CN107873003B - 用于控制变速器致动器的位置的方法 - Google Patents

用于控制变速器致动器的位置的方法 Download PDF

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CN107873003B
CN107873003B CN201680036473.4A CN201680036473A CN107873003B CN 107873003 B CN107873003 B CN 107873003B CN 201680036473 A CN201680036473 A CN 201680036473A CN 107873003 B CN107873003 B CN 107873003B
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torque
observed
inertia
speed
transmission
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CN107873003A (zh
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L·梅里耶纳
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Renault SAS
Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • 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
    • F16H59/68—Inputs being a function of gearing status
    • F16H59/70—Inputs being a function of gearing status dependent on the ratio established
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    • 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
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Abstract

本发明涉及一种用于控制变速器致动器的位置的方法，该变速器致动器负责经由转矩驱动的牵引机器在变速器的两个轴同步预备阶段结束时接合传动比，以便将这两个轴的速度差值带入使其能够机械联接的范围内。本发明的特征在于，确保了在两个轴之一上测量的速度关于根据惯性值观测的速度收敛，该惯性值是在这个轴上相对于根据变速器致动器和根据机器转矩的估算值的期望的值观测的。

Description

用于控制变速器致动器的位置的方法
技术领域
本发明涉及变速器的监测、尤其是具有牙嵌式离合器的混合动力变速器的监测，以便使用两个原动机(如热力发动机和电动牵引机器)来提供不同的变速器传动比。
更确切地，本发明涉及一种用于监测变速器致动器的位置的方法，该变速器致动器负责通过牵引机器来在变速器的两个轴同步预备阶段结束时接合传动比，控制该牵引机器的转矩以便将这两个轴的速度之间的差值带入到允许它们机械联接的范围中。
背景技术
本发明具体地但不是排他地适用于所谓的“牙嵌式离合器”变速器，这些变速器具有滑动齿轮类型的换挡致动器、并且不具有机械同步装置。然而，变速器轴的同步对于使牙嵌式离合器在挡位变换过程中能够接合是必不可少的。这需要精细地控制原动机以便产生允许牙嵌式离合器联接发生的监测的速度差值。
图1示出了混合动力传动系的示例，该混合动力传动系由热力发动机1、电动机器以及平行轴变速器3构成，该平行轴变速器配备有滑动齿轮类型的三个换挡致动器C1、C2、C3而不使用机械同步器。在从EV1(低挡位)变换到EV2(高挡位)传动比的情况下，图2示出了换挡的各步骤。曲线(a1)和(a2)相应地示出了牙嵌式离合器的设定点位置及其测量的位置。超过5mm的位置表示接合了EV1传动比。低于-5mm的位置表示接合了EV2传动比。为了变换传动比，牙嵌式离合器首先被置于0mm(无传动比接合)处的空挡位置中。然后，电动机器的控制器用于使其以允许EV2传动比接合的速度旋转。电动机器的速度曲线(b)在同步过程中从6000r.p.m.变化到约2200r.p.m.。当速度已经稳定时，牙嵌式离合器被接合以便换挡到EV2传动比。
为了满足机构的可靠性要求，必须确保牙嵌式离合器与初始的传动比脱离接合；否则，不可能使电动机器2同步。这是因为如果脱开离合器失败，机器的同步算法将向变速器施加非常大的转矩来试图将发动机速度调整到同步目标。在前述传动比变换的示例中，机器将产生其最小转矩，该最小转矩为约-220Nm(制动转矩)。如果脱开离合器已经失败并且机器被允许产生这个转矩，因为机器的制动转矩被传送到车轮，这将导致不期望的减速。在反向换挡(例如，从EV2到EV1)的情况下，脱开离合器的失败导致不期望的加速。
公开文件FR 2,917,479披露了一种变速器位置传感器，该变速器位置传感器用于将接合的传动比信息合并到控制系统中。这个传感器包括探头，该探头与连接至变速器的内部致动元件(如滑动齿轮)的目标相互作用以便提供模拟信号，该模拟信号被转换为数字信号，该数字信号传递关于致动元件是否处于死点位置处的周期信息。这个公开文件中描述的监测方法具有的缺陷是：需要将专用的位置传感器系统包括在变速器内部、在换挡致动器上。
发明内容
本发明旨在在不使用物理传感器的情况下保持混合动力变速器的空挡位置。
为此目的，本发明提出，确保两个轴之一上的测量的速度关于根据惯性值观测的速度收敛，该惯性是在这个轴上相对于根据变速器致动器和根据机器转矩的估算值的期望值观测的。优选地，执行以下操作：
