KR20130045085A

KR20130045085A - Actuator position compecsating method for automated mannual transmission

Info

Publication number: KR20130045085A
Application number: KR1020110109540A
Authority: KR
Inventors: 이상원
Original assignee: 현대모비스 주식회사
Priority date: 2011-10-25
Filing date: 2011-10-25
Publication date: 2013-05-03

Abstract

PURPOSE: An actuator position compensation method of an automated manual transmission is provided to compensate clutch position, shift position and select position by referring to an encoder value of a motor installed in a clutch actuator and a gear actuator. CONSTITUTION: The clutch setting position is determined on the basis of the position change of a clutch. The position of a finger is moved to the shift direction. A shift is controlled to be in a shift neutral position on the basis of the position change of the finger(S150). The position of the finger is moved to the select direction. A select is controlled to be in a select neutral position on the basis of the position change of the finger(S170). [Reference numerals] (AA) Start; (BB) End; (S110) Turn off a relay related to the start-up of a vehicle; (S120) Determine a clutch setting position; (S130) Store a learned value?; (S140) Clutch normally operated?; (S150) Control a shift neutral position; (S160,S180,S200,S220,S240) Position normally controlled?; (S170) Control a select neutral position; (S190) Control the clutch setting position; (S210,S230) Control to the shift neutral position of the learned value by comparing the current position of a select and the select neutral position of the learned value; (S250) Fail mode

Description

Actuator POSITION COMPECSATING METHOD FOR AUTOMATED MANNUAL TRANSMISSION}

The present invention relates to a clutch and a gear actuator of an automatic manual transmission, and more particularly, to an automatic manual that compensates a clutch position, a shift position, and a select position based on encoder values of a motor installed in a clutch and gear actuator of an automatic manual transmission. It relates to an actuator position compensation method of a transmission.

HEV AMT (Hybrid Electric Vehicle Automated Manual Transmission) is an automated manual transmission that is installed in a hybrid vehicle. It is a transmission control unit (TCU) and actuator that implements gear shifting through mechanical connection between a manual transmission and a lever and manual operation of a clutch. Next generation shift control system.

The TCU uses the vehicle signals such as vehicle speed, accelerator position sensor (APS), level position, and hybrid signals of the hybrid control unit (HCU) to determine the optimum gear shift stage and timing. Drive Unit and Gear Control Unit (GSU).

The actuator has a clutch actuator and a gear actuator. The clutch actuator engages or disengages the clutch when shifting or when the hybrid mode is switched to transmit or interrupt power output from the engine.

The gear actuator consists of a shift actuator and a select actuator. The shift actuator has a function of removing or inserting a gear, such as shift in or shift out, and the select actuator positions the gear in the target gear train during shifting. It performs the function that makes it possible, that is, Select Move.

These clutch actuators and gear actuators are each equipped with a position sensor, the TCU receives the position information input from these position sensors to control to the desired position.

Background art of the present invention is disclosed in Korean Patent Publication No. 10-2007-0060735 (2007.06.13).

As described above, the conventional clutch actuator and the gear actuator are equipped with an absolute position sensor, which increases the cost of the product and adds a process for installing the position sensor, thereby complicating the production process.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problem, and provides an actuator position compensation method of an automatic manual transmission that compensates clutch position, shift position and select position based on encoder values of a motor installed in a clutch and gear actuator. The purpose is.

Actuator position compensation method of the automatic manual transmission according to an aspect of the present invention comprises the steps of determining the clutch setting position based on the position change of the clutch; Controlling the shift to a shift neutral position based on the amount of change in the position of the finger while moving the position of the finger in the shift direction; And after controlling the shift to the shift neutral position, controlling the select to the select neutral position based on a change in the position of the finger while moving the position of the finger in the select direction.

The determining of the clutch setting position of the present invention is characterized in that the clutch setting position is determined as a position where the clutch is not moved by pressing the clutch.

