WO2011076487A1 - Procédé et dispositif de fermeture d'un embrayage à crabots destiné à entraîner un essieu d'un véhicule à moteur - Google Patents

Procédé et dispositif de fermeture d'un embrayage à crabots destiné à entraîner un essieu d'un véhicule à moteur Download PDF

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Publication number
WO2011076487A1
WO2011076487A1 PCT/EP2010/067599 EP2010067599W WO2011076487A1 WO 2011076487 A1 WO2011076487 A1 WO 2011076487A1 EP 2010067599 W EP2010067599 W EP 2010067599W WO 2011076487 A1 WO2011076487 A1 WO 2011076487A1
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WO
WIPO (PCT)
Prior art keywords
speed
electric machine
dog clutch
rotational speed
electric motor
Prior art date
Application number
PCT/EP2010/067599
Other languages
German (de)
English (en)
Inventor
Stefan Spoerhase
Markus Peter
Original Assignee
Robert Bosch 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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2011076487A1 publication Critical patent/WO2011076487A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/52—Driving a plurality of drive axles, e.g. four-wheel drive
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K7/00—Disposition of motor in, or adjacent to, traction wheel
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • 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
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • 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
    • 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
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • 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
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • B60W2510/081—Speed
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/02—Clutches
    • B60W2710/021—Clutch engagement state
    • 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
    • F16D2500/10—System to be controlled
    • F16D2500/104—Clutch
    • F16D2500/10406—Clutch position
    • F16D2500/10412—Transmission line of a vehicle
    • 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
    • F16D2500/10—System to be controlled
    • F16D2500/104—Clutch
    • F16D2500/10443—Clutch type
    • F16D2500/10462—Dog-type 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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/10—System to be controlled
    • F16D2500/106—Engine
    • F16D2500/1066—Hybrid
    • 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
    • F16D2500/304—Signal inputs from the clutch
    • F16D2500/30406—Clutch slip
    • 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
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/506—Relating the transmission
    • F16D2500/50607—Facilitating engagement of a dog clutches, e.g. preventing of gear butting
    • 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
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/506—Relating the transmission
    • F16D2500/50638—Shaft speed synchronising, e.g. using engine, clutch outside transmission
    • 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
    • F16D2500/70452—Engine parameters
    • F16D2500/70454—Engine speed
    • F16D2500/70456—Engine speed change rate
    • 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
    • F16D2500/70452—Engine parameters
    • F16D2500/70458—Engine torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

