WO2003081091A2 - Dispositif d'actionnement de boite de vitesse et procede de synchronisation pour boite de vitesses - Google Patents

Dispositif d'actionnement de boite de vitesse et procede de synchronisation pour boite de vitesses Download PDF

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Publication number
WO2003081091A2
WO2003081091A2 PCT/DE2003/000916 DE0300916W WO03081091A2 WO 2003081091 A2 WO2003081091 A2 WO 2003081091A2 DE 0300916 W DE0300916 W DE 0300916W WO 03081091 A2 WO03081091 A2 WO 03081091A2
Authority
WO
WIPO (PCT)
Prior art keywords
synchronous
voltage
force
actuator
transmission
Prior art date
Application number
PCT/DE2003/000916
Other languages
German (de)
English (en)
Other versions
WO2003081091A3 (fr
Inventor
Boris Serebrennikov
Original Assignee
Luk Lamellen Und Kupplungsbau Beteiligungs Kg
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 Luk Lamellen Und Kupplungsbau Beteiligungs Kg filed Critical Luk Lamellen Und Kupplungsbau Beteiligungs Kg
Priority to DE10312400A priority Critical patent/DE10312400A1/de
Priority to DE10391765T priority patent/DE10391765D2/de
Priority to AU2003223883A priority patent/AU2003223883A1/en
Priority to PCT/DE2003/000916 priority patent/WO2003081091A2/fr
Priority to FR0303484A priority patent/FR2837555B1/fr
Publication of WO2003081091A2 publication Critical patent/WO2003081091A2/fr
Publication of WO2003081091A3 publication Critical patent/WO2003081091A3/fr

Links

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
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • 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
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H61/32—Electric motors actuators or related electrical control means therefor
    • 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
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H2059/006—Overriding automatic control
    • 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
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
    • F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
    • 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
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H2061/2823—Controlling actuator force way characteristic, i.e. controlling force or movement depending on the actuator position, e.g. for adapting force to synchronisation and engagement of gear clutch
    • 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
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/26—Generation or transmission of movements for final actuating mechanisms
    • F16H61/28—Generation or transmission of movements for final actuating mechanisms with at least one movement of the final actuating mechanism being caused by a non-mechanical force, e.g. power-assisted
    • F16H2061/283—Adjustment or calibration of actuator positions, e.g. neutral 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
    • F16H—GEARING
    • F16H2342/00—Calibrating
    • F16H2342/02—Calibrating shift or range movements
    • 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
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures

Definitions

  • the present invention relates to a transmission actuator and a method for performing synchronization in a transmission, in particular in an automated manual transmission, in which the electric motor of a transmission actuator is controlled in order to apply the synchronous force.
  • the kinetic energy of the electric motor of the switch actuator is converted into potential energy of the tensioned spring when the synchronous force is built up, the switching elasticity and basic rigidity of the mechanical parts between the electric motor or the electric motor and the sliding sleeve being considered.
  • Each target synchronous force thus corresponds to a certain potential energy.
  • the electric motor should have the same kinetic energy when moving to the synchronous position. In order to store this specific kinetic energy before moving to the synchronous position, the starting speed can be set accordingly.
  • the approach speed is set in the cruise control mode. Then the synchronous position is approached. This is done in speed control mode with force limitation.
  • the goal of this phase is friction compensation.
  • the force limitation is defined in such a way that the approach speed can only be held against a force that is not greater than the friction. If the actuator speed drops below the stop speed during the build-up of force, another phase begins with constant tension, which corresponds to the synchronous force at the speed with the value 0.
  • the basis of this known strategy is speed monitoring; if the speed, which is provided in the control, drops during the build-up of force, the tension can be reduced according to the friction compensation.
  • the transition to the last phase is also carried out on the basis of the measured speeds.
  • the invention is based on the object of proposing a transmission actuator and a method for carrying out a synchronization in a transmission in order to achieve the simplest possible and optimal synchronization, in particular with lighter electric motors.
  • the synchronization should be independent of possible errors in speed monitoring.
  • This object can be achieved procedurally by a method for performing synchronization in a transmission, in particular in an automated manual transmission, in which the electric motor of a transmission actuator is activated in order to apply the synchronous force, in which a synchronous voltage adapted to the synchronous force is applied to the electric motor becomes.
  • the proposed method or the synchronous strategy can preferably be used in a transmission actuator with a light electric motor or electric motor, in particular an automated manual transmission (ASG).
  • ASG automated manual transmission
  • this synchronous strategy can also be used for other gearboxes with other actuator motors.
  • the synchronous voltage is applied at a predetermined point in time before and / or after reaching the synchronous point. Other times may also be used.
  • the synchronous voltage can be adapted in such a way that when the synchronous position is approached with a stationary speed of the transmission actuator corresponding to the voltage, the required synchronous force is exactly achieved.
  • the synchronous voltage can be held for a predetermined time interval, so that unlocking detection is permitted, for example, by the transmission control.
  • the on the electric motor applied voltage is kept at a value of about 12V until the end position is reached.
  • the synchronous strategy according to the invention can also be suitably modified.
  • a specially calculated intermediate voltage is first applied within a predetermined interrupt time and only then is the synchronous voltage applied.
  • the aim of applying the intermediate voltage is to always arrive at the same phase curve before the last time period, i.e. during which the synchronous voltage is applied.
  • Other modifications or any combination of the measures mentioned are also possible.
  • the intermediate voltage is calculated using the following equation:
  • This calculation can be implemented particularly easily in the transmission control because it is a simple linear function with constant coefficients.
  • the object on which the invention is based can be achieved in terms of the device by a transmission actuator for carrying out synchronization in a transmission, in particular in an automated manual transmission, with at least one electric motor, in particular for carrying out the proposed method, in which the electric motor has a synchronous voltage adapted to the synchronous force is controllable.
  • FIG. 1 shows a diagram with different courses of a simulation for a target
  • Synchronous position for the synchronous force of about 400 N is provided in the phase space
  • FIG. 3 shows a diagram with different courses of the intermediate voltage with different synchronous forces
  • Figure 4 shows a comparison of the simple strategy and the strategy with the
  • Figure 5 is a schematic view of a model of the gear actuator.
  • FIG. 1 shows a simulation for a target synchronous force F sync of 800 N for a circuit 1-2.
  • FIG. 1 shows two diagrams one above the other, the courses of the actuator travel, the actuator speed and the synchronous force over time being shown in the upper diagram. The voltage over time is shown in the diagram below. In both diagrams, the time axis is divided into the phases “drive to synchronous position", “set synchronous force” and “wait for unlocking” as well as the phases “drive to end position” and “braking”.
  • the speed difference to be synchronized is 2.5 Fsync revolutions per minute specified.
  • the synchronous voltage U sy nc is adapted in such a way that when the synchronous position is approached with the stationary speed of v 0 , which corresponds to this voltage, the synchronous force is exactly achieved.
  • the synchronous voltage is approximately 7.35 V.
  • v 0 is approximately equal to 135 mm / s.
  • the force applied by the electric motor roughly corresponds to the frictional force during synchronization.
  • the position or the time at which the voltage jump from 12V to the synchronous voltage Usync is provided is selected in the method according to the invention in such a way that the SP error of -0.5 mm, ie when the synchronous position is 0, 5 mm closer to the neutral position, the synchronous force increase of 10% of the Synchronous force is permitted. Accordingly, the force in the simulation shown is somewhat higher than the target force. In the present simulation, the movement after unlocking is simulated in a simplified manner, so that the switching time for different switching elasticities is comparable.
  • the method according to the invention can be used with various switching elasticities for the actuator with a light motor. Furthermore, the switching times at the synchronous force of 200, 400, 800, 1200 N or the like can be estimated for different elasticities. The following can preferably be used as possible boundary conditions:
  • the difference in rotational speed to be synchronized for example, 2.5 times-at approximately the target force F z iei [rpm.] are defined.
  • the biasing force when removing the old gear can, for. B ⁇ A correspond to the target force F z ⁇ e ⁇ . This force is taken into account because the distance to the synchronous position becomes smaller due to the preload.
  • the synchronous voltage U sync is adapted in such a way that the synchronous position is reached at a steady speed.
  • the synchronous voltage Us yn c is held for a further 5 ms, for example, in order to leave time for the unlocking detection.
  • the voltage 12V is held so long that the actuator comes to a standstill at the end position.
  • the target gear can be recognized, for example, at the position of 18 mm. The time to reach the 18 mm travel is considered as an estimate of the switching time.
  • Such a synchronous strategy is shown schematically in FIG. 1.
  • a variant of the present invention can provide a refinement of the proposed strategy, which realizes synchronization even faster. This can be achieved in particular by using a calculated intermediate voltage Uz.
  • This variant is shown graphically in FIG. There the actuator movement up to standing at the synchronized position is shown for the synchronous force of approximately 400 N in the phase space. The position at which the voltage jump occurs is identified by S in FIG. 2 and adapted in such a way that the power transmission is about 10% of the synchronous force in the case of an SP error of -0.5 mm.
  • a certain voltage namely the intermediate voltage
  • a certain voltage be specified within a further interruption time at the position identified by x_start_intermediate voltage in FIG. 2. This is because the phase curve is to be reached until the next interruption (interrupt), ie in 5 ms, and then the synchronous voltage Usync is set accordingly.
  • the interruption-related spread of the synchronous force can advantageously correspond to the value 0 and the time spread can be significantly reduced.
  • the actuator is located in the point marked A in FIG. 2, the intermediate voltage U zw can be higher than the synchronous voltage Us ync , and for the point B the intermediate voltage U 2W can be lower than the synchronous voltage Usync.
  • phase point eg point A
  • phase point x xA + x (0.005); ⁇ ( 0 ' ⁇ 05 ) should come to the tangent, which gives the following equation:
  • the intermediate voltage can then be calculated as follows:
  • This calculation can be easily implemented because it is a simple linear function of Vo (or Us y n c ) and coefficients.
  • the intermediate voltage is shown in FIG. 3 along the way, with several intermediate voltage profiles with different target synchronous forces (200 N, 400 N, 800 N and 1200 N) being shown.
  • a gearbox actuator without elasticity (only basic rigidity of 1000 N / mm) is used.
  • the path is counted from the end position in the direction of the synchronized position.
  • the path to the synchronized position of approximately 12 mm is considered.
  • the intermediate voltage of 6 V is applied within the next 5 ms and then synchronous voltage Usyn c of set about 2.2V.
  • FIG. 4 shows the time scatter with a comparison of the simple strategy and the strategy with intermediate voltage.
  • the spread of the time until the end of synchronization is specified for the refined strategy with intermediate voltage.
  • the force scatter in the strategy with the intermediate tension is approx. 2 times smaller than when using the simple strategy.
  • MActor + FEasticity (x) (1 + K Re ib) F E - otor - F Re ib with elasticity
  • MAktor ⁇ + cx (1 + K R ⁇ ib) F E - otor - F Re ib without elasticity

