CN108138871A - For controlling the method for friction clutch - Google Patents

For controlling the method for friction clutch Download PDF

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Publication number
CN108138871A
CN108138871A CN201680056536.2A CN201680056536A CN108138871A CN 108138871 A CN108138871 A CN 108138871A CN 201680056536 A CN201680056536 A CN 201680056536A CN 108138871 A CN108138871 A CN 108138871A
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CN
China
Prior art keywords
pressure
clutch
model
clamping force
actuator
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Granted
Application number
CN201680056536.2A
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Chinese (zh)
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CN108138871B (en
Inventor
克里斯蒂安·埃贝勒
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Schaeffler Technologies AG and Co KG
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Schaeffler Technologies AG and Co KG
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Classifications

    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • F16D48/066—Control of fluid pressure, e.g. using an accumulator
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/102—Actuator
    • F16D2500/1026—Hydraulic
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/104—Clutch
    • F16D2500/10406—Clutch position
    • F16D2500/10412—Transmission line of a vehicle
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/104—Clutch
    • F16D2500/10443—Clutch type
    • F16D2500/1045—Friction clutch
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/108—Gear
    • F16D2500/1081—Actuation type
    • F16D2500/1083—Automated manual transmission
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/108—Gear
    • F16D2500/1081—Actuation type
    • F16D2500/1085—Automatic transmission
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3024—Pressure
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3026—Stroke
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/501—Relating the actuator
    • F16D2500/5012—Accurate determination of the clutch positions, e.g. treating the signal from the position sensor, or by using two position sensors for determination
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/502—Relating the clutch
    • F16D2500/50236—Adaptations of the clutch characteristics, e.g. curve clutch capacity torque - clutch actuator displacement
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/702—Look-up tables
    • F16D2500/70205—Clutch actuator
    • F16D2500/70217—Pressure
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/702—Look-up tables
    • F16D2500/70205—Clutch actuator
    • F16D2500/70235—Displacement
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/702—Look-up tables
    • F16D2500/70252—Clutch torque
    • 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/702—Look-up tables
    • F16D2500/70252—Clutch torque
    • F16D2500/70264—Stroke

Landscapes

  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

The present invention relates to a kind of methods for controlling friction clutch, friction clutch is automatically brought into operation by hydrostatic clutch actuator, wherein, the clutch model that the hydraulic stroke and clutch characteristics of binding model are established, value according at least to the pressure (p) in hydrostatic stroke and clutch moment of torque is modeled with the value of the actuator travel (I) of pressure correlation, for operating the friction clutch, and continuously adjust the clutch moment of torque with reference to the data determined by pressure sensor and stroke sensor, wherein, the clutch model includes the model characteristics curve (K that can be adjusted of clamping force rigidity obtained by the pressure (p) about the actuator travel (I)M), the model characteristics curve continuously with the real data by the pressure (p) and described actuator travel (I) of the clamping force rigidity obtained by actual characteristic curve (KR) be compared, and the difference of modal pressure and actual pressure is determined as pressure differential (the Δ p), and (Δ p) and feedback factor (f (r)) calculate stiffness modification (f (F by the pressure differential at scheduled actuator travelK)).To avoid erroneous matching, by model characteristics curve (KM) and actual characteristic curve (KR) intersect at scheduled intersection point (S), and if (Δ p) is negative to pressure differential, and it is negative value to set feedback factor (f (r)) in the adjustment being continuously finished twice.

