WO1998024008A1 - Circuit de reglage comprenant un regulateur numerique pour reguler le courant d'entree d'un acteur electrique a l'aide de la modulation d'impulsions en largeur - Google Patents

Circuit de reglage comprenant un regulateur numerique pour reguler le courant d'entree d'un acteur electrique a l'aide de la modulation d'impulsions en largeur Download PDF

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Publication number
WO1998024008A1
WO1998024008A1 PCT/EP1997/006079 EP9706079W WO9824008A1 WO 1998024008 A1 WO1998024008 A1 WO 1998024008A1 EP 9706079 W EP9706079 W EP 9706079W WO 9824008 A1 WO9824008 A1 WO 9824008A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
input current
analog
controlled system
digital
Prior art date
Application number
PCT/EP1997/006079
Other languages
German (de)
English (en)
Inventor
Alwin Becher
Michael Genzel
Rodolfo Möller
Ari Ojamies
Armin Tonn
Horst Wild
Original Assignee
Temic Telefunken Microelectronic Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Temic Telefunken Microelectronic Gmbh filed Critical Temic Telefunken Microelectronic Gmbh
Publication of WO1998024008A1 publication Critical patent/WO1998024008A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/26—Automatic controllers electric in which the output signal is a pulse-train
    • G05B11/28—Automatic controllers electric in which the output signal is a pulse-train using pulse-height modulation; using pulse-width modulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/14—Clutch pedal position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/302—Signal inputs from the actuator
    • F16D2500/3022—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/702—Look-up tables
    • F16D2500/70205—Clutch actuator
    • F16D2500/70223—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70402—Actuator parameters
    • F16D2500/70418—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/71—Actions
    • F16D2500/7107—Others
    • F16D2500/7109—Pulsed signal; Generating or processing pulsed signals; PWM, width modulation, frequency or amplitude modulation

