second inclined plate machine 18 or counter current from the first inclined plate machine 15 is also larger, otherwise and moment of torsion on described axle drive shaft 17 and hydraulic gear axle drive shaft 21 is larger or.By at these two inclined plate machines 15, the pivoting angle of 18 changes described one and two inclined plate machines 15 time different, the pivoting angle of 18, the ratio between described axle drive shaft 17 and the rotating speed of hydraulic gear axle drive shaft 21 can be changed, or rather, change in stepless mode, thus make to there is stepless hydraulic gear 22 thus.
In the waste heat recycling of self-propelled vehicle is run, mechanical energy is delivered to the second inclined plate machine 18 and at this second inclined plate machine transfer forming liquid pressure energy by described from drive wheel 32.Here, can be imported to from low pressure memory device 29 by hydraulic fluid as the second inclined plate machine 18 of axial piston pump 19 by means of described two triple valves 26 and import described high pressure accumulator 28 at a higher pressure from this second inclined plate machine in waste heat recycling is run, that is: the pressure in described high pressure accumulator 28 raises and is stored in by hydraulic energy thus in described high pressure accumulator 28.Conversely, in order to hydraulically drive this self-propelled vehicle, hydraulic fluid be under high pressure directed to from described high pressure accumulator 28 the described second inclined plate machine 18 that works as axial-piston motor 20 here and be converted into mechanical energy, making the second inclined plate machine 18 thus served as axial-piston motor 20 mechanically drive described hydraulic gear axle drive shaft 21.Here, hydraulic fluid is directed to low pressure memory device 29 by from described second inclined plate machine 18 subsequently.
Here, as long as described two drive wheels 32 of self-propelled vehicle can or only be driven by described mechanical drive train part 2---described second clutch 14 disconnects and engaging, as long as only by described mechanical drive train part 3 hydraulic-driven---described first clutch 13 disconnects and engaging, wherein, power-transfer clutch 13,14 other is accordingly engage naturally.In addition, as long as these two axle drive shafts 32 can be simultaneously not only also 3 drivings by described mechanical drive train 2 but also by described hydrostatic drive---two power-transfer clutchs 13,14 all engage.Here, in this operation, described second inclined plate machine 18 can or only be driven by the hydraulic fluid from described first inclined plate machine 15, and described second inclined plate machine 18 is only driven by the mechanical energy of combustion engine 5.In addition, alternatively, in this operation, described second inclined plate machine 18 also can be driven by the hydraulic fluid from described high pressure accumulator 28, and described second inclined plate machine 18 thus had not only been driven by the mechanical energy from combustion engine 5 but also by the hydraulic fluid from high pressure accumulator 28.Therefore, in the driving situation in the end mentioned, this two drive wheels 32 had not only driven by the mechanical energy of combustion engine 5 but also by the hydraulic fluid of high pressure accumulator 28.
These two pressure reservoir 27 as high pressure accumulator 28 and low pressure memory device 29 are such as constructed to piston memory device 4 (Fig. 2) or bellows memory device 51 (Fig. 3 and 4).Described piston memory device 4 has the wall 42 be made up of steel, and wall 42 is also configured to the cylinder for supporting the piston 43 as dividing element 52.The air chamber surrounded by wall 42 is divided into the hydraulic pressure liquid chamber 45 of a filling liquid hydraulic fluid and a blanketing gas as the air chamber 46 of air by piston 43.If import hydraulic fluid by exporting input hole 49 in piston memory device 4, then piston 43 is moved to the left by incompressible hydraulic fluid, the volume of air chamber 46 is reduced, namely the actual temperature of gas and actual pressure raise, because hydraulic fluid imports by exporting input hole 49 within the relatively short time, make the loading condition thereby increasing piston memory device 4, or the enforcement that this also can be contrary.One pressure sensor 47 obtains the gaging pressure of the gas in this air chamber 46, and a temperature sensor 48 obtains initial temperature and the measuring tempeature of the gas in this air chamber 46.Described pressure sensor 47 (dotted line illustrates) also can be arranged in described hydraulic pressure liquid chamber 45, because the pressure of the gas in this air chamber 46 is identical with the pressure of the hydraulic fluid in described hydraulic pressure liquid chamber 45.One charge valve 50 is for filling and emptying described air chamber 46 with gas.When filling, obtaining the amount n of gas, also obtaining the molar gas constant R of gas.Therefore, when piston memory device 4 runs, amount n is constant, thus amount n and molar gas constant R are all known.
