KR100199236B1 - Semi-clutch position learning method in clutch control device - Google Patents

Abstract

[purpose]

It is possible to accurately learn the anti-clutch position without being influenced by the load and to obtain smooth or rapid starting operation in the vehicle.

[Configuration]

When the clutch 3 is cut off after the feedback of the clutch position signal Vf to the donated operation signal Va is generated by the PID calculation unit 1-3 to generate the PID signal Vs with the delay and controllability of the system. The control signal Va, which changes from the inclined slope V _min to V _max , is given to the subtractor (1-2), and the point at which the sign of the difference between the PID signal Vs and the clutch position signal Vf changes (hatching point) is determined. The clutch stroke position L of this code change point is learned as the half clutch position LS.

Description

Half clutch position learning method in clutch control method

1 is a diagram showing the main parts of a clutch control device showing one embodiment of the present invention.

2 is a schematic configuration diagram of a clutch controlled by this clutch control device.

3 shows the conversion characteristics of the clutch stroke position L in accordance with the pressure P applied to the air cylinder of the clutch.

4 is a diagram showing a change waveform of the PID signal Vs and the clutch position signal Vf in accordance with the clutch operation signal Va applied when the clutch is cut.

5 is a diagram showing a change waveform of the PID signal Vs and the clutch position signal Vf when the clutch operation signal Va is given as a triangular wave.

6 is a time chart for explaining the conventional clutch control in oscillation.

* Explanation of symbols for main parts of the drawings

1: clutch control device 2: clutch lever

3: Clutch 1-1: Clutch Stroke Sensor

1-2: Subtractor 1-3: PID Operator (Servo Operator)

1-4: V-I Converter 1-5: Servo Valve

1-6: Air cylinder (actuator) 1-7: Comparator

[Industrial use]

The present invention relates to a half clutch position learning method in a clutch control method suitable for use in a vehicle.

[Prior art]

Background Art Conventionally, in a vehicle, the clutch is gradually started to connect at a predetermined engine speed, waits for the engine speed to drop, and is set at the half clutch position, and the clutch stroke is maintained to maintain the rotation speed at this half clutch position. Oscillation is performed while correcting the (half clutch position).

That is, when the change lever is changed from the neutral position N to the travel position D (point t1 shown in Fig. 6 (b)), the clutch is switched to the cut state from the connected state (Fig. 6 (c)). T2 point shown) and the switch to the cutting state of this clutch is detected, and a gear is switched from neutral to 2 speed (t2 point shown in FIG. 6 (d)). In addition, after the gear is switched from neutral to second speed, the clutch stroke proceeds to the connecting side by a certain amount a in anticipation of the loss and enters the standby state (t3 point shown in Fig. 6C).

Next, when the user presses Excel (t4 shown in Fig. 6 (e)), the engine starts to rise, and the engine speed reaches a predetermined value (t5 shown in Fig. 6 (a)). The clutch stroke starts to move intermittently by a certain amount b toward the connection side, and the half-clutch position is the point at which the engine speed starts to decrease (t6 shown in FIG. 6 (a)). Oscillation of the vehicle is performed while adjusting the clutch stroke to the cutting side / connection side to maintain the rotation speed, that is, correcting the half clutch position.

Thereby, the half clutch position which changes by wear of a clutch plate etc. is detected every time, and smooth oscillation can always be performed, performing fine adjustment of this half clutch position.

[Problems to Solve Invention]

However, according to this method, since the distance between the clutch plate and the flywheel in the low stage is separated by the wear of the clutch plate, the time from stepping on the accelerator to detecting the half clutch position (shown in FIG. 6). T1 hour) is long, there was a problem that the stutter occurs when the rash.

