JP2000515983A - Method and apparatus for control of a coupling clutch - Google Patents

Abstract

(57) [Summary] Method and apparatus for control of articulated clutch

Description

DETAILED DESCRIPTION OF THE INVENTION                  Method and apparatus for control of a coupling clutch   The present invention relates to a method and a device for controlling an on-coming clutch, for example an actuator For example, the drive train of the vehicle between the drive motor and the transmission Distance in the movement transmission from the actuator provided during The present invention relates to a method and an apparatus for zero adjustment of a displacement amount.   Automated coupling clutches have recently become increasingly important. In vehicles, Automated latching can achieve significant riding and driving comfort, while at the same time Improved fuel economy is also possible, because of the simplified switching This is because traveling at the longest possible gear ratio occurs relatively frequently. In addition, Automating the coupling clutch is a prerequisite for the transmission, which results in Cost-effective and better than conventional automatic transmissions that operate with planetary gear units An automatic transmission that operates with high efficiency is obtained.   Automation of the coupling clutch using an actuator, for example an electric motor, A precise knowledge of the respective operating position of the clutch is assumed. For this, acti The displacement measurement in the movement transmission from the neutor to the coupling clutch is performed. The said Displacement measurement is naturally The tolerances are those which arise during the operation of the coupling clutch, or Is a direct error, such as occurs during pulse counting of an incremental sensor. With difference error. Therefore, at least a predetermined operating position is detected and the predetermined operating position is detected. Position is used as a reference value for measuring the distance displacement, i.e., the distance at a predetermined operating position. It is preferable to adjust the separation amount signal to zero or another reference value.   Connection with incremental distance displacement measurement known from DE 44 33 825 A1 Clutch factors or coupling factors are known, and here, In order to compensate for possible counting error errors, the coupling clutch factor or coupling Fixed stoppers at both ends of the coupling coefficient adjustment setting area are used.   Even if the end stop concerned is precisely known, the coupling clutch wear, especially the coupling The problem remains that clutch cover plate wear is not detected directly, This may result in loss of ride comfort and comfort when the coupling clutch is operated. As well In addition, it is impossible to detect a temperature-dependent change in the position of the disc-shaped spring piece.   An object underlying the present invention is that the automatic operation of the connection clutch is opened. Or closed loop control accuracy and, consequently, the desired comfortable coupling clutch operation. To provide a method and an apparatus for implementing the method is there.   The part related to the method in the subject of the present invention is the configuration of claim 1 or 2. Resolved by requirements. Therefore, according to the present invention, the engagement clutch of the connecting clutch is The chi point serves as a reference point for the zero adjustment compensation of the distance displacement measurement. The connecting club Accurate knowledge of the clutch engagement points of the clutch All other reference corner data specific to latch operation, e.g. Distance between the engagement clutch point and the clutch until the disengagement clutch is completely released. Accurately consider strokes up to the trokes and fully closed coupling clutch Is Rukoto. This means that the reference corner data is Relative to the clutch point, determine it, and use the electronic control unit to This is because it can be stored uniquely.   Engagement clutch point, i.e. where the coupling clutch transmits a predetermined torque There are a number of possibilities for identifying points that are so close. For example, the characteristic map stored in the electronic control unit is used for the charge switching-control mechanism. Of the speed of the drive motor operating under a given load moment, depending on the position It may include characteristic relationships. The predetermined load moment is generated when the engagement clutch Corresponds to the moment transmitted at the point. Furthermore, the present invention relates to the prior application DE 401 1850, DE 4426260 and DE196522 44, the contents of which clearly belong to the disclosure of the present invention.   The on-coming clutch point can be determined as follows: And the torque transmitted by the drive system line is detected using the torque sensor. It is done. According to other techniques for identification of the on-coming clutch point, Thus, the engine obtains the moment supported by the engine support section.   The part of the subject of the present invention relating to the device invention is solved by the features of claim 5. It is.   Claims 6 to 9 relate to advantageous developments of the device according to the invention.   The invention is applicable to all forms of automated interlocking clutch actuation and applies to vehicles. As well as irrelevant applications, the transmission is automatically activated using actuators. It is also applicable to applications related to such vehicles.   The present invention provides for the input of the position and / or velocity of an element, for example, an actuator. It also relates to a method and an apparatus for identifying error errors in the case of a incremental measurement. The present invention Also creates a means for handling such error errors.   Incremental measurement system, for example, incremental distance displacement measurement system Identify sensor error errors to allow for otherwise erroneous position and / or speed Measurement and determination can be avoided. High precision systems, for example With electromechanical actuators in electro-mechanical, automated transmissions (ASG) In the case of the precision system concerned, such as in the case of the Such erroneous positioning of the transmission change-over member which determines?   The problem underlying the present invention is that any possible sensor error errors Method for achieving an accurate identification of, and thus an accurate position and / or velocity measurement, and It is to provide a device.   The above object is attained by the means described in claim 10 or the constituent features of claim 31. Is resolved.   