CN108463656B - 滑动齿轮摘开接合的控制方法及混合动力传动系 - Google Patents
滑动齿轮摘开接合的控制方法及混合动力传动系 Download PDFInfo
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- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
- B60K2006/4825—Electric machine connected or connectable to gearbox input shaft
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Abstract
一种用于控制车辆变速箱滑动齿轮(1)的摘开接合的方法,该滑动齿轮具有爪齿(1a),该滑动齿轮被限制为与所述变速箱的轴一起旋转,在该轴上该滑动齿轮能够在有动力的换档致动器的控制下在空档摘开接合位置与混合动力档位上的至少一个接合位置之间轴向地移动,其特征在于,该方法包括以下步骤:‑对该车辆的所有动力源应用零转矩请求,‑对该滑动齿轮应用摘开接合指令,‑在没有迅速摘开接合的情况下,估计该滑动齿轮的爪齿上的阻力转矩,‑根据所计算的阻力转矩和爪齿的防止脱离角度来计算爪齿上的剩余转矩,‑通过在该滑动齿轮上施加相反的转矩来消除该剩余转矩,‑摘开接合。
Description
技术领域
本发明涉及一种包括爪齿变速箱、而不具有整合的机械同步系统或输入离合器的混合动力传动系,这种混合动力传动系使得能够在车辆的至少两个动力源(热力的和电动的)与其驱动轮之间实现不同的传动比,而在档位转换的过程中没有内燃发动机与变速箱之间的转矩中断。
更具体地,本发明涉及一种用于控制车辆爪齿变速箱的滑动齿轮的摘开接合的方法,该滑动齿轮被限制为与所述变速箱的轴一起旋转,在该轴上该滑动齿轮能够在通电的换档致动器的控制下在空档摘开接合位置与混合动力档位上的至少一个接合位置之间轴向地移动,在该至少一个接合位置处该滑动齿轮与刚性地连接到该轴的小齿轮接合,以便累加地或以其他方式向该车辆的车轮传递从至少两个不同的动力源接收到的扭矩。
本发明还涉及一种混合动力传动系,包括无断开离合器地在主线上链接到内燃发动机且链接到至少一个电动机器的多级变速箱,该内燃发动机和该至少一个电动机器能够在至少一个混合动力挡位上同时地或以其他方式将转矩从其传递至车辆的车轮,该至少一个混合动力档位是对应地通过小齿轮上的滑动爪齿齿轮的接合和摘开接合来进行接合和脱离接合的。
背景技术
在混合动力传动系包括具有滑动爪齿齿轮、而不具有整合的同步系统的变速箱的情况下,由于在档位转换的过程中没有输入离合器来中断内燃发动机与车轮之间的转矩传递,因此在滑动齿轮的爪齿与小齿轮的爪齿接合之前,通常通过控制电动马达和/或内燃发动机来完成该小齿轮在其轴上的同步。
如图1和图2所示,为了确保保持所接合的齿轮比,可以使用称为“爪齿”的特定梯形形状的齿。在图1中,滑动齿轮处于空档并且与两个小齿轮(未示出)相距相等的距离g。滑动齿轮1的爪齿1a与小齿轮(未示出)的爪齿2a被切成梯形的形状,使得处于所接合的齿轮比的转矩传递保持或增强其在所接合的齿轮比位置中的相互啮合。这就是“防止脱离接合”功能。爪齿的倾斜产生相对于由驱动轴的转矩施加到该爪齿的牵引力FT倾斜的反作用力FR。反作用力Fr反对来自滑动齿轮的爪齿的任何输出力FS。
在这些条件下,必须消除由轴传递的转矩以使滑动齿轮能够脱离接合。在变速箱具有输入离合器(或断开离合器)的情况下,这个问题是简单地通过在操作过程中分开离合器来解决的。在不存在断开离合器的情况下,需要足够强大的脱离接合致动器以克服由防止脱离功能产生的摩擦力。
