KR102181303B1 - Eccentricity compensation method of gear actuator using moving average - Google Patents

Abstract

The present invention relates to a stroke eccentricity compensation method of a gear actuator using a moving average method, capable of compensating for an eccentricity compensation amount after calculating the amount by using a moving average line when eccentricity occurs to a stroke of a gear actuator. According to the present invention, the method includes the following steps of: a) collecting and monitoring shift strokes by each control step of a gear actuator; b) detecting a pattern error of a Hall sensor in accordance with the operation of a shift motor of the gear actuator; c) measuring a pattern error time of the Hall sensor included in the shift motor when the pattern error is detected; d) confirming the occurrence of eccentricity in a finger of the gear actuator by tracking variations of a moving average line by a moving average method on each control step of the gear actuator in accordance with the measured pattern error time; and e) calculating and compensating for the eccentricity compensation amount when subject to a preset eccentricity condition.

Description

Stroke eccentricity compensation method of gear actuator using moving average method {ECCENTRICITY COMPENSATION METHOD OF GEAR ACTUATOR USING MOVING AVERAGE}

The present invention relates to a gear actuator control method, and in particular, when eccentricity occurs for a stroke of a gear actuator, a moving average method to precisely control the shift of a DCT gear actuator by calculating and compensating the amount of eccentricity compensation using a moving average line is provided. It relates to a method for compensating the stroke eccentricity of the gear actuator used.

DCT (Double Clutch Transmission) is a type of AMT (Automated Manual Transmission) in which a clutch/gear shift actuator is installed in a manual transmission, and as the name suggests, the transmission has two clutches. If the odd-handed clutch is connected to the engine, the even-handed clutch is waiting and takes over the torque of the engine as the vehicle speed increases.

1 is a perspective view showing a typical seven-speed DCT gear actuator. Reference numeral 100 denotes an even-means shift motor, 200 denotes a shift mechanism unit, 300 an odd-means shift motor, 400 even-means shifting fingers, and 500 an odd-means shifting finger.

As shown, the shift motors 100 and 300 of the existing 7-speed DCT gear actuator use the BLDC method. BLDC motors can check the rotation angle using a Hall sensor. And in the case of a vehicle employing such a 7-speed DCT gear actuator, when the engine is turned on again after IG Off, the current position of the finger cannot be accurately determined due to the characteristics of the Hall sensor, so both ends of the shift stage are checked. Later, the process of finding the reference point was necessary.

However, such a conventional DCT gear actuator may cause unstable power supply, noise from the outside, or loss of the Hall sensor pattern due to a defective unit. At this time, if the Hall sensor pattern is lost, the reference point There is a problem in that a shifting eccentricity occurs, so that normal shifting is impossible and a fault code may occur.

Moreover, in order to perform precise shift control, all hardware tolerances satisfy the design value, but differences may occur due to cumulative tolerances and durability wear that occur during assembly.

Therefore, it was necessary to monitor the stroke of the gear actuator before entering a situation where shifting is impossible or equivalent, and to determine whether eccentricity occurs according to the monitoring result, and how to apply the correction range when eccentricity occurs.

Republic of Korea Patent Publication No. 10-2013-0066999 (June 21, 2013)

The present invention is to overcome the problems of the prior art described above, when the stroke eccentricity of the gear actuator occurs, the stroke eccentricity of the gear actuator using the moving average method to enable accurate shift control by compensating the eccentricity with the eccentricity correction amount based on the moving average method. The purpose is to provide a method of compensation.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems that are not mentioned will be clearly understood by those skilled in the art from the following description.

In order to achieve the above object, the present invention comprises the steps of: a) collecting and monitoring a shift stroke for each control step of a gear actuator; b) detecting a pattern error of a Hall sensor due to driving of the shift motor of the gear actuator; c) measuring a pattern error time of a Hall sensor provided in the shift motor when the pattern error is detected; d) checking the occurrence of eccentricity of the gear actuator finger by tracking the change of the moving average line by the moving average method for each control step of the gear actuator according to the measured pattern error time; And e) calculating and compensating the eccentricity compensation amount when the eccentricity condition is set. It provides a method for compensating the stroke eccentricity of a gear actuator using a moving average method.

Here, the eccentric condition refers to a case in which the flag for detecting the pattern error of the Hall sensor is turned on (flga on) and the direction of the moving average line does not match.

In addition, the eccentricity compensation amount is an eccentricity compensation amount calculated by the Δd * Factor equation to perform eccentricity compensation. Here, Δd is the difference between the stroke estimation value and the sensing position at the time point t2 using the slope x'and Δt(t2-t1), and the slope x'is the initial value of the control section of the moving average line x and the pattern error of the Hall sensor. It refers to the differential value for time taking into account the position value at the time when is found.

