CN1221858A - Speed variable control method of electric speed variator - Google Patents
Speed variable control method of electric speed variator Download PDFInfo
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- CN1221858A CN1221858A CN 98119152 CN98119152A CN1221858A CN 1221858 A CN1221858 A CN 1221858A CN 98119152 CN98119152 CN 98119152 CN 98119152 A CN98119152 A CN 98119152A CN 1221858 A CN1221858 A CN 1221858A
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Abstract
An electric-power-assist transmission and a shift control method which allow good operability to be obtained. In the shift control method, a sleeve is engaged with a target gear. A shift spindle is rotated by a driving motor in order to move the sleeve along a main shaft by using a shift fork and a shift drum interlocked with the shift spindle. When the sleeve is moved to a position in contact with the target gear, PWM control is executed at a duty ratio of 70% during the first 20 ms. Thereafter, the PWM control is executed by changing the duty ratio to 50% and restoring the duty ratio back to 70% repeatedly at intervals of 10 ms.
Description
The present invention relates to the shifting control method of electrodynamic type speed change gear, particularly relate to the shifting control method that carries out the electrodynamic type speed change gear of gear shift and clutch separation joint with electric means.
For both carry out the existing speed change gear of gear shift by operated clutch pedal (or clutch operating device) and declutch shift lever, open the spy and disclose the electrodynamic type speed change gear that carries out gear shift by motor with electric means in the flat 5-39865 communique.Above-mentioned prior art is by drive motor gear shift drum to be rotated two-way intermittence, thereby makes desired reverse shift fork action and carry out gear shift.In addition, can consider that also the separation that utilizes motor to carry out clutch simultaneously engages.
In this kind occasion, as consider existing manually operated type speed change gear, though then gear can not smooth shifting occasion, also can finish gear shift at last by carrying out gear-change operation repeatedly.In addition, the separation of the clutch after the gear shift engages and whether steadily depends on the operation of driver to clutch to a great extent.
So, in existing manually operated type speed change gear, does not carry out gear-change operation repeatedly and can finish gear shift, or the separation of clutch engages, and whether whether smooth-going so-called maneuverability well waits a lot of problems to depend on driver's method of operating to a great extent.In other words, good maneuverability can obtain by driver's results of learning.
With above-mentioned opposite, under the situation of utilizing motor driven clutch and declutch shift lever, there is not the part of the content of operation that depends on the driver.Therefore, in the occasion that can not carry out gear shift, if perhaps the separation of clutch engages steadily or can not carry out according to driver's the meaning time, the driver felt under the weather.
Such as, when sleeve is shifted to gear side,, must make the sleeve high-speed mobile in order to realize rapid speed change.But, as sleeve is combined with gear with regard in statu quo at high speed, speed change can take place impact and the speed change noise.
In addition, even make sleeve move and make both combinations, also can occur sometimes in conjunction with not exclusively and sleeve situation about combining with the gear disengaging to gear side.Even sleeve, also has the convex-concave that causes owing to sleeve and each tooth of gear with on gear contacts and combines and do not finish to need to wait for engagement situation regularly as yet.In this occasion,, have load and be added on the gearshift mechanism if sleeve combines with high pulling torque with gear.
In addition, if sleeve not with the state of gear engagement under always with certain moment of torsion with the sleeve pressed toward gear, then because relatively rotating between the two hindered, its relative position can't enter normal binding site rapidly, engaging time can prolong.
Purpose of the present invention is exactly that a kind of shifting control method that can solve above-mentioned prior art problems, have the electrodynamic type speed change gear of excellent operability will be provided.
For achieving the above object, the controlling method that is adopted is the combination action that makes sleeve and gear in the present invention, with and in the shifting control method of the electrodynamic type speed change gear that carries out by the rotation interlock of the variable-speed shaft of motor driven, till establishing gear stage, the moment of torsion that above-mentioned drive motor is produced is controlled as the function of the position of above-mentioned variable-speed shaft always.
Because the corner of variable-speed shaft is corresponding with the position of sleeve, so, if the moment of torsion of drive motor is controlled corresponding to the pivotal position of variable-speed shaft, then can be corresponding to the position of sleeve for the moment of torsion of sleeve pressed toward gear side is controlled.
Fig. 1 is the planimetric map of operative section of the vehicle of installing electrodynamic type speed change gear of the present invention.
Fig. 2 is the part sectioned view of structure of major component of drive system that the electrodynamic type speed change gear of the present invention's one example is shown.
Fig. 3 is the schematic representation of sleeve and gear bonding state.
Fig. 4 is the oblique drawing of sleeve of the present invention.
Fig. 5 is the oblique drawing of gear of the present invention.
Fig. 6 is the partial enlarged drawing of the protruding side tenon 32 of sleeve.
Fig. 7 is the partial enlarged drawing of the recessed side tenon 42 of gear.
Fig. 8 is the partial enlarged drawing of the bonding state of protruding side tenon 32 and recessed side tenon 42.
Fig. 9 is the oblique drawing of existing sleeve.
Figure 10 is the oblique drawing of existing gear.
Figure 11 is the functional block diagram that speed change is forbidden system.
Figure 12 is the time series pattern figure that the combination of existing sleeve and gear is shown.
Figure 13 is the time series pattern figure that the combination of sleeve of the present invention and gear is shown.
Figure 14 is the structured flowchart of major component of control system that the electrodynamic type speed change gear of the present invention's one example is shown.