Description

For controlling the method for friction clutch
Technical field
The present invention relates to a kind of methods for controlling friction clutch, are grasped automatically by hydrostatic clutch actuator Make the friction clutch, wherein, the clutch model of hydraulic stroke and the clutch characteristics foundation of binding model, at least root Clutch moment of torque is modeled according to the value of the pressure in hydrostatic stroke and with the value of the actuator travel of pressure correlation, with For operating the friction clutch, and combine the data determined by pressure sensor and stroke sensor and continuously adjust institute Clutch moment of torque is stated, wherein, clutch model includes can adjust with respect to the clamping force rigidity that actuator travel obtains by pressure Model characteristics curve, the model characteristics curve and clamping force rigidity by the real data of pressure and the reality of actuator travel Actual characteristic curve obtained by the data of border is continuously compared, and the pressure differential at scheduled actuator travel is model The difference of pressure and actual pressure, and stiffness modification is calculated by the pressure differential and feedback factor.
Background technology
It is always known by clutch actuator control automated friction clutch in the case where using clutch model 's.In this case, the systematic parameter (such as contact point and friction coefficient) of friction clutch is established in clutch model, Clutch moment of torque and for along the model of the actuator travel of actuator travel actuating friction clutch, and continuously adjust These models.This clutch model is applied to so-called hydrostatic actuator in a manner of extending.It is this to be designed to hydrostatic The clutch actuator of pressure type actuator is for example from 10 2,010 047 801 A1 of document DE 10 2,010 047 80 A1 and DE It is known that and with hydrostatic stroke between the operating member of friction clutch, such as the friction clutch in engagement Lever part and by control unit control motor between hydrostatic distance.It is quiet in addition to the detection device of actuator travel Hydraulic actuator has the pressure sensor of at least one pressure for being used to detect hydrostatic stroke.According to actuator travel and pressure The relationship of power can determine the clamping force rigidity for the clutch apparatus being made of friction clutch and clutch actuator.It clamps Power rigidity can change because of system, therefore clamping force rigidity is stored in clutch model and is continuously adapted to existing System condition.10 2,012 204 929 A1 of DE from document, DE 2,012 204 940 A1, DE 10 2,013 201 It is a kind of known to 10 2,013 214 192 A1 of 215 A1, DE and also undocumented Deutsche Bundespatent Shen 10 2,015 215 753.6 Method for the friction clutch for controlling and operating, the friction clutch carry be designed to hydrostatic actuator from Clutch actuator.
Invention content
The technical problems to be solved by the invention are, improve a kind of by hydrostatic actuator control friction clutch , it is especially useful in the method for adjustment clamping force rigidity (Klemmkraftsteifigkeit).Particularly, the present invention to be solved The technical issues of be, a kind of method for controlling friction clutch is provided, wherein, avoid or at least reduce clamping The mistake adaptation of power rigidity.
The technical problem is solved by method of claim 1.Dependent claims give the theme of claim 1 Advantageous embodiment.
The method proposed is used to be automatically brought into operation friction by hydrostatic clutch actuator, such as hydrostatic actuator The control of clutch.Preferably, design friction clutch, it is made to disconnect in a non-operating condition, and pass through it is in operating process, Such as secondary cylinder piston is engaged along the axial displacement of actuator travel.The control of the actuator hydrostatic in other words of friction clutch It is completed by clutch model, wherein, the clutch model (clutch of hydraulic stroke and the clutch characteristics foundation of binding model Device characteristic is, for example, the system performance of such as contact point and friction coefficient of friction clutch) according at least in hydrostatic stroke Pressure value and clutch moment of torque is modeled with the value of the actuator travel of pressure correlation, and combine by pressure sensor The data determined with stroke sensor continuously adjust the torque of clutch.Clutch model is included by the pressure in actuator travel The model characteristics curve that can be adjusted for the clamping force rigidity that power is formed, by the model characteristics curve with clamping force rigidity by pressure Actual characteristic curve obtained by the real data of power and the real data of actuator travel is continuously compared.In order to determine to press Force difference, at least one given actuator travel, by the pressure of hydrostatic stroke with model numerical value to being compared. For example, determine the pressure differential of modal pressure and actual pressure at scheduled actuator travel, and by the pressure differential and Feedback factor calculates stiffness modification.
In order to avoid mistake is adapted to, it is proposed that model characteristics curve and actual characteristic curve are intersected in scheduled point of intersection, And setting feedback factor is negative value when the pressure differential in continuous adjustment twice is negative.It is alternatively possible to determine model Pressure differential between characteristic curve and actual characteristic curve.In this case, the actual characteristic curve measured in real time can be Real-time model characteristics curve is converted to by the adjustment of stiffness modification later.