Therefore, the parameter generated by the sensor when identifying the error error according to the present invention. The meter sequence undergoes a correlation check. Where the physically occurring parameters The sequences are checked for similarity. Proper sensor signal In the case, the signal has a substantially similar characteristic course, and In other cases, it is short with respect to their mutual phase position and their respective pulse widths. Receive time deviation. Therefore, the above correlation check determines whether the sensor signal is appropriate or not. And a sufficiently informed evaluation can be achieved.   Alternatively, and advantageously additionally, to the correlation check, a validation check Performed, the validation checks form estimates for the parameters to be measured. Is done. The expected value should be more or less The estimated value, which is represented, is compared with the actual value. Therefore, measurement using the reference value A determination of the result is performed. For relatively large deviations between the estimate and the measurement result This gives a clear indication of the occurrence of sensor error errors.   Therefore, according to the present invention, a sensor error error can be detected with high accuracy, and as a result, The operating element, the position of the component and / or the Alternatively, consideration may be given to not being able to identify a speed error. Error error Differentiated sensor signals can be replaced by alternative values obtained in other ways, and as a result Despite the sensor error error, sufficiently accurate position and speed measurement is possible. You.   Advantageous embodiments of the invention are set out in the subclaims.   Next, the present invention will be described with reference to schematic diagrams, and the details will be described below.   FIG. 1 shows a drive line of a vehicle having an automatic coupling clutch;   FIG. 2 is a view for explaining details of the operation of the connection clutch of FIG. 1;   3 and 4 show characteristic diagrams of two examples of a conventional coupling clutch,   FIG. 5 shows an engine characteristic map.   FIG. 6 is a diagram for explaining an engagement clutch point identification operation. Show the flowchart,   FIG. 7 is a schematic diagram of an embodiment of a transmitter for generating a sensor signal;   FIG. 8 shows the exc of the pulse signal and both sensor signals transmitted by the transmitter of FIG. FIG. 5 is a waveform diagram of a pulse signal obtained by combining the positive and negative signals.   FIG. 9 is a waveform diagram showing various forms of the sensor error error.   FIG. 10 is a schematic circuit diagram of a correlation check circuit;   FIG. 11 is a circuit schematic of a further embodiment of the correlation check circuit;   FIG. 12 is a circuit schematic diagram of an embodiment with a correlation check and a validity check.   As shown in FIG. 1, the drive engine 2 of the vehicle is connected via a coupling clutch 4 which can be automatically operated. The transmission 6 is connected to the rear shaft 12 via the cardan shaft 8. The differential 10 is driven. Input / output input Electronic control having interface 16, microprocessor 18, and memory 20 An apparatus 14 is provided.   As sensors for sending signals to the control device 14, a speed sensor 22, a torque sensor 24, an incremental sensor 26, a fresh charge flow sensor 30, and A temperature sensor 32 is provided. Fresh charge flow sensor Fuel-air mixture supplied to Seki Detects the flow of aiki.   How the transmission 6 is operated is not shown. Transmission 6 automatically When activated, additional sensors are provided in the transmission. The transmission is manually When activated, detection of the position of the transmission and detection of operation of the shift lever by the driver For this purpose, additional sensors can be provided. A further input of the control device 14 is the accelerator pedal. It is connected to the dull 34. The signal is sent to the engine control or other electronic circuit unit. It can also be transmitted via a data bus such as CAN-Bus.   According to the algorithm stored in the control device 14, the sensor Depending on the input signal supplied, the coupling clutch configured as motor 36 And the throttle valve 38 of the drive engine 2 are controlled. Similarly, the agency Other actuators for actuation of the torque operating device are possible.   FIG. 2 illustrates, in some detail, one embodiment of a coupling clutch controlled by a drive engine. The coupling clutch is automatically operated by an operating device and is controlled by a control unit. Is controlled.   An electric motor 36 is housed in the casing 40, and the electric motor 36 is The worm wheel is connected via a worm 42 which is connected to the moving shaft so as to be non-rotatable. To drive the rule 44. This worm wheel is connected to the linear Connected to the moving component 48 The driving member is connected to the release lever 50 of the connecting clutch 4. . The rotation angle of the electric motor and / or the worm is determined by using the incremental sensor 26. The output line 52 of the incremental sensor 26 has one angle each. One pulse is supplied to the controller 14 during the rotation for each increment. Therefore , The increment count through the transmission ratio of the worm gear and the crank 46. An unambiguous relationship is established between the movement displacement of the component member 48 and the connection clutch 4 A unique relationship holds for a given kinematic relationship of a change in the operating position of. Likewise Sensor for detecting the state of the clutch, connecting the increment distance displacement amount sensor Can be used as This sensor is a tripping system, i.e., like a tripping bearing. It can be arranged between the tripping system and a motor for driving the actuation movement.   The control unit 14 performs sensor adjustment compensation in the presence of the on-coming clutch point. And storing the adjusted and compensated sensor value in the memory of the control unit. You.   The worm wheel 44 is provided with a stopper pin 54. The pin 54 cooperates with a casing fixing stopper (not shown) to The rotational movement of the coupling clutch 4, where the coupling clutch 4 Restrict the rotation to be activated in the area. Electric motor 36 and worm gear 42, 44 and 46 receive little load from the operating force of the coupling clutch Therefore, the spring accumulator 56 cooperates with the component 48 that moves in the longitudinal direction.   