WO2014082628A1 - Verfahren zur steuerung einer reibungskupplung - Google Patents
Verfahren zur steuerung einer reibungskupplung Download PDFInfo
- Publication number
- WO2014082628A1 WO2014082628A1 PCT/DE2013/200230 DE2013200230W WO2014082628A1 WO 2014082628 A1 WO2014082628 A1 WO 2014082628A1 DE 2013200230 W DE2013200230 W DE 2013200230W WO 2014082628 A1 WO2014082628 A1 WO 2014082628A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- controller
- time
- actual value
- controller parameters
- parameters
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000004044 response Effects 0.000 claims abstract description 14
- 238000004422 calculation algorithm Methods 0.000 claims description 12
- 230000006978 adaptation Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 8
- 230000004048 modification Effects 0.000 abstract 1
- 238000012986 modification Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 230000001419 dependent effect Effects 0.000 description 6
- 230000003321 amplification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004519 grease Substances 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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
-
- 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
- F16D2500/102—Actuator
- F16D2500/1021—Electrical type
-
- 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
- F16D2500/1045—Friction 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
- F16D2500/30—Signal inputs
- F16D2500/304—Signal inputs from the clutch
- F16D2500/30404—Clutch temperature
-
- 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
- F16D2500/30404—Clutch temperature
- F16D2500/30405—Estimated clutch temperature
-
- 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
- F16D2500/502—Relating the clutch
- F16D2500/50236—Adaptations of the clutch characteristics, e.g. curve clutch capacity torque - clutch actuator displacement
-
- 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
- F16D2500/70235—Displacement
-
- 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
- F16D2500/7041—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
- F16D2500/70—Details about the implementation of the control system
- F16D2500/706—Strategy of control
- F16D2500/7061—Feed-back
- F16D2500/70615—PI 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
- 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
- F16D2500/706—Strategy of control
- F16D2500/7061—Feed-back
- F16D2500/70626—PID control
Definitions
- the invention relates to a method for controlling a friction clutch in a
- Automated friction clutches are actuated along an axial actuation path about their axis of rotation.
- clutch actuators are used in which a correspondingly designed clutch actuation, for example an actuator mechanism, a hydrostatic section or the like is actuated by an electric motor, by being driven or a master cylinder piston is actuated, optionally with the interposition of a transmission.
- a relationship between actuation travel and clutch torque is determined in a control unit on the basis of characteristic diagrams or algorithms and output in the form of a desired variable for controlling the electric motor.
- the electric motor is controlled by means of a controller optionally after a pilot control to an actual value which corresponds to the clutch torque to be transmitted.
- the controller is adapted in the new state by means of empirically determined controller parameters to the controlled system.
- the object of the invention is the development of a method for controlling a
- Friction clutch by means of a clutch actuator, which ensures a consistently high control quality of the clutch actuator over its operating time and temporary changes to the controlled system allowed.
- a corresponding adaptation of the controller parameters can take place. Whether an adaptation of these is to take place can be made dependent on a threshold of detectable variables, for example the changes themselves, a time behavior of the controlled system, derivable variables and / or the like.
- the execution of a check of the time behavior and possibly an adaptation of the controller parameters can be carried out continuously over the operating time, for example at regular intervals.
- the check is carried out at settings of the friction clutch or operating states of the drive train, in which no danger, loss of comfort or the like for the drive train, the motor vehicle and the occupants of the motor vehicle arises as a result of the increased by the setpoint jump clutch torque.
- the respective clutch clutch torque transmitting friction clutch can be checked.
- clutch states can be provided at high clutch torque to be transmitted, in which an increasing clutch torque can be accepted.
- a setpoint jump can be impressed, which, for example, when closed Brake still leads to no starting action of the motor vehicle.
- negative setpoint jumps can also be provided for detecting a hysteresis of the controlled system, which are impressed in the opening direction of the friction clutch.
- setpoint jumps initiated with a possibly subsequent adaptation of the controller parameters can be effected depending on a detected size of the drive train, for example at a temperature change of a characteristic temperature of the drive train, for example a measured one, exceeding a predetermined threshold or by means of a temperature model of other temperatures determined coupling temperature is performed.
- Controller parameter based on a turning tangent of the step response.
- a time interval predetermined between a first point in time at the beginning of a step response and a second point in time at which the actual value is to be set by the nominal value jump can be detected.
- the time interval of the Wendetangente is divided into two sub-intervals and determined on the basis of the actual value to be set and the sub-intervals by means of selected calculation algorithms, the controller parameters.
- the calculation algorithms determined in this way can be preset according to a control curve of the actual value to be controlled. If, for example, an aperiodic control process or a control process with overshoots is detected, the calculation algorithms can be adapted differently to these control processes.
- the course of the control can be derived, for example, from the step response itself, by evaluating it curve-analytically.
- the number of controller parameters and the calculation algorithms determining them can be made dependent on a controller type, for example P controller, PI controller, PID controller.
- amplification is preferred, the gain and a time constant are adapted for the PI controller, and the amplification and two time constants are used for the PID controller.
