DE102014203045A1 - Method for setting a target speed on a shaft to be synchronized and control device for carrying out the method - Google Patents

Abstract

A method of setting a target speed on a shaft to be synchronized, wherein the shaft to be synchronized is accelerated or decelerated by driving an actuator from an actual speed toward the target speed. For controlling the actuator, at least two desired differential speed gradients are determined, namely a first, relatively large desired differential speed gradient and a second, relatively small desired differential speed gradient, wherein both for the first target differential speed gradient and for the second target Differenzdrehzahlgradienten maximum permissible limits are specified. To control the actuator, a switching time is further determined from which the control side is switched from the first target differential speed gradient to the second target differential speed gradient.

Description

The invention relates to a method for setting a target speed on a shaft to be synchronized and to a control device for carrying out the method.

There are a variety of technical applications, especially in automatic transmissions of motor vehicles, known in which a shaft to be synchronized, which is operated at an actual speed must be synchronized to a target speed, including the shaft to be synchronized by driving an actuator or ., an actuator is accelerated or decelerated from the actual speed in the direction of the target speed.

It is desirable in this case to carry out the synchronization of the shaft to be synchronized, that is to say the setting of the target rotational speed on the shaft to be synchronized, on the one hand within the shortest possible time and on the other hand with the highest possible accuracy.

From the DE 103 30 517 A1 as well as from the DE 103 05 254 A1 For example, methods for setting a target speed on a shaft of an automatic transmission of a motor vehicle to be synchronized are known, in which a gradient of the transmission output shaft rotational speed or the transmission output shaft rotational speed is used to control one of the synchronization of the shaft to be synchronized, namely a transmission brake is taken into account.

On this basis, the present invention based on the object to provide a novel method for setting a target speed on a shaft to be synchronized and a control device for carrying out the method.

This object is achieved by a method for setting a target speed on a shaft to be synchronized according to claim 1.

For controlling the actuator, at least two desired differential speed gradients are determined on the control side, namely a first, relatively large desired differential speed gradient and a second, relatively small desired differential speed gradient, whereby the control side is maximally permissible for both the first and second desired differential speed gradients Limits are given. Furthermore, a switching time is determined to control the actuator control side, from which the control side is switched from the first target differential speed gradient to the second target differential speed gradient. Due to the fact that in the present invention for controlling the actuator for setting the target speed of the shaft to be synchronized on the one hand, the at least two target speed gradients and on the other hand, a switching between them is determined, on the one hand the synchronization of the shaft to be synchronized within the shortest possible Time and on the other hand with the highest possible accuracy. The first setpoint differential speed gradient, the second setpoint differential speed gradient and the switching time point between them accordingly enable a highly accurate setting of the target speed on the shaft to be synchronized within the shortest possible time. First, the first target differential speed gradient is determined and used to control the actuator until the changeover, from which control side of the first target differential speed gradient is switched to the second target differential speed gradient, then determines the second target differential speed gradient and to control of the actuator is used.

According to a further development, the first desired differential speed gradient and the second desired differential speed gradient are determined such that the first desired differential speed gradient depends on the maximum permissible limit value for the second desired differential speed gradient and on the current actual rotational speed and the current target rotational speed the shaft to be synchronized is determined and that the second desired differential speed gradient is determined as a function of the current desired differential speed gradient and depending on the current actual speed and current target speed of the shaft to be synchronized. This makes a particularly advantageous determination of the first desired differential speed gradient and the second desired differential speed gradient possible.

Preferably, when a first desired differential speed gradient is determined, the amount is greater than the control-side predetermined maximum allowable limit, the first target differential speed gradient is limited to the control side predetermined maximum allowable limit. Further, preferably, when a second target differential speed gradient is determined, the amount is greater than the maximum permissible for the same control side predetermined Limit is limited to the second target differential speed gradient to the control side predetermined maximum allowable limit. By limiting the first setpoint differential speed gradient to the maximum permissible limit value predetermined for the same on the control side, it is possible to limit the first setpoint differential speed gradient with regard to the maximum adjustable synchronization torque while ensuring the fastest possible synchronization. By limiting the second target differential speed gradient to the maximum allowable limit imposed therefor, the same can be limited in terms of sampling times of the electronic control system to allow accurate adjustment of the target speed on the shaft to be synchronized.