Figure 15 is the structure example block diagram of ECU100 illustrated in fig. 14.
Figure 16 be the present invention's one example flow chart (one of).
Figure 17 is the flow chart (two) of the present invention's one example.
Figure 18 is the flow chart (three) of the present invention's one example.
Figure 19 is the flow chart (four) of the present invention's one example.
Figure 20 is the flow chart (five) of the present invention's one example.
Figure 21 is the flow chart (six) of the present invention's one example.
Figure 22 is the flow chart (seven) of the present invention's one example.
Figure 23 is the time sequential routine figure according to shift shaft of the present invention.
Figure 24 shows the diagrammatic sketch that compresses the variable control method of dutycycle in the control.
Figure 25 is the time sequential routine figure (when changing top grade) according to shift shaft of the present invention and engine revolution.
Figure 26 is the time sequential routine figure (during kickdown) according to shift shaft of the present invention and engine revolution.
Figure 27 is the figure that shows the relation between PID addition value and the dutycycle.
With reference to the accompanying drawings the present invention is described in detail.Fig. 1 is the planimetric map of operating unit of the vehicle of installing electrodynamic type speed change gear of the present invention.
The turning on light/turn off the light of changing of being provided with in operating unit that electric shift the uses light-regulating switch 53 that high gear switch 51 and kickdown switch 52, Headlamps (headlight) direction switch usefulness, Headlamps switched light switch, engine start switch 55 and the stop switch 56 of usefulness.In this example, above-mentioned each Gear-shift switch 51,52 is to connect when pressing, and makes gear move up and down a gear respectively.
Fig. 2 is the part sectioned view of major component structure that the electrodynamic type speed change gear drive system of the present invention's one example is shown.
If an end that is fixed on the mobile jib 7 on the shift shaft 3 combines with clutch mechanism 9 on being arranged on gear shift drum axle 8, when rotating shift shaft 3, then will make gear shift drum 10 towards rotating with the corresponding direction of the sense of rotation of shift shaft 3 by drive motor 1.The clutch mechanism that mobile jib 7 and clutch mechanism 9 constitute can make the gear shift drum 10 that combines with shift shaft 3 rotate when any one direction of both direction is rotated from neutral position at shift shaft 3, when the direction of returning neutral position is rotated, remove bonding state and also make gear shift drum 10 stop at this position.
Front end as each reverse shift fork 11, combine with periphery ditch 31 hereinafter described each sleeve 30 of Fig. 4, make each reverse shift fork 11 on axle direction during translation along with the rotation of gear shift drum 10, some sleeves will be according to sense of rotation and corner translation on main shaft 4 of gear shift drum 10.
Fig. 4 is the oblique drawing of above-mentioned sleeve 30, is that the relative main shaft (not shown) of sleeve is in the state that can slide on axle direction.On the circumferential lateral surface of sleeve 30, along the circumferential direction be formed with the ditch 31 that combines with the front end of above-mentioned reverse shift fork 11.On the peripheral part of the axis hole of sleeve 30 and annular flange 33 be formed with and a plurality of protruding side tenon 32 that hereinafter the recessed side tenon 42 of the described gear 40 of Fig. 5 is combined.
Fig. 5 is the oblique drawing of said gear 40, and the precalculated position that axle is supported on the main shaft (not shown) is also free to rotate.The recessed side tenon 42 and the annular flange 43 that combine at the protruding side tenon 32 of the integrally formed and above-mentioned sleeve 30 of peripheral part of gear 40 axis holes.Fig. 3 illustrates the state that each tenon 32,42 of above-mentioned sleeve 30 and gear 40 mutually combines.
On the other hand, Fig. 9 and Figure 10 are respectively the oblique drawings of existing sleeve 38 and gear 48, and on sleeve 38, a plurality of protruding side tenons 39 independently are set to the state coaxial with the axis hole of gear respectively.But, make each protruding side tenon 39 independent formation, then for proof strength is enough, just must make the basal area of each protruding side tenon 39 do greatlyyer.Therefore, in the prior art, the shared ratio of the width on the sense of rotation of the mortise 49 of protruding relatively side tenon 39 and gear 40 is very big, and protruding side tenon 39 as shown in the figure, is provided with about 4.
Figure 12 is the ideograph of relative position relation that the mortise 49 of the protruding side tenon 39 of existing sleeve 38 and gear 48 is shown, and the width D 2 on the sense of rotation of mortise 49 is approximately 2 times of width D 1 of protruding side tenon 39.Therefore, protruding side tenon 39 can not combine the time T b length of the time T a specific energy matching joint of (chimeric) with mortise 49.
In contrast, in this example, because each protruding side tenon 32 is formed by annular flange 33, as shown in figure 13, when former state ground guarantees sufficient intensity protruding side tenon 32 on sense of rotation width D 3 and the width D 4 of recessed side tenon 42 can do very shortly.Therefore, protruding side tenon 32 can not be short with can the specific energy chimeric time T b of the chimeric time T a of perforation 46, thereby can improve chimeric probability.
In addition, in this example because width D 5 and the difference of the width D 3 of protruding side tenon 32 of perforation 46 on sense of rotation can be very little, thus can make both in conjunction with after play very little, impact and the speed change noise thereby reduce speed change.
In addition, in this example, as shown in Figure 6, the tapering of protruding side tenon 32 is a convex curvature on the one hand, and on the other hand, as shown in Figure 7, the tapering of recessed side tenon 42 is a straight line shape, and therefore, as shown in Figure 8, each tooth 32,42 contact on axle direction is the line contact.Therefore, can prevent that stress from concentrating and improve the intensity of tooth in fact, meanwhile can also improve durability and wear resistance.
