CN107816538B - 用于控制车辆缓行行驶的方法 - Google Patents

用于控制车辆缓行行驶的方法 Download PDF

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CN107816538B
CN107816538B CN201611138923.9A CN201611138923A CN107816538B CN 107816538 B CN107816538 B CN 107816538B CN 201611138923 A CN201611138923 A CN 201611138923A CN 107816538 B CN107816538 B CN 107816538B
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creep
clutch
torque
upper limit
vehicle
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金镇成
许桓
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Hyundai Motor Co
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • 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
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control 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
    • F16H61/68—Control 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 specially adapted for stepped gearings
    • F16H61/684—Control 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 specially adapted for stepped gearings without interruption of drive
    • F16H61/688—Control 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 specially adapted for stepped gearings without interruption of drive with two inputs, e.g. selection of one of two torque-flow paths by clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/14—Inputs being a function of torque or torque demand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
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    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18063—Creeping
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    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control 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
    • F16H61/04—Smoothing ratio shift
    • 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
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B60K2031/0091—Speed limiters or speed cutters
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0083—Setting, resetting, calibration
    • B60W2050/0088—Adaptive recalibration
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/10—Change speed gearings
    • B60W2510/1005—Transmission ratio engaged
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/02—Clutches
    • B60W2710/027—Clutch torque
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/02—Selector apparatus
    • F16H59/08—Range selector apparatus
    • F16H2059/082—Range selector apparatus with different modes
    • F16H2059/086—Adaptive mode, e.g. learning from the driver
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control 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
    • F16H2061/0075—Control 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 characterised by a particular control method
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    • F16H—GEARING
    • F16H61/00—Control 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
    • F16H61/04—Smoothing ratio shift
    • F16H61/0403—Synchronisation before shifting
    • F16H2061/0414—Synchronisation before shifting by retarder control
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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
    • F16H—GEARING
    • F16H61/00—Control 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
    • F16H61/20—Preventing gear creeping ; Transmission control during standstill, e.g. hill hold control
    • F16H2061/202—Active creep control for slow driving, e.g. by controlling clutch slip

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  • Chemical & Material Sciences (AREA)
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  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

本发明公开一种用于控制车辆缓行行驶的方法，其包括：当满足缓行行驶的条件时，利用控制器，学习离合器的接触点；依据学习的接触点，利用控制器，改变缓行离合器扭矩的上限，所述缓行离合器扭矩的上限设定为：在缓行行驶期间所允许的离合器的最大扭矩；利用控制器，将缓行行驶控制为，将缓行行驶所需的缓行离合器扭矩设定为等于或小于经改变的缓行离合器扭矩的上限，并且输出缓行离合器扭矩。通过增加缓行离合器扭矩的上限，从而使离合器接合并且车辆开始行驶。因此，可以避免车辆发生故障的错误的确定。

