CN113983160A - Clutch torque control method and system for torque exchange stage of dual-clutch automatic transmission - Google Patents

Clutch torque control method and system for torque exchange stage of dual-clutch automatic transmission Download PDF

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CN113983160A
CN113983160A CN202111271763.6A CN202111271763A CN113983160A CN 113983160 A CN113983160 A CN 113983160A CN 202111271763 A CN202111271763 A CN 202111271763A CN 113983160 A CN113983160 A CN 113983160A
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torque
clutch
calculating
exchange
phase
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CN113983160B (en
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李涛
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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    • 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
    • F16H61/14—Control of torque converter lock-up clutches
    • F16H61/143—Control of torque converter lock-up clutches using electric control means
    • 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

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
  • Control Of Transmission Device (AREA)

Abstract

The invention discloses a clutch torque control method and a clutch torque control system in a torque exchange stage of a double-clutch automatic transmission, which comprise a step of controlling the torque of a combined clutch and a step of controlling the torque of a separated clutch; the step of controlling the engaged clutch torque includes: the method includes the steps of calculating a torque change slope of the engaged clutch, IncTrqRate, a PID adjustment amount of the engaged clutch, IncPID, calculating a feedforward torque change amount of the engaged clutch, IncFFTrq, and calculating a torque, IncTrq Req, and taking the IncTrq Req as a current torque request value of the engaged clutch. The invention can improve the gear shifting quality and ensure the gear shifting smoothness and consistency.