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Transmission Device (AREA)
  • Gear-Shifting Mechanisms (AREA)

Abstract

La présente invention concerne un procédé de synchronisation destiné à une boîte de vitesses, notamment à une boîte de vitesses automatique, le moteur électrique d'un dispositif d'actionnement étant commandé pour fournir la force de synchronisation nécessaire, au moins une tension de synchronisation adaptée à la force de synchronisation étant appliquée au moteur électrique. L'invention a également pour objet un dispositif d'actionnement permettant la synchronisation dans une boîte de vitesses, notamment dans une boîte de vitesses automatique, comprenant un moteur électrique, destiné notamment à la mise en oeuvre du procédé de l'invention, le moteur électrique pouvant être commandé par au moins une tension de synchronisation adaptée à la force de synchronisation.
PCT/DE2003/000916 2002-03-21 2003-03-20 Dispositif d'actionnement de boite de vitesse et procede de synchronisation pour boite de vitesses WO2003081091A2 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
DE10312400A DE10312400A1 (de) 2002-03-21 2003-03-20 Getriebeaktor und Verfahren zum Durchführen einer Synchronisierung bei einem Getriebe
DE10391765T DE10391765D2 (de) 2002-03-21 2003-03-20 Getriebeaktor und Verfahren zum Durchführen einer Synchronisierung bei einem Getriebe
AU2003223883A AU2003223883A1 (en) 2002-03-21 2003-03-20 Gearbox actuator and synchronisation method for a gearbox
PCT/DE2003/000916 WO2003081091A2 (fr) 2002-03-21 2003-03-20 Dispositif d'actionnement de boite de vitesse et procede de synchronisation pour boite de vitesses
FR0303484A FR2837555B1 (fr) 2002-03-21 2003-03-21 Effecteur de boite de vitesses et procede pour l'execution d'une synchronisation pour une boite de vitesses