In addition, it is conceivable to learn the clutch stroke position at the point t6 shown in FIG. 6 (a) as the half clutch position, and to move quickly until immediately before the learned half clutch position, so that oscillation can be performed quickly. That is, the clutch stroke position at the point t6 detected when the clutch is changed from the clutch cutting side to the clutch connection side is learned as the half clutch position, and the next time the oscillation is started, the clutch is quickly moved until immediately before the learned clutch stroke position. It is also contemplated to shorten the detection time of the half clutch position. However, in this case, since the clutch stroke position at t6 varies depending on the load condition of the vehicle, the half clutch position learned this time is not necessarily the same as the next half clutch position. You can't get it.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and an object of the present invention is to accurately learn a semi-clutch position without being influenced by a load, and to achieve a smooth and quick starting operation in a vehicle. To provide a clutch position learning method.

[Means for solving the problem]

In order to achieve the above object, in the first invention, the clutch is cut from the connected state by applying pressure to the actuator of the clutch, and then the clutch is released from the cut state by reducing the pressure applied to the clutch. In the clutch control method in which the clutch control for starting the vehicle is performed by bringing it back into the connected state, the clutch stroke starts to change abruptly with respect to the pressure applied to the actuator of the clutch when the clutch reaches the cutting state from the connected state. The clutch stroke position was detected and it was made to learn as the said half clutch position at the time of making the said clutch stroke position into the connection position again from the said cutting position.

In addition, the second invention (invention according to claim 4) is a delay of the system while feeding back the clutch position signal corresponding to the actual clutch stroke position to the clutch structure code in accordance with the clutch operation signal supplied by the main controller. In the clutch control method of generating a servo control signal with controllability and controlling the clutch operation by the servo control signal, the anti-clutch position is learned when the clutch is switched from the disconnected state to the disconnected state. .

The third invention (invention according to claim 5) is based on the above-described clutch control method, based on the servo control signal or the servo control signal and the clutch position signal when the clutch is switched from the connected state to the disconnected state. This is to learn the clutch position.

Further, the fourth invention (invention according to claim 6) is, in the clutch control method described above, on the basis of the difference between the servo control signal and the clutch position signal at the time of switching from the clutch connected state to the disconnected state. The clutch stroke position at which the sign of the vehicle changes is learned as a half clutch position.

[Action]

Therefore, according to the present invention, in order to start the vehicle, the clutch first reaches a disconnected state in a connected state, but with respect to the pressure added to the actuator of the clutch during the connected state in the disconnected state. The clutch stroke position at which the clutch stroke starts to change rapidly is detected. The detected clutch stroke position is used as the anti-clutch position when starting the vehicle by bringing the vehicle into the connected state again in the cut state.

In the second invention, the half clutch position is learned when the clutch is switched from the connected state to the disconnected state.

In the third invention, the half clutch position is learned based on the servo control signal or on the basis of the servo control signal and the clutch position signal when the clutch is switched from the connected state to the disconnected state.

In the fourth invention, at the time of switching from the clutch connected state to the disconnected state, based on the difference between the servo control signal and the clutch position signal, the clutch stroke whose sign of the difference changes is learned as the half clutch position.

EXAMPLE

EMBODIMENT OF THE INVENTION Hereinafter, this invention is demonstrated in detail based on an Example. 1 is a diagram showing the main parts of a clutch control device showing one embodiment of the present invention.

In the figure, 1-1 is a clutch stroke sensor for detecting a clutch stroke position of the clutch 3 (see FIG. 2) based on the position of the clutch lever 2, and 1-2 is a main controller not shown. A subtractor which subtracts the clutch position signal (feedback signal: detection signal according to the clutch stroke position) Vf from the clutch operation signal Va to be supplied, and 1-3 represents a subtraction in the subtractor 1-2. PID arithmetic unit (servo arithmetic unit) which performs proportional, integral and derivative calculation on the result and outputs it as PID signal (servo control signal) Vs, 1-4 is a VI converter which converts PID signal Vs (voltage value) into current signal Is, 1-5 is a servo valve (front / hole proportional valve), 1-6 is an air cylinder (actuator), 1-7 is a comparator, and R1-R4 is a resistance, and the clutch control apparatus 1 is comprised by these. .