Fig. 3 and 4 illustrates a kind of bellows memory device 51.Substantially the difference with the piston memory device 4 shown in Fig. 2 is only described below.Described hydraulic pressure liquid chamber 45 is separated with air chamber 46 by the elastic membrane 44 as dividing element 52 be made up of plastics.By hydraulic fluid is imported in described hydraulic pressure liquid chamber 45 by exporting input hole 49, on the contrary the volume of the air chamber 46 surrounded by described film 44 reduces or.One hydraulic temperature sensor 53 obtains the temperature importing and derive the hydraulic fluid in described hydraulic pressure liquid chamber 45, one hydraulic pressure volume sensor 55 obtains the volume importing and derive the hydraulic fluid in described hydraulic pressure liquid chamber 45, and an ambient temperature sensor 53 obtains the temperature of the surrounding environment env of described bellows memory device 51.
The determination of the loading condition of these two pressure reservoir 27 is determined to carry out by the gas volume undertaken by the thermodynamic equation of state of idea1 gas:
pV＝nRT
(equation Gl1)
Here, p is gaseous tension, and V is gas volume, and n is the amount of gas, and R is mol gas constant, and T is gas temperature.The amount n of gas and the molar gas constant R of gas be immovable at run duration, from but known fixed value because they are just determined before model calculates.Thus, in order to calculate gas volume, draw from the thermodynamic equation of state of above idea1 gas:
V＝nRT/p
(equation Gl2)
So Current Temperatures T or T of the gas in described air chamber 46 must be known as far as possible accurately gand pressure p, because the amount n of gas and molar gas constant R are constant.Here, it is relative very fast that importing and the derivation of hydraulic fluid are carried out, in the interval of such as 5 to 50 seconds, preferably 10 to 20 seconds.
Described pressure sensor 47 first time lag of about 0.01 second obtains actual pressure as gaging pressure, and described temperature sensor 48 second time lag of about 2-3 second obtains actual temperature as measuring tempeature and initial temperature.Therefore the second time lag of described temperature sensor 48 is obviously greater than the first time lag of described pressure sensor 47.In order to the amount n of gas and molar gas constant R known time utilize the thermodynamic equation of state of described gas to calculate the current volume of the gas in described air chamber 46, the pressure and temperature when current time is substantially the same must be known as far as possible accurately, gas volume can be calculated as far as possible accurately.Here, with have computing machine 40 or computer 40 and data memory 41 calculating unit 39, as carried on vehicle computer model calculate determine or calculate model temperature.
The enthalpy change Δ H of the gas when importing hydraulic fluid or derive described hydraulic pressure liquid chamber 45 in described air chamber 46 is drawn by following equation:
ΔH＝dQ/dt+V·dP/dt
(equation Gl3)
Thus, the differential equation of the enthalpy change Δ H for gas is below drawn with the thermodynamic equation of state of idea1 gas:
nC p·dT g/dt＝dQ/dt+nRT g/p·dp/dt
(equation Gl4)
Here C pbe the gas of every amount than molar heat capacity, T gbe gas temperature, Q is the thermal loss of gas to environment, and p is gaseous tension, and n is the amount of number of moles of gas or gas.
Gas temperature in air chamber 46 depends on the sub-element directly defining air chamber 46.The temperature of the sub-element of air chamber 46 is directly defined in the sub-element impact being adjacent to these sub-elements, thus must calculate the temperature of whole sub-element in model calculates, so that described model reproduces the model of actual pressure reservoir as far as possible accurately.The actual element of described pressure reservoir 27, imaginary sub-element can be divided into as wall 42.By the imaginary element of larger amt, the accuracy of raising model that can be overall, namely this model is with higher accuracy render real.