In this structure, if utilize reverse shift fork 11 to make above-mentioned sleeve 30 move to the precalculated position, and the protruding side tenon 32 of sleeve 30 is chimeric with the perforation 46 of gear 40, and then as everyone knows, the gear that is in the idle running status of support relative to main shaft 4 combines and rotates synchronously with this main shaft 4 by sleeve.As a result, the rotatory force of being transmitted to neutral gear axle (all not shown among the figure) by clutch shaft is just passed through this gear transmission to main shaft 4.
In addition, not shown, the motor of installing the vehicle of electrodynamic type speed change gear of the present invention is 4 two-stroke engines, by bent axle in the power-transmission system of main shaft, be by centrifugal clutch on the bent axle and the clutch transmits engine power on the main shaft.Yet when the revolution of motor was lower than predetermined value, centrifugal clutch can cut off the transmission of power to the clutch on the main shaft, if vehicle is in and stops, gear can be to any speed gear shift.
Figure 14 is the structured flowchart of major component of control system that the electrodynamic type speed change gear of the present invention's one example is shown, and Figure 15 is the structure example block diagram of ECU100 illustrated in fig. 14.
In Figure 14, the MOTOR+ of ECU100 (motor+) terminal and MOTOR-(motor-) terminal are connected with above-mentioned drive motor 1, and sensor signal terminal S1, S2, S3 are connected with the Ne sensor 27 of the vehicle speed sensor 26 that detects the speed of a motor vehicle, detection of engine revolution and the above-mentioned angle transducer 28 that detects the corner of above-mentioned shift shaft 3 respectively.Gear-shift command terminal G1, G2 change high gear switch 51 and kickdown switch 52 is connected with above-mentioned.
Storage battery 21 is connected to the MAIN terminal of ECU100 by main fusible link 22, main switch 23 and Fuse wire box 24, also is connected to the VB terminal by fail-safety (F/S) relay 25 and Fuse wire box 24 simultaneously.The exciting winding 25a of fail-safety (F/S) relay 25 is connected in RELAY (relay) terminal.
In ECU100, as shown in figure 15, above-mentioned MAIN terminal and RELAY terminal are connected with power loop 106, and power loop 106 is connected with CPU101.The sensor signal terminal S1, S2, S3 are connected to the input terminal of CPU101 by interface loop 102.Above-mentioned gear-shift command terminal G1, G2 are connected with the input terminal of CPU101 by interface loop 103.
Switch loop 105 by the FET of series connection respectively 1. with FET 2. and FET 3. 4. parallel with one another again and constitute with FET, an end in parallel is connected with above-mentioned VB terminal, and the other end is connected with the GND terminal.1. FET is connected with the MOTOR-terminal with FET tie point 2., and 3. FET is connected with the MOTOR+ terminal with FET tie point 4..Each FET 1.～4. FET carry out PWM control by CPU101 by predrive 104 selectively.CPU101 according in storage 107 storage control algorithm control each FET 1.～FET 4..
Below, scheme the shifting control method of explanation with reference to the flow chart of Figure 16～22 and the time sequential routine of Figure 23 according to electric speed-changing device of the present invention.
Judged whether that at step S10 some Gear-shift switches connects, connection has been arranged, then judged that at step S11 the Gear-shift switch of being connected is to change in high gear switch 51 and the kickdown switch 52 which as judgement.If judge it is to change high gear switch 51 to connect herein, just enter step S13, if judge it is that kickdown switch 52 is connected, enter step S13 after just in step S12, engine revolution Ne being stored as Nel.
In step S13, according to the Gear-shift switch of connecting, each FET in the above-mentioned switch of the formation loop 105 in the ECU100 begins to carry out selectively PWM control from the moment t1 of Figure 23.Connect if also promptly change high gear switch 51, FET 1., 4. conducting of FET under the FET situation about 3. disconnecting, 2. FET is subjected to PWM control with 100% dutycycle.Its result, drive motor 1 beginning is rotated to changing high-grade direction, and shift shaft 3 begins to rotate to changing high-grade direction from neutral position with its interlock.
On the other hand, connect if change high gear switch 52, FET 2., 1. conducting of FET under the FET situation about 4. disconnecting, 3. FET is subjected to PWM control with 100% dutycycle.Its result, drive motor 1 beginning is to the counter-rotation of changing high-grade direction, and shift shaft 3 begins to rotate to the kickdown direction from neutral position with its interlock.
Like this, be 100% as the dutycycle of setting PWM control, just can accelerate switching speed, promptly cut-off clutch.Also have, the design of this example be begin to turn to from neutral position at shift shaft 3 ± 5～6 when spending with regard to cut-off clutch.
Pick up counting in the step S14 first timer (not shown), detect the rotational angle theta of above-mentioned shift shaft 3 at step S15 by above-mentioned angle transducer 28
0Judge detected rotational angle theta at step S16
0Whether surpass the first benchmark angle θ
Ref(in this example, count ± 14 degree from neutral position, promptly reach+more than 14 degree or below-14 degree, hereinafter only be designated as ± more than the xx degree).
As judge rotational angle theta
0More than ± 14 degree, then very big because reach the possibility of normal embedding (chimeric) position by the sleeve of reverse shift fork 11 translations, just enter step S17; As judge rotational angle theta
0Do not reach ± more than 14 degree, then because can judge that sleeve does not reach normal embedded location, just enters step S30 described later.