Definitions

  • the invention relates to a method for engaging a dog clutch for driving an axle of a motor vehicle, wherein the dog clutch transmits a force between an electric machine and a wheel-carrying axle of the motor vehicle, wherein for engaging an approximately constant speed difference band from a synchronization speed of the electric machine and a Speed of the axle is formed and a device for carrying out the method.
  • jaw clutches For the transmission of rotational movements or torques so-called jaw clutches are used in motor vehicles.
  • the two coupling elements of the dog clutch in this case have teeth which are arranged at predetermined intervals from each other.
  • a first coupling element is connected to the electric drive and the second coupling element with the driven axis of the motor vehicle.
  • To close the dog clutch in a moving vehicle it is necessary to set a differential speed between the two coupling elements, so that the teeth of the two coupling elements engage. That the teeth of one coupling element engage in the spaces between the teeth of the other coupling element and vice versa. This is ensured if the two coupling elements to each other have a differential speed.
  • the electric drive is controlled by a control unit so that a nearly constant speed difference band between the electric drive and the axis to be driven Vehicle results.
  • the axis is at a standstill or rotates only at a very low speed, it is difficult to set a designed as an electric machine drive to the necessary differential speed band, which is between 20 to 40 revolutions per minute. Below a speed of 300 revolutions per minute, the electric machine can no longer be controlled precisely enough to set such a small speed difference as required by the differential speed range.
  • the inventive method for engaging a dog clutch for driving an axle of a motor vehicle having the features of claim 1 has the advantage that at low speeds or the stoppage of the driven axle the necessary for the clutch differential speed band can be reached exactly. Characterized in that the electric machine is accelerated beyond the synchronization speed and then the speed of the electric machine is withdrawn, wherein the dog clutch is engaged when the reduced rotational speed of the electrical machine has reached the differential speed band, can on a control of the electric machine at Speeds below 300 revolutions per minute are dispensed with. There is only a control of the electric machine and a monitoring of the speed behavior of the electric machine after the control. These steps are easy to perform and do not require additional hardware overhead.
  • the synchronization speed is determined from the vehicle speed.
  • the speed of synchronization is understood to mean the speed which the electric machine must at least reach in order to come within the range of the rotational speed of the wheels of the motor vehicle, which is necessary in order to initiate a coupling process at all. It is assumed that the required differential speed range of 20 to 40 revolutions per minute is added to the synchronization speed or subtracted from this. When the speed of rotation of the electric machine approaches, the speed approaches that above the syn- rungsfraciere lying differential speed band, this speed is still above the synchronization speed.
  • the speed of the electric machine is taken back by the electric machine is switched to a generator mode.
  • the electric machine is braked and can roll out. That is, the speed of the electric machine decreases.
  • the mechanical energy of the electric machine is converted into electrical energy with which a high-voltage battery is charged, which supplies it with energy in the active state of the electric machine.
  • the speed of the electric machine is withdrawn by switching off the control of the electric machine. This only causes the electric machine to roll out, where its speed is reduced by the mass inertia of the electric machine. If the speed of the electric machine has fallen within the range of the differential speed band, a command for engaging the dog clutch is issued.
  • a torque control of the electric machine requires a torque of 0 Nm. In such an embodiment remains the
  • Torque control of the electric machine is active and is set only to such a target torque, which reliably causes the speed of the electric machine is reduced to reach the differential speed band of 20 to 40 revolutions per minute between the electric machine and the vehicle axle.
  • the electric machine is accelerated from standstill. Since the electric machine from standstill can reach a maximum torque very quickly, the required synchronization speed or a speed above this synchronization speed is reached in a very short period of time, so that the coupling process can be initiated at short notice.
  • the vehicle is during Einkuppeins at a standstill.
  • the proposed method can thus also be used simply to engage the dog clutch in order to drive the vehicle.
  • a force is transmitted by the electric machine to the stationary vehicle axle, whereby the motor vehicle is put into a driving movement.