According to a further development of the switching time, from which the control side of the first target differential speed gradient is switched to the second target Differenzdrehzahlgradienten, then, if a difference between the current actual speed of the shaft to be synchronized and the current target speed of the magnitude of the synchronizing shaft is less than or equal to a differential speed limit value. The changeover time at which the first desired differential speed gradient is switched over to the second desired differential speed gradient on the control side is also present when a first desired differential speed gradient is determined which is smaller than the maximum permissible limit value on the control side for the second desired differential speed gradient is. By such a determination of the control-side switching time for the change from the first desired differential speed gradient to the second desired differential speed gradient, the target rotational speed on the shaft to be synchronized is possible within the shortest possible time with the highest possible accuracy.

Then, if the first target differential speed gradient is smaller in absolute value than the maximum permissible limit value for the second setpoint differential speed gradient, the determination of the switchover time depends directly on the second setpoint differential speed gradient or on the control-side maximum changed permissible limit, so then in particular at low differential speeds, a method results, which uses only the second target differential speed gradient for driving the actuator or actuator.

According to a further development, a shutdown time is also determined, from which control end of the control of the actuator is terminated with the second target differential speed gradient. This also ensures that the target speed can be adjusted on the shaft to be synchronized with high accuracy.

The control device according to the invention is defined in claim 15.

Preferred developments emerge from the subclaims and the following description. Embodiments of the invention will be described, without being limited thereto, with reference to the drawings. Showing:

1 a powertrain diagram of a motor vehicle;

2 a first diagram to illustrate the inventive method for setting a target speed on a shaft to be synchronized; and

3 a second diagram for further illustrating the inventive method for setting a target speed on a shaft to be synchronized.

The present invention relates to a method for setting a target speed on a shaft to be synchronized, in particular on a shaft to be synchronized of a transmission of a motor vehicle.

1 shows very schematically a drive train scheme of a motor vehicle, according to 1 between a drive unit 1 and a downforce 2 a gearbox 3 is switched, which speeds and torques converts and so the traction power supply of the drive unit 1 at the output 2 provides.

The operation of the drive unit 1 is via a motor control device 4 and the operation of the transmission 3 via a transmission control device 5 controlled according to what 1 the engine control device 4 with the drive unit 1 and the transmission control device 5 with the gearbox 3 exchanges data in the sense of the double arrows shown. Similarly, change the engine control device 4 and the transmission control device 5 with each other data.

The gear 3 includes several switching elements, wherein in 1 only such a switching element 6 is shown as an example. According to 1 includes the switching element 6 two switching element halves 7 . 8th , wherein a first switching element half 7 with a first wave 9 and a second switching element half 8th with a second wave 10 is coupled. Then, if such a switching element 6 must be closed, one of the waves 9 respectively. 10 and thus one of the switching element halves 7 respectively. 8th are synchronized from their respective actual speed toward a target speed, wherein the target speed is typically the actual speed of the other switching element half 8th respectively. 7 or the other wave 10 respectively. 9 equivalent.

To synchronize a shaft to be synchronized based on its actual speed in the direction of the target speed, an actuator 11 controlled by means of which the shaft to be synchronized is accelerated or decelerated from its actual speed in the direction of the target speed. In 1 By way of example, it is assumed that the shaft to be synchronized, at which the target speed is to be set, is about the shaft 9 is acting as an actuator 11 is assigned, which ultimately driven by the transmission control device 5 the wave to be synchronized 9 accelerated or decelerated from its actual speed toward the target speed, depending on whether the actual speed is greater or less than the target speed to be set.

According to the invention for controlling the actuator 11 and thus to synchronize the shaft to be synchronized 9 at least two desired differential speed gradients determined on the control side, namely a first, relatively large desired differential speed gradient and a second, relatively small target differential speed gradient, wherein, as will be described in detail below, for driving the actuator 11 Preferably both set differential speed gradients, in the exceptional case only one of these desired differential speed gradients, is used. In this case, in each case a maximum permissible limit value, which serves to limit the respective desired differential speed gradient, is predetermined on the control side both for the first desired differential speed gradient and for the second desired differential speed gradient. Further, for driving the actuator 11 and thus to synchronize the shaft to be synchronized 9 control side determines a switching time, from which control side is switched from the first to the second target differential speed gradient, in which therefore in the control of the actuator 11 is changed from the first to the second target differential speed gradient.