Description

用于控制车辆缓行行驶的方法
技术领域
本发明涉及一种用于控制车辆缓行行驶的方法，该方法可以使得即使在学习的接触点中出现了较大误差，也可以通过接合离合器而使车辆开始行驶。
背景技术
对于一般的自动变速器系统，由于扭矩变矩器用作液力离合器，因此可以实现减震效应。这在车辆起动或者在挡位之间进行换挡时是有利的。
同时，自动手动变速器(Automated Manual Transmission，AMT)系统和双离合变速器(Dual-Clutch Transmission，DCT)系统基于手动变速器机构而自动地控制离合器，另外也不需使用扭矩变矩器，从而提高了燃料效率。
这里，AMT系统通过将发动机直接地连接至离合器而改善燃料效率和动力传输效率，但是不具有减震元件。因此，存在这样的问题：当扭矩改变时会发生突然震动以及离合器滑动等。因此，需要用于实时地学习离合器的接触点的算法。
在这样的学习过程期间，当由于一些未知的干扰而使学习的离合器的接触点(施加离合器扭矩时的致动器的位置)低于实际位置时，离合器将不会接合。
这里，如果离合器致动器的行程(位置)可以在机械地允许范围内移动，则可以传递发动机扭矩，但是由于存在缓行行驶期间发动机在怠速下可以输出的扭矩量的限制，所以离合器扭矩的不受限制的增加可能会导致发动机喘振(hesitation)。
为了避免这种喘振，缓行行驶期间的离合器扭矩具有上限，当离合器致动器的行程由于这种上限而不会持续地增加时，离合器无法接合，因此车辆可能无法开始移动。在此情况下，其可能会错误地确定为车辆产生了错误。
上述内容仅旨在帮助理解本发明的背景，并不旨在意为本发明落入对本领域技术人员已公知的现有技术的范围内。
发明内容
因此，本发明是鉴于现有技术中出现的上述问题而做出的，并且本发明旨在提供一种用于控制车辆缓行行驶的方法：其能够使得即使在学习的接触点存在较大误差时，也可以通过接合离合器而使车辆开始行驶。
为了实现上述目的，根据本发明的示例性实施方案的用于控制车辆缓行行驶的方法包括：当满足缓行行驶的条件时，利用控制器，学习离合器的接触点；依据学习的接触点，利用控制器，改变缓行离合器扭矩的上限，其中，所述缓行离合器扭矩的上限设定为：在缓行行驶期间所允许的离合器的最大扭矩；利用控制器，将缓行行驶控制为：将缓行行驶所需的缓行离合器扭矩设定为等于或小于经改变的缓行离合器扭矩的上限，并且输出缓行离合器扭矩。
在改变缓行离合器扭矩的上限的步骤中，当学习的接触点等于或小于参考值时，可以增加缓行离合器扭矩的上限。
在改变缓行离合器扭矩的上限的步骤中，当学习的接触点等于或小于参考值时，缓行离合器扭矩的上限可以设定为与学习的接触点成反比。
控制缓行行驶的步骤可以包括：使用车辆的重量和传动比之间的关系来计算前馈缓行扭矩；计算反馈缓行扭矩，从而将车辆的当前速度调整为与目标缓行速度相匹配；选择缓行操作扭矩和缓行离合器扭矩的上限中的较小值作为缓行离合器扭矩，并且输出经设定的缓行离合器扭矩，所述缓行操作扭矩为前馈缓行扭矩与反馈缓行扭矩之和。
该方法可以进一步包括：在控制缓行行驶之后，当车辆的当前速度超过缓行速度时，再次学习离合器的接触点。
根据本发明，当由于表示离合器的特性的T-S中存在的误差而使学习的接触点大大降低时，增加缓行离合器扭矩的上限，从而使离合器接合并且车辆可以开始行驶。因此，可以避免车辆发生故障的错误的确定。
附图说明
通过下文结合附图所呈现的详细描述将会更为清楚地理解本发明的以上和其它目的、特征以及优点，在这些附图中：
图1为示出了可以应用于本发明的示例性实施方案的双离合变速器(DCT)的配置的示意图；
图2为用于描述根据本发明的示例性实施方案的缓行行驶的控制的流程图；以及
图3A和图3B为用于描述根据本发明的示例性实施方案的操作的示意图，其中，输出由改变根据学习的接触点的缓行离合器扭矩的上限而设定的缓行离合器扭矩。
具体实施方式
下面将参考附图对本发明的示例性实施方案进行描述。
根据本发明的示例性实施方案的用于控制车辆缓行行驶的方法可以包括：学习步骤、变化步骤和行驶控制步骤。
参考图1和图2对本发明进行具体描述，首先，在学习步骤，当控制器C基于车辆速度、APS(Accelerator Position Sensor，加速踏板位置传感器)值、当前挡位等来确定满足缓行行驶的条件时，可以学习离合器的接触点。
这里，当干式离合器用于DCT车辆时，可以使用干式离合器的扭矩行程(Torque-Stroke，T-S)曲线来估计离合器的变速器扭矩特性(这是在车辆行驶时进行的估计)，从而可以学习离合器的接触点。
这里，T-S曲线为示出了依据离合器致动器行程的干式离合器的变速器扭矩特性的曲线。
图1示出了可以应用于本发明的示例性实施方案的DCT的配置的示例。在DCT的两个离合器中，接合侧离合器和释放侧离合器分别由参考数字或标记CL1和CL2来表示，操作接合侧离合器和释放侧离合器的接合侧离合器致动器和释放侧离合器致动器分别由参考数字或标记CLA1和CLA2来表示。另外，接合侧输入轴和释放侧输入轴分别由参考数字或标记INPUT1和INPUT2来表示。但是，这样的布置仅是便于理解本发明的示例，依据当前挡位的当前接合的离合器和目标挡位的待接合的离合器，接合侧和释放侧可以在它们之间进行互换。
也就是说，在本发明中，当满足用于缓行行驶的条件时，可以学习用于起动车辆的接合侧离合器的接触点。
另外，如图2、图3A和图3B所示，在改变步骤中，控制器C依据学习的接触点而改变缓行离合器扭矩的上限，所述缓行离合器扭矩的上限设定为缓行行驶期间的可允许的最大值。
特别地，在改变步骤，当学习的接触点等于或小于参考值α时，可以增加缓行离合器扭矩的上限。
当学习的接触点等于或小于参考值α时，可以将缓行离合器扭矩的上限设定为与学习的接触点成反比。
也就是说，将能够在缓行行驶期间输出的最大缓行离合器扭矩限制于缓行离合器扭矩的上限。但是，当学习的接触点由于误差而大大下降时，缓行离合器扭矩的上限增加。
在行驶控制步骤，控制器C可以将缓行行驶所需的缓行离合器扭矩设定为等于或小于改变的缓行离合器扭矩的上限，并且将设定的缓行离合器扭矩输出，从而控制缓行行驶。
根据上述配置，当由于表示离合器的特性的T-S曲线中存在的误差而使学习的接触点大大降低时，缓行离合器扭矩的上限随着接触点的降低而增加，从而使离合器可以接合。因此，车辆可以开始行驶并且向前缓行。
另外，行驶控制步骤可以配置为包括：前馈步骤、反馈步骤和输出步骤。
参考图2，在前馈步骤，可以使用车辆重量和传动比之间的关系来计算前馈缓行扭矩A。
在反馈步骤，需要反馈缓行扭矩B以将车辆的当前速度调整为与目标缓行速度相匹配，可以使用车辆的当前速度和目标缓行速度之间的差来计算所述反馈缓行扭矩B。
在输出步骤，通过将前馈缓行扭矩和反馈缓行扭矩相加而计算缓行操作扭矩C，在计算出的缓行操作扭矩C和缓行离合器扭矩的上限MAX中选择较小值，并且将选择出的值最终输出为缓行离合器扭矩D，从而可以控制离合器的操作。
也就是说，当学习的接触点迅速降低时，可以利用缓行离合器扭矩的反馈控制来将离合器接合。但是，由于发动机E在缓行行驶期间被控制为以怠速运转，所以缓行离合器扭矩不会无限地增加。因此，离合器在通过设定缓行离合器扭矩的上限而限制反馈的范围的情况下进行接合。
另外，在行驶控制步骤之后，可以进一步包括再学习步骤，其中，在车辆的当前速度超过设定的缓行速度时，通过再学习接触点来修正接触点。
换言之，当学习的接触点中存在误差时，由于学习的接触点对于起动车辆是很重要的，所以通过将缓行离合器扭矩设定为更高来接合离合器，从而使车辆可以开始行驶。此后，当通过踩踏加速踏板而使车辆加速时，可以通过再学习接触点来修正接触点。因此，可以避免由于过度的反馈量所带来的发动机的喘振。
下文中将描述本发明的示例性实施方案的用于控制车辆缓行行驶的方法。
参考图2、图3A和图3B，当满足车辆的缓行行驶的条件时，在步骤S10和步骤S20中计算前馈缓行扭矩和反馈缓行扭矩。
随后，在步骤S30，测量用于起动车辆的接合侧离合器的学习的接触点，并且将学习的接触点与参考值α进行比较，当学习的接触点等于或小于参考值时，在步骤S40，增加缓行离合器扭矩的上限。在此情况下，学习的接触点越低，则可以将缓行离合器扭矩的上限设定得更高。
接下来，在步骤S50，通过将前馈缓行扭矩和反馈缓行扭矩相加来计算缓行操作扭矩，将缓行离合器扭矩设定为计算的缓行操作扭矩与缓行离合器扭矩的上限中的较低值，并且在步骤S60，使用设定的缓行离合器扭矩来控制离合器致动器的操作。
也就是说，利用离合器致动器的反馈控制(其通过消除车辆的当前速度与目标缓行速度之间的任意差而为了跟随目标缓行速度来执行)而将离合器接合。因此，车辆可以起动，此后，车辆可以以目标缓行速度行驶。
另外，在通过离合器致动器的操作而接合离合器之后，当发现当前车辆速度超过目标缓行速度时，在步骤S70，再学习接触点并且从而进行修正。
如上所述，当由于存在于表示离合器的特性的T-S曲线中的误差而使学习的接触点大大降低时，本发明将缓行离合器扭矩的上限设定为更高。这样，可以接合离合器并且车辆可以开始行驶。因此，可以避免车辆发生故障的错误的确定。
尽管出于说明的目的已描述了本发明的示例性实施方案，但是本领域一般技术人员将意识到，各种修改形式、增加形式和替代形式都是可行的，并不脱离所附权利要求中所公开的本发明的范围和精神。