FIG. 3 shows, for example, a so-called self-adjusting clutch (SAC). uch), for example as described in German patent application P4239289.6 The characteristic relationship of a simple coupling clutch is shown. Can be transmitted by the coupling clutch on the vertical axis The moment M and the working distance displacement W are plotted on the horizontal axis. . The hatched outer surface corresponds to the stopper on the actuator, The working distance displacement amount W is, for example, the distance displacement amount of the component member 48 that linearly moves. You. As can be seen, the coupling clutch transmits the maximum moment in the stationary state. You. In the stationary state, for example, the stop pin 54 has one of its stoppers. One abuts or is spaced very little therefrom. Component After a predetermined distance displacement of the member 48, the pressing force at the position A acting inside the coupling clutch is Begins to drop, and upon further movement of the component 48, eventually the engagement clutch Reach point G. This engagement clutch point is defined as follows: That is, it is defined by the fact that the coupling clutch can transmit a predetermined moment Mg. Is done. Upon further actuation, the coupling clutch is disengaged, disengaged, and Can no longer transmit torque, and consequently reaches the separation point T. Reach. Component 48 is moved further, but reaches point 0 of full release of the coupling clutch. I do.   The quality of the open or closed loop control of the coupling clutch, i.e. Suitability depends crucially on knowledge of the engagement clutch point G, and That is, reference data important for control relative to the on-coming clutch point, such as For example, the distance a between the separation point and the engagement clutch point, Distance A between the point A and the engagement clutch point, and Reference data such as the distance c between the latch point and the engagement clutch point can be obtained. Because. With the knowledge of this data, the clutch is comfortable under all operating conditions You can program an algorithm to ensure connectivity. The distance intervals a, b, c is specific to the coupling clutch, and is related to wear of the friction disk of the coupling clutch. It is kept relatively constant with respect to the engagement clutch point G. Connection clutch M (W ) Is stored in the memory, a certain point, for example, If the engagement clutch point is known, the characteristic curve can be uniquely defined.   Therefore, for example, the predetermined value of the counter assigned to the incremental sensor Accurate knowledge of the absolute position of the engagement clutch point G based on the counter state of Crucial prerequisite for reliable and well-defined operation of the active coupling clutch is there. How the component The position of the engaging clutch point of the material 48 is a reference value for measuring the distance displacement. For example, a base for distance displacement measurement such as incremental distance displacement measurement. Used by the incremental sensor 40 as a reference and constantly updated Details on how to obtain it will be described below.   FIG. 4 is a view corresponding to FIG. 3, in which the coupling clutch is pressed and closed. This is shown in FIG. Reference numerals are functionally equivalent to those of FIG. In this case, the point A of the maximum transmitted torque used during running operation is naturally Has a slight spacing from the relative adjustment area limit (right hatching).   Relative transmission between the adjustment area limit indicated by hatching and the engagement clutch point G The relationship varies with the wear, thermal elongation or centrifugal force of the coupling clutch cover disc. The resulting limit is advantageously detected directly using the stopper pin 54, or In the new state of the coupling clutch, after the initial setting, the engagement clutch point G It can be calculated from other shifts or otherwise identified. Adjustment area limit Is identified, the actuator is shut off, so that said actuator: Protected from overload and the coupling clutch is protected from damage.   According to FIGS. 5 and 6, the engagement clutch point identification with distance displacement measurement adjustment matching is performed. Another will be described.   FIG. 5 shows an engine characteristic curve. The flow axis is on the vertical axis. The charge amount F measured by the sensor 30 is shown. The horizontal axis is The rotation speed n is detected by the sensor 28. Curves are used for various functions of the drive engine. The relationship between the rotation speed and the charge amount is schematically shown with respect to the dynamic temperatures T1 to T5. In each case under a predetermined load moment, i.e. Required at the touch point. Therefore, FIG. 5 shows a driving machine having the coupling clutch 4. 5 shows the “engagement clutch point-torque-characteristic curve” of Seki.   In FIG. 6, the following is assumed, that is, when the connecting clutch 4 is in the starting process. Is completely heard, that is, it is located at point 0 and one gear is Are engaged and, at stage 100, the command "coupled clutch" Is closed, "and then the electric motor 38 is started and the component 48 is connected. It is assumed that the latch 4 moves in the closing direction. 5 whether or not the characteristic curve point has been reached, i.e., at each actuation of the accelerator pedal Or the engine speed under the respective feed rate F and the respective engine temperature is shown in FIG. Is constantly detected as corresponding to the values stored in the characteristic map of the. this thing Occurs, it is assessed as reaching the on-coming clutch point and The state of the counter assigned to the mental sensor 26 reached by the control device 14 State is stored in the memory 20 as the updated reference value. It is. At the same time, in step 106, the coupling clutch operation program is started. The connection clutch operation program is executed each time the engagement clutch point G is It starts when it arrives and responds to the respective requirements (position of the accelerator pedal 34, etc.) To ensure comfortable operation of the coupling clutch.   In a similar manner, when the engagement clutch point G is reached, the reference value is adjusted each time. Compensation, whereby the distance displacement measurement is brought to a predetermined reference value in each case, Accurate open or closed loop control of the operating state of the coupling clutch using distance displacement measurement it can.   Needless to say, there are many methods for determining the on-coming clutch point. , The torque sensor 24 reaches a predetermined torque-which naturally depends on the input gear A predetermined engagement clutch point is determined by the By measuring the supporting moment exerted on its bearing by the Find a point.   Next, in order to clarify the present invention, an incremental distance displacement measurement sequence will be described. The sensor section and the output signal sent by the sensor section will be described.   