Description

Clutch torque control method and system for torque exchange stage of dual-clutch automatic transmission
Technical Field
The invention belongs to the field of automatic transmission control, and particularly relates to a clutch torque control method and system in a torque exchange stage of a dual-clutch automatic transmission.
Background
The gear shifting is the basic function of the automatic transmission, and the gear shifting process of the dual-clutch automatic transmission is divided into 4 stages, namely a preparation phase stage, a torque exchange stage, a rotating speed adjusting stage and a recovery phase stage. During the torque exchange phase, the torque ramp rate of the engaged and disengaged clutches can have a significant effect on the smoothness and consistency of the shift. The conventional clutch torque control method in the torque exchange stage has single adjustment on the torque change slope, if the combined clutch torque rising slope is smaller or the separated clutch torque falling slope is larger, the total torque transmitted by the clutch is smaller than the torque of an engine or a motor, the phenomenon of flying speed of the engine or the motor occurs, and if the time is too long, the risk of the clutch being ablated due to large friction exists; if the rising slope of the torque of the combined clutch is large, the clutch is combined too fast to generate gear shifting impact, and the driving comfort is affected.
CN110939730A discloses a control method of a clutch in a torque exchange phase of an automatic transmission, comprising: an acquisition step of acquiring a torque exchange value of a clutch; and a correction step, namely dividing the gear shift process into three stages, wherein the front stage and the rear stage are corrected according to the runaway and the clutch interference respectively, and the middle stage is not corrected. The AT automatic transmission is described, the control process is simple and fuzzy, and the detailed control process of the clutch is not involved.
Disclosure of Invention
The invention aims to provide a clutch torque control method and a clutch torque control system in a torque exchange stage of a double-clutch automatic transmission, so as to improve the gear shifting quality and ensure the gear shifting smoothness and consistency.
The clutch torque control method of the torque exchange stage of the double-clutch automatic transmission comprises the steps of controlling the torque of the combined clutch and controlling the torque of the separated clutch. Wherein the step of controlling the combined clutch torque comprises:
using the formula:
Figure BDA0003328212920000011
calculating the torque change slope IncTrqRate of the combined clutch; wherein, ActTrq1Indicating the current actual torque of the engaged clutch, TarTrq1Indicating a target torque for the engaged clutch during the torque interchange phase, TotalTime indicating a preset total time for the torque interchange phase, CnsTime indicating a time elapsed for the torque interchange;
using the formula: calculating an IncPID regulation quantity IncPID of the combined clutch; wherein PIDFunc represents the total PID tuning, and IncPct represents the percentage of the engaged clutch in the PID tuning;
using the formula:
Figure BDA0003328212920000021
calculating knotA feedforward torque variation of the on-coming clutch, IncFFTrq; wherein, ActTrq2Indicating the current actual torque of the disconnect clutch, FFTrq indicating the total feed forward torque change;
using the formula: calculating an IncTrqReq value, namely IncTrqReq _ Z + IncTrqRate T + IncPID + IncFFTrq, calculating a torque IncTrqReq value, and taking the IncTrqReq value as a torque request value of the current combined clutch; where T represents the cycle time, IncTrqReq _ Z represents the torque request value for the engaged clutch from the previous cycle, and the initial value of IncTrqReq _ Z is the torque request value for the engaged clutch when it enters the torque exchange phase.
Preferably, the step of controlling the disconnect clutch torque comprises:
determining a torque variation slope DecTrqRate of a disconnect clutch;
using the formula: calculating a PID regulating quantity DecPID of the separating clutch, wherein the DecPID is PIDFunc (1-IncPct);
using the formula:
Figure BDA0003328212920000022
calculating a feedforward torque variation DecFFTrq of the separating clutch;