- the control parameter based on a slope of the actuation path over time and a time interval between a time at the start of the setpoint jump and a time, where the time axis is intersected by a tangent of the path-time curve.
- FIG. 1 shows a diagram of a desired value step over time applied to a controlled system of a clutch actuator
- FIG. 2 shows a diagram of a step response of the controlled variable following the nominal value jump of FIG.
- FIG. 3 shows a diagram of a setpoint jump applied to a controlled system of a clutch actuator over time
- FIG. 4 shows a diagram of a path following the nominal value jump of FIG.
- FIG. 1 shows the diagram 1 of the desired value SG over the time t.
- the step response of the actual value IW shown as curve 4 results over time t with an asymptotically adjusting actual value IW (s) dependent on the setpoint increment SG (s) of FIG. 1 and the starting value at the point in time t 0 .
- the currently set controller parameters of the controller are reset, so that the variables influencing the curve 4 go back exclusively to the controlled system itself.
- the turning tangent 5 is determined from the course of the curve 4, which intersects the ordinate value of the actual value IW (s) to be set at the point of intersection S and defines a point in time t-1 at the point of intersection S. From the times t 0 , t- ⁇ the interval At- ⁇ is included, which is divided by the turning tangent 5 in the sub-intervals T u, T g . The subdivision is dependent on the slope of the Wendetangente, so that overall the time behavior of the curve 4 can be reproduced depending on the actual value IW (s) to be set. Based on the design of the Wendetangente 5, an adaptation of the controller parameters depending on the type of controller used.
- the controller parameters K p in the form of the gain for a proportional controller P (P) are shown in Table 1 below. Controller) or K p , T n for a Pl controller or K p , T n , T v determined for a PID controller. These are formed by means of the illustrated calculation algorithms by taking the actual value IW (s) to be set from FIG. 2, which is set to K s in Table 1, and the subintervals T u , T g of FIG.
- control curves are again differentiated into states with (external) interference and (inner) guidance, so that the corresponding calculation algorithms are used for the corresponding control states and thus the adapted controller parameters are adapted.
- Figures 3 and 4 show the diagrams 6 and 8 with the impressed in the form of the curve 7 setpoint size SG (s) and the path-time curve 9 over the time t.
- the setpoint jump SG (s) applied at the time t 0 causes a delayed start of the path setting of the actuation path s in the controlled system and then a substantially constant path-time behavior that can be reproduced by the tangent 10.
- the slope k determined at a standardized time interval, can be used in conjunction with the time interval At 2 Adaptation of the controller parameter K p of a P-controller according to the following calculation algorithm:
- time interval At 2 from the time t 0 at the beginning of the setpoint jump SG (s) and time t 2 is set at the intersection of the tangent 10 with the time axis.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112013005680.1T DE112013005680A5 (de) | 2012-11-28 | 2013-10-17 | Verfahren zur Steuerung einer Reibungskupplung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102012221700.2 | 2012-11-28 | ||
DE102012221700 | 2012-11-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014082628A1 true WO2014082628A1 (de) | 2014-06-05 |
Family
ID=49882734
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2013/200230 WO2014082628A1 (de) | 2012-11-28 | 2013-10-17 | Verfahren zur steuerung einer reibungskupplung |
Country Status (2)
Country | Link |
---|---|
DE (2) | DE112013005680A5 (de) |
WO (1) | WO2014082628A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2015028013A2 (de) * | 2013-08-28 | 2015-03-05 | Schaeffler Technologies Gmbh & Co. Kg | Steuern eines kupplungsaktuators |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1616770A1 (de) * | 2004-06-30 | 2006-01-18 | Luk Lamellen und Kupplungsbau GmbH | Verfahren zum Schutz einer automatisiert betätigten Kupplung eines Fahrzeugs gegen Überlastung |
DE102010024938A1 (de) | 2009-07-13 | 2011-01-20 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Verfahren zur Regelung eines Antriebsstrangs mit automatischer Reibungskupplung und Antriebsstrang hierzu |
DE102010052819A1 (de) * | 2009-12-14 | 2011-06-16 | Schaeffler Technologies Gmbh & Co. Kg | Verfahren zur Steuerung einer automatisierten Reibungskupplung |
DE102011103750A1 (de) * | 2010-06-28 | 2011-12-29 | Schaeffler Technologies Gmbh & Co. Kg | Hydrostataktor und Verfahren zur Steuerung eines Hydrostataktors |