FIG. 7 shows a sensor system of an incremental distance displacement measuring system having a control magnet 201. The control magnet 201 has a plurality of magnetic pole teeth and is not shown. Attached to the driven shaft of an electric motor or The motor is connected as follows, that is, the rotation of the driven shaft It is connected so as to rotate. Electric motor is an actuator for automated transmission Used for linear movement of the switching member to form the gearbox and to set the transmission position. And the switching member is adjusted in accordance with the gear position selection commanded by the driver of the vehicle. Something to be done. The peripheral circuit of the control magnet 201 has two or more sensors, preferably Are provided with Hall sensors 202, 203, and the Hall sensors 202, 2 03 is an output signal U each time the vehicle passes the magnetic pole._H1, U_H2Cause. Based on the displaced arrangement of the sensors 202, 203, generated by said sensors Pulse signal U_H1, U_H2Are also out of phase. This is clear from FIG. .   Two pulse sequences U_H1, U_H2From the respective phase relationships, the control magnet 20 1, the rotation direction of the electric motor that drives the control magnet 201, Thus, the position and / or speed of the element to be controlled can be determined. Insight Pulses (increments) are added according to the polarity according to the different rotation directions. This makes it possible to obtain the respective position of the element to be monitored or controlled. Can be Furthermore, from the number of pulses per unit time or using a frequency counter By detecting the period of the pulse period, the following pulse signal frequency can be obtained. The number of rotations of the electric motor Elements that are uniquely related or driven by an electric motor (adjustment operation elements) The frequency of the pulse signal having a unique relationship with the speed of the child signal is obtained.   To increase the position resolution, both pulse sequences U_H1, U_H2Is exclusive 8 or as a result, the pulse signal U shown in the lower part of FIG._p Is the pulse signal U_H1And U_H2, And thus twice the side transition line Having a part. The position resolution is the pulse signal U_pCan be doubled when evaluating.   Furthermore, a two edge evaluation can be provided for the re-doubling of the trigger, said two edge evaluation being provided. In the value, the execution processing of the interrupt routine is performed by the pulse signal U for position detection._p Is called for each positive and negative side edge of.   Advantageously, an additional reference position measurement is provided, by means of which an absolute The same criteria can be formed because incremental distance displacement measurement This is because the system can simply detect a relative change in distance displacement.   First, using FIG. 9, the incremental distance displacement measurement using the Hall sensor is performed. It shows the most important error possibility in certain cases.   In all FIGS. 9 a) to 9 d), the upper pulse train in each case has one hole. It represents the output signal of the sensor, whereas the signal course shown below it represents the other Represents the output signal of the sensor.   FIG. 9a) shows the case of a complete failure of one of the holes 202, 203, As a result, only one of the two sensors produces a pulse signal, whereas The signal of the other Hall sensor takes the value 0 or 1 constantly.   FIG. 9b) shows a case in which both hall sensors 202 and 203 are faulty. In this case In this case, both sensors send out constant output pulses on both signal lines, and this constant output The force levels can both be located at zero or take a value different from zero.   FIG. 9c) shows the case where an additional noise pulse is superimposed, Noise can be caused, for example, by electromagnetic beams. The noise pulse (peak ) Misleads additional sensor pulses, or partially or Can be completely erased. The noise pulse is basically distinguished from the true sensor pulse I can't get it. The effect of the relevant noise pulse on both Hall sensors is generally Due to the different strengths due to the displacement, the sensor signal is also obviously affected differently. I can. As shown by the upper curve row in FIG. 9c), the output signal of one Hall sensor Is substantially free of noise, but the lower curve in FIG. Indicates that the detected sensor signal has been significantly misleading by the noise pulse.   FIG. 9d) shows the control magnet 201 and therefore the monitoring Shows the vibration of an element or electromechanical actuator around a resting steady state You. Due to such vibration, one sensor signal (upper curve line) depends on vibration A pulse sequence with different pulse frequencies, whereas the other sensor Has a constant level. In the course of the exercise, This results in an alternating direction of movement, which results in an alternating direction signal. Increments or adds according to the polarity of the pulse according to the direction signal Therefore, the signal pattern that may occur in the event of vibrations is 9a), but the signal pattern is a new control of the driver. , I.e., preferably in the case of a new control of the electromechanical drive Run, because both sensors produce the same pattern sequence It is.   Generation of pulse signals sent from sensors 202 and 203 before the original signal evaluation Is performed. The pulse signal is TP for suppressing noise caused by electromagnetic radiation. F-filtered and denoised as is known in the art. this Sets the upper limit cutoff frequency for the pulse sequence. Alternative selective Defines the minimum allowable pulse duration, thereby having a short pulse duration It is also possible not to evaluate the pulse. This allows for individual pulse-to-pulse or Noise emission is reliably suppressed in the region of the rising or falling pulse side edge. The preprocessing can be performed using separate elements or at the input connection of the signal evaluation stage. Can be applied. In some cases, the pre-processing can be stopped.   The pulse signal, which may be preprocessed in some cases, performs processing to identify sensor error errors. Will be applied. The processing includes a correlation check and / or a validity check. Next Instead, the correlation check will be described in more detail.   The correlation check is a logic process in which both pulse signal sequences are detected. The deviation of the cans is identified and signaled to a higher-level control. Detected unacceptable The signalization of the deviation is, for example, the combination of the exclusive or of the two signals. The case is important for doubling the pulse frequency. That is, one sensor signal In case of abnormal disqualification, the output formed by the exclusive or combining means The pulse frequency of the signal is halved, and this halving is used for position and velocity detection. Especially in the context of interrupt service routines for localization-considered and compensated Because it must be done.   