The eccentricity compensation is performed in the control operation section of the gear actuator.

And the moving average method is calculated by the following equation, m denotes a specific period, Zn denotes the most recent time point.

Other specific details of the present invention are included in the detailed description and drawings.

According to the method for compensating the stroke eccentricity of the gear actuator using the moving average method according to the present invention configured as described above, quality by minimizing the occurrence of the failure code before the occurrence of the failure code preventing the control of the gear actuator due to the pattern error of the Hall sensor is generated. There is an effect in that customer complaints can be reduced in terms of the enemy.

In addition, the consumption cost is expected to decrease when comparing the development cost and test cost related to control logic to the processing cost for customer claims in the field, and DCT products can be applied to more vehicles by reducing the phenomenon of shift impossibility. There is also an effect.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a perspective view showing a typical 7-speed DCT gear actuator
2 is a diagram showing a shift pattern of a 7-speed DCT gear actuator
3 is a diagram showing a shift section of a gear actuator
4 is a diagram showing steps for each shift stroke of a gear actuator
5 is a diagram showing the right eccentricity of a shift section of a gear actuator
6 is a view showing the left eccentricity of the shift section of the gear actuator
7 is a flow chart showing a method for compensating stroke eccentricity of a gear actuator using a moving average method according to the present invention
8 is a diagram explaining error detection of a Hall sensor pattern
9 is a graph when applying the stroke moving average method of the probe end position (Probe End Position)
10 is a graph showing a control operation section of a gear actuator

Advantages and features of the present invention, and a method of achieving them will become apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, only these embodiments are intended to complete the disclosure of the present invention, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully inform the scope of the present invention, and the present invention is only defined by the scope of the claims.

The terms used in the present specification are for describing exemplary embodiments and are not intended to limit the present invention. In this specification, the singular form also includes the plural form unless specifically stated in the phrase. As used in the specification, “comprises” and/or “comprising” do not exclude the presence or addition of one or more other elements other than the mentioned elements. Throughout the specification, the same reference numerals refer to the same elements, and “and/or” includes each and all combinations of one or more of the mentioned elements. Although “first”, “second”, and the like are used to describe various elements, it goes without saying that these elements are not limited by these terms. These terms are only used to distinguish one component from another component. Therefore, it goes without saying that the first component mentioned below may be the second component within the technical idea of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used as meanings that can be commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically.

Spatially relative terms "below", "beneath", "lower", "above", "upper", etc., as shown in the figure It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms including different directions of components during use or operation in addition to the directions shown in the drawings. For example, if a component shown in a drawing is turned over, a component described as "below" or "beneath" of another component will be placed "above" the other component. I can. Accordingly, the exemplary term “below” may include both directions below and above. Components may be oriented in other directions, and thus spatially relative terms may be interpreted according to orientation.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a diagram showing a shift pattern of a 7-speed DCT gear actuator.

As shown, the 7-speed DCT gear actuator is divided into standard odd means (1, 3, 5, 7 stages) and even means (2, 4, 6, R stages), and even means shifting fingers 400 and The odd-means shifting finger 500 is configured with a shift pattern in which each of the even means or the odd means is selected.

In addition, if the odd or even shift rails are separated based on the shift pattern shown in FIG. 2, as shown in FIG. 3.

3 is a diagram showing a shift section (Ideal) of a gear actuator. It is an ideal situation for one shift rail, and the reference point is shifted in both directions, and the ideal reference point in terms of hardware and software is “Cmm-(-Cmm). It should match with /2”. 3 shows a shift section when the gear actuator operates normally, and it can be seen that the shift is performed without eccentricity of the stroke in each of the shift sections determined as described above.

Then, after setting the reference point to 0 mm, force control and position control according to the shift stroke are performed as shown in FIG. 4 below. The control steps for each shift stroke of the gear actuator are'To Sync','Synchronize','To ingear', and'Probe End'.

However, as described above, when the BLCD motor is defective, external noise and the power supply is unstable, the gear actuator may lose the Hall sensor pattern, resulting in eccentricity of the gear actuator finger. The occurrence of such eccentricity is the same as when the shift section is eccentric by +α to the right or by -α to the left with respect to the reference point, and examples are shown in FIGS. 5 and 6. However, even if such an eccentricity occurs, the location where the eccentricity occurs is sometimes recognized as a reference point in software.