If at moment t
2, according to above-mentioned rotational angle theta
0Detect gear and moved to normal embedded location, then in step S17, above-mentioned first timer is resetted.In step S18,, each FET in above-mentioned switch loop 105 is controlled for the drive motor in rotating is carried out braking.Promptly cut off FET 2., under 3. the situation FET 1., 4. conducting.
The result, become rotating load because of drive motor 1 short circuit, make shift shaft 3 be subjected to braking action to the driving torque that changes high-grade direction or kickdown direction, the damp impacts when can making shift shaft 3 and limiter contacting, all favourable aspect intensity or aspect noise.In addition, with the corner of shift shaft 3 when limiter contacts for apart from neutral position ± 18 degree.
At the step S19 of Figure 17, second timer that is used for the predetermined brake time picks up counting, and judges at step S20 whether the timing time of second timer surpasses 15ms.When the timing time of second timer reaches above 15ms, then enter step S21 and carry out engine revolution (Ne) control of describing in detail the back.Afterwards, at moment t
3, when timing time surpasses 15ms, enter step S22 second timer resetted.
In step S23, each FET in above-mentioned switch loop 105 is carried out PWM control selectively according to the Gear-shift switch of connecting.That is, change top grade in this way, cut off FET 1., under 3. the situation, FET is conducting 4., 2. FET carries out PWM control with 70% dutycycle.On the other hand, kickdown in this way, cut off FET 2., under the FET situation 4., FET is conducting 1., 3. FET carries out PWM control with 70% dutycycle.As a result, because sleeve 30 is to be pressed in gear 40 sides with more weak moment of torsion, except can alleviating the load that is added to before chimeric on each tenon, can keep chimeric status reliably.
Pick up counting at step S24 the 3rd timer, judge at step S25 whether the timing time of the 3rd timer surpasses 70ms.As not surpassing 70ms, then enter step S26 and carry out Ne control.Surpass 70ms as timing time, then above-mentioned the 3rd timer is resetted, carry out neutral position (angle) θ that is used to obtain shift shaft 3 at step S28 at step S27
NThe neutral position Correction and Control.At step S29, at moment t
4Begin clutch ON control described later.
In addition, " time is up " time of above-mentioned the 3rd timer of this example by at above-mentioned Figure 13 illustrated can not be chimeric time T a decision.Promptly above-mentioned " time is up " time (70ms) to be set at least during carry out in the Ta elapsed time and compress control.During this period, the protruding side tenon 32 of sleeve 30 and the recessed side tenon of gear 40 42 can contact, and be because dutycycle reduces to reach 70%, so the load that is added on each tenon is little, favourable to intensity.
In addition, it is fixed value that " time is up " time of the 3rd timer is not limited to, and also can be set at the function that changes with gear, such as being 70ms at gear in the scope " time is up " of 1～3 speed, is 90ms in the scope " time is up " of 4～5 speed.
In addition, in above-mentioned example, be dutycycle to PWM control when being fixed value sleeve 30 be illustrated with the situation that certain moment of torsion compresses gear 40 sides, but the dutycycle also can control PWM the time is carried out variable control.
Figure 24 is the figure of the variable control method of the dutycycle that compresses control carried out in above-mentioned steps S23 of explanation, in this example, as at moment t
3Beginning to compress control, is to carry out PWM control with 70% dutycycle at initial 20ms then, and carries out PWM control with 50% dutycycle and 70% dutycycle by turns at every 10ms thereafter.
So, suppose not to be sleeve 30 to be pressed in gear 40 sides with certain moment of torsion, compress moment of torsion and change dynamicly but make, even such as when sleeve 30 being pressed in gear 40 sides with moment of torsion corresponding to 70% dutycycle, protruding side tenon 32 can not contact with recessed side tenon 42 when chimeric, can will compress moment of torsion at once and be reduced to and 50% dutycycle corresponding torque.Therefore, the load that puts on each tooth reduces, and relatively rotating easily between the two can reach good chimeric.
On the other hand, in the above-mentioned steps S16 of Figure 16, as judging rotational angle theta
0Do not reach first reference value, then this processing enters the step S30 of Figure 18.Judge at step S30 whether the timing time according to above-mentioned first timer surpasses 200ms, at first judges when not surpassing, and then returns the step S16 of Figure 16 after step S31 carries out Ne control.
Afterwards, as judge that the timing time of first timer surpasses 200ms, the gear shift of judging this is during with the failure termination, and first timer resets in step S32.In step S33, with reference to the following count value that reenters counter, reset mode (=0) is judged as not execution and reenters control and enter step S34 in this way, at first carries out the following control that reenters.This be make because gear shift sometimes needs the time driver feel under the weather so.
On the other hand, as to reenter counter be SM set mode (=1), reenters control although be judged as to have carried out, and gear shift is success, enters step S35 for not gear shift connects clutch.Make at step S35 to reenter counter and reset, carry out following clutch ON control in step 36.
Below with reference to the above-mentioned controlling method that reenters control of the flowchart text of Figure 19.What is called reenters control and is meant when the sleeve 30 that makes translation on axle direction by reverse shift fork fails to move to normal embedded location, temporarily reduces to apply a kind of processing that predetermined torque attempts moving (reentering) again again after the mobile moment of torsion.