Described pressure reservoir 27 is configured to the bellows memory device 51 of the film 44 had as dividing element 52, and described hydraulic pressure liquid chamber 45 and described air chamber 46 separate by this dividing element.The wall 42 of described pressure reservoir 27 is divided into 5 imaginary sub-wall elements w1, w2, w3, w4 and w5.Hydraulic pressure liquid chamber 45 is divided into two imaginary sub-Hydraulic Elements o1 and o2.
The temperature marker of described first sub-wall elements w1 is T w1, the temperature marker of described second sub-wall elements w2 is T w2, the temperature marker of described 3rd sub-wall elements w3 is T w3, the temperature marker of described 4th sub-wall elements w4 is T w4, the temperature marker of described 5th sub-wall elements w5 is T w5.The temperature marker of the hydraulic fluid in described first sub-Hydraulic Elements o1 is T o1, the second sub-Hydraulic Elements o2 is labeled as T o2.K represents the capacity of heat transmission between two sub-elements.Two sub-elements described in exponential representation on the footnote of K here.Such as K o2w4therefore the capacity of heat transmission between hydraulic fluid in described second sub-Hydraulic Elements o2 and described 4th sub-wall elements w4 is represented.The alphabetical b of whole described film 44 represents, and is not divided into imaginary sub-element.C is the specific heat capacity of sub-element, the exponential representation sub-element on footnote.So C o2it is the thermal capacitance of the hydraulic fluid in described second sub-Hydraulic Elements o2.
For described second sub-Hydraulic Elements o2, the heat conducting equation between other sub-elements of such as adjoining about especially described second sub-Hydraulic Elements o2 and direct and described second sub-Hydraulic Elements o2 below can be write out:
C o2·dT o2/dt＝K o2b(T b–T o2)+K o2w5(T w5–T o2)+K o2w4(T w4–T o2)
+K o2o1(T o1–T o2)
(equation Gl5)
For whole sub-elements of described pressure reservoir 27, equation above can represent similarly and these equations are converted into matrix form subsequently.Here, due to heat transfer mutual heat interaction impact produce described sub-element between temperature change be acquired.This matrix equation is:
T′＝A·T
(equation Gl6)
T ' be for calculation procedure after single sub-element temperature change vector or there is capable matrix, A is the capacity of heat transmission of described sub-element and the transition matrix of specific heat capacity, and T is the vector of the temperature before calculation procedure for single component or sub-element or has the matrix of row.With this equation obtain in air chamber 46 due to or change from the heat conducting gas temperature of gas.
In addition, as long as gas temperature is also imported and is derived the impact of the hydraulic fluid of hydraulic pressure liquid chamber 45---the temperature importing and derive the hydraulic fluid of hydraulic pressure liquid chamber 45 is different from the temperature of the hydraulic fluid of hydraulic pressure liquid chamber 45, the impact of the temperature change also produced by the surrounding environment env due to the stereomutation of air chamber 46 and the heat transfer between described wall 42 and pressure reservoir 27 and pressure reservoir 27.These factors wear matrix B equation by down obtains, and it comprises the matrix A of the heat interaction impact between sub-element in addition:
T′＝A·T+B·U
(equation Gl7)
B is the input matrix of the above-mentioned factor had for sub-element or surrounding environment, and U is the input vector of single sub-element or the temperature around before calculation procedure or has the matrix of row.
Volume change model in air chamber 46 calculates to be determined or obtains by hydraulic pressure volume sensor 55, and the volume change in air chamber is same as the volume of the hydraulic fluid flowing into or flow out described hydraulic pressure liquid chamber 45.The temperature hydraulic temperature sensor 53 of the hydraulic fluid importing or derive described hydraulic pressure liquid chamber 45 obtains or calculates with model.Importing hydraulic fluid to described hydraulic pressure liquid chamber 45 causes the volume of described first and second sub-Hydraulic Elements o1 and o2 to raise and temperature change, and this calculates with model determines, contrary during derivation.