using the formula: calculating a torque DecTrqReq as DecTrqReq _ Z-DecTrqRate _ T + DecPID + DecFFTrq, and using DecTrqReq as a torque request value of the current disconnect clutch; where DecTrqReq _ Z represents the requested value of torque to disengage the clutch in the previous cycle. The initial value of DecTrqReq _ Z is the torque request value at which the disconnect clutch enters the torque swap phase.
Preferably, PID adjustment is carried out according to the difference value between the target slip and the actual slip of the separating clutch, and the PID adjustment total quantity PIDFunc is obtained;
using the formula:
Figure BDA0003328212920000023
calculating a combined clutch torque up-progress percentage IncRsPCt;
inquiring a preset percentage table according to the combined clutch torque rise progress percentage IncRsPCt and the current oil temperature OilTemp of the combined clutch to obtain the percentage IncPct occupied by the combined clutch in the PID regulation;
and B represents a preset first torque coefficient, and the preset percentage table is a corresponding relation table of the torque rising progress percentage of the combined clutch, the current oil temperature of the combined clutch and the percentage of the combined clutch in PID regulation, which are obtained in a calibration mode.
Preferably, the torque variation slope DecTrqRate of the disconnect clutch is determined by:
judging the current stage of the clutch: if ActTrq2If the clutch is in the first stage of torque exchange, if TarTrq is greater than DivTrq, the clutch is judged to be in the first stage of torque exchange2＜ActTrq2If the torque is less than or equal to DivTrq, judging that the separation clutch is in a second torque exchange stage; wherein DivTrq represents a preset demarcation torque, TarTrq2Representing a target torque of the disconnect clutch during a torque exchange phase;
if the disconnect clutch is in the first phase of torque exchange, then using the formula:
Figure BDA0003328212920000031
calculating the torque change slope DecTrqRate of the separating clutch;
if the disconnect clutch is in the second phase of torque exchange, then using the formula:
Figure BDA0003328212920000032
calculating the torque change slope DecTrqRate of the separating clutch;
where SecTime represents the time required for the second phase of the torque exchange,
Figure BDA0003328212920000033
c represents a preset second torque coefficient.
The clutch torque control system of the torque exchange phase of the dual clutch automatic transmission comprises a transmission controller which is programmed to execute the control method.
The invention has the following effects:
(1) PID regulation control is carried out according to the slip of the separation clutch in consideration of calculating the torque request value of the separation clutch, so that the problems of flying speed, burning clutch and the like are solved; the torque request value of the separating clutch is calculated by considering the feedforward torque variation of the separating clutch and the combined clutch, so that the torque control of the clutch is more accurate, and the gear shifting consistency is ensured.
(2) The torque change slope of the separating clutch is divided into two stages, and the magnitude of the torque change slope is controlled by distributing the time quantum of the two stages, so that the torque change slope of the first stage of torque exchange is larger, the torque is rapidly reduced, the torque change slope of the second stage of torque exchange is smaller, the separating clutch is ensured to unload the torque within the calibrated time (namely the preset total time of the torque exchange stage), the gear shifting quality is improved, and the gear shifting smoothness is improved.
Drawings
Fig. 1 is a flowchart of controlling the engaged clutch torque in the present embodiment.
Fig. 2 is a flowchart of controlling the torque of the disconnect clutch in the present embodiment.
Detailed Description
As shown in fig. 1 and fig. 2, the clutch torque control method of the torque exchange phase of the dual clutch automatic transmission in the present embodiment is executed by the transmission controller and includes a step of controlling the engaged clutch torque and a step of controlling the disengaged clutch torque. The transmission controller stores a preset total time TotalTime of a torque exchange phase (obtained by a calibration method), a target slip of the separating clutch (obtained by the calibration method), a preset first torque coefficient B, a preset percentage table, a preset demarcation torque DivTrq (obtained by the calibration method), a preset second torque coefficient C and a cycle time T, and can store a torque request value IncTrqReq _ Z of the combining clutch in the last cycle and a torque request value DecTrqReq _ Z of the separating clutch in the last cycle. The transmission controller can obtain the current actual torque ActTrq of the combined clutch1The current actual torque ActTrq of the disconnect clutch2Target torque TarTrq of the engagement clutch in the torque exchange phase1Target torque TarTrq of the disconnect clutch in the torque exchange phase2The elapsed time for torque exchange CnsTime, the total feedforward torque change FFTrq, and the current oil temperature OilTemp associated with the clutch.