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10212544 2002-03-21
DE10212544.9 2002-03-21
PCT/DE2003/000916 WO2003081091A2 (fr) 2002-03-21 2003-03-20 Dispositif d'actionnement de boite de vitesse et procede de synchronisation pour boite de vitesses

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WO2003081091A2 true WO2003081091A2 (fr) 2003-10-02
WO2003081091A3 WO2003081091A3 (fr) 2004-02-05

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AU (1) AU2003223883A1 (fr)
DE (2) DE10391765D2 (fr)
FR (1) FR2837555B1 (fr)
WO (1) WO2003081091A2 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004065825A1 (fr) * 2003-01-21 2004-08-05 Daimlerchrysler Ag Systeme de commande destine a un combinateur d'une boite de vitesses a engrenages
WO2010130239A1 (fr) * 2009-05-14 2010-11-18 Schaeffler Technologies Gmbh & Co. Kg Synchronisation automatisée
EP2290263A3 (fr) * 2009-08-31 2011-04-13 ZF Friedrichshafen AG Procédé de synchronisation, servomoteur et dispositif de couplage doté d'un servomoteur
WO2015149798A1 (fr) * 2014-04-03 2015-10-08 Schaeffler Technologies AG & Co. KG Système d'actionnement de commutateur à cames dans une réalisation augmentant la dynamique par une élévation de la tension
DE102018220161A1 (de) * 2018-11-23 2020-05-28 Zf Friedrichshafen Ag Verfahren zum Regeln eines Schaltsystems eines Getriebes

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004017794B4 (de) * 2004-04-05 2007-09-13 Getrag Getriebe- Und Zahnradfabrik Hermann Hagenmeyer Gmbh & Cie Kg Schaltoptimierungsverfahren und entsprechendes Steuergerät
DE102007058797A1 (de) 2007-12-06 2009-06-10 GM Global Technology Operations, Inc., Detroit Schaltsteuergerät und Verfahren zum Steuern eines Schaltvorgangs in einem Stufengetriebe
JP2014015968A (ja) 2012-07-09 2014-01-30 Suzuki Motor Corp 自動変速機の制御装置
FR3012861B1 (fr) * 2013-11-05 2015-10-23 Renault Sas Procede de regulation d'un actionneur de passage de vitesses antichoc.

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5910068A (en) * 1995-07-19 1999-06-08 Ford Global Technologies, Inc. Countershaft automatic gearbox, in particular an automatic gearbox for motor vehicles
EP1055847A2 (fr) * 1999-05-25 2000-11-29 AISIN AI Co., Ltd. Dispositif de commande de changement de vitesses pour transmission

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5910068A (en) * 1995-07-19 1999-06-08 Ford Global Technologies, Inc. Countershaft automatic gearbox, in particular an automatic gearbox for motor vehicles
EP1055847A2 (fr) * 1999-05-25 2000-11-29 AISIN AI Co., Ltd. Dispositif de commande de changement de vitesses pour transmission

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004065825A1 (fr) * 2003-01-21 2004-08-05 Daimlerchrysler Ag Systeme de commande destine a un combinateur d'une boite de vitesses a engrenages
WO2010130239A1 (fr) * 2009-05-14 2010-11-18 Schaeffler Technologies Gmbh & Co. Kg Synchronisation automatisée
US8639425B2 (en) 2009-05-14 2014-01-28 Schaeffler Technologies AG & Co. KG Automated synchronization
EP2290263A3 (fr) * 2009-08-31 2011-04-13 ZF Friedrichshafen AG Procédé de synchronisation, servomoteur et dispositif de couplage doté d'un servomoteur
WO2015149798A1 (fr) * 2014-04-03 2015-10-08 Schaeffler Technologies AG & Co. KG Système d'actionnement de commutateur à cames dans une réalisation augmentant la dynamique par une élévation de la tension
DE102018220161A1 (de) * 2018-11-23 2020-05-28 Zf Friedrichshafen Ag Verfahren zum Regeln eines Schaltsystems eines Getriebes

Also Published As

Publication number Publication date
FR2837555A1 (fr) 2003-09-26
DE10312400A1 (de) 2003-10-02
WO2003081091A3 (fr) 2004-02-05
DE10391765D2 (de) 2005-01-27
FR2837555B1 (fr) 2006-09-15
AU2003223883A1 (en) 2003-10-08

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