Therefore, as much as the Hall sensor's pattern error time, the stroke is eccentric in one direction by hardware, but the software determines that the finger is normally shifted, so even though the actual hardware state has reached the final target point, it is measured by software. It is determined that the stroke has not reached the target point, and a shift failure occurs. For example, due to eccentricity, the hardware reaches the C area and the software area A and does not move.

In addition, although eccentricity has occurred, there are cases where the error does not occur because it reaches the boundary between the A region and the B region. In other words, when shifting to the opposite position, the center stroke of the reference point is eccentric to one side because it is pushed more than the C area.In this case, the'-c+α' position becomes'End Position' by software, but the gear actuator force is controlled. It recognizes even'-c-α'.

However, even if eccentricity occurs in this way, feedback for eccentricity compensation is not performed. That is, since the stroke is not always constant, it is necessary to look at the amount of eccentricity compensation and the correction period. This is because there is a numerical eccentricity, but there are cases where the gear shifts normally. In addition, when considering only the final point of arrival, it is necessary to determine whether or not eccentricity has occurred before entering the in-gear, since there may be cases where the occurrence of eccentricity has already occurred after the shift has failed.

Accordingly, the present invention is to determine whether eccentricity has occurred and to check the amount of eccentricity correction to perform eccentricity compensation, and to this end, the stroke moving average method is applied for each control step. Here, the moving average method is a method of calculating a moving average for each period of time for time series data from the past to the present and predicting the next period by identifying their trends. How to convert it to. As the moving average method is applied to the present invention, it is possible to predict the future simply and easily, and when the number of data is large and a stable pattern is shown, the quality of the prediction can be improved.

The moving average method can be represented by Equation 1 below.

Here, m is a specific period and Zn is the most recent time point.

Next, referring to FIG. 7, a method of compensating for the occurrence of eccentricity using a moving average method as described above will be described.

For each shift rail of odd or even means, the gear actuator collects and monitors the shift stroke for each control step (s100). In addition, since the shift motor of the gear actuator can check the rotation angle using the Hall sensor, a pattern error of the Hall sensor can be detected according to the driving of the shift motor.

The pattern error of the Hall sensor is 110 -> 010 -> 011 -> 001 -> 101 or 101 -> 001 -> 011 -> 010-at the first 100 positions according to the rotation direction of the shift motor as shown in FIG. 8. > 110 The digital values change in order, but if these digital values do not appear sequentially or if there is a digital value of '000' or '111' that does not exist, it is determined that an error has occurred.

When the pattern error of the Hall sensor occurs (s102), the Hall pattern error time is measured (s104). The measurement of the error time depends on the performance of the controller and the sensor, but the length of the signal task of the controller and the sensor measuring it is controlled within 2 to 10 ms. A case in which the sequence does not match is considered as a starting point, and the time until the sequence is restored is measured.

Then, it is determined whether or not eccentricity has occurred. The occurrence of eccentricity is possible by confirming the occurrence of eccentricity of the moving average line (s106), which is referred to FIG. 9. Here, the occurrence of eccentricity corresponds to a case in which the pattern of the Hall sensor is lost due to disturbance as described above.

In the graph of FIG. 9, after continuously collecting stroke values for a specific shift control area, the number of samples n is changed to 5, 10, 15, 20 (n=5, 10, 15, 20), and the moving average method is applied. It is the result. Looking at this, you can see where the stroke value is large on the graph, and the moving average line also changes.

In addition, by looking at the change of the moving average line before the stroke value changes significantly, the result of the next stroke can be predicted. For example, it can be seen that the probability of stroke reduction and fluctuation is high when the entire moving average line begins to decrease in the same direction or when the moving average line of n = 5 changes more rapidly than the slope of the remaining moving average line. In addition, as the number of sample numbers n is smaller, the change of the moving average line will be more sensitive to the current next value, and the larger the change of the moving average line will be insensitive to the current next value. For example, when there are 100 data coming in periodically, comparing 5 moving average lines and 20 moving average lines, the smaller the number of n, the more sensitive the change in the moving average line is.

If eccentricity occurs in this way, it is determined that the eccentricity condition is satisfied (s108). Here, the eccentricity condition corresponds to a case in which the flag for detecting the pattern error of the Hall sensor is on (Hall Error Detection flga on) and the direction of the moving average line do not match, and eccentricity compensation is performed only when these conditions are satisfied. Is done. And the eccentricity compensation is performed in the control operation section of the gear actuator.

If the eccentricity condition is satisfied according to the determination result, the eccentricity compensation is performed based on the moving average line (s110), and will be described with reference to FIG. 10.