Controlling the shift of the present invention to the shift neutral position includes increasing the position of the finger; Determining a current position at which the position of the finger does not change as a shift maximum value; Reducing the position of the finger; Determining a current position at which the position of the finger is not reduced as a shift minimum value; Determining the shift neutral position by averaging the shift maximum value and the shift minimum value; And moving the finger to the shift neutral position.

The determining of the shift neutral position of the present invention may include determining the shift neutral position when a difference between the shift maximum value and the shift minimum value is equal to or larger than a shift setting value.

Controlling the select of the present invention to the select neutral position includes increasing the position of the finger; Determining a current position at which the position of the finger does not change as a shift maximum value; Reducing the position of the finger; Determining a current position at which the position of the finger is not reduced as a shift minimum value; Determining the select neutral position using the shift maximum value and the shift minimum value; And moving the finger to the select neutral position.

The determining of the select neutral position of the present invention may include determining the select neutral position when a difference between the select maximum value and the select minimum value is equal to or greater than a select set value.

After the step of determining the clutch setting position of the present invention, it is determined whether the learning value at the time of key-off is stored by the timing position sensor learning, and according to the result of the determination, the shift and the select are performed using the learning value. And controlling the shift neutral position of the learning value and the select neutral position of the learning value.

If the learning value of the present invention is not stored, characterized in that it further comprises the step of determining whether or not the normal operation of the clutch.

The determining of the normal operation of the clutch of the present invention may include determining whether the position of the clutch is changed to a disengage position.

And controlling the clutch to the clutch setting position after controlling the select of the present invention to the select neutral position.

The present invention can control the clutch position and the gear position without a position sensor, and can omit the process for installing the position sensor can simplify the production process of the clutch actuator and the gear actuator.

In addition, the position sensor of the clutch actuator and the gear actuator can be eliminated, thereby reducing the cost and lightening the product.

1 is a flow chart illustrating the process of a general key on process.
2 is a block diagram of an actuator position compensation device of an automatic manual transmission according to an embodiment of the present invention.
3 is a flowchart illustrating a method for compensating actuator positions of an automated manual transmission according to an embodiment of the present invention.
4 is a view schematically illustrating a process of determining the clutch setting position of FIG. 3.
5 is a view schematically illustrating a process of determining whether the clutch of FIG. 3 is normally operated.
6 is a flowchart illustrating a process of controlling the shift of FIG. 3 to a neutral position.
FIG. 7 is a diagram schematically illustrating an example in which the position of a finger increases in the process of determining the shift maximum value of FIG. 6.
8 is a diagram schematically illustrating an example in which the position of a finger decreases in the process of determining the shift minimum value of FIG. 6.
FIG. 9 is a diagram illustrating an example of moving a finger to the shift neutral position of FIG. 6.
FIG. 10 is a view schematically illustrating a state in which a finger overlaps two lugs in the process of determining the average position of FIG. 9.
FIG. 11 is a view schematically illustrating a state in which a finger is in a positive select position in the process of determining the average position of FIG. 9.
FIG. 12 is a view schematically illustrating a state in which a finger is in a gear connection state in the process of determining the average position of FIG. 9.
FIG. 13 is a flowchart illustrating a process of controlling the select neutral position of FIG. 3.
FIG. 14 is a diagram schematically illustrating an example in which the position of a finger increases in the process of determining the select maximum value of FIG. 13.
FIG. 15 is a diagram schematically illustrating an example in which the position of a finger decreases in the process of determining the select minimum value of FIG. 13.
FIG. 16 illustrates an example of moving a finger to the select neutral position of FIG. 13.
FIG. 17 is a view schematically illustrating a process of controlling to the clutch setting position of FIG. 3.

Hereinafter, an actuator position compensation method of an automatic manual transmission according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or convention of a user or an operator. Therefore, the definitions of these terms should be made based on the contents throughout the specification.