Claims (4)

1.一种用于控制车辆缓行行驶的方法，其包括：
当满足缓行行驶的条件时，利用控制器，学习离合器的接触点；
依据学习的接触点，利用控制器，改变缓行离合器扭矩的上限，其中，所述缓行离合器扭矩的上限设定为：在缓行行驶期间所允许的离合器的最大扭矩；
利用控制器，将缓行行驶控制为：将缓行行驶所需的缓行离合器扭矩设定为等于或小于经改变的缓行离合器扭矩的上限，并且输出缓行离合器扭矩；
其中，控制缓行行驶的步骤进一步包括：
利用车辆的重量和传动比之间的关系来计算前馈缓行扭矩；
计算反馈缓行扭矩，从而将车辆的当前速度调整为与目标缓行速度相匹配；
选择缓行操作扭矩和缓行离合器扭矩的上限中的较小值作为缓行离合器扭矩，并且输出经设定的缓行离合器扭矩，所述缓行操作扭矩为前馈缓行扭矩与反馈缓行扭矩之和。
2.根据权利要求1所述的用于控制车辆缓行行驶的方法，其中，在改变缓行离合器扭矩的上限的步骤中，当学习的接触点等于或小于参考值时，增加缓行离合器扭矩的上限。
3.根据权利要求1所述的用于控制车辆缓行行驶的方法，其中，在改变缓行离合器扭矩的上限的步骤中，当学习的接触点等于或小于参考值时，缓行离合器扭矩的上限设定为与学习的接触点成反比。
4.根据权利要求1所述的用于控制车辆缓行行驶的方法，进一步包括：在控制缓行行驶之后，当车辆的当前速度超过缓行速度时，再次学习离合器的接触点。
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