Definitions

  • Control loop consisting of a digital controller and a controlled system for controlling the input current of an electrical actuator using the
  • Regulations have a closed action cycle consisting of a controller and a controlled system with feedback.
  • the controller is given a setpoint of a controlled variable, which first transfers this to the controlled system, within the controlled system the actual value of the controlled variable is determined and fed back to the controller of the control loop via the feedback. Deviations between the actual value and the setpoint of the controlled variable are automatically corrected in the controller by changing a manipulated variable.
  • the controlled variable is understood to mean the physical variable to be controlled, such as the current or the voltage.
  • the actual value is the actual value of the controlled variable, which is determined (measured) once per control cycle.
  • the setpoint is the value which is specified by a setpoint generator, for example a clutch pedal, and which the controlled variable is to assume exactly.
  • the control variable is controlled by changing the manipulated variable.
  • the sum of the changes in the controlled variable causes the control deviation of the control loop.
  • the control deviation is the negative (* - 1) control deviation.
  • Influences on the control loop that cause an undesired change in the controlled variable are referred to as disturbance variables.
  • Such disturbance variables are, for example, temperature or frequency dependencies of the components of the controlled system and / or the controller.
  • a pilot control element can be inserted into the controller to compensate for disturbance variables.
  • the disturbance variables are compensated on the basis of sensor data or characteristic values.
  • variables entering a pilot control can be changed on the basis of mathematical functions, provided that this is advantageous for the control.
  • an analog-to-digital converter is arranged in front of the controller and a digital-analog converter is arranged between the controller and the controlled system
  • An analog-digital converter is arranged between the controller and the controlled system.
  • the digital-to-analog conversion can advantageously be implemented by pulse width modulation.
  • Control devices have a number of technical problems that differ in the various control devices. These are e.g. the tendency to oscillate, which can be suppressed by a suitable attenuator, or the formation of switching hysteresis.
  • a switching hysteresis is understood to mean the behavior of a control in the event of a jump in the setpoint between two different setpoints to cause an error in the manipulated variable, which makes it difficult to stabilize the controlled variable.
  • the temperature and frequency dependence of the resistance of the controlled system must be taken into account when controlling a controlled variable become. This usually takes place within the pilot control of a controller, as shown in FIG. 3.
  • the temperature and frequency dependent resistance estimates are multiplied by the soli value of the controlled variable.
  • the the digital-to-analog converter supplied control signals s consists of the portion S1 of the feedforward control is added to the portion S2 of the control device together, in the Figure 4, the behavior of the regulator at a setpoint step of l soM ⁇ A on l S0 " ⁇ B of the 3 shown controller for regulating the input current of an electrical actuator, in the diagram the control signal s is plotted against the setpoint l ste n of the controlled variable l.
  • the control signal S A is composed of the components S1 A and S2 A.
  • the control signal S is composed of the components S1 B and S2 B and a dynamic control value error in the amount of
  • the dynamic manipulated value error is caused by the component S2 of the control device, which in the first control cycle after the setpoint jump contributes the component S2 A to the control signal s instead of the component S2 B. Only after the end of a transient process does the control device transfer the correct portion S2 B and the controller the correct control signal S B to the controlled system.
  • the invention has for its object to provide a method for control according to the preamble of claim 1, in which the formation of a switching hysteresis is avoided.
  • This object is achieved by the features in the characterizing part of patent claim 1.
  • a digital controller with the following structure is used to control the controlled variable “input current” of an electric actuator by means of the manipulated variable “control voltage” using pulse width modulation: fed to an analog-digital converter.
  • the output signals of the analog-digital converter are fed to a pilot control and an integrator control. In the pilot control, the nominal value of the input current is divided by a measured supply voltage.
  • the integrator control Before the integrator control is a first adder, with which the feedback of the controlled system is connected, and on which the negated actual values of the controlled variable are fed back to the digital controller.
  • the output signals of the integrator control and the pilot control are combined in a multiplier.
  • a second adder is arranged between this multiplier and the integrator control, which is connected to a map control in which temperature and frequency-dependent resistance values of the controlled system are stored.
  • the output signal of the multiplier which represents a dimensionless control signal standardized to 1, is fed to a digital-to-analog converter which works according to the technique of pulse width modulation.
  • the mean value of the control voltage of the electrical actuator results from the control signal multiplied by the supply voltage.
  • the controlled system of the control loop has the following components: the electrical actuator, the input current of which is regulated, and a measuring device with which the actual value of the input current is measured. The result of the measurement is fed to a second analog-digital converter, the output signal of which is fed to the first adder.
  • the electric actuator is a proportional valve for controlling a hydraulic system which causes the opening and closing of a motor vehicle clutch.
  • FIG. 1 shows the signal flow diagram of a control loop according to the inventive method.
  • Figure 2 is a diagram showing the basic courses of the manipulated variable in a setpoint step.
  • the setting of the clutch torque of a hydraulic multi-plate wet clutch of a motor vehicle must be done both dynamically and statically with minimal errors.
  • the input current I of a proportional valve PV is regulated within a control loop, which adjusts the level of the hydraulic pressure acting on a clutch.
  • the setpoint generator of the control is the clutch pedal of the motor vehicle.
  • the manipulated variable of the controlled variable input current l is the manipulated voltage U ste n.
  • the digital controller RE of the control loop is implemented in digital circuit technology, while the controlled system RS of the control loop with the proportional valve PV and the device R meas for determining the actual value l ist of the input current l is designed in analog circuit technology.
  • the control voltage u ste n is referred to as the control signal s.
  • the digital-to-analog conversion is implemented using PWM technology.
  • FIG. 1 shows a signal flow diagram of such a control consisting of a digital controller RE and the controlled system RS.
  • the setpoint I JOII of the input current I predetermined by the clutch pedal is fed to a first analog-digital converter AD- in the digital controller RE.
  • the output signals of the first analog-digital converter AD 1 are fed to a pre-control vs and to the control device.
  • the control device is designed as an integrator control IR, which has no permanent control differences.
  • the rate of change of the control signal s is proportional to the control difference, within the feedforward control vs the setpoint l so n of the input current l is divided by the measured value UB measuring the on-board voltage UB of the motor vehicle, immediately before the integrator control IR there is a first adder in the digital controller RE A 1f to which the feedback of the controlled system S is connected and to which the negated actual values i
  • the output signals of the integrator control IR and the pilot control vs are combined in a multiplier M.
  • a second adder A 2 Arranged between this multiplier M and the integrator control IR is a second adder A 2 , which is connected to a map control KS, in which resistance values R (T, f) of the controlled system RS are stored as a function of temperature and frequency.
  • the map control KS is connected to a temperature sensor TS, which measures the temperature T of the controlled system Determine RS.
  • the output signal of the multiplier M is the digital actuating signal s, which represents a dimensionless quantity standardized to 1.
  • the subsequent digital-to-analog converter DA which works according to the technology of pulse width modulation PWM, converts the digital control signal S into the analog control voltage u ste ⁇ .
  • the mean value of the analog control voltage u ste ⁇ results from the control signals s (duty cycle) multiplied by the on-board voltage ÜB of the motor vehicle.
  • the resistance values R (T, f) are stored as a two-dimensional map in the map control.
  • a characteristic curve R (T) is sufficient.
  • the control path RS of the control loop has as components the proportional valve PV, the input current I of which is regulated, and a measuring device, which is shown in FIG. 1 only by the measuring resistor R meSs , and with which the actual value l, st of the input current I is determined .
  • the result of the measurement is fed to a second analog-digital converter AD 2 , which is connected to the first adder A-.
  • the on-board voltage UB of the motor vehicle is also determined by means of the measuring device and the measured value UB measured is fed to the pilot control vs the digital regulator RE.
  • the controlled system consisting of proportional valve PV and measuring resistor R meas / has a resistance behavior which is dependent on the temperature T and on the frequency f of the pulse width modulator.
  • the dimensionless manipulated variable s is composed of the portion of the pilot control s (i S0 "/ UB me ⁇ ) multiplied by the portion of the integrator control IR and by the portion of the map control KS.
  • the output signal of the map control KS is added to the regulated part of the resistor R (T, f) of the controlled system RS which has been corrected by the integrator control IR.
  • 2 shows the behavior of the control according to the invention at a setpoint step change of the input current l from the target value ⁇ S0, ⁇ A ⁇ to the target value l should, s shown the reproduced in the Figure 1 control loop in the diagram is the control signal s to the desired value! « ,,, of the input current I plotted. While the setpoint ⁇ soH ⁇ A is present, the control signal S A sets in accordance with:
  • control signal S B sets in accordance with:
  • the required manipulated variable S B is reached directly in the first control cycle after the setpoint step, a dynamic manipulated variable error does not occur.
  • a switching hysteresis which would prevent the input current I from settling out in a stable manner, cannot develop in the control according to the invention. This results in smooth transitions of the clutch torque, which are a basic prerequisite for achieving good driving comfort with a regulated, hydraulic multi-plate wet clutch.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Feedback Control In General (AREA)