In step S40, be in the FET under the PWM control, promptly change in the top grade FET 2. with kickdown in FET dutycycle 3. be reduced to 20%.As a result, the driving torque that is added on sleeve 30 by reverse shift fork 11 weakens.
Pick up counting at step S41 the 4th timer, judge at step S42 whether the 4th timer timing time surpasses 20ms.Do not surpass 20ms as timing time, then enter step S43 and carry out Ne control.In addition, surpass 20ms,, and reenter counter set to above-mentioned at step S45 then at step S44 the 4th timer that resets as timing time.Afterwards, the above-mentioned steps S13 of Figure 16 is returned in this processing, and drive motor 1 carries out PWM control with 100% dutycycle again, and adds high pulling torque originally on sleeve.
In this example, as mentioned above, fail normally to carry out as gear shift, then the moment of torsion that compresses on acting on sleeve compresses moment of torsion by force after temporarily weakening and acts on again, and reentering of sleeve can be carried out easily.
The action of performed neutral position Correction and Control among the flowchart text above-mentioned steps S28 below with reference to Figure 20.
Utilize above-mentioned angle transducer 28 to detect the present rotational angle theta 0 of above-mentioned shift shaft 3 at step S60.Step S61 judge be change in the top grade and kickdown in which, change top grade in this way, just enter step S62.
Judge detected above-mentioned rotational angle theta at step S62
0What whether be in advance login allows angle lower limit θ
UMIWith allow angle CLV ceiling limit value θ
UMSBetween allow in the angular range whether be the normal value that does not comprise noise component so that judge it.Because above-mentionedly allow angle lower limit θ
UMIWith allow angle CLV ceiling limit value θ
UMSInitial value can in scope, set than broad, at first judge it is just to enter step S63 within the angular range allowing.
At step S63, with above-mentioned detected rotational angle theta
0With in advance the login change top grade the time hard-over (maximum angle when changing top grade) θ
UMRelatively.Because maximum angle θ when changing top grade
UMInitial value be redefined for above-mentioned and allow angle lower limit θ
UMIWith value, judge rotational angle theta herein
0Maximum angle θ when changing top grade
UMFor greatly, just enter step S64.
At step S64, with above-mentioned wide-angle θ when changing top grade
UMAgain log on as above-mentioned rotational angle theta
0At step S65, calculating by following formula (1) will be according to above-mentioned lower limit θ
UMIWith CLV ceiling limit value θ
UMSThat determines allows the correction value W that angular range dwindles.
W=max ([θ
0-lower limit θ
UMI], [θ
0-CLV ceiling limit value θ
UMS])/n ... (1)
Here, the absolute value of a is asked in [a] expression, max (a, b) expression selecting value a, the big person among the numerical value b.In addition, the initial value of parameter a is redefined for " 2 ".
At step S66, above-mentioned variable n adds " 1 ".At step S67, login above-mentioned lower limit θ again according to following formula (2), (3)
UMIWith CLV ceiling limit value θ
UMS
Lower limit θ
UMI=max (lower limit θ
UMI, θ
0-W) ... (2)
CLV ceiling limit value θ
UMS=min (CLV ceiling limit value θ
UMS, θ
0+ W) ... (3)
Min in the formula (a, b) expression selecting value a, the little person among the numerical value b.According to above-mentioned formula (1)～(3), as long as detected above-mentioned rotational angle theta
0Be to be in by lower limit θ
UMIWith CLV ceiling limit value θ
UMSThat determines allows in the angular range, just can allow that angular range slowly dwindles with above-mentioned.But to the rotational angle theta of noise component will be comprised really at above-mentioned steps S62
0Remove.
In addition, in this example, as detect and exceed the rotational angle theta of allowing angular range
0, this processing just enters step S69 by step S62, and above-mentioned variable n subtracts " 1 ".As a result, the correction value W that tries to achieve at step S65 increases and makes and above-mentionedly allow that angular range enlarges a little.At that time, surmounted the rotational angle theta of allowing angular range if be consecutively detected
0, and this rotational angle theta soon
0Enter and allow within the angular range, then maximum angle θ when top grade is changed in step S64 general's conduct
UMAgain login.
In step S68, will in above-mentioned steps S64, try to achieve change top grade the time maximum angle θ
UMWith in above-mentioned steps S61, be judged as in the kickdown when try to achieve equally kickdown the time hard-over (maximum angle during kickdown) θ
DMSubstitution following formula (4) can be obtained neutral gear angle θ 0.
θ
N=(maximum angle θ when changing top grade
UMMaximum angle θ during+kickdown
DM)/2 ... (4)
If the neutral gear angle θ that will as above try to achieve
NAgain login, the corner control of shift shaft 3 thereafter just will be with above-mentioned neutral gear angle θ
NCarry out as benchmark.
Like this, according to this example, because be actual rotation range detection neutral gear angle θ according to shift shaft 3
NSo, not influenced by assembly error and aging and always can obtain correct neutral position.
In addition,, as carry out the neutral position correction, even make rotational angle theta owing to disturbing according to this example
0Checkout value that burst takes place is disorderly owing to can ignore this checkout value, noiselessly can obtain correct neutral position so no matter have.
In addition, because when detecting the corner that surmounts permissible range, can slowly enlarge and allow angular range, such as, even because angle transducer is aging etc. former thereby make detected corner greater than original value, be not it is removed as disorderly corner and to continue yet.
Below, before the action that describes above-mentioned Ne control and clutch ON control in detail, with reference to the aim and the general action of Figure 25,26 each control of explanation.