  • the axle of the vehicle during the engagement one
  • a further development of the invention relates to a device for engaging a dog clutch for driving an axle of a motor vehicle, wherein the dog clutch transmits a force between an electric machine and an axle supporting the wheels of the motor vehicle, wherein for engaging peln an approximately constant speed difference band from a Synchronisie - Speed of the electrical machine and a speed of the axis is formed.
  • a Synchronisie - Speed of the electrical machine and a speed of the axis is formed.
  • means are provided which accelerate the electric machine beyond the synchronization speed and then retract the speed of the electric machine, whereby the dog clutch is engaged, when the withdrawn speed of the electric machine reaches the differential speed band.
  • a control unit is connected to the electric machine and a speed sensor, wherein the control unit, the electric machine in
  • Figure 1 Schematic representation of a hybrid vehicle with an electrically driven axle
  • Figure 2 a schematic flow diagram for the engagement of the
  • FIG. 4 Schematic representation of an adaptive torque control of the electric machine
  • FIG. 1 shows a hybrid vehicle which has a hybrid drive consisting of an internal combustion engine 1 and an electric motor 2.
  • the internal combustion engine 1 and the electric motor 2 thereby drive different axes of the hybrid vehicle.
  • the internal combustion engine 1 is connected via a first transmission 3 to the front axle 4 of the hybrid vehicle, on which two drive wheels 5, 6 are arranged.
  • An engine control unit 7 generates the control signals for the internal combustion engine 1.
  • the electric motor 2 drives the rear axle 8 of the hybrid vehicle, which carries two further drive wheels 9 and 10.
  • the electric motor 2 forms with a dog clutch 1 1 and a second gear 12, a structural unit 13.
  • Transmission 12 leads to and is connected to the rear axle 8 of the hybrid vehicle.
  • the electric motor 2, the dog clutch 1 1 and the transmission 12 are located for cooling in a common oil pan.
  • the dog clutch 1 1 is a special design of a clutch. Both coupling elements 1 1 a, 1 1 b of the dog clutch 1 1 point Teeth on, the predetermined distances from each other. To close the jaw clutch 1 1, the teeth of a coupling element 1 1 a engage in the gaps of the other coupling element 1 1 b, whereby a firm engagement is formed and a good power transmission is ensured.
  • the first coupling element 1 1 a of the dog clutch 1 1 is connected to the electric motor 2, while the second coupling element 1 1 b is linked to the transmission 12.
  • the electric motor 2 is further connected to a power output stage 14 in the form of a pulse inverter, which generates the current for the operation of the electric motor 2.
  • the power output stage 14 is connected to a high-voltage battery 15, which provides an electrical voltage of approximately 230 V for the operation of the electric motor 2.
  • the electric motor 2 is formed in the present embodiment as a permanently excited synchronous machine.
  • the electric motor 2 is connected to an electric motor control unit 16 which leads to a speed sensor 17, which is arranged on the wheel 10 of the vehicle and thus measures the speed from which the driving speed of the motor vehicle is determined.
  • a further, connected to the control unit 16 speed sensor 19 is arranged on the shaft 18 of the electric motor 2, which detects the rotational speed of the electric motor 2.
  • the torque control target torque is set to a value of 0 Nm (block 105). This means that the electric motor 2 is no longer regulated. By friction losses and inertia effects occurring, the electric motor 2 is decelerated accordingly. After a predetermined time, it is checked in block 106 whether the rotational speed n E of the electric motor 2 has decayed so far that it has reached the rotational speed difference band ⁇ , which adjoins the rotational speed of the wheel 10 converted into an electric motor rotational speed n A. If this is not the case, the system returns to block 105, where, in the absence of torque control, the
  • FIG. Diagram 3a shows the behavior of the torque M of the electric motor 2 over time t. To overcome the breakaway torque of the electric motor 2 is driven so that it generates an electrical torque M, wherein the torque M starting from 0 increases linearly.
  • the control of the torque is set to 0 Nm.
  • the electric motor 2 keeps constant the torque M due to its inherent energy before, due to the inertia and frictional forces, the torque M linearly decreases approximately to 0, which occurs at a time point T2.
  • the speed n E of the electric motor 2 follows the torque M, as can be seen from the diagram 3b. However, the fall in the rotational speed n E is not linear, but asymptotic, so that the electric motor 2 at time T2 still has a measurable speed. If this measured at the time T2 speed in the differential speed range, so at this time T2, the dog clutch 1 1 from the open to the closed
  • a vibration-resistant as possible behavior is set to a shaft 18 of the electric motor 2, since at high torsional vibrations of the engagement operation can not be performed.