1 is a flow chart illustrating the process of a general key on process.

In general, the key on process (Key On Process), as shown in Figure 1, the step of finding and obtaining the initial position of the gear actuator and the clutch actuator (S100), and operating the switch and relay of the vehicle for the engine start Step S300 and initializing detailed module variables of various control logics are performed (S500).

At this time, since the clutch actuator and the gear actuator of the automatic manual transmission are all the position control is performed based on the incremental motor encoder value, the clutch 21 and the finger 32 at every key on. A timing position sensor (TPS) learning is performed to learn the position of.

In this case, the learning value is stored in the EEPROM (Electrically Erasable Programmable Read-Only Memory) of the TCU 10 by the timing position sensor learning.

Actuator position compensation device of the automatic manual transmission according to an embodiment of the present invention in the step of finding and obtaining the initial position of the gear actuator and the clutch actuator (S100), learning according to whether the learning value is stored in the above EEPROM Initialize the position of the gear actuator and the clutch actuator using the value or moving the clutch 21 and the finger 32 of the gear.

2 is a block diagram of an actuator position compensation device of an automatic manual transmission according to an embodiment of the present invention.

Actuator position compensation device of the automatic manual transmission according to an embodiment of the present invention, as shown in Figure 2, TCU 10 and CCU 20 (Clutch Control Unit) and GSU 30 (Gear Control Unit) Include.

The TCU 10 includes a memory unit 12 such as an MCU 11 (Micro Controller Unit) and an EEPROM (Electrically Erasable Programmable Read-Only Memory).

The MCU 11 determines an optimum shift stage and a viewpoint according to a vehicle signal such as a vehicle speed, an accelerator position sensor (APS), a level position, and a hybrid signal of a hybrid control unit (HCU), and thereby the CCU 20 (Clutch Control Unit) and GSU 30 (Gear Control Unit) are driven.

The MCU 11 performs a timing position sensor (TPS) learning for learning the positions of the clutch 21 and the finger 32 at each key on, and the learning value is transmitted to the memory unit 12. The positions of the gear actuator and the clutch actuator are initialized by using the learning value or by controlling the CCU 20 and the GSU 30 depending on whether they are already stored.

In particular, when the learning value is not stored, the clutch position and the shift position are obtained by using encoder values of a clutch motor (not shown), a shift motor (not shown), and a select motor (not shown) that drive the clutch actuator and the gear actuator. And extracting a change amount of the select position and initializing positions of the gear actuator and the clutch actuator based on the change amount of the position.

The CCU 20 drives the clutch actuator according to the clutch stroke for driving the clutch from the TCU 10. At this time, the motor encoder value is input to the TCU 10.

The GSU 30 drives the motor of the gear actuator according to the shift stroke and the select stroke for driving the gear from the TCU 10. At this time, the encoder value of the motor is input to the TCU 10.

Hereinafter, the actuator position compensation method of the automated manual transmission according to an embodiment of the present invention will be described in detail with reference to FIGS. 3 to 17.

3 is a flowchart illustrating a method for compensating actuator positions of an automatic manual transmission according to an embodiment of the present invention. FIG. 4 is a view schematically illustrating a process of determining a clutch setting position of FIG. 3, and FIG. 5 is a view of FIG. 3 is a view schematically showing a process of determining whether the clutch of the normal operation.

First, the MCU 11 prepares the initialization of the clutch actuator and the gear actuator by turning off a relay (not shown) related to the vehicle starting (S110) so that the vehicle cannot be started.

Thereafter, the clutch setting position is determined (S120).

The clutch setting position is a reference position for clutch position control and is a position where the clutch 21 no longer moves when the clutch 21 is pressed with a predetermined force in the direction of the arrow through the clutch motor.

Referring to FIG. 4, the clutch motor operates to exert a repulsive force through the release bearing 29 and the clamp 27 in a direction opposite to the pressing direction of the clutch 21 (arrow direction). In this case, the clutch 21 and the clutch plate 23 are spaced apart from each other while the clutch plate 23 moves.