As shown in fig. 1, the step of controlling the engaging clutch torque includes:
first, using a formula:
Figure BDA0003328212920000041
the torque change slope IncTrqRate of the engaged clutch is calculated.
Secondly, using a formula: the IncPID, PIDFunc, IncPct, calculates the PID regulation of the bound clutch, IncPID. Wherein, the PID adjustment total amount PIDFunc and the percentage IncPct of the combined clutch in the PID adjustment are obtained by the following modes:
and performing PID (proportion integration differentiation) adjustment according to the difference value of the target slip and the actual slip of the separating clutch (the adjustment mode belongs to the prior art), and obtaining the PID adjustment total quantity PIDFunc.
Using the formula:
Figure BDA0003328212920000042
calculating a combined clutch torque up-progress percentage IncRsPCt; inquiring a preset percentage table according to the combined clutch torque rise progress percentage IncRsPCt and the current oil temperature OilTemp of the combined clutch to obtain the percentage IncPct occupied by the combined clutch in PID regulation; the preset percentage table is a corresponding relation table of the torque rising progress percentage of the combined clutch, the current oil temperature of the combined clutch and the percentage of the combined clutch in PID adjustment, which are obtained in a calibration mode.
Thirdly, using a formula:
Figure BDA0003328212920000043
the feedforward torque variation IncFFTrq of the engaged clutch is calculated.
Fourthly, using a formula: the incutrqreq ═ incutrqreq _ Z + incutrqrate × T + incupid + incufftrq, calculates the torque incutrqreq, and uses the incutrqreq as the torque request value for the currently engaged clutch (i.e., the torque request value for controlling the currently engaged clutch is incutrqreq). Where the initial value of IncTrqReq _ Z is the torque request value when the engaged clutch enters the torque exchange phase.
As shown in fig. 2, the step of controlling the disconnect clutch torque includes:
in a first step, the torque variation ramp rate DecTrqRate of the disconnect clutch is determined.
The concrete mode is as follows:
judging the current stage of the clutch: if ActTrq2If the clutch is in the first stage of torque exchange, if TarTrq is greater than DivTrq, the clutch is judged to be in the first stage of torque exchange2＜ActTrq2And if the DivTrq is less than or equal to the DivTrq, judging that the separating clutch is in the second torque exchange stage.
If the disconnect clutch is in the first phase of torque exchange, then using the formula:
Figure BDA0003328212920000051
the torque variation slope DecTrqRate of the disconnect clutch is calculated.
If the disconnect clutch is in the second phase of torque exchange, then using the formula:
Figure BDA0003328212920000052
the torque variation slope DecTrqRate of the disconnect clutch is calculated.
Where SecTime represents the time required for the second phase of the torque exchange,
Figure BDA0003328212920000053
secondly, using a formula: DecPID (PIDFunc) (1-IncPct), and a PID controlled variable DecPID of the disconnect clutch is calculated.
Thirdly, using a formula:
Figure BDA0003328212920000054
the feedforward torque variation DecFFTrq of the disconnect clutch is calculated.
Fourthly, using a formula:
calculating a torque DecTrqReq and taking the DecTrqReq as a torque request value of the current off-going clutch (i.e., the torque request value for controlling the current off-going clutch is DecTrqReq); wherein the initial value of DecTrqReq _ Z is the torque request value when the disconnect clutch enters the torque exchange phase.
The present embodiment also provides a clutch torque control system for a torque exchange phase of a dual clutch automatic transmission including a transmission controller programmed to execute the above-described control method.