  • no torque control is performed, but the torque controlled to compensate for the friction torque speed dependent. This results in a smooth progression of the speed, since no vibrations can be enhanced by a torque or speed control.
  • the friction of the electric motor 2 is additionally compensated by the electric motor 2 via a friction characteristic which is dependent on the rotational speed in the control unit 16. This means that the electric torque of the electric motor 2 is not equal to 0, but minimizes the mechanical torque on the shaft 18 of the electric motor 2 by providing an additional torque to compensate for the friction. Ideally, the mechanical moment goes to zero. In this case, no torque control is performed, but controlled the torque to compensate for the friction torque speed dependent.
  • the stored in the control unit 16 electric motor-specific friction characteristic is dependent on the temperature of the environment. Since the electric motor 2 is oil-cooled and is arranged with the dog clutch 1 1 and the transmission 12 in a transmission housing 13, in addition to the temperature, the viscosity of the oily medium affects the friction characteristic.
  • FIG. 4 shows a corresponding method.
  • tO is required that the jaw clutch 1 1 is to be engaged.
  • the course of the speed in this state is determined by a mathematical function n math (t, n 0 ) over time with an initial condition of the starting speed n 0 , which is stored in the control unit 16 (block 200).
  • This mathematically determined speed curve n math (t, n 0 ) is compared in point 201 continuously with the measured actual speed n E of the electric motor 2, wherein a Difference between the measured actual speed n E of the electric motor 2 and the mathematically modeled speed n math (t, n 0 ) is formed.
  • an adaptation factor f (An D ) is determined in block 202.
  • a torque correction TrqFrc is output as a friction torque.
  • This torque correction TrqFrc is based on a torque interface
  • TrqEMdesCalc the torque TrqEMdesCalc of the electric motor 2 to be controlled.
  • TrqDesMech The requested mechanical torque TrqDesMech is also set to zero at this time.
  • this newly determined and adapted characteristic is stored in the control unit 16 and used in the next request. This requirement is when a new command for engaging the dog clutch 1 1 is issued.
  • the stored friction characteristic curve is retrieved according to the method described and checked in dependence on the current speed n E of the electric motor 2.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé de fermeture d'un embrayage à crabots destiné à entraîner un véhicule à moteur, l'embrayage à crabots (1 1 ) transmettant une force entre un moteur électrique (2) et l'essieu (8) portant des roues (9, 10) du véhicule. Aux fins d'embrayage, une bande de différence de vitesses (Δn) approximativement constante est formée à partir d'une vitesse de synchronisation (ns) du moteur électrique (2) et d'une vitesse de rotation (nA) de l'essieu (8). Pour atteindre avec précision la bande de différence de vitesses nécessaire à l'embrayage en cas de faibles vitesses de rotation ou à l'arrêt de l'essieu à entraîner, le moteur électrique (2) est accéléré au-delà de la vitesse de synchronisation (ns) et ensuite la vitesse (nE) du moteur électrique (2) est réduite, l'embrayage à crabots (11) se fermant lorsque la vitesse (nE) réduite du moteur électrique (2) atteint la bande de différence de régime (Δn).
PCT/EP2010/067599 2009-12-23 2010-11-16 Procédé et dispositif de fermeture d'un embrayage à crabots destiné à entraîner un essieu d'un véhicule à moteur WO2011076487A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009055242.1 2009-12-23
DE102009055242.1A DE102009055242B4 (de) 2009-12-23 2009-12-23 Verfahren und Vorrichtung zum Einkuppeln einer Klauenkupplung zum Antrieb einer Achse eines Kraftfahrzeuges

Publications (1)

Publication Number Publication Date
WO2011076487A1 true WO2011076487A1 (fr) 2011-06-30

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PCT/EP2010/067599 WO2011076487A1 (fr) 2009-12-23 2010-11-16 Procédé et dispositif de fermeture d'un embrayage à crabots destiné à entraîner un essieu d'un véhicule à moteur

Country Status (2)

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DE (1) DE102009055242B4 (fr)
WO (1) WO2011076487A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2873543A1 (fr) * 2013-11-15 2015-05-20 Hyundai Wia Corporation Dispositif de commande pour roues arrière de véhicule électrique à quatre roues motrices
US9061577B2 (en) 2013-11-14 2015-06-23 Hyundai Wia Corporation Driving device for rear wheels of four wheel driving electric vehicle
US11619272B2 (en) * 2020-12-21 2023-04-04 Hyundai Motor Company Dog clutch engagement method of electric four-wheel drive vehicle

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* Cited by examiner, † Cited by third party
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DE102012007622A1 (de) 2012-04-18 2013-10-24 Voith Patent Gmbh Verfahren zum Durchführen eines Schaltschritts
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