Based on this structure, when the clutch 21 is operated to press the clutch 21 in the direction of the arrow, the position at which the clutch 21 no longer moves is determined as the clutch setting position.

That is, if a constant current is applied to the clutch motor every fixed time, and the initial position before applying the current is compared with the current position of the clutch 21 after applying the current, and the difference is smaller than the preset threshold, the clutch ( It is determined that 21) no longer moves, and the clutch position at this time is determined as the clutch setting position.

For reference, when the clutch 21 operates normally, the clutch 21 moves to the clutch setting position by the repulsive force.

After determining the clutch setting position, the timing position sensor learning determines whether the learning value at the time of the previous vehicle key off is normally stored in the memory unit 12 and whether the key is in the key off state (S130).

The learning value of the vehicle stored in the memory unit 12 includes a clutch setting position of the clutch actuator, a shift neutral position and a select neutral position of the gear actuator.

As a result of the determination, if the learning value is stored, the shift and the select are controlled to the shift neutral position and the select neutral position by using the learning value (S210 to S240). On the other hand, if the learning value is not stored, the process of controlling the shift neutral position and the select neutral position (S140 ~ S200) by moving the clutch 21 to the clutch setting position, moving the finger 32.

First, if the learning value is not stored, it is determined whether the clutch 21 operates normally by controlling the clutch full disengage position (S140).

Referring to FIG. 5, when the clutch current is supplied to the maximum, and the clutch 21 position is within a preset setting range within a preset time and the clutch is disengaged, the clutch 21 operates normally. I judge it.

On the other hand, if the clutch disengagement is not performed until the set time has elapsed, it is a case where it is not controlled to the disengage position, and thus the fail mode is performed (S250).

When it is determined that the clutch 21 operates normally, the clutch 21 is controlled to the shift neutral position (S150). This will be described with reference to FIGS. 6 to 12.

FIG. 6 is a flowchart illustrating a process of controlling the shift of FIG. 3 to a neutral position. FIG. 7 is a diagram schematically illustrating an example in which the position of a finger increases in the process of determining the maximum shift value of FIG. 6. 8 is a diagram schematically illustrating an example in which the position of a finger decreases in the process of determining the shift minimum value of FIG. 6, and FIG. 9 is a diagram illustrating an example in which a finger is moved to the shift neutral position of FIG. 6. 9 is a view schematically illustrating a state where a finger overlaps two lugs in the process of determining the average position of FIG. 9, and FIG. 11 illustrates a state in which the finger is in a positive select position in the process of determining the average position of FIG. 9. FIG. 12 is a view schematically showing a state in which a finger is in a gear connection state in the process of determining the average position of FIG. 9.

First, referring to FIG. 6, the process of controlling the shift neutral position (S150) increases the position of the finger 32 in the shift direction as shown in FIG. 7 (S151), and at this time, the position of the finger 32. It is determined whether is increased (S152). That is, as shown in (a), the finger 32 is periodically moved for a predetermined time, and at this time, it is determined whether the position change amount of the finger 32 is less than or equal to a preset threshold.

As a result of the determination, if the position change amount of the finger 32 is less than or equal to the threshold value, it is determined that the finger 32 does not move, and the current position at this time is determined as the shift maximum value (S153).

Next, as shown in FIG. 8 in the shift direction, the position of the finger 32 is periodically reduced for a predetermined time (S154), and at this time, it is determined whether the position of the finger 32 is reduced (S155). That is, as shown in (b), the finger 32 is periodically moved for a predetermined time, and at this time, it is determined whether the position change amount of the finger 32 is less than or equal to a preset threshold.

As a result of the determination, if the position change amount of the finger 32 is less than or equal to the threshold value, it is determined that the finger 32 does not move, and the current position at this time is determined as the shift minimum value (S156).

