FR2837555A1 - GEAR EFFECTOR AND METHOD FOR PERFORMING SYNCHRONIZATION FOR A GEARBOX - Google Patents

Abstract

There is provided a method for performing synchronization for a gearbox, in particular for an automated gearbox, with which the electric motor of a gearbox effector is controlled to apply the synchronous force, by means of whereby at least one synchronous voltage adjusted to the synchronous force is applied to the electric motor. Furthermore, there is provided a gearbox effector for performing synchronization for a gearbox, in particular for an automated gearbox, with at least one electric motor in particular for performing the proposed method. , with which the electric motor can be controlled at least with a synchronous voltage adjusted to the synchronous force.

Description

implausible value by a predetermined value.

  The present invention relates to a gearbox effector (actuator) and a method for performing synchronization for a gearbox, in particular for an automated gearbox, in which an electric motor of an effector (actuator) ) gearbox is ordered

  in order to apply the synchronous force.

  Methods for the execution of synchronization and / or synchronous maneuvers and gearbox effectors for the execution of synchronization for a gearbox, in particular for a gearbox, are known from the automotive technique. automated. During a possible synchronous operation, it is expected that the kinetic energy of the electric motor of the gearbox effector is transformed into potential energy of the res comes out under tension during the accumulation of the synchronous force, whereby the switching elasticity and basic stiffness of the mechanical parts between the electric motor and / or the

  motor-E and the sliding sleeve are taken into account.

  Therefore, each theoretical synchronous force corresponds to a determined potential energy. The electric motor should have the same kinetic energy when arriving in the synchronous position. In order to store this kinetic energy determined before arriving in the synchronous position, the approach speed must be adjusted by

correspondingly.

  In the aforementioned synchronization maneuver, the following phases are necessarily necessary. First, the approach speed is set in the speed setting mode. Then takes place the approach of the synchronous position. This takes place in speed setting mode with force limitation. The purpose of this phase is the cold compensation. In so doing, the force limitation is defined so that the approach speed can only be maintained against a force which is not greater than the friction. When, during the accumulation of the force, the speed of the effector drops below the speed of contact with the stop, another phase with a constant tension, which corresponds to the synchronous force of speed of a

value 0, begins.

  The basis of this known maneuver is the observation of the speed: when the speed which is expected during the action of the control decreases during the accumulation of the force, the tension can be reduced according to the compensation of friction. The transition to the last phase is also executed on the basis of the measured speeds. In doing so, it has been observed that the more precisely the speed is measured, the higher the quality of control of the synchronization maneuver. Furthermore, it has been observed that the faster the effector is slowed down when the force is built up, the greater the deviation of the measured speed from the physical value. This difference determines additional energy flowing through the system because the voltage due to the measured speed is always higher than the voltage of ideal cold compensation. Consequently, it can be concluded that the stronger the way of slowing down the effector during the constitution of the force, the greater the dispersion of the synchronous force due to the interruption. The reason for this may be the considerable dispersion due to the interruption of additional energy at the time of

  slowing down at the synchronization threshold.

  In particular for very light electric motors, there is an inertia for example 5 times smaller compared to other heavier motors. Thus, with equal total reduction, an equivalent mass 5 times smaller is expected. In order to have the same kinetic energy before arriving in the synchronization position,

  the speed can preferably be 5 times higher.

  When, for example, a mass is deflected against a spring, the time until the accumulation of the maximum spring force is equal to a quarter of the natural oscillations. This is why the hardness of the accumulation of force is 5 times shorter, in particular for small engines. It turns out that a smaller engine has an acceleration 5 times higher than the usual heavier engines. Therefore, the expected force dispersion for smaller and lighter engines is greater than for engines

usually heavier.

  The objective of the invention is to provide a gearbox effector and a method for performing synchronization for a gearbox in order to achieve synchronization as simple and optimal as possible, in particular with more housed electric motors. In addition, synchronization must be independent of possible errors when

observing speed.

  This objective can be achieved according to the method by a method for the execution of synchronization for a gearbox, in particular for an automated gearbox, with which the electric motor of a gearbox effector is controlled in order apply the synchronous force and with which a synchronous voltage adjusted to the synchronous force is applied to the

electric motor.

  The proposed method and / or the synchronization maneuver can be used preferably for a gearbox effector with a light electric motor and / or an electric motor in particular of an automatic gearbox (ASG). It is however possible to implement this synchronization maneuver for other reducers with others.

effector motors.