动力传动系的所有驱动动力源(例如内燃发动机和一个或两个电动机器)能够在混合动力档位上生成剩余转矩。它们被以此种方式控制来试图在摘开接合的过程中消除轴上的剩余转矩。确保滑动齿轮脱离接合的理想解决方案是消除这三个马达所请求的转矩。电动马达提供了良好的响应时间。电动马达的转矩可以在少于100ms内被消除。相反地,内燃发动机在某些操作点处、特别是处于低速时能够具有超过500ms的响应时间。消除滑动齿轮上的转矩可能需要超过一秒。就驾驶舒适性而言这个时间是不可接受的,因为转矩消除时间是换档时间的整体部分。
用于立即消除来自内燃发动机的转矩的第一种方法涉及使用由发动机处理器在该车辆的通信网络上发出的对所述转矩的估计,并且涉及在该转矩的过渡消除阶段过程中试图吸收该转矩。这种方法的成功取决于具有吸收此过渡转矩的能力的其他马达(电动机器)。在最好情况的情景中,所述马达需要恰好吸收由内燃发动机供应的转矩的逆转。实际上,滑动齿轮的转矩被减小,但对内燃发动机的转矩的估计并非精确到足以通过其他马达来对其加以抵偿以使得能够在所有情况下都摘开接合。
图3示出了通过电动机器来偏移热力转矩的失败的摘开接合序列。这种失败是由所估计的内燃发动机的转矩Ce上的静态误差引起的。如果所估计的转矩注入截止为0Nm,则发动机的实际转矩CR为负。电动机器的设定点转矩Cc为零。如果在时刻d要求电动机器转矩为零,则由于防止脱离装置而使摘开接合失败。事实上,滑动齿轮处的实际转矩CR保持高于摘开接合阈值S(就绝对值而言)。
换档致动器的激活时间还限制操作成功的机会,因为这些致动器在过热之前不能太久地使用。如果当致动器被断开时滑动齿轮的爪齿上的剩余力仍然高,则摘开接合失败。在其中致动器借助于选择器拨叉作用于滑动齿轮的常见情况下,该滑动齿轮可能还没有移动足够多以此齿轮比脱离接合。
对内燃发动机的转矩动态特性的不正确估计还可能引起该内燃发动机的故障。图4中示出的常见情况是,所估计的转矩Ce朝其为零的目标迅速收敛,而由马达提供的实际转矩CR下降得更慢,因为通常需要超过一秒来消除该实际转矩。电动机器的设定点转矩Cc被消除地太快。由于内燃发动机的实际转矩Cr仍然太高,因此摘开接合尝试是过早的。在图4中,如果其间实际转矩在摘开接合阈值S之外的时间(从d1到d2)过长,则不可能满足摘开接合请求,因为所述时间大于致动器的最大激活时间Tmax。
发明内容
本发明旨在使用基于对滑动齿轮上的剩余转矩的正确估计的新方法来确保滑动齿轮摘开接合,该新方法对内燃发动机转矩的估计的不准确性不敏感。
所提出的方法包括以下步骤:
-对该车辆的所有动力源应用零转矩请求,
-对该滑动齿轮应用摘开接合指令,
-在没有迅速摘开接合的情况下,估计该滑动齿轮的这些爪齿上的阻力转矩,
-根据所计算的阻力转矩和爪齿的防止脱离角度来计算这些爪齿上的剩余转矩,
-通过在该滑动齿轮上施加相反的转矩来消除该剩余转矩,
-摘开接合。
该方法是特别安全的并且与齿轮换档致动模块的热约束相兼容。
附图说明
在本发明的非限制性实施例的下述描述中通过参考附图对本发明进行进一步的解释,在附图中:
-图1是两个小齿轮之间处于空档的滑动齿轮的示意性表示,
-图2示出了脱离接合过程中所呈现的力,
-图3和图4示出了其中在没有整合的同步系统或输入离合器时不可能在混合动力传动系上实现摘开接合的两种情况,
-图5是爪齿上的阻力转矩的观测器,
-图6是阻力转矩随剩余转矩而变的映射图,并且
-图7是实施策略的图表。
具体实施方式
该方法的第一部分涉及估计爪齿上的剩余转矩Cres。该估计其自身实际上涉及爪齿上的阻力转矩Cr。阻力转矩Cr能够由诸如图5中的那个观测器使用以下数据来估计:
*Xf:对滑动齿轮的选择器拨叉(未示出)的位置的测量值,
*Fressort:由辅助弹簧施加的力,
*Kressort:辅助弹簧的转矩系数,以及
*If:拨叉惯量。
惯量If是滑动齿轮的控制构件(诸如,选择器拨叉)的位置与其致动拨爪的位置之间的差的函数。由辅助弹簧施加的力仅取决于拨叉位置。决定该拨叉的移动的方程如下:
这使得可以计算该拨叉惯量的增益,将该增益与弹簧的力相比较以获得阻力。阻力转矩Cr是通过从取决于该拨叉加速度的其惯量If的增益减去该弹簧的力Fressort而获得的。这提供对爪齿上的阻力转矩的估计。剩余转矩还取决于该爪齿的防止脱离角度。如图6所示,针对给定的防止脱离角度α,可以根据剩余转矩Cres来映射爪齿上的阻力转矩,其中,两条直线根据防止脱离角度α将相同的阻力转矩Cr转换成爪齿处的两个相反的剩余转矩值Cres。将这两个相反的剩余转矩值之一施加到滑动齿轮的爪齿就消除了剩余转矩Cres,而另一个使剩余转矩加倍。
采用的解决方案是,请求电动马达施加在所计算的这两个剩余转矩值Cres之间随机选择的转矩。如果实际施加的值消除了内燃发动机的转矩,则拨叉朝空档位置移动,并且执行摘开接合。如果拨叉被观测到移动离开其空档位置,则电动机器的转矩增加了剩余转矩。于是可以施加第二个值,这必定消除剩余转矩。执行摘开接合。
图7总结了该策略(以包括内燃发动机和单个电动机器的动力传动系的非限制性示例的方式)。更一般地,本发明适用于控制任何车辆爪齿变速箱的滑动齿轮摘开接合,该滑动齿轮被限制为与所述变速箱的轴一起旋转,在该轴上该滑动齿轮能够在有动力的换档致动器的控制下在空档摘开接合位置与混合动力档位上的至少一个接合位置之间轴向地移动,在该至少一个接合位置处该滑动齿轮与刚性地连接到该轴的小齿轮接合,以便累加地或以其他方式向该车辆的车轮传递从至少两个不同的动力源接收到的转矩。
当变速箱被命令执行涉及滑动齿轮摘开接合的齿轮换档时,向内燃发动机(Mth)且向电动机器(ME)应用零转矩请求。当该滑动齿轮的转矩值被估计为低到足以使得能够摘开接合时,摘开接合指令被发送至所讨论的换档致动器。如果在给定时间(诸如,50ms)内还没发生摘开接合,则假定爪齿上仍然存在过大的剩余转矩。然后估计阻力转矩Cr,并且该阻力转矩可以被用于计算剩余转矩Cres的消除转矩值C1和C2。施加第一消除转矩值例如50ms,检查拨叉位置的变化。在施加第一消除转矩值C1的过程中观察滑动齿轮的选择器拨叉的移动方向。如果在施加第一值C1之后拨叉移动离开其空档位置,则施加第二值C2与第一值相同的时间来确保摘开接合。如果这两个相反的消除转矩值C1,C2之一失效,则向滑动齿轮相继施加所述两个值。通过所指明的次数,在所有情况下都可以在少于150ms内实现摘开接合。
总之,该方法至少包括以下步骤:
-对该车辆的所有动力源应用零转矩请求,
-对该滑动齿轮应用摘开接合指令,
-在没有迅速摘开接合的情况下(t>50ms),估计该滑动齿轮的这些爪齿上的阻力转矩Cr,
-根据所计算的阻力转矩和这些爪齿的防止脱离角度来计算这些爪齿上的剩余转矩Cres,
-通过在该滑动齿轮上施加相反的转矩C1,C2来消除该剩余转矩Cres,
-摘开接合。
本发明的主要优点是不需要对现有齿轮换档致动模块进行任何添加。本发明还避免了重新确定齿轮换档致动模块的致动马达大小的需要。
假设齿轮换档应该用1s,则由于实施本发明引起的增加的摘开接合时间(例如,50ms到150ms)保持在就假设舒适性而言的可接受限制内。
以上说明阐述了用于估计阻力转矩的一种优选方法。然而,可以采用根据可用拨叉位置测量值的质量同样稳健地抵抗测量噪声的其他观测技术而不会由此超出本发明的范围。
作为变体,可以通过电动机器形成转矩扫描而无需提前估计阻力转矩。然而,这种变体显著地增加了摘开接合时间,因为代替在两个转矩值之间选择,是从宽范围的值中作出选择,并且如此使得需要大量时间来完成扫描。但是该方法使得能够确保所有情况下都摘开接合,而无需重新确定致动器任何部件的大小。
如以上指示的,所提出的方法有利地适用于任何混合动力传动系,包括无断开离合器地在主线上链接到内燃发动机且链接到至少一个电动机器的多级变速箱,该内燃发动机和该至少一个电动机器能够在至少一个混合动力挡位上同时地将转矩从其传递至车辆的车轮,该至少一个混合动力档位是对应地通过小齿轮上的滑动爪齿齿轮的接合和摘开接合来进行接合和脱离接合的。在这种动力传动系中,可以通过应用该方法来控制滑动齿轮的摘开接合。在所讨论的滑动齿轮不具有整合的同步系统的情况下,以及在滑动齿轮的爪齿具有非零的防止脱离角度的情况下,该方法是特别有效的。