DE102012202413A1 (de) * | 2011-03-14 | 2012-09-20 | Schaeffler Technologies AG & Co. KG | Verfahren zur Steuerung einer Reibungskupplung |
DE102011105507A1 (de) * | 2011-06-24 | 2012-12-27 | Schaeffler Technologies AG & Co. KG | Verfahren zur Steuerung einer automatisierten Reibungskupplung |
-
2013
- 2013-10-17 DE DE112013005680.1T patent/DE112013005680A5/de not_active Ceased
- 2013-10-17 DE DE201310221046 patent/DE102013221046A1/de not_active Withdrawn
- 2013-10-17 WO PCT/DE2013/200230 patent/WO2014082628A1/de active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1616770A1 (de) * | 2004-06-30 | 2006-01-18 | Luk Lamellen und Kupplungsbau GmbH | Verfahren zum Schutz einer automatisiert betätigten Kupplung eines Fahrzeugs gegen Überlastung |
DE102010024938A1 (de) | 2009-07-13 | 2011-01-20 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Verfahren zur Regelung eines Antriebsstrangs mit automatischer Reibungskupplung und Antriebsstrang hierzu |
DE102010052819A1 (de) * | 2009-12-14 | 2011-06-16 | Schaeffler Technologies Gmbh & Co. Kg | Verfahren zur Steuerung einer automatisierten Reibungskupplung |
DE102011103750A1 (de) * | 2010-06-28 | 2011-12-29 | Schaeffler Technologies Gmbh & Co. Kg | Hydrostataktor und Verfahren zur Steuerung eines Hydrostataktors |
DE102012202413A1 (de) * | 2011-03-14 | 2012-09-20 | Schaeffler Technologies AG & Co. KG | Verfahren zur Steuerung einer Reibungskupplung |
DE102011105507A1 (de) * | 2011-06-24 | 2012-12-27 | Schaeffler Technologies AG & Co. KG | Verfahren zur Steuerung einer automatisierten Reibungskupplung |
Also Published As
Publication number | Publication date |
---|---|
DE102013221046A1 (de) | 2014-05-28 |
DE112013005680A5 (de) | 2015-09-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE102012021211B4 (de) | Verfahren zum Ermitteln eines Einstellparameters in einer hydraulischen Aktuatoranordnung für einen Kraftfahrzeugantriebsstrang und Verfahren zum Betätigen einer Reibkupplung eines Kraftfahrzeugantriebsstranges | |
EP2542796B1 (de) | Verfahren zur steuerung einer reibungskupplung und vorrichtung hierzu | |
EP1775449B1 (de) | Antriebsstrang für ein Kraftfahrzeug und Verfahren zum Betreiben eines solchen Antriebsstrangs | |
DE19837816A1 (de) | Verfahren zum Steuern einer Kupplung | |
EP2386774A1 (de) | Verfahren zur Ansteuerung einer Reibkupplung | |
DE19853333A1 (de) | Kupplung | |
EP3009703A1 (de) | Verfahren zur steuerung einer automatisierten kupplung eines nutzfahrzeugs und steuerung für eine automatisierte kupplung eines nutzfahrzeugs | |
WO2015028013A2 (de) | Steuern eines kupplungsaktuators | |
DE102012103408A1 (de) | Verfahren zur Adaption einer Trennkupplung | |
DE102005036477A1 (de) | Verfahren und Steuerungseinrichtung zum Einstellen einer Drehzahl einer Welle eines Zahnräderwechselgetriebes | |
DE102014210526B4 (de) | Verfahren sowie Steuergerät zur Steuerung einer Reibungskupplung | |
EP3551903B1 (de) | Verfahren zum betätigen einer kupplung eines hybridantriebsstranges sowie antriebsstrang mit kupplung | |
EP3221608B1 (de) | Verfahren zur anpassung eines reibwertes einer automatisierten kupplung | |
WO2014082628A1 (de) | Verfahren zur steuerung einer reibungskupplung | |
DE102015218884B4 (de) | Verfahren zum Bestimmen mindestens einer Kenngröße einer Trennkupplung, Steuergerät, Computerprogrammprodukt und Datenträger | |
DE102010024938A1 (de) | Verfahren zur Regelung eines Antriebsstrangs mit automatischer Reibungskupplung und Antriebsstrang hierzu | |
EP2265838B1 (de) | VERFAHREN UND VORRICHTUNG ZUM SCHLIEßEN EINER KUPPLUNG | |
DE102013009857B4 (de) | Verfahren zum Betreiben einer Kupplung eines Fahrzeugs und Fahrzeug | |
DE102012206422A1 (de) | Verfahren zur Umsetzung eines Sicherheitskonzepts in einem Doppelkupplungsgetriebe | |
DE102007034203A1 (de) | Verfahren und Vorrichtung zur Erkennung von Kupplungsverschleiß | |
DE102015205946A1 (de) | Verfahren zum Verhindern einer ungewollten Beschleunigung eines Kraftfahrzeugs | |
DE102019215674A1 (de) | Verfahren zur Regelung eines Stellaktuators | |
DE102021207816B3 (de) | Verfahren zum Betätigen einer formschlüssigen Kupplung eines Getriebes sowie Kupplungsvorrichtung | |
DE102016211735B4 (de) | Verfahren und Steuergerät zur Steuerung und/oder zur Regelung eines Antriebsstrangs eines Kraftfahrzeugs mit einem Antriebsmotor und mit mindestens einer Kupplung | |
EP3374653B1 (de) | Elektrohydraulische getriebekupplung eines kraftfahrzeugs |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13814016 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112013005680 Country of ref document: DE Ref document number: 1120130056801 Country of ref document: DE |
|
REG | Reference to national code |
Ref country code: DE Ref legal event code: R225 Ref document number: 112013005680 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 13814016 Country of ref document: EP Kind code of ref document: A1 |