In this clutch control apparatus 1, the comparator 1-7 is provided with the PID signal (servo control signal) Vs by the PID calculating part (servo calculating part) 1-3 to the non-inverting input, and the inversion of the comparator 1-7. The clutch position signal Vf from the clutch stroke sensor 1-1 is applied to the input.

2 is a schematic configuration diagram of the clutch 3. In the figure, 3-1 is an input shaft (engine side), 3-2 is an output shaft (wheel side), 3-3 is a flywheel, 3-4 is a clutch plate, 3-5 is a pressure plate, and 3-6 is a Spring, 3-7 for release fork, 3-8 for release bearing, 3-9 for cover, 3-10 for clutch release bar.

FIG. 3 shows a change characteristic of the clutch stroke position L according to the pressure P applied to the actuator (air cylinder) of the clutch.

That is, in the case where the clutch 3 is in the connected state (L = 0), when the pressure P is applied, the clutch stroke position L changes when the pressure P reaches P1. That is, the clutch lever 2 is tilted in the direction A as shown in FIG. 2 (see FIG. 2) under the pressure P, and the release fork 3-7 is similarly moved by tilting the clutch lever 2, and this release is released. The release bearing 3-8 moves on the output shaft 3-2 in the A direction by the movement of the fork 3-7, and pushes the clutch release lever 3-10 to spring 3-6. The pressure plate 3-5 starts to move in the B direction on the clutch plate 3-4 in response to the force of. Then, when the pressure P reaches P2, after the pressure plate 3-5 completely falls from the clutch plate 3-4, the clutch stroke position L changes at a more steep inclination than that until then. When the pressure P becomes P3, the clutch 3 is cut | disconnected (L = _Lmax ).

In the cutting state L = L _max of the clutch 3, it is a gentle slope until the pressure P falls to P4, and it changes to a steep slope until it falls to P5 from P4, and changes the pressure ( When P) becomes 0, the connection state (L = 0) is reached. In this case, when the pressure P is near P5, the clutch plate 3-4 starts to contact the flywheel 3-3.

In the characteristic of FIG. 3, the characteristic I in the case of switching the clutch 3 from the connected state to the disconnected state, and the characteristic II in the case of switching from the cut state to the connected state, depend on the clutch stroke L. FIG. It can be seen that the value of the pressure P is different and has hysteresis. Further, when the clutch (3) is found to have a point (inflection point) PA at which the clutch stroke position L starts to change steeply in the characteristic (I) in the case of switching the clutch 3 from the connected state to the cut state, the clutch plate 3- It can be seen that the clutch stroke position (semi-clutch position) Ls at which 4) starts to fall off the flywheel 3-3 can be obtained.

This clutch stroke position Ls changes due to wear of the clutch plate 3-4. In this case, when cutting the clutch 3, the clutch stroke position L is monitored, and when the clutch stroke position L is found to be the point PA at which the steepness starts to change steeply, the anti-clutch position Ls is loaded. Can be obtained accurately without being affected by.

However, the characteristic shown in FIG. 3 is a characteristic when the pressure P is changed slowly, and generally, when cutting the clutch 3, since the pressure P is changed quickly, the inflection point PA by a delay element etc. ) Becomes unknown.

Thus, in this embodiment, as shown in FIG. 1, the PID operation unit (servo operation unit) 1-3 receives a delay of the system while feeding back the clutch position signal Vf to the clutch operation signal Va supplied from the main control unit. after that generates a PID signal (servo control signal) in consideration of the controllability of Vs, reduction gear (1-2), the clutch operation signal Va, which changes in a degree of the ramp V _min to V _max as in cutting the clutch 3 The PID signal (servo control signal) Vs and the clutch position signal Vf are compared by the comparator 1-7, and the sign of the difference between the PID signal (servo control signal) Vs and the clutch position signal Vf changes. The point (code change point) is found out, and the clutch stroke position L at this code change point is obtained as the half clutch position Ls.

