WO2015158342A2 - Verfahren zur auslegung eines softwaretilgers einer kupplungssteuerung und softwaretilger zur dämpfung von rupfschwingungen - Google Patents
Verfahren zur auslegung eines softwaretilgers einer kupplungssteuerung und softwaretilger zur dämpfung von rupfschwingungen Download PDFInfo
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- WO2015158342A2 WO2015158342A2 PCT/DE2015/200195 DE2015200195W WO2015158342A2 WO 2015158342 A2 WO2015158342 A2 WO 2015158342A2 DE 2015200195 W DE2015200195 W DE 2015200195W WO 2015158342 A2 WO2015158342 A2 WO 2015158342A2
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- clutch
- software
- filter
- frequency response
- vibrations
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- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
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- 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
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- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- 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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D2300/00—Special features for couplings or clutches
- F16D2300/22—Vibration damping
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- F16D2500/10—System to be controlled
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- F16D2500/3081—Signal inputs from the transmission from the input shaft
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- F16D2500/3125—Driving resistance, i.e. external factors having an influence in the traction force, e.g. road friction, air resistance, road slope
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- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
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- F16D2500/316—Other signal inputs not covered by the groups above
- F16D2500/3163—Using the natural frequency of a component as input for the control
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Definitions
- the invention relates to a software filter and a method for the design of a clutch controller switched software to dampen Rupfschwingungen a arranged between an internal combustion engine and a transmission, automated, controlled by the clutch control friction bungskupplung to be transmitted clutch torque, wherein by means of the software filter a transmission input speed on Output of the friction clutch detected and corrected by means of a negative feedback, the loaded by judder vibrations clutch desired torque.
- Automated friction clutches for example friction clutches combined to form a dual clutch, are well known and are used in drive trains with an internal combustion engine and a transmission, for example an automatic transmission, dual clutch transmission or the like, between the internal combustion engine and the transmission.
- the friction clutch is actuated by means of a clutch actuator such as clutch actuator.
- the clutch actuator is controlled by a clutch control.
- the clutch control includes a controller, which is based on a desired clutch torque, which can be determined by a driving strategy program, for example, depending on a driver's desired torque, driving situations, road conditions and the like, the friction clutch operated so that at the output of a predetermined clutch torque is applied.
- DE 10 2013 204 698 A1 discloses a method for reducing juddering vibrations, in which the clutch actuator for the desired clutch torque is superposed by an emulated vibration absorber, that is to say a software-bound vibration absorber such as software suppressor.
- the object of the invention is to propose the advantageous development of a software filter and a method for its interpretation.
- the proposed method is used to design a software controller connected to a clutch control system for damping chatter vibrations of an automated clutch torque controlled by the clutch control to be transmitted via a clutch between a combustion engine and a transmission.
- a transmission input speed at the output of the friction clutch is detected by means of the software silencer and damped by a negative feedback, the loaded by chatter vibrations clutch torque at the output of the friction clutch by the clutch desired torque is corrected accordingly.
- the software filter in a robust manner, that is to determine its control parameter, by determining a transmission behavior upon excitation of the nominal clutch torque in a frequency range relevant to juddering vibrations, for example at frequencies up to 30 Hz. is determined via the controlled system of the clutch control.
- an undamped first frequency response of the transmission input speed and a second frequency response at the output of the software filter are determined.
- the negative feedback of the software filter ie its control parameter, is determined and thus the software filter designed and configured.
- the two frequency responses are represented as complex functions having an amplitude and a phase for determining the feedback and calculating the feedback from them by calculation.
- the first undamped frequency response can be represented as a complex function X (f) and the second frequency response as a complex function Y (f), and the feedback can be represented by their ratio X (f) / (1 + X (f) x Y (f )) be calculated.
- a maximum of a juddering vibration at a predetermined picking frequency can be damped while flanks of the maximum are raised. This results in a smoothing of the frequency response with moderate amplification of the feedback.