Preferably, it redefines, such as calculates the real-time intersection point of each adjustment process for clamping force rigidity.Example Such as, can be less than the clamping force of scheduled threshold value by relationship intersection point being set between modal pressure and actual pressure To determine intersection point.For example, intersection point can be set in so that modal pressure and actual pressure quotient close to 1 or modal pressure with The differential of actual pressure is bordering in 0 clamping force.
Preferably, intersection point is determined when pressure is more than the pressure at the contact point of friction clutch, i.e., in torque via rubbing Intersection point is determined when wiping clutch transmission and the therefore load of the actuator of hydrostatic stroke and friction clutch.
In this case it is preferable to clamping force when the pressure differential only at least one actuator travel is more than threshold value Rigidity is adjusted.
According to an advantageous embodiment, according to the last intersection point adjusted of clamping force rigidity and the friendship currently adjusted The difference of the pressure differential of point determines feedback factor.
Description of the drawings
The present invention is elaborated with reference to the embodiment shown in Fig. 1 to 5.Attached drawing is：
Fig. 1 is the curve graph that the opposite operation of pressure of hydrostatic stroke is used for the actuator travel of friction clutch,
Fig. 2 is the model characteristics curve and actual characteristic of the clamping force rigidity of the clutch apparatus with hydrostatic actuator The curve graph of curve,
Fig. 3 is the curve graph for showing to adjust clamping force rigidity in the range of middle pressure,
Fig. 4 is the curve graph for showing to adjust clamping force rigidity in high pressure range,
And
Fig. 5 is the curve graph for showing to adjust clamping force rigidity in low pressure range.
Specific embodiment
Fig. 1 shows simplified curve graph 100, is the pressure sensor in the hydrostatic stroke of hydrostatic actuator Curve of the pressure p about actuator travel l caused by the pressure p as hydrostatic actuator is forcibly engaged for operating, such as The friction clutch being compacted.Actuator travel it is smaller, until during reaching contact point TP, friction clutch is not yet connect It closes, therefore pressure is not generated on hydrostatic actuator.After friction clutch is engaged, the substantially opposite actuator of pressure p Stroke proportionally increases, to adjust the pressing force on friction clutch.In this case, pressure differential Δ p is about actuator The slope c=Δ p/ Δs I of stroke Δ I provides clamping force rigidity.
As shown in the curve graph 101 of Fig. 2, clamping force rigidity is in given actuator travel lFThe deviation at place passes through pressure differential Δ p is represented.Meanwhile Fig. 2 shows the model characteristics curve K of clamping force rigidityM.When there are during clamping force deviation, by pressure p The actual characteristic curve K determined with the measured value of actuator travel lRDeviate from model characteristics curve KM, and adjusted It is whole, to avoid the error in the more advanced clutch model for controlling friction clutch.
The curve graph 102,103,104 of Fig. 3 to 5 show for adjust clamping force rigidity suggestion process.For this purpose, In separated time figure I, model characteristics curve KMAt point of intersection S with actual characteristic curve KRIt is intersecting.In separated time figure II, according to gained Pressure differential Δ p1, Δ p2 obtain clamping force FKPressure differential characteristic curve K about pressure differential Δ pP, therefore provide performing The value of the corresponding clamping force of each pressure differential on device stroke l.CHARACTERISTIC CURVE OF FEEDBACK K is formed in separated time figure IIIK, wherein, when Differential pressure characteristics curve KPDuring for negative value, CHARACTERISTIC CURVE OF FEEDBACK KKNegative value is then always, to avoid negative offset is obtained.Therefore, it is right In each clamping force FK, will provide with the individual feedback factor f (r) with pressure differential Δ p the same symbols.In such case Under, by being multiplied the analog value of pressure differential Δ p come to clamping force F with corresponding feedback factor f (r)KEach value pressed from both sides Clamp force compensates.Therefore, in f (r) and Δ p symbols under the same conditions, individual stiffness modification f (FK) by f (FK)=f (r) * Δs p is provided.From separated time figure IV, it can be seen that clamping force FKAbout stiffness modification f (FK) relationship.By being proposed Method, by forming the stiffness modification f (F that are obtained when necessary by negative valueK) avoid wrong adaptation.It is repaiied by means of rigidity Positive coefficient f (FK), model characteristics curve KMClutch apparatus of the matching with friction clutch and hydrostatic actuator works as fore-clamp Clamp force characteristic.
Reference numerals list
100 curve graphs
101 curve graphs
102 curve graphs
104 curve graphs
FKClamping force
F (r) feedback factors
f(FK) stiffness modification
KKCHARACTERISTIC CURVE OF FEEDBACK
KMModel characteristics curve
KPPressure differential characteristic curve
KRActual characteristic curve
L actuator travels
lFActuator travel
P pressure
S intersection points
TP contact points
I separated time figures
II separated time figures
III separated time figures
IV separated time figures
Δ ρ pressure differentials
1 pressure differentials of Δ ρ
2 pressure differentials of Δ ρ
Δ l actuator travels are poor