That is, when the clutch operation signal Va is given (see waveform Va shown in FIG. 4) in cutting the clutch 3, the clutch position signal Vf (shown in FIG. 4) is applied to the clutch operation signal Va. As the waveform Vf is fed back, the PID calculating unit (servo calculating unit) 1-3 generates a PID signal (servo control signal) Vs (see waveform Vs shown in FIG. 4) that adds delay or controllability of the system. do. Here, in the PID signal (servo control signal) Vs, the bending point PA 'is generated corresponding to the inflection point PA shown in FIG. The clutch stroke position L at this bending point PA 'is the half clutch position Ls. However, it is difficult and time-consuming to find the bending point PA 'at the PID signal (servo control signal) Vs only from the PID signal (servo control signal). As can be seen from the waveform of FIG. 4, the clutch position signal Vf does not have a clear inflection point corresponding to the inflection point PA, and the half clutch position Ls cannot be obtained from the clutch position signal Vf alone.

Therefore, as a method of simply finding the bending point PA ', the difference between the PID signal (servo control signal) Vs and the clutch position signal Vf (see waveform Vc shown in FIG. 4) is taken, and Consider finding the point at which the sign changes (sign change point) PA. In order to realize this method, the PID signal (servo control signal) Vs and the clutch position signal Vf are given to the comparator 1-7, and the sign change is a point where the comparison output from the comparator 1-7 changes. The point PA was found out, and the clutch stroke position L at the obtained code change point PA was obtained as the half clutch position Ls. For reference, Fig. 5 shows changes in the PID signal (servo control signal) Vs and the clutch position signal Vf when the clutch operation signal Va is given as a triangular wave.

In this way, according to this embodiment, it is possible to easily and accurately learn the anti-clutch position Ls at the time of switching from the clutch connected state to the disconnected state without being influenced by the load. By quickly moving to Ls, it becomes possible to always obtain smooth and quick start-up operation in the vehicle.

In the present embodiment, when the clutch is cut off, the clutch operation signal Va that changes from a certain inclination V _min to V _max is given. However, in this case, the clutch operation signal Va rapidly increases from V _min to V _max . The change of the clutch operation signal Va may be sufficient, and the inclination angle is arbitrary. In this case, some time is required to change the clutch operation signal Va from V _min to V _max . However, since the oscillation does not start immediately when the clutch is cut off, no trouble occurs.

In the present embodiment, the anti-clutch position Ls is learned based on the difference between the PID signal (servo control signal) Vs and the clutch position signal Vf. The device calculates the inclination of the PID signal (servo control signal) Vs, calculates the inflection point PA 'from the inclination of the PID signal (servo control signal) Vs, and calculates this inflection point PA'. The clutch stroke position L may be learned as the half clutch position Ls.

In this embodiment, the comparator 1-7 is provided with a PID signal (servo control signal) Vs and a clutch position signal Vf to find the code change point PA. If so, the main controller may take the difference between the PID signal (servo control signal) Vs and the clutch position signal Vf to find the code change point PA.

In addition, if there is room in the main control apparatus, the operation in the subtractor 1-2 may be performed by the main controller. In this case, the clutch operation signal Va and the clutch position signal Vf are, of course, A / D converted by the main controller, and then the clutch position signal Vf is subtracted from the clutch operation signal Va.

In the present embodiment, the PID operation is performed on the result of the subtraction in the subtractor 1-2, but it goes without saying that it is not limited to the PID operation.

In addition, in this embodiment, although it applied to the spring type | mold clutch, it is possible to apply similarly to a diaphragm type | mold clutch.