Claims (5)

1. A clutch torque control method of a torque exchange stage of a dual clutch automatic transmission includes a step of controlling an engaging clutch torque and a step of controlling a disengaging clutch torque; it is characterized in that the preparation method is characterized in that,
the step of controlling the engaged clutch torque includes:
using the formula:
Figure FDA0003328212910000011
calculating the torque change slope IncTrqRate of the combined clutch; wherein, ActTrq1Indicating the current actual torque of the engaged clutch, TarTrq1Indicating a target torque for the engaged clutch during the torque interchange phase, TotalTime indicating a preset total time for the torque interchange phase, CnsTime indicating a time elapsed for the torque interchange;
using the formula: calculating an IncPID regulation quantity IncPID of the combined clutch; wherein PIDFunc represents the total PID tuning, and IncPct represents the percentage of the engaged clutch in the PID tuning;
using the formula:
Figure FDA0003328212910000012
calculating a feedforward torque variation IncFFTrq of the combined clutch; wherein, ActTrq2Indicating the current actual torque of the disconnect clutch, FFTrq indicating the total feed forward torque change;
using the formula: calculating an IncTrqReq value, namely IncTrqReq _ Z + IncTrqRate T + IncPID + IncFFTrq, calculating a torque IncTrqReq value, and taking the IncTrqReq value as a torque request value of the current combined clutch; where T represents the cycle time, IncTrqReq _ Z represents the torque request value for the engaged clutch from the previous cycle, and the initial value of IncTrqReq _ Z is the torque request value for the engaged clutch when it enters the torque exchange phase.
2. The torque control method of a torque exchange phase of a dual clutch automatic transmission according to claim 1,
the step of controlling the disconnect clutch torque includes:
determining a torque variation slope DecTrqRate of a disconnect clutch;
using the formula: calculating a PID regulating quantity DecPID of the separating clutch, wherein the DecPID is PIDFunc (1-IncPct);
using the formula:
Figure FDA0003328212910000013
calculating a feedforward torque variation DecFFTrq of the separating clutch;
using the formula: calculating a torque DecTrqReq as DecTrqReq _ Z-DecTrqRate _ T + DecPID + DecFFTrq, and using DecTrqReq as a torque request value of the current disconnect clutch; where DecTrqReq _ Z represents the requested torque value for the off-going clutch from the previous cycle, and the initial value of DecTrqReq _ Z is the requested torque value when the off-going clutch enters the torque interchange phase.
3. The clutch torque control method of a torque exchange phase of a dual clutch automatic transmission according to claim 2, characterized in that:
carrying out PID adjustment according to the difference value between the target slip and the actual slip of the separating clutch to obtain the PID adjustment total amount PIDFunc;
using the formula:
Figure FDA0003328212910000021
calculating a combined clutch torque up-progress percentage IncRsPCt;
inquiring a preset percentage table according to the combined clutch torque rise progress percentage IncRsPCt and the current oil temperature OilTemp of the combined clutch to obtain the percentage IncPct occupied by the combined clutch in the PID regulation;
and B represents a preset first torque coefficient, and the preset percentage table is a corresponding relation table of the torque rising progress percentage of the combined clutch, the current oil temperature of the combined clutch and the percentage of the combined clutch in PID regulation, which are obtained in a calibration mode.
4. The clutch torque control method of the torque exchange phase of the dual clutch automatic transmission according to claim 2 or 3, characterized in that:
the torque variation slope DecTrqRate of the disconnect clutch is determined by:
judging the current stage of the clutch: if ActTrq2If the clutch is in the first stage of torque exchange, if TarTrq is greater than DivTrq, the clutch is judged to be in the first stage of torque exchange2＜ActTrq2If the torque is less than or equal to DivTrq, judging that the separation clutch is in a second torque exchange stage; wherein DivTrq represents a preset demarcation torque, TarTrq2Representing a target torque of the disconnect clutch during a torque exchange phase;
if the disconnect clutch is in the first phase of torque exchange, then using the formula:
Figure FDA0003328212910000022
calculating the torque change slope DecTrqRate of the separating clutch;
if the disconnect clutch is in the second phase of torque exchange, then using the formula:
Figure FDA0003328212910000023
calculating the torque change slope DecTrqRate of the separating clutch;
where SecTime represents the time required for the second phase of the torque exchange,
Figure FDA0003328212910000024
c represents a preset second torque coefficient.
5. A clutch torque control system for a torque exchange phase of a dual clutch automatic transmission comprising a transmission controller, characterized in that: the transmission controller is programmed to execute the control method according to any one of claims 1 to 4.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103359104A (en) * 2013-07-23 2013-10-23 安徽江淮汽车股份有限公司 Creep control method and system for automobile
CN105179675A (en) * 2015-08-11 2015-12-23 上海汽车变速器有限公司 Optimized upshifting control method for wet type double-clutch transmission
KR20170015643A (en) * 2015-07-29 2017-02-09 현대자동차주식회사 Method of launching of vehicle with dct
CN106870718A (en) * 2017-03-07 2017-06-20 安徽江淮汽车集团股份有限公司 The upshift control method and system of a kind of wet dual-clutch automatic transmission
CN107420535A (en) * 2017-08-29 2017-12-01 安徽江淮汽车集团股份有限公司 A kind of moment of torsion Pre-control System and method based on double clutch
CN113389891A (en) * 2020-03-12 2021-09-14 广州汽车集团股份有限公司 Low-temperature starting control method and device of clutch transmission and related equipment

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103359104A (en) * 2013-07-23 2013-10-23 安徽江淮汽车股份有限公司 Creep control method and system for automobile
KR20170015643A (en) * 2015-07-29 2017-02-09 현대자동차주식회사 Method of launching of vehicle with dct
CN105179675A (en) * 2015-08-11 2015-12-23 上海汽车变速器有限公司 Optimized upshifting control method for wet type double-clutch transmission
CN106870718A (en) * 2017-03-07 2017-06-20 安徽江淮汽车集团股份有限公司 The upshift control method and system of a kind of wet dual-clutch automatic transmission
CN107420535A (en) * 2017-08-29 2017-12-01 安徽江淮汽车集团股份有限公司 A kind of moment of torsion Pre-control System and method based on double clutch
CN113389891A (en) * 2020-03-12 2021-09-14 广州汽车集团股份有限公司 Low-temperature starting control method and device of clutch transmission and related equipment

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