·计算由该机器实际上供应的转矩的估算值，
·通过使用最后观测的惯性值来更新观测的速度值，
·根据测量的速度与观测的速度之间的差值来更新观测的惯性的值。
附图说明
通过阅读本发明的非限制性实施例的以下说明并参照附图，本发明将被更容易地理解，在附图中：
-图1是混合动力变速器的简化构架的简图，
-图2的曲线示出了变速器中换挡的同步，
-图3示出了第一计算方法的结果，
-图4示意性地说明了本发明的操作，
-图5具体说明了更新惯性的方法，
-图6的曲线和图7的曲线是在标准情况下和在脱开离合器失败的情况下本发明的使用的结果。
具体实施方式
有待同步的轴的运动等式如下：
Figure GDA0002696760040000031
其中：
·J是有待同步的轴的惯性，
·
Figure GDA0002696760040000032
是轴的角加速度，也就是说，其旋转速度的导数，并且
·T是由电动机器在轴上产生的转矩。
动力传动系的计算单元设置有轴的速度ω的测量及其同步设定点转矩T的测量。这些数据被用于监测变速器致动器的位置，该变速器致动器负责通过牵引机器来在变速器的两个轴同步预备阶段结束时接合传动比，控制该牵引机器的转矩以便将这两个轴的速度之间的差值带入到允许它们机械联接的范围中。
如上文所提及的，用于保持混合动力变速器的空挡位置的提出的方案是基于有待保持的变速器的轴的惯性的估算值的。监测该轴的惯性的第一模式在于，通过速度测量的导数计算其加速度，然后通过将设定点转矩除以由此计算的加速度来估算惯性。图3示出了针对具体实例通过这个方法获得的结果。再现的曲线如下：
-沿曲线(曲线i)的速度的变化ω
-通过该方法直接计算的惯性J(曲线j)，以及
-最下部附图中设定点同步转矩T(曲线k)。
由于速度测量中的“噪声”，导数操作引入这种较大误差，使得即使添加了低通滤波器来试图对估算值进行平滑处理，此方法还是不能提供惯性的精确估算值。针对惯性的估算，这个简单的方法的性能不是足够高而不能被接受。
本发明提出了用于提供惯性的精确估算的另一个方法，由于该方法不使用任何可能放大噪声的导数操作，而仅使用过滤噪声的积分操作，所以惯性的精确估算不受测量中噪声级的影响。该方法在于，使用轴速度观测器，同时调节惯性值以便使测量的速度与观测的速度相一致。根据本发明，确保了在两个轴之一上测量的速度关于根据惯性值观测的速度收敛，该惯性值是在这个轴上相对于根据变速器致动器和根据该机器的转矩的估算值的期望值观测的。这个方法尤其用于在传动比变换过程中监测到变速器致动器的空挡的换挡，但是可以在不背离本发明的范围的情况下在用于监测致动器的其他位置的类似情况中使用。
该操作如图4中所示。用于估算实际转矩的单元是转矩设定点上的简单的低通滤波器，该转矩设定点表示电动机器的转矩控制的响应时间。实际转矩的估算值除以估算的惯性，“所观测的速度”是这个传动比的积分项。基于“所观测的速度”与所测量的速度的值之间的差值并且基于惯性更新单元中实际转矩的估算值来更新惯性。
在根据图5的简图的最后提及的单元中、在惯性控制器中，响应于激活信号来更新惯性。如果估算的转矩的绝对值高于阈值，则传送这个信号。基于速度差值与估算的转矩的乘积来在控制器中计算“所观测的速度”。这是在这个乘积上比例增益和(通过积分法找到的)积分增益的总和。
因此，计算步骤如下：
·例如，通过对从同步算法获得的设定点进行过滤来计算由机器实际供应的转矩的估算值，
·通过使用最后观测的惯性值来更新观测的速度，
·根据测量的速度与观测的速度之间的差值来更新观测的惯性的值。
在设定点转矩大得足以引起速度变化的情况下可以执行后者更新。对于可以供应最高达220Nm的转矩的机器，接受的转矩阈值例如为约5Nm。通过将所估算的实际转矩的积分除以最后观测到的惯性值来优选地得到观测速度。
可以在速度测量和同步转矩的每个更新中再现这个操作顺序。在此过程中，通过确保两个轴之一上的测量的速度关于速度(根据在这个轴上观测的惯性的值和根据机器的转矩的估算值观测到的)收敛来监测有待同步的变速器的惯性。
通过图6和图7中的曲线展示了通过使用本方法获得的结果。图6表示(在牙嵌式离合器联接未失败的情况下)在换挡致动器的正常操作情况下该方法的应用。第一曲线(u)将测量的速度与观测的速度进行叠加，观测器确保观测的速度朝测量的速度收敛。第二曲线(s)示出了所观测的惯性J的变化。最后曲线(t)示出了同步设定点转矩T的变化。
图7的曲线(u)、(s)、(v)对应于图6的曲线，并且由于所观测的惯性在约50ms内超过为900gm2的阈值，其表示脱开离合器失败。在此情况下，如果同步顺序在仅50ms之后停止，则驾驶员在这个小的时间间隔中不能感觉到供应给车轮的转矩。通过停止该顺序，可以避免不期望的加速和减速，当脱开离合器失败时，通常将感觉到加速和减速。
为了确保同步在标准情况下发生，本发明提出，将执行同步的机器的“惯性观测器”引入控制器中。在正常条件下的控制步骤过程中，轴上的惯性通常必须被限定为机器的惯性(由于牙嵌式离合器处于空挡位置)，机器的惯性为约50gm2。然而，如果脱开离合器已经失败，转换成机器的惯性的车辆的惯性造成约1kgm2的等效惯性。如果根据本发明估算在线惯性，则观测的惯性一超过阈值(例如，在所描述的示例中为900gm2)同步就可能停止。
总而言之，提出的方法在于一系列操作，这些操作用于可靠地检测变速器致动器的任何故障、并且用于如果脱开离合器失败，通过使用虚拟的“惯性控制器”来保持换挡，该虚拟的惯性控制器在速度差值与估算的转矩的乘积上添加比例增益和积分增益。这个操作确保变速器具有高性能水平。在所描述的示例性实施例中，在预测的惯性与观测的惯性之间为20的比率发生变化的情况下，控制器可以检测致动器的故障。
还已经发现，估算值的精度足以提供其他功能，如：
·如果观察到惯性已经减小，则检查热力发动机的脱离联接，或者
·基于转化为发动机的惯性的车辆的惯性的变化来确保已经接合新挡位。