[Effects of the Invention]

As is apparent from the above description, according to the present invention, in order to start the vehicle, the clutch first reaches the disconnected state in order to start the vehicle, which is applied to the actuator of the clutch while the connected state reaches the disconnected state. The clutch stroke position at which the clutch stroke starts to change abruptly with respect to the applied pressure is detected. The detected clutch stroke position is used as the anti-clutch position when starting the vehicle by bringing the clutch back into the connected state from the cut state. Therefore, since the anti-clutch position is detected, learned and used during the series of clutch control for starting the vehicle, it is possible to accurately detect the clutch stroke position that varies depending on the load state of the vehicle, and the smooth and quick starting operation is achieved. It becomes possible.

In the second invention, the anti-clutch position is learned when the clutch is switched from the connected state to the disconnected state, and in the third invention, the servo control signal or the servo control signal and the clutch position when the clutch is switched from the connected state to the disconnected state The anti-clutch position is learned based on the signal, and the clutch position can be accurately learned without being influenced by the load, and it is possible to always obtain smooth and quick starting operation in the vehicle.

In the fourth invention, at the time of switching from the clutch connected state to the disconnected state, on the basis of the difference between the servo control signal and the clutch position signal, the clutch stroke position at which the sign of the difference changes is learned as the half clutch position. In addition to the above effects, it is possible to simply learn the half clutch position.

Claims (6)

After the clutch is disconnected from the connected state by applying pressure to the actuator of the clutch, the vehicle is started again by reducing the pressure applied to the actuator of the clutch to bring the clutch back into the connected state from the cut state through the half clutch state. A clutch control method for causing clutch control to be carried out, the clutch stroke position of which a clutch stroke starts to change rapidly with respect to the pressure added to an actuator of a clutch when the clutch reaches a disconnected state from a connected state, and the clutch stroke is detected. A half clutch position learning method in a clutch control method characterized by learning as a half clutch position at the time of making a position into a connection position again from the said cutting position. The clutch operation signal according to claim 1, wherein the detection of the clutch stroke position at which the clutch stroke starts to change abruptly with respect to the pressure applied to the actuator of the clutch is changed with a constant inclination provided by the main controller, and the actual clutch. The clutch position learning method according to the clutch control method, characterized in that it is performed based on a clutch position signal corresponding to a stroke position and a servo control signal generated based on the clutch operation signal and the clutch position signal. The clutch control method according to claim 2, wherein the clutch stroke position at which the sign of the difference between the clutch position signal and the servo control signal changes is set to the clutch stroke position learned as the half clutch position. How to learn clutch position. In response to the clutch operation signal supplied by the main controller, a clutch position signal corresponding to the actual clutch stroke position is fed back to the clutch operation signal, thereby generating a servo control signal with delay and controllability of the system, and generating the servo control. A clutch control method for controlling the operation of a clutch by a signal, wherein the half clutch position learning method in the clutch control method is characterized in that the half clutch position is learned when the clutch is switched from the connected state to the cut state. . In response to the clutch operation signal provided by the main controller, a clutch position signal according to the actual clutch stroke position is fed back to the clutch operation signal, thereby generating a servo control signal with a delay and controllability of the system, and generating the servo control. A clutch control method for controlling the operation of a clutch by a signal, wherein the half clutch position is learned based on the servo control signal or the servo control signal and the clutch position signal when the clutch is switched from the connected state to the disconnected state. A half clutch position learning method in a clutch control method characterized by the above-mentioned. In response to the clutch operation signal provided by the main controller, a clutch position signal according to the actual clutch stroke position is fed back to the clutch operation signal, thereby generating a servo control signal with a delay and controllability of the system, and generating the servo control. In the clutch control method of controlling the operation of the clutch by a signal, the sign of the car changes on the basis of the difference between the servo control signal and the clutch position signal when the clutch is switched from the connected state to the disconnected state. A half clutch position learning method in a clutch control method, characterized by learning a clutch stroke position as a half clutch position.