- the proposed software filter is used to carry out the method described and has a filter which feeds a negative, the juddering vibrations attenuating feedback to the clutch desired torque from a transmission input speed with a subject by chattering frequency response.
- the linear filter may be designed as a recursive infinite impulse response filter, infinite impulse response (IIR) filter or finite impulse response (FIR) filter.
- a gain of the software filter that is to say a quantity of the feedback
- the software silencers are turned off when juddering vibrations are less likely to occur, and are turned on when their likelihood increases, for example, when starting the vehicle, crawling, engaging after gear changes, and the like.
- transition regions can be provided.
- a regulation of the amplification can be provided by means of a characteristic dependent on a stability of the software filter.
- a maximum gain of the feedback can be limited.
- gain may be limited to 150% of an amplitude of the frequency response of the transmission input speed.
- Driveline with an applied load and its dynamics can be calculated using a linear controller such as software filters the damped frequency response with activated controller.
- the controller can thus be optimally designed for a defined target frequency response in the sense of a best fit.
- this design of the target frequency response is also possible automatically by means of appropriate optimization algorithms
- this is particularly simple and without the use of recursive fit algorithms predictable.
- the design of the software filter can be carried out or evaluated.
- a relative increase in the amplitude is provided outside the resonance.
- the frequency response as flat as possible is provided without generating too large amplifications, which can lead to instability of the regulator.
- an automated design can be carried out with defined design criteria.
- An interpretation criterion can be, for example, to minimize the maximum of the amplitude of the damped frequency response. while keeping the maximum gain less than 150%.
- the design can be determined using standard optimization algorithms.
- the regulator or filter in which a linear filter is provided by a so-called FIR filter.
- the design of the controller in the form of the software filter can be calculated directly from a target frequency response, for example, without using recursive fit algorithms.
- a weighted summation of a limited number of past measured values of the transmission input rotational speed or of the nominal clutch torque, for example stored in a buffer takes place.
- a particular challenge here is the consideration of the fact that no values can be used "from the future.”
- the following boundary conditions can be provided: maximum amplification, maximum amplitude, sampling interval, and the filter order dependent buffer time and the like can be specified.
- the controlled shutdown of the controller during the transition to operating areas in which a stable controller design is no longer possible can be provided.
- the shutdown can be carried out continuously over a total gain. As the gain decreases, the control of the controller becomes increasingly “stable” and approaches the unregulated clutch system.
- FIG. 1 is a block diagram of a software filter
- Figure 2 is a diagram illustrating a design of a software filter
- FIG. 3 shows a diagram for the automated design of a software filter
- FIG. 1 shows the block diagram 1 with the sequence of a method for damping juddering vibrations along the controlled system 2 by means of the software filter 3.
- the associated friction clutch by means of a clutch actuator and a clutch control by means of a control algorithm to a predetermined depending on a driving situation clutch target torque m (k) regulated, for example by means of a position controller.
- clutch target torque m (k) regulated, for example by means of a position controller.
- the software accelerator 3 picks up the transmission input rotational speed r (g) at the output of the friction clutch and generates the modulation torque m (m) as a negative feedback to the juddering vibrations in a state adapted to the disturbance variables 4, 5, 6 corrected so that at the node 7, the clutch desired torque m (k).
- the corrected clutch setpoint torque m (k) influences the clutch torque to be transmitted via the clutch actuator on the friction clutch and thus compensates the juddering vibrations.
- the switch 8 is provided, which weights the effect of the software filter 3 digitally or in accordance with a predetermined characteristic curve.
- the switch can switch off the software filter or reduce its effect. Furthermore, by means of the switch 8, a gain of the software filter 3 can be set.
- the design of the software filter 3 is effected as a function of the disturbance variables 4, 5, 6.
- the transmission behavior is determined via the controlled system 2, for example empirically on the vehicle, by means of model calculations or the like.
- the desired clutch torque m (k) is applied to predetermined oscillations, vibration patterns or the like, which lie in the region of the frequency (s) of a Rupfvorgangs on the friction clutch.