The heat that input vector U considers the heat that gas in described air chamber 46 obtains owing to importing hydraulic fluid and the gas compression that causes thus and loses due to derivation hydraulic fluid and the gas expansion that causes thus.Here, dQ gas_comprepresent the positive heat acquisition of gas due to compression, dQ gas_compfor representing thermal loss time negative.Here, following equation can be listed:
dQ gas_comp/dt＝(nRT/p)·dp/dt
(equation Gl8)
Formula below equation 8 (Gl8) can be converted into when considering equation Gl4, and dT gas_comprepresent the temperature traverse of gas:
nC p·dT gas_comp/dt＝nRT g/p·dp/dt
(equation Gl9)
Equation Gl9 can be rewritten as equation Gl10:
dT gas_comp/dt＝RT g/C pp·dp/dt
(equation Gl10)
Obtain gaseous tension p by pressure sensor 47, and also obtain the pressure change dp/dt of time per unit gas thus.Equation Gl10 corresponding to equation Gl11 below, in equation Gl11, dT here gas_comp/ dt writes out in another form:
T′ gas_comp＝RT g/C pp·dp/dt
(equation Gl11)
Input vector U also consider described sub-Hydraulic Elements o1, o2 import due to hydraulic fluid and derive hydraulic pressure liquid chamber 45 and cause thus at the described sub-Hydraulic Elements o1 of importing, the thermal loss that mixing during o2 causes and heat obtain.Here, following equation Gl12 can be listed for input vector U:
dQ oil_flow/dt＝(T o-T in)·ρ·dV/dt·c oil
(equation Gl12)
Here, T othe temperature of the described first or second sub-Hydraulic Elements o1, o2, T inbe the temperature of the hydraulic fluid of guiding the described first or second sub-Hydraulic Elements o1, o2, ρ is the density of hydraulic fluid, c oilthe specific heat capacity of hydraulic fluid, dQ oil_flow/ dt is the heat change that time per unit causes owing to importing hydraulic fluid, and dV/dt is the volume change of gas or hydraulic fluid in the unit time.
Volume change is the volume change calculated in calculation procedure above or in iterative step.Due to the constant total volume of described pressure reservoir 27, the volume change of gas is corresponding to the hydraulic fluid volume change with other symbols, because the rising of hydraulic fluid volume reduces corresponding to the same degree of gas volume, conversely in like manner.
Equation Gl12 can be rewritten as equation Gl13 below:
c oilm oil·dT oil_flow/dt＝(T o-T in)·ρ·dV/dt·c oil
(equation Gl13)
Here, c oilthe specific heat capacity of hydraulic fluid, m oilthe quality of hydraulic fluid, dT oil_flow/ dt is the temperature difference of the hydraulic fluid imported in the unit time.
Equation Gl13 can be rewritten as equation Gl14 below:
dT oil_flow/dt＝(T o-T in)/m oil·ρ·dV/dt
(equation Gl14)
In equation Gl15 below, the dT of equation Gl14 oil_flowthe another kind of form of/dt is write out:
T′ oil_flow＝(T o-T in)/m oil·ρ·dV/dt
(equation Gl15)
Input vector U also considers described sub-wall elements w1, w2, w3, w4, w5 and described sub-wall elements w1, the heat transfer between the surrounding environment env of w2, w3, w4, w5.Described surrounding environment env is imaginary unbounded thermal source in model, described sub-wall elements w1, w2, w3, w4, w5 and described sub-wall elements w1, and the equation Gl16 below of the heat transfer between the surrounding environment env of w2, w3, w4, w5 describes:
dT env_wall/dt＝(T env–T wall)·K wall_env/c wall
(equation Gl16)
Here, dT env_wall/ dt refers to wall 42 described in time per unit or sub-wall elements w1, the temperature traverse of w2, w3, w4, w5, T envrefer to the temperature of surrounding environment env, T wallrefer to described wall 42 or sub-wall elements w1, the temperature of w2, w3, w4, w5, K wall_envrefer to described wall 42 or sub-wall elements w1, the capacity of heat transmission between w2, w3, w4, w5 and surrounding environment env, c wallrefer to described wall 42 or sub-wall elements w1, the thermal capacitance of w2, w3, w4, w5.
Equation Gl16 can be rewritten as equation Gl17 below:
dT env_wall/dt＝T env·K wall_env/c wall-T wall·K wall_env/c wall
(equation Gl17)
About described wall 42 or sub-wall elements w1, the diagonal entry value below of the input matrix B of w2, w3, w4, w5.
K wall_env/c wall
Value
-T wall·K wall_env/c wall
Use in transition matrix A as diagonal entry.
The element of transition matrix A or element and each calculation procedure or each iterative step adapt, because the capacity of heat transmission of gas and hydraulic fluid and thermal capacitance change when the stereomutation of gas and hydraulic fluid.