  In the method according to the invention, it is in particular advantageous that for synchronization, provision is preferably made only for a phase during which the electric motor of the gearbox effector is controlled and / or is subjected to a synchronous voltage. suitable for synchronization. As the synchronous voltage, it is preferable to use a value which is below the voltage which is necessary to apply the synchronous force. other

  values can however be considered.

  As part of an improvement of the invention, it can be provided that the synchronous voltage is applied at a predetermined time before and / or after reaching the synchronization point. It is also possible that other times can be used. The synchronous tension can be adjusted so that when arriving in the synchronous position at a stationary speed of the gearbox effector corresponding to the tension, the necessary synchronous force is precisely reached. According to an improvement, the synchronous voltage can be maintained for example at the end of synchronization for a predetermined time interval, so that an unlocking recognition is allowed by the control of the box.

of speeds.

  In order to bring the gearbox effector or actuator to the end of the race after synchronization, it is possible according to another improvement of the invention for the voltage applied to the electric motor to be maintained for example at a value of 12 V , until the end position is reached. In addition, the synchronization method according to

  the invention may also be modified as appropriate.

  For example, it can be provided that during the synchronization maneuver, first of all a specially calculated intermediate voltage is applied within a predetermined interruption time, and then only the synchronous voltage. The purpose of applying the intermediate voltage is to always end up on the same phase curve before the last period of time, that is, during the application of synchronous voltage. Any other modification or combination of measures

  mention is also possible.

  As part of an improvement of the invention, it can be provided to calculate the intermediate voltage by the following equation: fm + FReib U zw = Ra 1 5 k0) iges This calculation can be implemented in the control of gearbox speeds - in a particularly simple way because it is here a simple linear function with

constant coefficients.

  In addition, the objective on which the invention is based can be achieved with the aid of a gearbox effector for the synchronization requirement for a gearbox, in particular for a gearbox. of automatic gears, with at least one electric motor, in particular for the precaution of the proposed method, with which the electric motor can be controlled with a synchronous voltage increased to the synchronous force. Other advantages and advantageous layouts

  flow from the subclaims and the drawings described

  below. Are represented: FIG. 1, a diagram with different stages of a simulation for a theoretical synchronous force of 800 N for a change from the first speed to the second; Figure 2, a diagram with the progress of the movement of the effector until it is provided in the synchronous position for the synchronous force of about 400 N in the phase space; FIG. 3, a diagram with different sequences of the intermediate voltage for different synchronous forces; FIG. 4, a comparison of the simple maneuver and of the maneuver with use of the intermediate voltage; and Figure 5, a schematic view of a model of

the gearbox effector.

  In FIG. 1 is shown a simulation of a theoretical synchronous force Fsync of 800 N during a speed change from gear 1 to gear 2. FIG. 1 represents two diagrams one above the other, whereby on the upper diagram are represented the progress of the path of the effector, the speed of the effector and the synchronous force over time. The lower diagram shows the voltage versus time. The time axis is divided on the two diagrams in the phases "displacement towards the synchronous position", "adjustment of the synchronous force" and "waiting for release" as well as in the phases "displacement at the end of the race" and "braking ". The difference in number of laps to be synchronized is fixed

  in advance at 2.5 Fsync rotations per minute.

  Note clearly in FIG. 1 that the synchronous voltage Usync is adjusted so that when arriving in the synchronous position with the stationary speed of v0, which corresponds to this voltage, the synchronous force is reached with precision. In this example, the synchronous voltage amounts to approximately 7.35 V. In the simulation described in FIG. 1, v0 is approximately equal to 135 mm / s. For stationary speed, the force applied by the electric motor corresponds approximately to the cold force during synchronization. The position and / or the time when the voltage jump from 12 V to the synchronous voltage Usync is expected are chosen in the method according to the invention so that during the synchronous position error of -0.5 mm, i.e. when the synchronous position is 0.5 mm closer to the neutral position, the additional synchronous force of 10% of the synchronous force is admissible. Consequently, the force for the simulation shown is slightly above the force to be reached. In this simulation, the movement after unlocking is simulated in a simple way, so that the gear change time for different shift elasticities

reports to be comparable.

  The method according to the invention can be used for different elasticities of gear change for the effector or actuator with a light motor. In addition, the shift times can also be estimated for different elasticities when the synchronous force is 200, 400, 800, 1200 N or equivalent. As possible marginal conditions, the following can preferably be used: As a path from the end position of the old speed to the synchronous position of the speed to be reached, one can choose for example 13 mm and as journey from the end position of the old speed to the end position

of the speed to reach, 20 mm.