Claims (10)
1.一种用于控制车辆变速箱的滑动齿轮(1)的摘开接合的控制方法,该滑动齿轮具有多个爪齿(1a),该滑动齿轮被限制为与所述变速箱的轴一起旋转,在该轴上该滑动齿轮能够在有动力的换档致动器的控制下在空档摘开接合位置与混合动力档位上的至少一个接合位置之间轴向地移动,在该至少一个接合位置处该滑动齿轮被接合在刚性地连接到该轴的小齿轮上,以便累加地或以其他方式向该车辆的车轮传递从至少两个不同的动力源接收到的转矩,其特征在于,该控制方法包括以下步骤:
-对该车辆的所有动力源应用零转矩请求,
-对该滑动齿轮应用摘开接合指令,
-在没有迅速摘开接合的情况下,估计该滑动齿轮的所述爪齿(1a)上的阻力转矩(Cr),
-根据所估计的阻力转矩和所述爪齿的防止脱离角度来计算所述多个爪齿上的剩余转矩(Cres),
-通过在该滑动齿轮上施加相反的消除转矩(C1,C2)来消除该剩余转矩(Cres),
-摘开接合。
2.如权利要求1所述的控制方法,其特征在于,计算该剩余转矩(Cres)值的两个相反的消除转矩值,并且如果所述两个相反的消除转矩值中的一个值失效则向该滑动齿轮相继地施加这两个值。
3.如权利要求2所述的控制方法,其特征在于,在施加第一消除转矩(C1)值的过程中观察该滑动齿轮(1)的选择器拨叉的移动方向。
4.如权利要求3所述的控制方法,其特征在于,如果在施加该第一消除转矩值之后该拨叉移动离开其空档位置,则向该滑动齿轮施加第二消除转矩(C2)值。
5.如权利要求3或4之一所述的控制方法,其特征在于,根据以下各项来估计该滑动齿轮上的该阻力转矩(Cr):
-该滑动齿轮的选择器拨叉的位置的测量值(Xf),
-由辅助弹簧施加的力,
-该辅助弹簧的转矩系数(Kressort),以及
-该拨叉的惯量(If)。
6.如权利要求5所述的控制方法,其特征在于,该阻力转矩(Cr)是通过从取决于该拨叉的加速度的其惯量(If)上的增益减去该弹簧的力(Fressort)而获得的。
7.如权利要求1或2所述的控制方法,其特征在于,该动力源包括至少一个内燃发动机和一个电动机器。
8.如权利要求7所述的控制方法,其特征在于,该剩余转矩(Cres)由该内燃发动机施加到该滑动齿轮,而针对该剩余转矩的消除转矩(C1,C2)是由该电动机器施加的。
9.一种混合动力传动系,包括无断开离合器地在主线上链接到内燃发动机且链接到至少一个电动机器的多级变速箱,该内燃发动机和该至少一个电动机器能够在至少一个混合动力挡位上同时地将转矩从其传递至车辆的车轮,该至少一个混合动力档位是对应地通过小齿轮上的滑动爪齿齿轮的接合和摘开接合来进行接合和脱离接合的,其特征在于,该滑动齿轮的摘开接合是通过如权利要求1-8之一所述的方法控制的。
10.如权利要求9所述的动力传动系,其特征在于,该滑动齿轮不具有整合的同步系统,并且在于,该滑动齿轮的所述爪齿具有非零的防止脱离角度。
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FR3073479B1 (fr) * | 2017-11-15 | 2021-11-12 | Renault Sas | Procede et systeme de commande d'une transmission automatique sans embrayage pour vehicule automobile a propulsion hybride |
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JP2019511680A (ja) | 2019-04-25 |
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