The correlation check is based on the following: two pulse sequences U_H1, U_H2Usually operate substantially synchronously, with a small number of pulses per time unit. It is very different under the same rotation direction Be based on that. In the case of correlation check, both pulse sequences U_H1, U_H2 Can be adjusted asynchronously, i.e. the number of pulses, in certain cases It is checked whether there is a difference by an amount exceeding the limit value n. Pulse sequence Are detected to differ by more than n alternating pulses, the error error signal A signal is generated, in other words, an error identification is set.   FIG. 10 shows an embodiment of the correlation check circuit, in which, for example, a pulse signal U_H1, U_H2Is a freely programmable circuit FPGA (field program) The correlation check circuit 204 in the form of a ramble gate array) Supplied. The logic circuit 204 connects the exclusive or of the input signals. The pulse signal U transmitted at the output terminal 206_PForm I do. Further, the logic circuit 204 shifts the phase relationship between the input pulse signals. The rotation direction alternation is identified from the_RRaw The rotation direction signal U_RIs only two for each direction of rotation Can take levels.   Further, the logic circuit 204 performs a correlation check, and depends on the check result. Signal U at output terminal 207_FehlerAnd this signal U_FehlerThe level is Switch when detecting a deviation that signals Thus, the presence of an error is signaled to the higher-level control unit. Pull it Subsequently, when it is detected that the sensor signal has reached the correlation state again, an error signal is output. The signal is reset. The signal evaluation is performed by counting in the logic circuit 204. This is done by a routine, in other words by appropriate programming. For example, two Input side pulse sequence U_H1, U_H2Lack of correlation between two-way cows This two-way counting function forms a pulse difference counter. Counts for each rising (or falling) side edge of one pulse signal Up and down on each rising (or falling) side edge of the other signal. Down. The count state of the two-way count function exceeds a predetermined limit If not, the error identification is set. Limits are fixedly set or adjusted. Can be adjusted.   The correlation check is continued even after the error identification setting. Check sea If the cans are again detected to be correlated, the error identification is automatically Reset. The reset should be performed, for example, in the following cases. That is, pulses that are alternately and successively consecutive in the proper system state of the two pulse sequences Predetermined number n of_TwoIt is good to perform the said reset when is detected. Number n_TwoIs n₁And so on Or it may be different. Counting of correlation reacquisition check The counter or count function is often performed using a counter or count function, Thus, a correlation counter is formed, or a properly alternating sequence of both pulse sequences. It counts the number of successive pulses. Correlation counters are: Reset in each case, ie two or more successive occurrences in the same signal Pulses appear and exist in time without pulses in other signals appearing between them. Each time it is reset. The count state is the limit value n_TwoCrossing, Ella -Identification is reset.   In the case of the configuration of FIG. 10, the logic for checking the correlation between the two input signals is as follows: In terms of hardware, within the frame of the logic circuit 204, that is, the output terminals 205 to 207 And is realized in the framework of an input circuit for a post-connected control device. Thus, the control device does not receive the load of the correlation check. However, the correlation check Checking can also take place in the control unit. In this case, the output side 2 07 can be omitted.   FIG. 11 shows the automatic recall of the error signal in the case of reacquisition of the correlated state. 3 shows details of an embodiment of a correlation check circuit with a set. Two-way counter 208 Is one of the pulse signals, eg, U, at its up-count input "Auf"._H1 And the other pulse signal, for example, U_H2It's downka The counter G1 joins the input side "Ab". Correlated pulses In the case of a sequence, the pulses appear alternately, resulting in the two-way counter 208 The count value constantly alternates between 0 and 1, in other words, the output of the counter output. Only the least significant bit LSB switches. All of the counter output relatively Higher weight bit stages maintain a permanently lower level state. Error failure occurred In this case, for example, the FF 209 outputs +/− 8 when the counter 208 counts up. To generate an error signal at its output.   Additional counter 210 for automatic reset of error identification after reacquisition of correlation The further counter 210 has a two-way counter. Connected to the bit stage LSB of the counter 208. Therefore, the counter 210 outputs The number of successive state transitions of the signal is counted on the input side LSB. Counter 21 The erase input CL of 0 is connected to the output bit 202 of the two-way counter 208. As a result, the counter 210 is cleared every time the following occurs: Is cleared each time the output bit 202 of the direction counter 208 switches from 0 to 1. You. As long as there is no correlation, the signal level of the output bit 202 of the two-way counter 208 is The bell repeatedly switches between 0 and 1, so that the counter 210 always Is also reset. The output signal is output only when the correlation between the two input pulse signals is reached again. Unit 1 (LSB) repeatedly switches its level, As a result, the counter 210 is counted and is not deleted again. Reset of FF209 The input side is a relatively high weight output bit, the output of the counter output side 210 Connected to bit 205, so that FF is reset 209 again, thus: The error signal is generated when a predetermined number of alternating pulses of the input pulse sequence are detected. Set to 0.   In the circuit of FIG. 11, the setting of the FF 209 is performed in spite of the correlation reacquired properly. Input side or the output side of the counter 208 connected to the erase terminal of the counter 210 The value "1" is permanently taken. Therefore, advantageously, the set input side and the erase terminal The edge-triggered input is used and the edge-triggered input is simply It responds only to the rising edge and does not respond to signals applied continuously. Alternatively, the two-way counter 208 can be reset synchronously.   