Claims (6)

1. a kind of method for controlling friction clutch, the friction clutch is grasped automatically by hydrostatic clutch actuator Make, wherein, clutch model that the hydraulic stroke and clutch characteristics of binding model are established, according at least in hydrostatic stroke In pressure (p) value and clutch moment of torque is modeled with the value of the actuator travel (I) of pressure correlation, for operation The friction clutch, and continuously adjust the clutch with reference to the data determined by pressure sensor and stroke sensor Torque, wherein, the clutch model includes firm about the clamping force that the actuator travel (I) obtains by the pressure (p) Model characteristics curve (the K that can be adjusted of degreeM), the model characteristics curve is continuously with the clamping force rigidity by described Actual characteristic curve (K obtained by the real data of pressure (p) and described actuator travel (I)R) be compared, and by mould Type pressure and the difference of actual pressure are determined as pressure differential (the Δ p), and by the pressure differential at scheduled actuator travel (Δ p) and feedback factor (f (r)) calculate stiffness modification (f (FK)), which is characterized in that model characteristics curve (KM) and it is real Border characteristic curve (KR) intersect at scheduled intersection point (S), and if the pressure differential described in the adjustment being continuously finished twice (Δ p) is negative, then it is negative value to set the feedback factor (f (r)).
2. according to the method described in claim 1, it is characterized in that, the intersection point (S) is set in clamping force (FK) on, wherein, Relationship between the modal pressure and the actual pressure is less than scheduled threshold value.
3. according to the method described in claim 2, it is characterized in that, the intersection point (S) the clamping force rigidity each tune It is reset during whole.
4. according to the method in any one of claims 1 to 3, which is characterized in that in the contact than the friction clutch The intersection point (S) is set at the pressure of the pressure bigger on point (TP).
5. method according to any one of claim 2 to 4, which is characterized in that at least one actuator travel value Pressure differential (when Δ p) is more than the threshold value, the clamping force rigidity is adjusted.
6. method according to any one of claim 1 to 4, which is characterized in that the feedback factor (f (r)) is by described (difference of Δ p) determines the pressure differential of the intersection point (S) of last adjustment the and current adjustment of clamping force rigidity.
CN201680056536.2A 2015-10-08 2016-09-26 Method for controlling a friction clutch Active CN108138871B (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE102015219510 2015-10-08
DE102015219510.4 2015-10-08
DE102015224393.1 2015-12-07
DE102015224393 2015-12-07
PCT/DE2016/200449 WO2017059856A1 (en) 2015-10-08 2016-09-26 Method for controlling a friction clutch

Publications (2)

Publication Number Publication Date
CN108138871A true CN108138871A (en) 2018-06-08
CN108138871B CN108138871B (en) 2020-07-07

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JP (1) JP6938483B2 (en)
CN (1) CN108138871B (en)
DE (2) DE102016218428A1 (en)
WO (1) WO2017059856A1 (en)

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CN1644949A (en) * 2003-10-06 2005-07-27 博格华纳公司 Multi-clutch system with blended output system for powertrain transmissions
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CN108331856B (en) * 2017-01-18 2021-04-20 舍弗勒技术股份两合公司 Method for adapting a contact point of a friction clutch

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JP6938483B2 (en) 2021-09-22
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DE112016004596A5 (en) 2018-06-14
CN108138871B (en) 2020-07-07

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