As shown in figure 23, in this example, if at moment t
1The rotation of shift shaft 3 is begun, at moment t
11Remove the connection of clutch, at moment t
3The rotation of shift shaft is finished.Afterwards, up to due in t
4Carried out to compress to control and transferred to clutch connection control afterwards.
At this moment, impact and to connect clutch by low speed, in other words, the rotating speed of shift shaft 3 is slowed down for relaxing speed change.On the other hand, because speed change speed depends on the rotating speed of shift shaft 3,, must accelerate the rotating speed of shift shaft 3 in order to realize rapid speed change.
So, in the present invention, must satisfy above-mentioned two conditions simultaneously, as shown in figure 23, from moment t
4Up to moment t
5Till, up to reach clutch connection angle scope near, make shift shaft 3 high speed rotating, at moment t
5After, shift shaft 3 is slowly run.By this two sections backhauls control, in this example, accomplish simultaneously to reduce to impact and shorten the speed change time.
In addition, be optimum timing controlled regularly to be carried out in the clutch connection in this example according to each driver's accelerator pedal operation.Figure 25,26 is respectively owing to carry out clutch ON control when changing top grade and kickdown and Ne control makes shift shaft position θ
0And the phase diagram of engine revolution Ne variation.
As shown in figure 25, generally be to return the accelerator pedal connection to change high gear switch 51 when changing top grade, afterwards, the execution gear shifting operation connects clutch again and opens afterwards accelerator pedal, and the variation of the engine revolution Ne of this moment is shown in solid line a.At this moment, shift shaft control is shown in solid line A, B.
But, consider that the driver also can not return accelerator pedal sometimes and high gear switch 51 is changed in connection, or before clutch connects, open accelerator pedal again.In this occasion, the driver wishes fast slewing, so preferably connect clutch rapidly.
So, in this example, the occasion that shown in solid line b, changes like that at engine revolution Ne, the judgement driver does not return accelerator pedal and connects and change high gear switch 51, or the occasion that shown in solid line c, changes like that at engine revolution Ne, judgement connects regularly for early opening in the accelerator pedal than clutch, then respectively shown in solid line C, D, carries out the quick return control that connects clutch immediately.
On the other hand, as shown in figure 26, generally be to return accelerator pedal to connect kickdown switch 52 during kickdown, afterwards, the execution gear shifting operation connects clutch again and opens afterwards accelerator pedal, and the variation of the engine revolution Ne of this moment is shown in solid line a.At this moment, to the two sections controls shown in solid line A, B of being controlled to be of shift shaft.
But, during kickdown sometimes motor to dally, in this occasion, even because connect rapidly clutch shift impact also very little, so wish to connect rapidly clutch.
So in this example, in the occasion that engine revolution Ne changes like that, the driver judges that motor dallied, then can carry out the quick return control shown in solid line C, D respectively shown in solid line b, c.
Below, describe in detail to realize above-mentioned two sections backhaul controls and the Ne control of quick return control and the action of clutch ON control.Figure 21 illustrates the flow chart of carrying out the controlling method of Ne control by above-mentioned steps S21, step S26, step S31, step S43.
Measure the revolution Ne of present motor at step S50.In step S51, peak retention value Nep and the end retention value Neb of the engine revolution Ne that measures so far upgraded according to above-mentioned present engine revolution Ne.In step S52, judge be change in the top grade and kickdown in which, change in this way in the top grade, just enter step S56, in the kickdown, just enter step S53 in this way.
Whether poor (Ne-Neb) that judge the present engine revolution Ne detected and the paddy retention value Neb that upgrades at step S56 in above-mentioned steps S50 in above-mentioned steps S51 be more than 50rpm.
This judgement is to judge whether accelerator pedal closes when changing top grade, when 50rpm is above, judges whether the driver does not return accelerator pedal and operate and change high gear switch 51 in above-mentioned difference, or connects regularly for early opening accelerator pedal than clutch.Enter the step S55 that connects clutch at once in this occasion, this processing finishes after to quick return sign F set.In addition, if at the discontented 50rpm of difference, continue common control, quick return sign F is not carried out set, this engine revolution control finishes.
On the other hand, as judging in above-mentioned steps S52 is in the kickdown, then judge above-mentioned present engine revolution Ne and whether the engine revolution Nel that stores poor (Ne-Nel) surpasses 300rpm in above-mentioned steps S12 at step S53, as above-mentioned difference is more than the 300rpm, and then whether poor (Nep-Ne) that further judges the peak retention value Nep that upgrades with above-mentioned steps S51 and present engine revolution Ne at step S54 be more than 50rpm.
This judgement, be to judge whether motor dallies when changing top grade, if above-mentioned steps S53,54 judgement are any one sure, then the driver judges and just enters step S55 when having passed through idle running that this processing finishes after to above-mentioned quick return flag set when top grade is changed in judgement.
Figure 22 illustrates the flow chart of carrying out the controlling method of clutch ON control by above-mentioned steps S28, step S3.
Judge at step S70 whether the speed of a motor vehicle is roughly 0.In this example, below 3km/h, be roughly 0 and enter step S72 as the speed of a motor vehicle, and after the angle on target θ of shift shaft 3 T sets neutral position, enter step S73 with regard to judgement.This is that vehicle is in the roughly gear shift of halted state, the gear shift rapidly because be preferably in that this occasion does not produce shifting shock.