When model calculates, the input matrix A of whole sub-element is:
A = - S r ow 1 K b G a s C b K b o 1 C b K b o 2 C b 0 0 K b w 3 C b K b w 4 C b K b w 5 C b K b G a s C G a s - S r o w 2 0 0 0 0 0 0 0 K b o 1 C o 1 0 - S r o w 3 K o 1 o 2 C o 1 K o 1 w 1 C o 1 K o 1 w 2 C o 1 0 0 0 K b o 2 C o 2 0 K o 1 o 2 C o 2 - S r o w 4 0 0 0 K o 2 w 4 C o 2 K o 2 w 5 C o 2 0 0 K o 1 w 1 C w 1 0 - S r o w 5 K w 1 w 2 C w 1 0 0 0 0 0 K o 1 w 2 C w 2 0 K w 1 w 2 C w 2 - S r o w 6 K w 2 w 3 C w 2 K w 2 w 4 C w 2 0 K b w 3 C w 3 0 0 0 0 K w 2 w 3 C w 3 - S r o w 7 K w 3 w 4 C w 3 K w 3 w 5 C w 3 K b w 4 C w 4 0 0 K o 2 w 4 C w 4 0 K w 2 w 4 C w 4 K w 3 w 4 C w 4 - S r o w 8 K w 4 w 5 C w 4 K b w 5 C 5 0 0 K o 2 w 5 C w 5 0 0 K w 3 w 5 C w 5 K w 4 w 5 C w 5 - S r o w 9
Here, K e1e2represent the capacity of heat transmission between described sub-element e1 and e2, C e1represent the thermal capacitance of described sub-element e1, refer to matrix with non-diagonal element relevant in a line and.
The exemplary equation 5 of described second sub-Hydraulic Elements o2 can be rewritten as equation Gl18 below:
C o2·dT o2/dt＝K o2bT b+K o2w5T w5+K o2w4T w4+K o2o1T o1-T o2(K o2b+K o2w5+K o2w4+K o2o1)
(equation Gl18)
Therefore, correspondingly, such as the 4th row is exactly:
S r o w 4 = ( K o 2 b + K o 2 w 5 + K o 2 w 4 + K o 2 o 1 ) / C o 2
(equation Gl19)
Due to equation 17, the Part II of equation 17 should insert described sub-wall elements w1, in the diagonal entry of the transition matrix A of w2, w3, w4, w5.
Therefore such as described sub-wall elements w5 is corresponding be exactly:
S r o w 9 = ( K b w 5 + K o 2 w 5 + K w 3 w 5 + K w 4 w 5 + K E n v _ w 5 ) / C w 5
(equation Gl20)
Temperature vector T is:
T＝[T bT gT o1T o2T w1T w2T w3T w4T w5] T
Input matrix B is:
B = 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 K w 1 E n v 0 0 0 0 0 0 0 0 0 K w 2 E n v 0 0 0 0 0 0 0 0 0 K w 3 E n v 0 0 0 0 0 0 0 0 0 K w 4 E n v 0 0 0 0 0 0 0 0 0 K w 5 E n v
Input vector U is:
U＝[0T′ gas_compT′ o1_flowT′ o2_flowT envT envT envT envT env] T
Here, input vector T ' gas_compfrom equation Gl11, T ' o1_flowfrom the equation Gl15 of described first sub-Hydraulic Elements o1, T ' o2_flowfrom the equation Gl15 of described second sub-Hydraulic Elements o2, T envrepresent the temperature of surrounding environment env.
In each calculation procedure i, the part of transition matrix A and input matrix B and input vector U is calculated by with the function of following equation as the loading condition of pressure sensor 27, and described equation to be included in described matrix and thus to form a system of equations.
T′＝A·T+B·U
Therefore, the temperature vector T ' in calculation procedure i below ican use from calculation procedure above
T′ i＝A·T i-1+B·U
Calculate.
Calculation procedure i below and above or the time gap of iterative step are Δ t.T ' ithe temperature difference according to time Δ t, have each unit of time (as second or point) interior temperature unit (and as DEG C or K) unit.Therefore draw:
T i＝T i-1+T′ iΔt
In each calculation procedure or iterative step, gas temperature T gascan as the model temperature of gas from temperature vector T iobtain.
Therefore, the volume energy of gas or air chamber 46 calculates with each calculation procedure i:
V g＝nRT g/P g
Here, dV g/ dt can in order to lower equation
dV g/dt＝(V gi–V gi-1)/Δt
Gas volume change as time per unit provides.
The volume change V of hydraulic fluid ocorresponding to the volume change V of the contrary gas of symbol g:
dV o/dt＝-dV g/dt
This method of calculating may be used for arbitrary pressure reservoir 27, such as also may be used for piston memory device 4.For these needs adjust sub-element accordingly.Here, the quantity of sub-element and pressure reservoir 27 are divided into the mode of sub-element is different.
Generally, of the present invention for control and/or the method adjusted for the transmission system 1 of self-propelled vehicle is connected with significant advantage.The model implemented by calculating unit 39 calculates and achieves the "current" model temperature T determining gas by the very little time lag of the actual temperature about gas g, thus the shortcoming of the second large time lag of temperature sensor 48 is eliminated substantially, thus the current volume of gas can be determined with the precision that relative current time is higher with the loading condition of described stress memory device 27 thus.Thus, transmission system 1 can be optimised and can by better controlling and adjustment.