- the frequency paths of the controlled system 2 and the software filter 3 are detected as complex functions X (f) and Y (f) assuming a linear controlled system 2 and a linear software filter 3. From the context X (f) / (1 + X (f) x Y (f)) the software filter 3 is designed, that is, determines the parameterization.
- diagram II shows in solid line the amplitude and in dashed line the phase of the frequency response of the complex function X (f) via the controlled system 2 of Figure 1.
- the partial diagram II shows the frequency response determined therefrom with the complex function Y (f).
- the partial diagram III shows the amplitudes of the transfer function in active, designed software filter 3 ( Figure 1) in a solid line with respect to the illustrated in dashed line uncompensated frequency response with the complex function X (f) of the partial diagram I.
- the partial diagram IV shows the amplification of the software filter 3 designed in accordance with partial diagrams I-III via the excitation frequency.
- the maximum gain can be limited to 150%, for example.
- FIG. 3 shows the diagram 12 with the partial diagrams V, VI, VII, VIII, IX for the automated design of a software filter with an FIR filter.
- the partial diagram V indicates the frequency response of the transmission input speed in a dashed line.
- the target frequency response shown in dotted line is specified.
- the FIR filter is tuned by means of the actual frequency response and the target frequency response by means of optimization algorithms, so that the frequency response shown in a solid line results.
- the partial diagram VI shows the phase of the actual uncompensated frequency response in dashed line and the compensated by the FIR filter frequency response in a solid line.
- the partial diagram VII shows the gain V of the FIR filter over the excitation frequency such as picking frequency.
- Partial diagrams VIII shows a limitation of the filter amplitude A (F) and sub-diagram IX the limitation of the filter phases cp (F) by corresponding application of boundary conditions in thick line versus non-limited amplitude and non-limited filter phase, shown in thin line.
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CN201580019992.5A CN106233023B (zh) | 2014-04-16 | 2015-03-26 | 用于设计离合器控制装置的软件减振器的方法和用于衰减抖振振动的软件减振器 |
US15/300,475 US10012275B2 (en) | 2014-04-16 | 2015-03-26 | Method for configuring a software damper of a clutch control system and software damper for damping chatter vibrations |
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PCT/DE2015/200194 WO2015158341A2 (de) | 2014-04-16 | 2015-03-26 | Verfahren zur parametrierung eines softwaretilgers zur dämpfung von rupfschwingungen |
PCT/DE2015/200197 WO2015158344A2 (de) | 2014-04-16 | 2015-03-26 | Verfahren zur verminderung von rupfschwingungen einer reibungskupplung in einem antriebsstrang eines kraftfahrzeugs |
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CN106233024A (zh) | 2016-12-14 |
US20170045102A1 (en) | 2017-02-16 |
US20170108060A1 (en) | 2017-04-20 |
CN106233022B (zh) | 2019-02-15 |
CN106233031A (zh) | 2016-12-14 |
CN106233031B (zh) | 2019-04-19 |
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CN106233023A (zh) | 2016-12-14 |
US20170138419A1 (en) | 2017-05-18 |
DE112015001851A5 (de) | 2016-12-29 |
WO2015158343A2 (de) | 2015-10-22 |
US10012275B2 (en) | 2018-07-03 |
US10197115B2 (en) | 2019-02-05 |
CN106233024B (zh) | 2019-06-07 |
WO2015158341A2 (de) | 2015-10-22 |
WO2015158344A2 (de) | 2015-10-22 |
WO2015158343A3 (de) | 2015-12-10 |
WO2015158344A3 (de) | 2015-12-17 |
DE112015001832A5 (de) | 2016-12-29 |
DE112015001843A5 (de) | 2017-01-19 |
DE112015001829A5 (de) | 2016-12-29 |
US10228028B2 (en) | 2019-03-12 |
WO2015158341A3 (de) | 2015-12-10 |
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