Abstract

L'invention concerne un circuit de réglage pour réguler le courant d'entrée de l'acteur électrique, qui évite dans une large mesure l'apparition de phénomènes d'hystérèse lors d'un saut de valeur théorique.
PCT/EP1997/006079 1996-11-22 1997-11-04 Circuit de reglage comprenant un regulateur numerique pour reguler le courant d'entree d'un acteur electrique a l'aide de la modulation d'impulsions en largeur WO1998024008A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19648344.1 1996-11-22
DE19648344 1996-11-22

Publications (1)

Publication Number Publication Date
WO1998024008A1 true WO1998024008A1 (fr) 1998-06-04

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PCT/EP1997/006079 WO1998024008A1 (fr) 1996-11-22 1997-11-04 Circuit de reglage comprenant un regulateur numerique pour reguler le courant d'entree d'un acteur electrique a l'aide de la modulation d'impulsions en largeur

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Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002025131A1 (fr) * 2000-09-18 2002-03-28 Siemens Aktiengesellschaft Procede de commande d'un embrayage automatique de vehicule
EP1826443A1 (fr) * 2006-02-24 2007-08-29 Yamaha Hatsudoki Kabushiki Kaisha Dispositif de détermination de panne d'un embrayage
US7367923B2 (en) 2004-12-10 2008-05-06 Yamaha Hatsudoki Kabushiki Kaisha Apparatus and method for controlling transmission of straddle-type vehicle
US7497804B2 (en) 2006-04-18 2009-03-03 Yamaha Hatsudoki Kabushiki Kaisha Automatic gearshift control device and vehicle
US7513849B2 (en) 2006-04-18 2009-04-07 Yamaha Hatsudoki Kabushiki Kaisha Automated transmission controller and vehicle including the automated transmission controller
US7635054B2 (en) 2006-04-18 2009-12-22 Yamaha Hatsudoki Kabushiki Kaisha Kabushiki Kaisha Moric Clutch actuator, engine unit, and saddle type vehicle
US7654374B2 (en) 2006-04-18 2010-02-02 Yamaha Hatsudoki Kabushiki Kaisha Automated transmission controller and vehicle including the automated transmission controller
US7665567B2 (en) 2006-04-18 2010-02-23 Yamaha Hatsudoki Kabushiki Kaisha Shift actuator, vehicle, and method of integrating vehicle
US7673727B2 (en) 2006-04-18 2010-03-09 Yamaha Hatsudoki Kabushiki Kaisha Automatic shift control device and vehicle
US7699151B2 (en) 2006-04-18 2010-04-20 Yamaha Hatsudoki Kabushiki Kaisha Clutch actuator, engine unit, and saddle type vehicle
US7721858B2 (en) 2006-04-18 2010-05-25 Yamaha Hatsudoki Kabushiki Kaisha Clutch actuator, engine unit, and saddle type vehicle
US7823472B2 (en) 2004-07-01 2010-11-02 Yamaha Hatsudoki Kabushiki Kaisha Shift control device for vehicle, and vehicle including the shift control device
US7881847B2 (en) 2006-04-18 2011-02-01 Yamaha Hatsudoki Kabushiki Kaisha Clutch control device and vehicle
US7912613B2 (en) 2004-07-01 2011-03-22 Yamaha Hatsudoki Kabushiki Kaisha Riding type vehicle
US8403093B2 (en) 2004-07-26 2013-03-26 Yamaha Hatsudoki Kabushiki Kaisha Speed change controller for saddle-ride type vehicles
DE102018106749A1 (de) * 2018-03-22 2019-09-26 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zur Regelung einer Kupplung