Claims (15)

1. one kind for controlling and/or the method for transmission system (1) of reconditioner motor-car, described transmission system has at least one pressure reservoir (4,27,51), described pressure reservoir has air chamber (46) and hydraulic pressure liquid chamber (45) separately, and described method has following steps:
Hydraulic fluid is imported in described at least one pressure reservoir (4,27,51), thus the gas volume in this pressure reservoir is reduced and the actual temperature of gas and actual pressure are raised; And/or
Hydraulic fluid is derived from least one pressure reservoir described (4,27,51), thus the gas volume in described pressure reservoir (4,27,51) is raised and the actual temperature of gas and actual pressure are reduced,
Utilize at least one pressure sensor (47) to obtain the gaging pressure of the gas in described at least one pressure reservoir (4,27,51) relative to the first time lag of the gas actual pressure according to time variations;
It is characterized in that,
Determine the initial temperature of gas and determine the ambient temperature of described pressure reservoir (4,27,51); Determine the temperature of the hydraulic fluid importing and/or derive described pressure reservoir (4,27,51); The temperature implementation model of the hydraulic fluid utilizing the initial temperature of gas, the ambient temperature of pressure reservoir (4,27,51), gaging pressure and the importing of gas and/or derive described pressure reservoir (4,27,51) calculates; Described model is utilized to calculate the model temperature of gas and utilize the model temperature of gas to calculate the volume of gas.
2. method according to claim 1, is characterized in that,
Determine the initial temperature of gas, its mode is, particularly in described pressure reservoir (4,27,51) put into operation before and/or out of service after when there is along with the time is substantially constant gas temperature, utilize at least one temperature sensor (54) to obtain at least one pressure reservoir (4 described relative to the second time lag of gas actual temperature, 27,51) initial temperature of the gas in, wherein, described second time lag is greater than described first time lag; And/or
Time lag between the model temperature of gas and actual temperature is substantially corresponding to described first time lag.
3. the method according to above one or more claim, is characterized in that,
Determine the ambient temperature of surrounding environment, its mode is, utilizes at least one ambient temperature sensor (54) described to obtain the ambient temperature of the surrounding environment of described pressure reservoir (4,27,51); And/or
Determine import and/or derive described pressure reservoir (4,27,51) temperature of hydraulic fluid, its mode is, utilize hydraulic temperature sensor (53) to obtain or utilize model to calculate and import and/or derive described pressure reservoir (4,27,51) temperature of hydraulic fluid; And/or
Utilize hydraulic pressure volume sensor (55) to obtain or utilize model to calculate or by for by changes mechanical energy be at least one Hydraulic Pump (16) of hydraulic energy and/or the data of at least one HM Hydraulic Motor (20) calculate import and/or derive described pressure reservoir (4,27,51) volume of hydraulic fluid.
4. the method according to above one or more claim, it is characterized in that, by described pressure reservoir (4,27,51), especially wall (42) and/or hydraulic fluid and/or dividing element (52) are divided into imaginary sub-element (w1, o1) and utilize described imaginary sub-element (w1, o1) dividually implementation model calculate.
5. method according to claim 4, it is characterized in that, when model calculates, the wall (42) of described pressure reservoir (4,27,51) is divided into imaginary sub-wall elements (w1, w2, w3) implementation model calculates dividually and on described sub-wall elements (w1, w2, w3); And/or
When model calculates, the hydraulic pressure liquid chamber (45) with hydraulic fluid of pressure reservoir is divided into imaginary sub-Hydraulic Elements (o1, o2) and implementation model calculating dividually on described sub-Hydraulic Elements (o1, o2); And/or
When model calculates, the dividing element (52) had between the hydraulic pressure liquid chamber (45) of hydraulic fluid and the air chamber (46) with gas is divided into imaginary sub-dividing element and implementation model calculating dividually on described sub-dividing element.
6. the method according to above one or more claim, is characterized in that, considers when model calculates
The amount of the gas at least one pressure reservoir described (4,27,51); And/or
At least one sub-element (w1, o1) of at least one pressure reservoir described (4,27,51), the capacity of heat transmission of preferred multiple sub-element (w1, o2); And/or
The heat accumulation of at least one sub-element (w1, o1) of at least one pressure reservoir described (4,27,51), preferred multiple sub-element (w1, o1) holds; And/or
Import and/or derive volume and/or the quality of the hydraulic fluid of described pressure reservoir (4,27,51); And/or
Import and/or derive the temperature of the hydraulic fluid of described pressure reservoir (4,27,51); And/or
The heat accumulation importing and/or derive the hydraulic fluid of described pressure reservoir (4,27,51) holds; And/or
The heat accumulation of gas holds; And/or
The surface of the wall (42) of at least one pressure reservoir described (4,27,51); And/or
Described first time lag; And/or
Described second time lag.