The determination of the at least two desired differential speed gradients as well as the switching time point between them permits a fast synchronization with high accuracy. In 2 is highly schematized over the time t is a using the method of the invention adjusting course of the differential speed .DELTA.n is shown on the shaft to be synchronized, below the speed difference .DELTA.n of the shaft to be synchronized, the difference between the actual speed and the target speed to be synchronized Wave is understood. At time t ₁ , the synchronization of the shaft to be synchronized with the first determined differential speed gradient ng _1-SOLL begins, at time t ₂ in the synchronization of the first target Differenzdrehzahlgradienten ng _1-SOLL on the second target Differenzdrehzahlgradienten ng _2-SOLL is changed. At time t ₃ , the differential speed is reduced and the synchronization is completed. Between the times t ₁ and t ₂ , ie in the time interval Δt ₁ , is therefore for controlling the actuator 11 the first desired differential speed gradient ng _1-SOLL used, whereas between the times t ₂ and t ₃ , ie in the time interval .DELTA.t ₂ , the second target Differenzdrehzahlgradient ng _{2-SOLL is} used to synchronize the shaft to be synchronized.

Further details of the invention are described below with reference to the diagram of 3 described, in 3 over the time t, on the one hand, a curve of the differential rotational speed Δn, which adjusts itself during the synchronization of the shaft to be synchronized, and, on the other hand, a profile of the differential rotational speed gradient ng used for the synchronization is plotted.

In 3 are in comparison to 2 in addition to the times t ₁ , t ₂ and t ₃ further times t ₄ , t ₅ , t ₆ and t ₇ shown, which take into account control-side response times and control-side switching times. Thus, the time intervals defined by times t ₄ and t ₅ and times t ₆ and t _{7 represent} control-side response times Δt _X that elapse between the control-side request for a differential speed gradient and the start of the control-side implementation of this request. The times t ₅ and t ₂ define a switching time Δt _Y which is required to convert the differential _{speed gradient} from the first differential speed gradient ng _1-SOLL to the second differential speed gradient ng _2-SOLL . The times t ₇ and t ₃ define a control-side switching time Δt _Z , which elapses until, after the start of the control-side conversion of the request for switching off the second differential speed gradient ng _2-SOLL, it is actually completely reduced. In 3 Plotted time interval .DELTA.t _1-MIN and .DELTA.t _2-MIN according to the control side predetermined minimum times for the target Differenzdrehzahlgradienten ng _1-SOLL and ng _2-SOLL .

In 3 It is assumed that during the switching times Δt _Y and Δt _Z the differential speed gradient ng changes linearly and the differential speed Δn changes after a quadratic dependence.

wobei ng_1-SOLL der erste Soll-Differenzdrehzahlgradient ist, wobei n_IST die aktuelle Ist-Drehzahl der zu synchronisierenden Welle ist, wobei n_SOLL die aktuelle Ziel-Drehzahl der zu synchronisierenden Welle ist, und wobei n_3-MAX, n_4-MAX, n_5-MAX und n_6-MAX von dem maximal zulässigen Grenzwert für den zweiten Soll-Differenzdrehzahlgradienten abhängig sind, wobei Δt_1-MIN eine steuerungsseitig vorgegebene Minimalzeit für den ersten Soll-Differenzdrehzahlgradienten ist, wobei Δt_X eine steuerungsseitige Reaktionszeit und Δt_Y steuerungsseitige Umschaltzeit ist.The first desired differential speed gradient is determined as a function of the maximum permissible limit value for the second desired differential speed gradient and depending on the current actual rotational speed and the current target rotational speed of the shaft to be synchronized, preferably using the formula:

where ng _{1-SOLL is} the first target differential speed _gradient , where n _{IST is} the current actual speed of the shaft to be synchronized, where n _{SOLL is} the current target speed of the shaft to be synchronized, and where n _3-MAX , n _{4 MAX} , n _5-MAX and n _6-MAX are dependent on the maximum allowable limit for the second target differential speed gradient, where Δt _{1-MIN is} a control minimum predetermined time for the first target differential speed gradient, where Δt _{X is} a control-side response time and Δt _{Y is} control-side switching time.

The speeds n _3-MAX , n _4-MAX , n _5-MAX and n _6-MAX are determined according to the following formulas: n _3-MAX = ng _2-MAX · Δt _Y n _4-MAX = ng _2-MAX · Δt _2-MIN n _5-MAX = ng _2-MAX x Δt _X n _6-MAX = 0.5 * ng _2-MAX * Δt _Z wherein ng _{2-MAX is} the maximum allowable limit for the second target differential speed gradient, where Δt _{2-MIN is} a control minimum predetermined time for the second target differential speed gradient, and where Δt _{Z is} another control-side shift time.