In addition, if in above-mentioned steps S70, judge the speed of a motor vehicle when 3km/h is above, after being set at angle on target, the second benchmark angles (promptly ± 12 spending) that step S71 will return 6 degree from the angle (being ± 18 degree this example) of the rotation that utilizes limiter limits shift shaft 3 enter step S73.In step S73, utilize angle transducer 28 to detect the rotational angle theta 0 of present shift shaft 3, carry out above-mentioned Ne control at step S74.
In step S75, obtain the PID addition value of proportion integration differentiation (PID) control usefulness.Promptly obtain respectively with detected present rotational angle theta in above-mentioned steps S73
0And angle on target θ
TDifference (θ
0-θ
T) ratio (P) of expression, the integral value integration (I) of P item and P item differential value differential (D) and carry out addition.In step S76, according to the above-mentioned pid value of being obtained, the dutycycle of decision PWM control, and carry out PWM control at step S77.
Figure 27 has shown the relation between above-mentioned PID addition value and the dutycycle, for just, then selects positive dutycycle according to this value as the polarity of PID addition value, for negative, then selects negative dutycycle according to this value as the polarity of PID addition value.The polarity of dutycycle is represented the combination of the FET of PWM control herein, the meaning of the dutycycle such as 50% is to make 4. conducting and 2. FET is carried out PWM control with 50% dutycycle of FET, and the meaning of-50% dutycycle is to make 1. conducting and 3. FET is carried out PWM control with 50% dutycycle of FET.
In step S78, judge whether the timing time of the 6th timer surpasses 100ms, because initial the 6th timer does not pick up counting, enter step S79.Pick up counting at step S79 the 5th timer.Whether the timing time of judging the 5th timer at step S80 surpasses 10ms, because do not surpass at first, returns step S73, repeats each step of above-mentioned steps S73～S80 and handles.
Afterwards, at the moment of Figure 23 t
5, surpass 10ms as the timing time of the 5th timer, at step 81 the 5th timer that resets, judge at step S82 whether quick return sign F has been in SM set mode.If quick return sign F has been in SM set mode herein, then in step S83, carry out quick return control, the angle that will reduce 2 to 4 degree from present angle on target is as new angle on target login, if quick return sign F is not in SM set mode, the angle that then will reduce 0.2 degree in step S84 from present angle on target is as new angle on target login.
In step S85, whether judge angle on target near the neutral gear angle, and the processing of carrying out above-mentioned steps S73～S85 repeatedly is up to the very close neutral gear angle of angle on target.Afterwards, if the very close neutral gear angle of angle on target is then logined the neutral gear angle at step S86 as angle on target, and pick up counting at step S87 the 6th timer.
On the other hand, if judge that at above-mentioned steps S78 the timing time of the 6th timer surpasses 100ms, then resets the 6th timer in step S90.In step S91, quick return sign F is resetted, and in the PWM in step S92 end switch loop 105 control.
In addition, run at high speed or high engine speeds when rotation gear from the neutral state gear shift, have bigger engine braking effect and excessive load put on the motor.Herein, in this example, even be provided with garage's speed more than the 10km/h or engine revolution when 3000rpm is above, change high gear switch 51 and connect and also can stop the speed change of the control of above-mentioned Figure 16 to forbid system.
Figure 11 is the functional block diagram that speed change is forbidden system.Neutral gear detection unit 81 is exported " H " level signal when gear is in neutral position.Speed of a motor vehicle judging unit 82 is exported " H " level signal in the speed of a motor vehicle when 10km/h is above.Engine speed judging unit 83 is exported " H " level signal in engine revolution when 3000rpm is above.
OR loop 84 is output " H " level signal when speed of a motor vehicle judging unit 82 or engine speed judging unit 83 output " H " level signals, output " H " level signal when AND loop 85 is " H " level signal in the output of the output in OR loop 84 and neutral gear detection unit 81.Speed change forbid unit 86 in the AND loop 85 outputs connect the control that also can stop above-mentioned Figure 16 even change high gear switch 51 during " H " level signals.
But, when being in from 1 speed is quickened, the speed of a motor vehicle more than the 10km/h or engine revolution when 3000rpm is above the mistake hang neutral gear occasion, need the time because quicken again, if additional above-mentioned speed change is forbidden system, in vehicle driving, when (more than speed of a motor vehicle 3km/h), also can add the system that forbids hanging neutral gear in addition.
Can reach following effect according to the present invention.
(1) when sleeve moves to gear, because if selector shaft reaches the benchmark angle, to cover The movement of tube needs braking, even make the sleeve high-speed mobile to the reference position, sleeve and gear also can be put down Steady combination. Therefore, can accomplish quick speed change, and can suppress speed change and impact and the speed change noise.
(2) when the rotating drive motor makes sleeve move to gear side, because after movement also be With more weak power sleeve is pressed in gear side always, so except making sleeve and gear reliable Outside the ground combination, shifter does not need big load.
(3) make sleeve when gear side moves at the rotating drive motor, because it is dynamic to compress moment of torsion, when sleeve being pressed in gear side with bigger moment of torsion, even occasion that can not be chimeric when protruding side tenon and recessed side joggle touch, can reduce to compress moment of torsion at once, added load on the tenon is reduced and make both relatively rotating easily.Therefore, the relative position of sleeve and gear can enter into rapidly may in conjunction with the position and realize good chimeric.