7. the method according to above one or more claim, it is characterized in that, model calculate in list at least one, preferably multiple about sub-element (w1, o1) the heat conducting equation between and preferably consider sub-element (w1, the capacity of heat transmission of the capacity of heat transmission o1) and/or sub-element (w1, o1); And/or
List in model calculates at least one, preferably multiple heat of obtaining owing to importing hydraulic fluid and the gas compression that causes thus about gas and the equation of heat that loses owing to deriving hydraulic fluid and the gas expansion that causes thus about gas; And/or
List in model calculates at least one, preferred multiple equation about gas temperature change due to gas pressure change, this pressure is obtained by pressure sensor (47); And/or
In model calculates, list at least one, preferably multiplely import and derive described hydraulic pressure liquid chamber (45) and the heat of loss and the equation of heat of acquisition about hydraulic fluid, especially described sub-Hydraulic Elements (o1, o2) due to hydraulic fluid; And/or
Model calculate in list at least one, preferably multiple about wall (42), especially sub-wall elements (w1, w2, w3) the heat conducting equation and between surrounding environment and preferably at least one, consider described wall (42), especially described sub-wall elements (w1 in preferred multiple equation, w2, w3) capacity of heat transmission and/or heat accumulation hold.
8. method according to claim 7, it is characterized in that, multiple set of equations is synthesized one there is the system of equations of at least one unknown parameter, especially sub-element temperature and solve described system of equations, thus the model temperature of gas is calculated as unknown parameter.
9. method according to claim 8, is characterized in that, calculates gas volume from the gas model temperature calculated by system of equations, the aerometry pressure obtained by pressure sensor, the amount of gas and the mol gas constant of gas.
10. the method according to above one or more claim, it is characterized in that, according to fixing fabric structure and/or adjustment transmission system (1) of the determination of gas, especially control according to the volume of the determination of gas and/or adjust described hydraulic fluid at least one pressure reservoir (4 described, 27,51) importing in and/or described hydraulic fluid are from the derivation at least one pressure reservoir described (4,27,51).
11. methods according to above one or more claim, it is characterized in that, the method is implemented as the situation of at least one pressure reservoir described (4,27,51) for piston memory device (4) and/or bellows memory device (51); And/or
In waste heat recycling is run, the driving of the combustion engine (5) of the kinetic energy of self-propelled vehicle and/or self-propelled vehicle can be converted into hydraulic energy by Hydraulic Pump (19) and be stored in pressure reservoir (4,27,51) in, its mode is, hydraulic fluid Hydraulic Pump (19) is imported described pressure reservoir (4,27,51) in, described pressure reservoir (4,27,51) gas volume in reduces, and the actual temperature of gas and actual pressure raise.
12. methods according to above one or more claim, it is characterized in that, in hydraulic-driven state, by HM Hydraulic Motor (20) hydraulic energy transfer be mechanical energy and utilize this mechanical energy driving machine motor-car, its mode is, by hydraulic fluid from described pressure reservoir (4,27,51) derive and guide to described HM Hydraulic Motor (20), described pressure reservoir (4,27,51) gas volume in raises, and the actual temperature of gas and actual pressure reduce.
13. 1 kinds of transmission systems for self-propelled vehicle (1), comprise
At least one Hydraulic Pump (19) and at least one HM Hydraulic Motor (20), for by changes mechanical energy being hydraulic energy or conversely;
At least one pressure reservoir (4,27,51);
It is characterized in that,
Can implement according to any one of the preceding claims or multinomial described method.
14. transmission systems according to claim 13, it is characterized in that, Hydraulic Pump (19) and HM Hydraulic Motor (20) are by inclined plate machine (15,18) form, especially, transmission system (1) comprises two inclined plate machines (15,18), these two mutual hydraulic connectings of inclined plate machine and be used as hydraulic gear (22); And/or
Transmission system (1) comprises two pressure reservoir (4,27,51) as high pressure accumulator (28) and low pressure memory device (29); And/or
At least one pressure reservoir described (4,27,51) is configured to piston memory device (4) and/or bellows memory device (51).
15. transmission systems according to claim 13 or 14, it is characterized in that, at least one pressure reservoir (4 described, 27,51) respectively there is the temperature sensor (48) of the initial temperature and/or measuring tempeature for obtaining gas and the pressure sensor (47) for the gaging pressure that obtains gas; And/or
Described transmission system (1) comprises the ambient temperature sensor (54) of the ambient temperature for obtaining described pressure reservoir (4,27,51); And/or
Described transmission system (1) comprises the hydraulic temperature sensor (54) of the temperature for obtaining the hydraulic fluid importing and derive described pressure reservoir (4,27,51); And/or
Described transmission system (1) comprises the calculating unit (39) with computing machine (40) and data memory (41).
CN201510354297.6A 2014-06-25 2015-06-24 Method for controlling and/or regulating a transmission system Pending CN105291802A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014212156.6A DE102014212156A1 (en) 2014-06-25 2014-06-25 Method for controlling and regulating a drive train
DE102014212156.6 2014-06-25