In the above formula, it is to be noted that when the difference n _{IS -n SOLL is} positive, a negative sign is to be selected for the gradient ng _1-SOLL , whereas then the difference n _{IS -n SOLL is} negative for the gradient ng _{1-SOLL is} a positive sign to choose. The signs of the speeds n _3-MAX , n _4-MAX , n _5-MAX and n _6-MAX correspond to the sign of the difference n _IS - n _DESIR .

Then, when the determined first target differential _speed gradient ng _{1-SOLL is} greater in magnitude than the predetermined maximum allowable limit ng _1-MAX for the same, the first target differential speed gradient is limited to the control side predetermined maximum allowable limit, in which case then applies : ng _1-SOLL = ng _1-MAX .

Following the determination of the first desired differential speed gradient ng _1-SOLL , a changeover point for a change from the above first desired differential speed gradient ng _1-SOLL to a still to be determined second desired differential speed gradient ng _{2-SOLL is} determined, the changeover time on the control side is present if the following formula is fulfilled: n _IST - n _SOLL ≤ n _1-IST ⁺ n _2-IST + n _3-MAX + n _4-MAX + n _5-MAX + n _6-MAX wherein n _1-IST and n _2-IST are dependent on the current differential speed _gradient ng _IST , and further wherein n _2-IST , n _3-MAX , n _4-MAX , n _5-MAX and n _6-MAX from the maximum allowable limit ng _2-MAX for the second target differential speed gradient are dependent.

The speeds n _1-IST , n _2-IST and n _3-MAX , n _4-MAX , n _5-MAX and n _6-MAX are determined according to the following formulas: n _1-IST = ng _IS · Δt _X n _2-IST = 0.5 * (ng _IST - ng _2-MAX ) · Δt _Y n _3-MAX = ng _2-MAX · Δt _Y n _4-MAX = ng _2-MAX · Δt _2-MIN n _5-MAX = ng _2-MAX x Δt _X n _6-MAX = 0.5 * ng _2-MAX * Δt _Z where ng _{IST is} the current differential speed _gradient , where ng _{2-MAX is} the maximum allowable limit for the second target differential speed gradient, where Δt _{2-MIN is} a control minimum predetermined time for the second target differential speed gradient, where Δt _{X is} a control-side response time. and where Δt _Y and Δt _{Z are} control side switching times.

In the above relationships for calculating the control-side switching time from the first target differential speed _gradient ng _1-SOLL to the second target differential speed _gradient ng _2-SOLL , the current differential speed _gradient and not the required target differential speed _gradient is taken into account, namely when calculating the speeds n _{1 IS} and n is _2-IS .

Further, on the control side, the changeover time at which control side the first desired differential _{rotational speed gradient} ng _{1-SOLL is switched} to the second desired differential _{rotational speed gradient} ng _2-SOLL is present when it is determined that the determined first target differential _rotational speed gradient ng _{1-SOLL is} absolute is smaller than that for the second target differential speed gradient control side predetermined maximum allowable limit ng _2-MAX .

In this case, the activation of the actuator or actuator 11 skipped with the first desired differential speed gradient ng _1-SOLL , so that only an activation of the same with the second target differential speed gradient ng _2-SOLL takes place. This special case results in a procedure for the procedure of a gradient. This is the case in particular when there are small differential speeds Δn on the synchronizing shaft or a high maximum permissible limit value ng _{2-MAX is} stored for the second setpoint differential speed gradient ng _2-SOLL .

wobei ng_2-SOLL der zweite Soll-Differenzdrehzahlgradient ist, wobei n_IST die aktuelle Ist-Drehzahl der zu synchronisierenden Welle ist, wobei n_SOLL die aktuelle Ziel-Drehzahl der zu synchronisierenden Welle ist, wobei ng_IST der aktuelle Differenzdrehzahlgradient ist, wobei Δt_2-MIN eine steuerungsseitig vorgegebene Minimalzeit für den zweiten Soll-Differenzdrehzahlgradienten ist, wobei Δt_X eine steuerungsseitige Reaktionszeit ist, und wobei Δt_Y sowie Δt_Z steuerungsseitige Umschaltzeiten sind.The second target differential speed gradient ng _{2-SOLL is} dependent on the current Differenzdrehzahlgradienten and late with the determination of the presence of the switching time, from which the control side of the first target differential speed gradient ng _{1-SOLL is switched} to the second target Differenzdrehzahlgradienten ng _2-SOLL depending on the current actual speed and the current target speed of the shaft to be synchronized determined, preferably depending on the following formula:

where ng _{2-SOLL is} the second target differential speed _gradient , where n _{IST is} the current actual speed of the shaft to be synchronized, where n _{SOLL is} the current target speed of the shaft to be synchronized, where ng _{IST is} the current differential speed gradient, where Δt _{2-MIN is} a control-side predetermined minimum time for the second target Differenzdrehzahlgradienten, where .DELTA.t _{X is} a control-side response time, and wherein .DELTA.t _Y and .DELTA.t _Z control-side switching times.