Thus, after determining the shift maximum value and the shift minimum value, the shift neutral position is determined as shown in FIG. 9 by using the difference between the shift maximum value and the shift minimum value (S157).

Here, three cases of the position of the finger 32 may occur.

The first is the case where the finger 32 overlaps the two lugs 31, as shown in FIG. In this case, the shift in and shift out are not normally performed due to the interlock plate. Therefore, the difference between the shift maximum value and the shift minimum value is very small.

The second case is a case where shift in and shift out are normally performed, such as the positive select position and the gear connection state shown in Figs. 11 and 12. In this case, the difference between the shift maximum value and the shift minimum value is equal to or larger than a preset shift setting value suitable for the lug 31.

The third is a case in which the finger 32 does not move normally due to burnout or error of the shift motor. In this case, both the shift maximum value and the shift minimum value are zero.

Accordingly, the above three cases may be considered. In the second case as illustrated in FIGS. 11 and 12, the shift neutral position may be set.

For reference, in the first and third cases described above, a fail mode is provided.

When the shift neutral position is calculated, the finger 32 is moved to the shift neutral position by using the shift motor (S158). In this case, it is determined whether the finger 32 is normally controlled to the shift neutral position (S160), and if the finger 32 is not controlled to the shift neutral position, the mode is a fail mode (S250).

When the shift is controlled to the shift neutral position, the select is controlled to the select neutral position (S170). This will be described in detail with reference to FIGS. 13 to 16.

FIG. 13 is a flowchart illustrating a process of controlling the select neutral position of FIG. 3. FIG. 14 is a diagram schematically illustrating an example in which the position of a finger increases in the process of determining the select maximum value of FIG. 13. FIG. 15. FIG. 13 is a diagram schematically illustrating an example in which the position of a finger decreases in the process of determining the select minimum value of FIG. 13, and FIG. 16 is a diagram illustrating an example of moving a finger to the select neutral position of FIG. 13.

Select neutral position control process (S170) is as shown in FIG.

First, the position of the finger 32 is increased in the select direction as shown in FIG. 14 (S171), and at this time, it is determined whether the position of the finger 32 is increased (S172). That is, as shown in (d), the finger 32 is periodically moved for a predetermined time, and at this time, it is determined whether the position change amount of the finger 32 is less than or equal to a preset threshold value.

As a result of the determination, if the position change amount of the finger 32 is less than or equal to the threshold value, it is determined that the finger 32 does not move, and the current position at this time is determined as the select maximum value (S173).

Next, as shown in FIG. 15 in the shift direction, the position of the finger 32 is reduced (S174), and at this time, it is determined whether the position of the finger 32 is reduced (S175). That is, as shown in (e), the finger 32 is periodically moved for a predetermined time, and at this time, it is determined whether the position change amount of the finger 32 is less than or equal to a preset threshold value.

As a result of the determination, if the position change amount of the finger 32 is less than or equal to the threshold value, it is determined that the finger 32 does not move, and the current position at this time is determined as the select minimum value (S176).

In this way, after the select maximum value and the select minimum value are determined, the select neutral position is determined as shown in FIG. 16 using the select maximum value and the select minimum value (S177).

Here, two cases of the position of the finger 32 may occur.

First, when the finger 32 has a difference between the select maximum value and the select minimum value as shown in the offset of FIG.

The second is a case where the finger 32 does not move in the select direction and both the select maximum value and the select minimum value become zero.

Accordingly, the above two cases can be considered, and in the first case, the shift neutral position may be set.

For reference, in the second case described above, a fail mode is entered.

When the select neutral position is calculated, the finger 32 is moved to the select neutral position using the select motor (S178).

In this case, it is determined whether the finger 32 is normally controlled to the select neutral position (S180), and if the finger 32 is not controlled to the select neutral position, the mode is a fail mode (S250).