Next, the validity check will be described in relatively detail. Here, the parameters to be measured For the data, an estimate is formed using the other measurements, and this estimate is measured. Is compared to the value If the deviation is within a given tolerance, you can base: That is, the measurement is correct, in other words the sensor signal is not noise, and therefore The measured value can be determined to be reliable. The means may include any parameters to be measured. Data, such as position, speed or speed. Next, the electromechanical An example in which a motor is used as a tutor will be described in detail. It should be obtained using a signal. The number of revolutions is, at the same time, the respective speed, It is also possible to determine the position of the element driven by the motor in each case. It represents unique information.   In order to form the estimated value, the motor rotation speed at the time of forming the current is calculated by checking the armature time constant. Armature current I_AArmature voltage U_AApproximation with known motor characteristics based on It can be calculated as follows. Where R_AIs the armature resistance (all parasitic resistances, for example, Resistance, current supply power and final stage internal resistance), and K is the engine constant. Φ represents the magnetic flux induced by the permanent magnet 201.   Based on ignoring armature time constants, and temperature effects and other parameter changes Dynamics, such as changes due to aging, the method is relatively accurate and Only estimates for the actual engine speed that can be used for validation You get it.   Alternative or alternative to the direct calculation of the estimate for the speed, or In addition, the speed Can be determined using an observer, which is tracked via armature current. The actuator model (noise amount observer) for this is simulated, This actuator model is simulated by the armature current. Observer The estimated value for the noise amount as the starting or output amount of the motor, that is, the motor speed An estimate for is obtained.   The armature current to be measured for detecting the rotational speed It can be measured with respect to direction. Advantageously, the armature current is a cost-effective technical realization In view of the means, it is measured in the earth path at the final stage of output. In the output stage, the armature The current can take only one current direction. Therefore, the armature current simply increases Only the magnitude is detected, which can be easily implemented in the art.   Advantageously, the correlation and validation checks are performed in combination, so that The sensor errors mentioned at the beginning can be reliably identified and can be dealt with accordingly . Therefore, an alternative compensation strategy can be generated for the identified sensor error. Wear.   Table 1 below shows the classification of sensor errors and the case to be taken in the case of an error. An alternative compensation strategy is shown.  As is evident from Table 1, the validity check makes the sensor signal substantially suitable. If it is clear that the direction signal and pulse signal are unchanged, It is. This means that even in the case of a correlation check, Signal is not identified, and the correlation check This is true even if it is identified. In this case, the signal noise is It is classified as a dynamic, fluctuating or one-sided superimposed noise pulse.   However, if a "signal error error" result occurs during the validity check, If the sensors pass and pass, it is assumed that there is a systematic error in both sensor signals. Of the element driven, determined and concluded, and in response by the drive The position is determined by integrating the rotational speed estimate. "Error in signal error" In this case, the sensor failure is estimated and concluded. Thus, a direction signal is formed from the speed estimate and the position and / or speed estimate is obtained. In the evaluation, it is taken into account that the pulse signal only has half the pulse frequency.   In the case of validation, error / error tolerance or fault tolerance is set. Defined, in other words, a tolerance between the estimated value and the actual measured value is allowed. Estimated The deviation between the measured value and the actually measured value is Only if the fault tolerance is greater than elsewhere does the validation check fail And it is concluded that the sensor signal has an error error.   Validation and possibly necessary misidentification The generation of a suitable alternative selection for the measured value Interrupt routine (HSI-interrupt = high speed inp out interrupt), wherein the interrupt is Triggered on each positive and / or negative signal edge of the applied input signal. Alternative selective In addition, a validity check and / or the generation of appropriate alternative supplementary values as necessary Control interrupts or control interrupt routines that activate the "wave" It can also be performed with-provided for position control. Excessive processor load The validity check function and the alternative replenishment value-generation function are advantageously used to avoid Provided within the rapto.   In the embodiment shown in FIG. 12, the control device 211 includes not only the logic circuit 204 but also High-speed input interrupt (interrupt routine or interrupt section) 212 (HS I interrupt) and a control interrupt routine 213 (control-interrupt). You. The high-speed input interrupt 212 outputs three output signals U of the logic circuit 204._R , U_PAnd F_korr(= U_Fehler) Is received and the position and the rotation speed are detected. The error error signal sent from the logic circuit 204 is output from the control interrupt 213. The control interrupt 213 includes a validity check and logic circuit. Depending on the state of the error error signal at 204, an appropriate replacement fill value (Table 1) is generated. You. The control interrupt is a high speed input value interrupt 212 for validity checking. From the rotation value n_MAnd the position signal x, and their values are formed internally. Compare with estimated value.   The control interrupt 213 also has a high speed input via the signal line “mode”. It is connected to the force value interrupt 212, and through this signal line "mode", When the high-speed input value interrupt 212 identifies a sensor failure abnormality, the corresponding state is notified. Is encoded. In particular, both pulse signals U_H1, U_H2Exclusive or binding of In the case of and the resulting frequency doubling, identification of sensor fault anomalies The signal "mode" at the time signals the following: the high speed input value Pulse signal U applied to the_PHas only half the frequency and therefore also Signal that it should be evaluated only in consideration of the halved frequency of. Alternatively, the position and speed detection can also be performed in the control interrupt 213 . In this case, with the high speed input value 212, the increment For the direction-dependent counter and the duration (counter state) between two pulse edges A decision is made. The evaluation of these quantities is based on quality considerations in the control interrupt 213. This is performed in consideration of whether or not there is an error error in the sensor signal. This fruit In an embodiment, the processor load of the control unit is a simplification of the high speed input value interrupt. Is reduced based on the service routine performed.   