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4978865A (en) * 1988-07-20 1990-12-18 Vdo Adolf Schindling Ag Circuit for regulating a pulsating current
US5311548A (en) * 1991-03-21 1994-05-10 Mannesmann Rexroth Gmbh Digital control electronic having a pulse width modulated (PWM)-output signal for the control of electric control elements of a hydraulic system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4978865A (en) * 1988-07-20 1990-12-18 Vdo Adolf Schindling Ag Circuit for regulating a pulsating current
US5311548A (en) * 1991-03-21 1994-05-10 Mannesmann Rexroth Gmbh Digital control electronic having a pulse width modulated (PWM)-output signal for the control of electric control elements of a hydraulic system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
LIM K W ET AL: "PROPORTIONAL CONTROL OF A SOLENOID ACTUATOR", PROCEEDINGS OF THE INTERNATIONAL CONFERENCE ON INDUSTRIAL ELECTRONI CONTROL AND INSTRUMENTATION. (IECON), BOLOGNA, SEPT. 5 - 9, 1994 SPECIAL SESSIONS, SIGNAL PROCESSING AND CONTROL, vol. 3 OF 3, 5 September 1994 (1994-09-05), INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, pages 2045 - 2050, XP000526849 *

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002025131A1 (fr) * 2000-09-18 2002-03-28 Siemens Aktiengesellschaft Procede de commande d'un embrayage automatique de vehicule
US8001864B2 (en) 2004-07-01 2011-08-23 Yamaha Hatsudoki Kabushiki Kaisha Actuation force transmission mechanism and straddle-type vehicle
US7912613B2 (en) 2004-07-01 2011-03-22 Yamaha Hatsudoki Kabushiki Kaisha Riding type vehicle
US7823472B2 (en) 2004-07-01 2010-11-02 Yamaha Hatsudoki Kabushiki Kaisha Shift control device for vehicle, and vehicle including the shift control device
US8403093B2 (en) 2004-07-26 2013-03-26 Yamaha Hatsudoki Kabushiki Kaisha Speed change controller for saddle-ride type vehicles
US7367923B2 (en) 2004-12-10 2008-05-06 Yamaha Hatsudoki Kabushiki Kaisha Apparatus and method for controlling transmission of straddle-type vehicle
EP1826443A1 (fr) * 2006-02-24 2007-08-29 Yamaha Hatsudoki Kabushiki Kaisha Dispositif de détermination de panne d'un embrayage
US7510503B2 (en) 2006-02-24 2009-03-31 Yamaha Hatsudoki Kabushiki Kaisha Clutch failure detector, automatic clutch system and straddle-type vehicle
US7665567B2 (en) 2006-04-18 2010-02-23 Yamaha Hatsudoki Kabushiki Kaisha Shift actuator, vehicle, and method of integrating vehicle
US7673727B2 (en) 2006-04-18 2010-03-09 Yamaha Hatsudoki Kabushiki Kaisha Automatic shift control device and vehicle
US7673728B2 (en) 2006-04-18 2010-03-09 Yamaha Hatsudoki Kabushiki Kaisha Automated transmission controller and vehicle including the automated transmission controller
US7699151B2 (en) 2006-04-18 2010-04-20 Yamaha Hatsudoki Kabushiki Kaisha Clutch actuator, engine unit, and saddle type vehicle
US7721858B2 (en) 2006-04-18 2010-05-25 Yamaha Hatsudoki Kabushiki Kaisha Clutch actuator, engine unit, and saddle type vehicle
US7654374B2 (en) 2006-04-18 2010-02-02 Yamaha Hatsudoki Kabushiki Kaisha Automated transmission controller and vehicle including the automated transmission controller
US7881847B2 (en) 2006-04-18 2011-02-01 Yamaha Hatsudoki Kabushiki Kaisha Clutch control device and vehicle
US7635054B2 (en) 2006-04-18 2009-12-22 Yamaha Hatsudoki Kabushiki Kaisha Kabushiki Kaisha Moric Clutch actuator, engine unit, and saddle type vehicle
US7513849B2 (en) 2006-04-18 2009-04-07 Yamaha Hatsudoki Kabushiki Kaisha Automated transmission controller and vehicle including the automated transmission controller
US7497804B2 (en) 2006-04-18 2009-03-03 Yamaha Hatsudoki Kabushiki Kaisha Automatic gearshift control device and vehicle
DE102018106749A1 (de) * 2018-03-22 2019-09-26 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zur Regelung einer Kupplung

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