Claims (7)

1.一种用于监测变速器致动器的位置的方法，该变速器致动器负责通过牵引机器来在变速器的两个轴同步预备阶段结束时接合传动比，该牵引机器的转矩被控制成用于将这两个轴的速度之间的差值带入到允许它们机械联接的范围中，该方法的特征在于，通过确保在两个轴之一上的测量的速度关于根据惯性值观测的速度收敛来在传动比变化过程中监测该致动器的空挡换挡，该惯性值是在这个轴上相对于根据变速器致动器和根据该牵引机器的转矩的估算值的期望的值观测的。
2.如权利要求1所述的方法，其特征在于，执行以下操作：
·计算由该牵引机器实际供应的转矩的估算值，
·更新通过使用最后观测的惯性值观测的速度值，并且
·根据测量的速度与观测的速度之间的差值来更新观测的惯性值。
3.如权利要求2所述的方法，其特征在于，在该牵引机器的设定点转矩大得足以引起速度变化的情况下执行惯性的更新。
4.如权利要求3所述的方法，其特征在于，在惯性控制器中通过在速度差值与估算的转矩的乘积上添加比例增益和积分增益来执行惯性的更新。
5.如权利要求3或4所述的方法，其特征在于，对于能供应高达220Nm的转矩的机器，转矩阈值为5Nm。
6.如权利要求2至4中任一项所述的方法，其特征在于，该牵引机器实际上供应的转矩的估算值是通过过滤其设定点转矩值来计算的。
7.如权利要求1-4中任一项所述的方法，其特征在于，通过将估算的实际转矩的积分除以最后观测的惯性值来得到观测的速度。
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