The invention can be used in electromechanical actuators in automated transmissions. Not only does one parameter generally have two or more pulsed phases Control device and sensor of any type to be determined by evaluation of the detected sensor signal It can also be applied to configurations. Advantageously, the incremental measuring method and the measuring device Incremental distance displacement measurement method and incremental distance displacement measurement device is there.   The claims according to the invention form a proposal for obtaining further patent protection. Departure Claims claim additional features that are disclosed solely in the specification. Can be done.   The dependent citation used in the sub-claims is a component of the husband and wife's sub-claims. Represents a further form of the main claim according to the present invention; Shall not be considered a waiver of independent claim protection of the sub-claim.   The subject of the sub-claim is any of the previously cited sub-claims Independent inventions may be made which include one non-dependent configuration.   The invention is also not limited to the embodiments described in the specification. Rather, numerous changes are made within the framework of the present invention. It can be modified and transformed. In particular, the following modifications, elements and combinations and And / or materials are also possible, ie, for example, in the description The features or elements described in the general description and the claims and included in the drawings Individual features or elements or method steps associated with the New, novel objects or new method steps Create a sequence of steps or method steps-that is, The relevant deformations, elements and combinations etc. Is also possible.

────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Andreas Rock             Germany D-77815 Bühl             ―Wimbuch Kolpingstrasse               twenty four (72) Inventor Armin Eshman             Germany D-53797 Romer             -Varscheid Varscheider             Strasse 27

Claims (1)

Claims 1. For zero adjustment of a distance displacement amount in a motion transmission from an actuator to a coupling clutch, for example, from an actuator to a clutch provided in a drive line of a vehicle between a drive motor and a transmission. The method according to claim 1, wherein an engagement clutch point of the coupling clutch is determined, and the engagement clutch point forms a reference point for zero adjustment of the distance displacement measurement. the method of. 2. Zero adjustment of the distance displacement measurement with an incremental sensor in the movement transmission from the actuator to the coupling clutch, for example, from the actuator to the clutch provided in the drive train line of the vehicle between the drive motor and the transmission. A method for controlling the on-coming clutch, wherein the on-coming clutch point of the on-coming clutch is determined and forms a reference point for zero adjustment of the distance displacement measurement. 3. The on-coming clutch point is determined by using a characteristic map stored in the memory of the electronic control unit, and the characteristic map includes a relationship between the number of revolutions of the driving engine depending on a fresh charge supply amount. 2. The method according to claim 1, wherein said method is performed. 4. The method according to claim 1, wherein the on-coming clutch point is determined and detected by using a torque sensor provided in a drive system line. 5. Driving engine, transmission, coupling clutch between driving engine and transmission, actuator for operation of coupling clutch, distance displacement measuring device for detecting operating position of coupling clutch, and control of actuator control A microprocessor controlled controller for updating the reference values for the distance displacement measuring device and the adjustment compensator for the storage of a predetermined operating position of the coupling clutch. An apparatus for performing the method according to claim 1 or 2, further comprising a device for identifying an engagement clutch point of the engagement clutch. For carrying out the method for. 6. The device for engagement clutch point identification of the coupling clutch includes a characteristic map stored in the memory of the control device, wherein the characteristic map indicates the operation of the drive engine at the engagement clutch point position of the coupling clutch. Claim 5, characterized in that, starting from the open engaged clutch, the reaching of the characteristic map point is evaluated as the reaching of the on-coming clutch point. The described device. 7. The device for on-coming clutch point identification has a torque sensor, which detects the torque transmitted via a shaft contained in the driveline, where the torque 7. The device according to claim 6, wherein the starting clutch is evaluated as an on-coming clutch point if the limit value is exceeded, starting from an open clutch. 8. The actuator according to claim 5, wherein the actuator is an electric motor, and the distance displacement measuring device has an incremental counter for detecting rotation of one shaft of the electric motor. An apparatus according to any one of the preceding claims. 9. The actuation transmission mechanism between the actuator and the coupling clutch has a stopper device for limiting the adjustment setting area of the coupling clutch. The described device. Ten. A method for identifying and possibly processing an error error in the case of an incremental measurement of the position and / or speed of an element, for example an actuator in a vehicle, wherein two sensors are connected to one element or to a transmitter connected thereto. Displaced along the movement path of the vessel and cause a phase-shifted pulse signal sequence upon movement of the element, which pulse signal sequence is evaluated by an evaluation circuit for position and / or velocity detection; The method for controlling an on-coming clutch, wherein the evaluation circuit performs a correlation check on the two pulse signal sequences and / or performs a validity check on the evaluation result. 11． 11. The method according to claim 10, wherein the evaluation circuit determines the mutual deviation of the two pulse signal sequences during the correlation check and generates an error error signal when the deviation exceeds a limit value. 12． 12. The method according to claim 10, wherein the evaluation circuit determines the difference between the number of pulses of the two pulse signal sequences and generates an error error signal if the difference exceeds a limit value. 