For eccentricity compensation, the end point t2 position of the pattern error by using the slope of x (meaning the moving average line for the stroke of the gear actuator) of the point t1 where the pattern error of the Hall sensor started in a specific control section (CD) as shown in FIG. Is hypothesized.

Here, assuming that no transient current flows, since current is supplied in the control operation region of the gear actuator, it can be determined that the physical position of the gear actuator finger due to the rotation of the motor will be higher than the sensing position of the gear actuator stroke.

Then, the number of samples of the slope of the moving average line is varied according to the control step. That is, the moving average line is set and changed according to the control step, and at this time, different moving average lines are applied according to the amount of stroke change.

Thereafter, when the pattern error of the Hall sensor returns to normal, the physical position and the sensing position move in accordance with each other, so the compensation for the sensing position D'is compensated using the compensation equation'Δd * Factor'. Here, the above factor applies the test result value. And the Δd refers to the difference between the stroke estimation value and the sensing position at the time point t2 using the slope x'and Δt(t2-t1), and the slope x'is the initial value of the control section of the moving average line x and the pattern error of the Hall sensor. It refers to the derivative of time, that is, the slope, taking into account the position value of the point at which is found.

When this correction method is described in a table, it is shown in [Table 1] below.

Accordingly, the sensing position D'in FIG. 10 is corrected to the target value D position.

On the other hand, in the above [Table 1], the correction factors Q, W, E, and R may be expressed as a percentage (%) such as 0, 0.1, 0.2, ~ 0.9, 1. This is a sensitivity to change, and the value actually operated in the logic may not need the correction factor in theory, but it cannot be 100% correct due to variables such as error and tolerance of the actual product. Is to decide.

As described above, the present invention collects shift stroke information for each control step of the gear actuator, and then determines whether eccentricity occurs using a moving average line according to a moving average method, and provides a compensation value by a series of compensation equations when eccentricity occurs. It can be seen that by correcting the position, precise shift control becomes possible.

Since the embodiments of the present invention described in the present specification and the configuration shown in the drawings relate to the most preferred embodiment of the present invention and do not cover all the technical ideas of the present invention, various equivalents capable of replacing them at the time of filing And it should be understood that there may be variations. Therefore, the present invention is not limited to the above-described embodiments, and anyone of ordinary skill in the technical field to which the present invention pertains without departing from the gist of the present invention claimed in the claims can implement various modifications. And such changes will be within the scope of the rights of the claims.

100: even means shift motor
200: shift mechanism unit
300: odd means shift motor
400: even speed finger
500: odd means shift finger

Claims (5)

a) collecting and monitoring the shift stroke for each control step of the gear actuator;
b) detecting a pattern error of a Hall sensor due to driving of the shift motor of the gear actuator;
c) measuring a pattern error time of a Hall sensor provided in the shift motor when the pattern error is detected;
d) checking the occurrence of eccentricity of the gear actuator finger by tracking the change of the moving average line by the moving average method for each control step of the gear actuator according to the measured pattern error time; And
e) If it corresponds to the preset eccentricity condition, it includes the step of calculating and compensating the eccentricity compensation amount,
The eccentric condition is,
A method of compensating for stroke eccentricity of a gear actuator using a moving average method, characterized in that a flag for detecting a pattern error of a Hall sensor is on (flga on) and directions of a moving average line do not match. delete The method of claim 1,
The eccentricity compensation amount is a stroke eccentricity compensation method of a gear actuator using a moving average method calculated by the following equation.
Eccentricity compensation = Δd * Factor,
Here, Δd is the stroke estimation value at the point t1 where the pattern error of the Hall sensor started and the ending point t2 of the pattern error using the slope x'and Δt(t2-t1) and the position sensed when the Hall sensor error is restored. Telling the difference,
The slope x'is the difference between the initial stroke sensing position value of the control section gear actuator stroke moving average line x and the stroke sensing position value at the time when the pattern error of the Hall sensor is found, and the differential slope considering the time to, t1,
The moving average line x is a moving average line for the stroke of the gear actuator before the fault code is generated after entering the gear actuator control section (To Sync, Synchronize, To Ingear, Probe End),
The above factor refers to a correction value for optimal control after testing several samples in order to correct in consideration of product deviation of product performance and design assembly factor during mass production. The method of claim 3,
The eccentricity compensation is a method of compensating a stroke eccentricity of a gear actuator performed in a control operation section of the gear actuator. The method of claim 1,
The moving average method is a method of compensating the stroke eccentricity of a gear actuator using a moving average method calculated by the following equation.

Here, f is the average value of the gear actuator stroke by the calculation of the equation, m is the control period for the controller to calculate the moving average stroke value, and Zn is the sensing stroke position of the Hall sensor.

Images