After controlling the select neutral position, the clutch setting position is controlled (S200).

FIG. 17 is a view schematically illustrating a process of controlling to the clutch setting position of FIG. 3.

As shown in Fig. 17, the clutch motor is controlled to move periodically in the direction of the arrow. At this time, it is determined whether the position of the clutch 21 falls within the setting range within a predetermined time (S200), and if the position of the clutch 21 falls within the setting range, it is determined that the clutch 21 is located at the clutch setting position. . Even if a predetermined time has elapsed, if the position of the clutch 21 is not included within the setting range, a fail mode is entered (S250).

For reference, when the clutch 21 operates normally, it is also possible to automatically move to the clutch setting position due to the above repulsive force.

On the other hand, in the step S130 of determining whether the learning value at the time of immediately preceding vehicle key-off is normally stored in the memory unit 12, if the learning value is normally stored, the shift neutral position of the current position of the shift and the learning value. The position is compared and the shift is controlled to the shift neutral position of the learning value (S210).

In this process, it is determined whether the shift operates normally (S220), and if the shift does not operate normally, the system enters a fail mode (S250).

Thereafter, the current position of the select and the select neutral position of the learning value are compared to control the shift to the select neutral position of the learning value (S230).

In this process, it is determined whether the select operates normally (S240), and if the position of the select does not operate normally, a fail mode is entered (S250).

That is, according to one embodiment of the present invention, it is possible to obtain the absolute position of the clutch and gear without having to provide a sensor for measuring the position of the clutch and the shift and select.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10: TCU 11: MCU
12: memory 20: CCU
21: clutch 23: clutch plate
27: clamp 29: release bearing
30: GSU 31: lugs
32: finger

Claims

Determining a clutch setting position based on a change in position of the clutch;
Controlling the shift to a shift neutral position based on the change in position of the finger while moving the position of the finger in the shift direction; And
Controlling the shift to the shift neutral position, and then controlling the select to the select neutral position based on an amount of change in the position of the finger while moving the position of the finger in the select direction.

The method of claim 1, wherein determining the clutch setting position is
And pressing the clutch to determine a position at which the clutch does not move as the clutch setting position.

The method of claim 1, wherein controlling the shift to the shift neutral position
Increasing the position of the finger;
Determining a current position at which the position of the finger does not change as a shift maximum value;
Reducing the position of the finger;
Determining a current position at which the position of the finger is not reduced as a shift minimum value;
Determining the shift neutral position by averaging the shift maximum value and the shift minimum value; And
Moving the finger to the shift neutral position.

4. The method of claim 3, wherein determining the shift neutral position
And determining the shift neutral position if the difference between the shift maximum value and the shift minimum value is equal to or larger than a shift setting value.

The method of claim 1, wherein controlling the select to the select neutral position
Increasing the position of the finger;
Determining a current position at which the position of the finger does not change as a shift maximum value;
Reducing the position of the finger;
Determining a current position at which the position of the finger is not reduced as a shift minimum value;
Determining the select neutral position using the shift maximum value and the shift minimum value; And
And moving said finger to said select neutral position.

6. The method of claim 5, wherein determining the select neutral position is
And if the difference between the select maximum value and the select minimum value is equal to or greater than a select set value, determine the select neutral position.

The method of claim 1, wherein after determining the clutch setting position:
The timing position sensor learning determines whether the learning value at the time of key-off is stored, and according to the determination result, the shift and the select are selected using the learning value and the shift neutral position of the learning value and the learning value are selected. Actuator position compensation method for an automatic manual transmission further comprising the step of controlling to a neutral position.

The method of claim 7, further comprising determining whether the clutch is normally operated if the learning value is not stored.

The method of claim 8, wherein the determining of whether the clutch operates normally
And determining whether or not the position of the clutch is changed to a disengagement position.

The method of claim 1, wherein after controlling the select to the select neutral position,
And controlling the clutch to the clutch setting position.