13. The evaluation circuit has a two-way counter. The two-way counter counts pulses of one pulse signal sequence in the cup count direction, counts pulses of the other pulse signal sequence in the cup count direction, and performs a predetermined count. 13. The method according to claim 1, wherein an error error signal is generated when the value is reached or exceeds or falls short. 14. The evaluation circuit continues the correlation check even after the identification of the error error signal and, if the correlation is given for a predetermined duration or a predetermined number of pulses, an error error signaling the missing correlation. 14. The method according to claim 1, wherein the signal is reset. 15． Claims: A counter which counts depending on a constantly successive pulse state transition between two pulse signal sequences and resets the error error signal upon reaching a predetermined count state. The method of range 14. 16． The evaluation circuit has an input circuit, for example, a freely programmable logic circuit, to which two pulse signal sequences are added, wherein the logic circuit performs a correlation check. The method according to any one of claims 1 to 15, wherein: 17． Freely programmable logic circuit, for example, Parusu output signal formed by exclusive or binding of the two pulse signals sequence (U _p) and the rotation direction signal (U _R) as well as errors error in the case the correlation lack _17. The method according to claim 16, wherein a signal (U _Fehler ) is also generated. 18． 18. A method according to claim 1, further comprising the step of forming an estimate for the parameter to be detected and comparing the estimate with a measurement for the parameter detected by the evaluation circuit. The method according to any one of the preceding claims. 19. 19. The method according to claim 18, wherein the estimate is formed from the number of revolutions of a motor driving the element. 20. The method according to claim 19, wherein the motor speed of the motor is estimated using the armature voltage and the armature current. twenty one. 21. The method according to claim 1, wherein the noise parameter observer determines a drive parameter, for example, an armature current, thereby forming an estimate. twenty two. 22. The method according to claim 1, further comprising measuring an armature current of the motor in a final stage of generating the armature current, for example, in a ground path. twenty three. 23. The method according to claim 1, wherein the validity check and the position and / or speed detection, for example the rotational speed detection, are performed by an interrupt control of the control device. twenty four. The interrupt control unit has a high-speed input-interrupt control unit, and the high-speed input-interrupt control unit is activated at each positive and / or negative signal edge measurement. 24. The method of claim 23, wherein twenty five. The method according to claim 23 or 24, wherein the interrupt control unit is, for example, an interrupt control unit for controlling the position of the actuator. 26. 26. The method according to claim 1, wherein the sensor is a Hall sensor. 27. The two pulse signal sequences are subjected to an exclusive or combining process for forming a pulse signal having a double frequency. The described method. 28. If the plausibility check signals an error signal but the correlation check does not generate an error message, the position of the element is determined by integration of the estimated value, for example by integrating the motor speed estimate. 28. The method according to any one of claims 1 to 27, characterized by the features. 29. If not only the validity check but also the correlation check indicates an erroneous signal state, a direction signal for the movement direction of the element is obtained from an estimated value, for example, an estimated motor speed. 29. The method according to any one of up to 28. 30. A signal to be signaled is supplied to an evaluation stage for performing position and / or velocity detection, said signal being signal being such that the sequence formed by the exclusive plus or minus of the two interrupt sequences is merely a half pulse. 30. The method of claim 29, wherein said signal has a frequency. 31. In an apparatus for the identification and possibly processing of error errors in the detection of the position and / or velocity of an element, the system comprises an incremental measuring system having two sensors, wherein the two sensors have a phase-shifted pulse signal sequence. And an evaluation circuit for determining the position and / or velocity of the element from the pulse signal sequence, a correlation check stage for checking the correlation between the two pulse signal sequences, And / or a validation step for checking the validity of the measured value determined by comparing the measured value with an estimate formed for the measured parameter. 32. 32. The device according to claim 31, wherein the correlation check stage and / or the validity check stage are provided in a control device connected to the sensor. 33. 33. Apparatus according to claim 31 or 32, wherein the correlation check stage is provided in an input circuit, for example a freely programmable logic circuit. 34. A two-way counter is provided, such that one pulse signal sequence is provided at its up counter terminal and the other pulse signal sequence is provided at its down count terminal. 33. Apparatus according to claim 31 or claim 32, wherein the apparatus is configured. 35. A further counter, which counts the number of normal pulse state transitions between the two pulse signal sequences and, upon reaching a predetermined count value, an error error signal which signals a lack of correlation; 35. The device according to claim 34, wherein a reset is performed. 36. 32. The method according to claim 31, further comprising a high-speed input interrupt control unit, wherein the high-speed input-interrupt control unit is configured to perform position and / or speed detection, for example, rotation speed detection. 34. The apparatus according to any one of up to 33. 37. 37. Apparatus according to any one of claims 31 to 36, comprising an interrupt control for position control, said interrupt control forming a validation stage. 38. 38. The interrupt control of claim 36 and claim 37, wherein the interrupt controller is adapted to supply the high speed input-interrupt controller with an identification signal ("mode") if it fails the validity check. Equipment. 39. The method according to any of claims 31 to 38, characterized in that the validity check stage is arranged to generate an alternative value for the parameter or parameters measured if the validity check is ineligible. An apparatus according to any one of the preceding claims. 40. Apparatus according to any one of claims 31 to 39, wherein the evaluation circuit is a control device, for example a control device for controlling an automated transmission.