In the above formula, it should be noted that when the difference n _{IS -n SOLL is} positive, a negative sign is to be selected for the gradient ng _2-SOLL , whereas then the difference n _{IS -n SOLL is} negative for the gradient ng _{2-SOLL is} a positive sign to choose.

As well as for the first desired differential speed gradient ng _1-SOLL , a maximum permissible limit value ng _2-MAX is also set on the control side for the second desired differential speed gradient ng _2-SOLL , wherein when the determined second differential _speed gradient ng _{2-SOLL is} absolute is greater than the control side predetermined maximum allowable limit ng _2-MAX , the second target differential speed gradient is limited to the control side predetermined maximum allowable limit, so then applies: ng _2-SOLL = ng _2-MAX .

During the activation of the actuator or actuator 11 With the second setpoint differential speed gradient ng _2-SOLL , a switch-off time is furthermore determined, to which control side the activation of the actuator 11 is terminated on the control side with the second target differential _speed gradient ng _2-SOLL . On the control side, the actuation of the actuator with the second set differential speed gradient is terminated when the following formula is satisfied: n _IS - n _SOLL ≤ n _5-IS + n _6-IST where n _5-IST and n _6-IST are dependent on the current differential speed gradient. The speeds n _5-IST and n _6-IST are determined according to the following formulas: n _5-IST = ng _IS · Δt _X n _6-IST = 0.5 · ng _IS · Δt _Z where ng _{IS is} the actual differential speed gradient, where Δt _{X is} a control-side response time and Δt _{Z is} a control-side shift time.

With the method described above, a target speed can be set in a time-optimal manner with high accuracy on a shaft to be synchronized. In this case, the limit values for the two desired differential speed gradients take into account control-side boundary conditions, such as maximum adjustable torques and sampling times of the control system.

The method is valid for both positive and negative speeds and speed gauges. As explained above, the signs of the speed differences and speed parameters must be taken into account accordingly.

The present invention further relates to a control device for carrying out the method. This control device is preferably the transmission control direction 5 ,

The control device comprises means for carrying out the method according to the invention. These resources are hardware and software resources.

The hardware-side means are data interfaces in order to exchange data with the modules performing the method according to the invention. Furthermore, the hardware means are a processor and a memory, a memory for storing data and a processor for processing data.

The software resources are program modules for carrying out the method according to the invention.

LIST OF REFERENCE NUMBERS

1

power unit

2

output

3

transmission

4

Motor controller

5

Transmission control device

6

switching element

7

Switching element half

8th

Switching element half

9

wave

10

wave

11

actuator

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 10330517 A1 [0004]
• DE 10305254 A1 [0004]

Claims (15)

Method for setting a target speed on a shaft to be synchronized, wherein the shaft to be synchronized is accelerated or decelerated by driving an actuator, starting from an actual speed in the direction of the target speed, characterized in that for controlling the actuator control side at least two desired differential speed gradients are determined, namely a first, relatively large desired differential speed gradient and a second, relatively small target differential speed gradient, wherein both the first setpoint differential speed gradient and the second setpoint differential speed gradient control limits maximum permissible limits are given ; to control the actuator on the control side further a switching time is determined from which the control side of the first target differential speed gradient is switched to the second target differential speed gradient. A method according to claim 1, characterized in that first the first target differential speed gradient is determined and as long as used to control the actuator until the switching time, from which control side of the first target differential speed gradient is switched to the second target differential speed gradient, is present, then the second desired differential speed gradient is determined and used to drive the actuator. The method of claim 1 or 2, characterized in that the first target differential speed gradient is determined depending on the maximum allowable limit for the second target differential speed gradient and depending on the current actual speed and the current target speed of the shaft to be synchronized. A method according to claim 3, characterized in that the first desired differential speed gradient ng _{1-SOLL is determined} according to the following formula:

where n _{IS is} the current actual speed of the shaft to be synchronized, where n _{SOLL is} the current target speed of the shaft to be synchronized, and where n _3-MAX , n _4-MAX , n _5-MAX and n _6-MAX of Δt _{1-MIN is} a control-side predetermined minimum time for the first target Differenzdrehzahlgradienten, where .DELTA.t _{X is} a control-side reaction time and .DELTA.t _{Y is} a control-side switching time. Method according to claim 4, characterized in that n _3-MAX , n _4-MAX , n _5-MAX and n _{6-MAX are determined} according to the following formulas: n _3-MAX = ng _2-MAX · Δt _Y ; n _4-MAX = ng _2-MAX · Δt _2-MIN ; n _5-MAX = ng _2-MAX x Δt _X ; n _6-MAX = 0.5 * ng _2-MAX * Δt _Z wherein ng _{2-MAX is} the maximum allowable limit for the second target differential speed gradient, where Δt _{2-MIN is} a control minimum predetermined time for the second target differential speed gradient, and where Δt _{Z is} another control-side shift time. Method according to one of claims 1 to 5, characterized in that the second target differential speed gradient is determined depending on the current differential speed gradient and depending on the current actual speed and current target speed of the shaft to be synchronized. A method according to claim 6, characterized in that the second desired differential speed gradient ng _{2-SOLL is determined} according to the following formula

where n _{IST is} the current actual speed of the shaft to be synchronized, where n _{SOLL is} the current target speed of the shaft to be synchronized, where ng _{IST is} the current differential speed gradient, where Δt _{2-MIN is} a minimum time specified by the control side for the second setpoint Differential speed gradient is, where .DELTA.t _{X is} a control-side reaction time, and wherein .DELTA.t _Y and .DELTA.t _{Z are} control-side switching times. Method according to one of claims 1 to 7, characterized in that when a first and / or second target differential speed gradient is determined, the amount is greater than the control-side predetermined maximum allowable limit, the first and / or second setpoint Differential speed gradient is limited to the same control side given maximum allowable limit. Method according to one of claims 1 to 8, characterized in that the switching time, from which control side of the first target differential speed gradient is switched to the second target differential speed gradient, then exists when a difference between the current actual speed of the shaft to be synchronized and the current target speed of the shaft to be synchronized is smaller than or equal to a differential speed limit. A method according to claim 9, characterized in that the switching time is present when the following formula is satisfied: n _IST - n _SOLL ≤ n _1-IST + n _2-IST + n _3-MAX + n _4-MAX + n _5-MAX + n _6-MAX where n _1-IST and n _2-IST are dependent on the current differential speed gradient, and where n _2-IST , n _3-MAX , n _4-MAX , n _5-MAX and n _{6-MAX depend} on the maximum permissible limit ng _{2 MAX} for the second target differential speed gradient are dependent. Method according to claim 10, characterized in that n _1-IST , n _2-IST and n _3-MAX , n _4-MAX , n _5-MAX and n _{6-MAX are determined} according to the following formulas: n _1-IST = ng _IST · Δt _X ; n _2-IST = 0.5 * (ng _IST - ng _2-MAX ) · Δt _Y ; n _3-MAX = ng _2-MAX · Δt _Y n _4-MAX = ng _2-MAX · Δt _2-MIN ; n _5-MAX = ng _2-MAX x Δt _X ; n _6-MAX = 0.5 * ng _2-MAX * Δt _Z where ng _{IS is} the current differential speed _gradient , where ng _{2-MAX is} the maximum allowable limit for the second target differential speed gradient, where t _{2-MIN is} a control minimum predetermined time for the second desired differential speed gradient, where Δt _{X is} a control-side response time. and where Δt _Y and Δt _{Z are} control side switching times. Method according to one of claims 1 to 11, characterized in that the switching time, from which the control side of the first target differential speed gradient is switched to the second target differential speed gradient is present when a first target differential speed gradient is determined, the amount is smaller than that for the second target differential speed gradient control side predetermined maximum allowable limit. Method according to one of claims 1 to 12, characterized in that, in addition, a switch-off time is determined, from which control end of the actuation of the actuator is terminated with the second target differential speed gradient. Method according to Claim 13, characterized in that control of the actuator with the second desired differential speed gradient is terminated on the control side if the following formula is satisfied: n _IS - n _SOLL ≤ n _5-IS + n _6-IST where n _5-IST and n _{6-IST are determined} according to the following formulas: n _5-IST = ng _IS · Δt _X ; n _6-IST = 0.5 · ng _IS · Δt _Z where ng _{IS is} the actual differential speed gradient, where Δt _{X is} a control-side response time and Δt _{Z is} a control-side shift time. Control device, in particular transmission control device, characterized by means for carrying out the method according to one of claims 1 to 14.

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