Publications (1)

Publication Number Publication Date
CN105291802A true CN105291802A (en) 2016-02-03

Family

ID=54839638

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201510354297.6A Pending CN105291802A (en) 2014-06-25 2015-06-24 Method for controlling and/or regulating a transmission system

Country Status (2)

Country Link
CN (1) CN105291802A (en)
DE (1) DE102014212156A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014225243A1 (en) 2014-12-09 2016-06-09 Robert Bosch Gmbh Method for controlling and regulating a drive train
EP3838411A1 (en) * 2019-12-18 2021-06-23 TECAN Trading AG Pipetting device and method

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH405934A (en) 1962-07-26 1966-01-15 Weatherhead Co Swashplate axial piston pump
US4076459A (en) 1976-09-14 1978-02-28 Abex Corporation Horsepower limiter control for a variable displacement pump
DE19542427A1 (en) 1995-11-14 1997-05-15 Linde Ag Utility vehicle with internal combustion engine

Also Published As

Publication number Publication date
DE102014212156A1 (en) 2015-12-31

Similar Documents

Publication Publication Date Title
CN101424336B (en) Method and apparatus to control clutch stroke volume in electro-mechanical transmission
CN107407354B (en) Method for adjusting and adapting the operating point of a hydraulic actuator
US7261672B2 (en) Method and system for controlling rate of change of ratio in a continuously variable transmission
US9869311B2 (en) System for estimating a displacement of a pump
CN104220789B (en) The coefficient of friction correcting device of variable v-belt drive
CN104279319B (en) The oil pump systems of motor vehicle driven by mixed power and the method for controlling the oil pump systems
CN104595476B (en) Systems and methods for controlling an automatic transmission
CN106460966B (en) Method for determining a change in contact point of a hybrid disconnect clutch of a hybrid vehicle
CN103958904B (en) Based on the system and method for temperature hydraulic control system
Taran et al. Conceptual approach to select parameters of hydrostatic and mechanical transmissions for wheel tractors designed for agricultural operations
CN105465231B (en) For knowing the method for adjusting the operating force of actuator
CN104864089B (en) Speed change gear component based on the control always slid
CN103814230A (en) Method of calibrating hydraulically operated clutch of continuously variable transmission using pressure between hydrostatic pump and motor
Zhu et al. Research on the shift strategy of HMCVT based on the physical parameters and shift time
CN105270391A (en) Drive control method and system for electric oil pump
CN105291802A (en) Method for controlling and/or regulating a transmission system
CN110304046B (en) Economical control method of stepless speed change tractor control system
CN105276030A (en) Method of controlling a transmission device having an impeller clutch
US9090254B2 (en) Method for operating a serial hydraulic hybrid drive system
CN104603506A (en) Method for regulating hydraulic pressure using flow rate demand so as to recharge accumulator
US9194791B2 (en) System for determining coefficients of seal friction
CN102606558B (en) Test bench for hydraulic system of mining dumper
DE102013215862A1 (en) Method for controlling and regulating a drive train
US3302389A (en) Regulating devices of barrel-type hydraulic transmission systems
US2086889A (en) Power transmission

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20160203

WD01 Invention patent application deemed withdrawn after publication