Claims (6)
1. the shifting control method of an electrodynamic type speed change gear, this method utilizes drive motor to rotate variable-speed shaft, by and reverse shift fork on main shaft drive spool bulging with the gear shift of variable-speed shaft interlock above-mentioned sleeve is combined establishes gear stage, it is characterized in that with the gear of being scheduled to:
Control as the function of the pivotal position of above-mentioned variable-speed shaft with the moment of torsion that above-mentioned drive motor produces, establish up to above-mentioned gear stage.
2. the shifting control method of electrodynamic type speed change gear as claimed in claim 1 is characterized in that:
Above-mentioned drive motor produced the moment of torsion of a direction before above-mentioned variable-speed shaft arrives the benchmark angle, only produce the moment of torsion of other direction after arriving the said reference angle in the given time.
3. the shifting control method of electrodynamic type speed change gear as claimed in claim 2 is characterized in that:
The said reference angle is the preceding angle of rotation boundary that the rotation of above-mentioned variable-speed shaft to be ready being subjected to mechanical braking.
4. the shifting control method of electrodynamic type speed change gear as claimed in claim 1 is characterized in that:
Make above-mentioned drive motor produce first moment of torsion and rotate above-mentioned variable-speed shaft, and after above-mentioned variable-speed shaft arrives predetermined angle, produce second moment of torsion littler than above-mentioned first moment of torsion.
5. the shifting control method of electrodynamic type speed change gear as claimed in claim 1 is characterized in that:
Make the above-mentioned drive motor certain moment of torsion of generation and rotate above-mentioned variable-speed shaft, and after above-mentioned variable-speed shaft arrives predetermined angle, produce the change moment of torsion that its size changes repeatedly.
6. as the shifting control method of claim 4 or 5 described electrodynamic type speed change gears, it is characterized in that:
Above-mentioned predetermined angle is the angle that above-mentioned sleeve that the rotation by variable-speed shaft drives indirectly contacts with gear.
Applications Claiming Priority (9)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP268194/97 | 1997-09-13 | ||
| JP268194/1997 | 1997-09-13 | ||
| JP268192/97 | 1997-09-13 | ||
| JP26819497 | 1997-09-13 | ||
| JP268192/1997 | 1997-09-13 | ||
| JP26819297 | 1997-09-13 | ||
| JP21194198A JP4280330B2 (en) | 1997-09-13 | 1998-07-10 | Shift control method for electric transmission |
| JP211941/1998 | 1998-07-10 | ||
| JP211941/98 | 1998-07-10 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1221858A true CN1221858A (en) | 1999-07-07 |
| CN1188612C CN1188612C (en) | 2005-02-09 |
Family
ID=27329301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB981191525A Expired - Fee Related CN1188612C (en) | 1997-09-13 | 1998-09-11 | Speed variable control method of electric speed variator |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4280330B2 (en) |
| CN (1) | CN1188612C (en) |
| CA (1) | CA2245071C (en) |
| MY (1) | MY124161A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1580614B (en) * | 2003-08-16 | 2010-06-23 | 卢克摩擦片和离合器两合公司 | Operation device |
| CN102619898A (en) * | 2012-03-30 | 2012-08-01 | 湖南大学 | Actuator for clutch |
| CN107035858A (en) * | 2017-05-31 | 2017-08-11 | 安徽合力股份有限公司 | The neutral overspeed protection control system and control method of a kind of automatic shifting transmission gear box |
| CN112984098A (en) * | 2019-12-13 | 2021-06-18 | 现代凯菲克株式会社 | Position learning method for double-clutch transmission gear motor |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5197792B2 (en) * | 2011-04-20 | 2013-05-15 | ヤマハ発動機株式会社 | Transmission and straddle-type vehicle |
| JP5197791B2 (en) * | 2011-04-20 | 2013-05-15 | ヤマハ発動機株式会社 | Transmission and straddle-type vehicle |
-
1998
- 1998-07-10 JP JP21194198A patent/JP4280330B2/en not_active Expired - Fee Related
- 1998-08-13 CA CA 2245071 patent/CA2245071C/en not_active Expired - Fee Related
- 1998-09-11 CN CNB981191525A patent/CN1188612C/en not_active Expired - Fee Related
- 1998-09-11 MY MYPI9804172 patent/MY124161A/en unknown
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1580614B (en) * | 2003-08-16 | 2010-06-23 | 卢克摩擦片和离合器两合公司 | Operation device |
| CN102619898A (en) * | 2012-03-30 | 2012-08-01 | 湖南大学 | Actuator for clutch |
| CN107035858A (en) * | 2017-05-31 | 2017-08-11 | 安徽合力股份有限公司 | The neutral overspeed protection control system and control method of a kind of automatic shifting transmission gear box |
| CN107035858B (en) * | 2017-05-31 | 2019-09-10 | 安徽合力股份有限公司 | A kind of the neutral gear overspeed protection control system and control method of automatic shifting transmission gear box |
| CN112984098A (en) * | 2019-12-13 | 2021-06-18 | 现代凯菲克株式会社 | Position learning method for double-clutch transmission gear motor |
Also Published As
| Publication number | Publication date |
|---|---|
| MY124161A (en) | 2006-06-30 |
| CA2245071C (en) | 2004-03-23 |
| JPH11148551A (en) | 1999-06-02 |
| CA2245071A1 (en) | 1999-03-13 |
| JP4280330B2 (en) | 2009-06-17 |
| CN1188612C (en) | 2005-02-09 |
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Granted publication date: 20050209 Termination date: 20110911 |