  The difference in the number of turns to be synchronized can be established, for example, at a figure approximately 2.5 times higher than the force to reach Fziel (rpm). The prestressing force when leaving the old speed can correspond for example to the force to reach Fziel. This force is also taken into account because the distance to the synchronous position decreases due to the

prestressing path.

  According to the invention, the synchronous voltage Usync is adjusted so that the arrival in the synchronous position is reached with a stationary speed. After synchronization has been completed, the synchronous voltage Usync is maintained for example for an additional 5 ms to give time to unlock recognition. Then the voltage of 12 V is maintained for a period such that the effector or actuator comes to a standstill at the end of the race while still being free of any voltage. The speed to be reached can be recognized, for example, at the 18 mm position. The time to reach the 18 mm path is considered as an estimate of the duration of the gear change. A synchronization maneuver of this type is

  shown schematically in Figure 1.

  A variant of the present invention may provide an improvement in the proposed maneuver which performs synchronization even more quickly. This can be achieved in particular through the use of a voltage

calmed intermediate Uzw.

  In FIG. 2 this variant is represented by a graph. It shows the movement of the effector or actuator until it comes to a standstill in the synchronous position for the synchronous force of approximately 400 N in phase space. The position where the voltage jump takes place is designated in Figure 2 by S and is adjusted so that the force transmission during a synchronous position error of - 0.5 mm rises approximately

at 10% of the synchronous force.

  Consequently, it is proposed in the improved synchronization maneuver that a defined voltage, namely the intermediate voltage, be fixed in advance in an additional interruption time at the position designated by x start of intermediate voltage in FIG. 2. the reason that the phase curve must be reached until the next interrupt (interrupt), i.e. in 5 ms, and then the voltage

  Usync synchronous must be set accordingly.

  Thanks to this, the dispersion of the synchronous force caused by the interruption can advantageously correspond to the value O and the dispersion over time can be considerably reduced. When the effector is at the point designated by A in FIG. 2, the intermediate voltage Uzw may be greater than the synchronous voltage Usync, whereby for point B. the intermediate voltage Uzw is less than the synchronous voltage Usync. For example, the Uzw intermediate voltage can be calculated with the tangent which is expected on the phase curve or on the

line v = vO.

  When the voltage corresponds to the synchronous voltage Usync, the speed tends towards vO. I1 results from it the equation of movement of the effector as follows: mx = k (vO-x) o K = (kPigs) 2 / Ra At point S according to figure 2, applies dv = x = - (vO -vx) and d = VX Consequently, the derivation at point S is equivalent to: dv k (vo - VX) dx mv ,, When the equation of the tangent is gO + glx = v, then follows: g = dv = ktv v = and go = vmax-gxs The objective of a constant voltage is equivalent to a constant force F in the following equation: mx = F- or x = f-ax of = F / m and "= k / m We must now find an appropriate value f so that the phase point (for example point A) is located at t = 5 ms on the tangent (or on the line v = vO) The solution of this equation for the conditions start x (0) = 0: x (0 = vm is x (t) = (x_ f2) (1- e) + ft in doing so x (t) = (vx- f) e + f In 5 ms, the path and speed are: x (0.005) = a + bf x (0.005) = c + df in which we have respectively: a = m "(1 - exp); c = vxexp 0.005 1exp 1-exp O & = - - 2; d =; exp = e 5 rx oc The phase point x = xA + x (0, 0 05); * = * (0.005) must come on the tangent, which gives the following equation: g0 + gl (xA + a + bf) = c + df We can find the value f sought from

this linear equation.

  When * = c + df is then lower than vO, the final value should be defined from the equation v0 = = c + df. In the latter case, the point

phase comes on line v = v0.

  The intermediate voltage can then be calibrated as follows: U = fim + FCib R. This calculation can be implemented simply, because it is a simple linear function of vO (or

Usync) and coefficients.

  The intermediate tension is represented on figure 3 on the traj and, whereby several sequences of intermediate tension of different theoretical synchronous forces (200 N. 400 N. 800 N and 1200 N) are represented. In doing so, a gearbox effector is used without elasticity (only a basic stiffness of 1000 N / mm). The trip is counted from the end position in the direction of the synchronous position. The path to the synchronous position of approximately 12 mm is taken into account. When for example the path becomes for the first time greater than 9.7 mm (for example 10.2 mm) due to the theoretical force of 200 N. the intermediate voltage of 6 V is applied within 5 ms and the Usync synchronous voltage of approximately 2.2 V is

then set.

  In Figure 4 is shown the dispersion over time compared to a comparison of the maneuver

  simple and maneuver with an intermediate tension.

  In particular, the dispersion over time is indicated until the end of the synchronization for the improved maneuver with the intermediate voltage. The dispersion of the force when operating with the intermediate tension is approximately two times less than that

  when using the simple maneuver.

  For the synchronization maneuver according to the invention, a simple model of the effector is taken into account to simulate possible synchronization maneuvers. This model is shown schematically in Figure 5. After reaching the synchronous position, the following equations can be indicated for the model: MAlidorx + FElasât (x) (1 + KReib) = FE-MotorFRe with elasticity M "rx + cx ( 1 + KReib) = FEMotor FReibsans elasticity OR MAktor = JE-Motori2rgesarrÉ F = kU J; X iges iRa = 0,3Q; k 02NA; This results in a motor inertia of 0.52e-5kgm2- for the lighter engine This corresponds to 1/5 of the inertia of otherwise common heavy engines. For the total reduction of 2500 rad / m, the mass of the equivalent effector amounts to 32.5 kg. Thanks to Kreib = 0.4 , the friction of the worm gearbox due to the force is taken into account. For the Freib friction independent of the force, 120 N is fixed in advance.

  The claims submitted with the application are

  formulation proposals without prejudice to the achievement of more in-depth protection. The applicant reserves the right to issue other

  claims for combinations of features

  disclosed to date only in description

and / or in the drawings.

  The return references used in the sub-

  claims refer to the embodiment

  additional to the subject-matter of the main claim by the features of the respective sub-claim; they should not be understood as a renouncement of obtaining independent object protection for combinations of characteristics of the

  sub-claims which are the subject of references in

return.

  Since the subject-matter of the sub-claims

  may, from the point of view of the state of the art, form on the priority day of own and independent inventions, the applicant reserves the right to

  be the subject of independent claims or

  division statements. They may also also contain independent inventions which

  have a form independent of the objects of the

previous claims

  The exemplary embodiments are not to be understood as limitations of the invention. On the contrary, within the framework of the present presentation, several amendments and modifications are possible, in particular the variants, elements and combinations and / or materials which may emerge from the text for the skilled person with a view to the solution for achieving the objective thanks for example to the combination or variation of the characteristics and / or elements or stages of isolated processes contained in the drawings or described in the

  general description or embodiments as well

  as in the claims and which by the combination of

  characteristics, lead to a new object or to new process steps and / or to sequences of process steps, also insofar as they relate

  manufacturing, control or working processes.

Claims (10)

  1. Method for performing synchronization for a gearbox, in particular for an automated gearbox, in which the electric motor of a gearbox effector is controlled in order to apply the synchronous force, characterized in that at least one synchronous voltage (Usync) adjusted to the synchronous force is applied to the electric motor. 2. Method according to claim 1, characterized in that, as a synchronous voltage (USync), a value is used which is located below the voltage which is   necessary to apply the synchronous force.   3. Method according to claim 1 or 2, characterized in that the synchronous voltage (Usync) is applied at a predetermined time before or after the   synchronization point is reached.   4. Method according to any one of the claims   previous, characterized in that the synchronous tension (Usync) is adjusted so that when arriving in synchronous pos it ion with a gear is st at ional of the gearbox effector corresponding to the synchronous tension (USync), the necessary synchronous force is precisely achieved.   5. Method according to claim 4, characterized in that after the end of synchronization, the synchronous voltage (Usync) is maintained for a predetermined time interval, to allow recognition of unlocking. 6. Method according to claim 5, characterized in that then, the applied voltage (U) is maintained at a value of about 12 V until the gearbox effector stops without tension in the end position.   7. Method according to any one of the claims   previous, characterized in that a calculated intermediate voltage (Uzw) is applied before   the application of synchronous voltage (Usync).   8. Method according to claim 7, characterized in that the intermediate voltage (Uzw) is calculated in   the space of a predetermined interruption time.   9. Method according to claim 7 or 8, characterized in that the intermediate tension (Uzw) is calculated by the following equation: Uzw = Ra 10. Gearbox effector intended for the execution of synchronization for a gearbox, in particular for an automated gearbox, with at least one electric motor, in particular for the execution of the method according to one of the   Claims 1 to 9, characterized in that the motor   electric can be controlled at least by a voltage