WO2016134716A1 - Filter zur filterung von ein drehzahlsignal überlagernden schwingungen sowie ein verfahren zur einstellung einer breite des filters - Google Patents
Filter zur filterung von ein drehzahlsignal überlagernden schwingungen sowie ein verfahren zur einstellung einer breite des filters Download PDFInfo
- Publication number
- WO2016134716A1 WO2016134716A1 PCT/DE2016/200110 DE2016200110W WO2016134716A1 WO 2016134716 A1 WO2016134716 A1 WO 2016134716A1 DE 2016200110 W DE2016200110 W DE 2016200110W WO 2016134716 A1 WO2016134716 A1 WO 2016134716A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- filter
- width
- speed
- period
- input shaft
- Prior art date
Links
Classifications
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/20—Reducing vibrations in the driveline
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
- G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
- G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
- G01P3/489—Digital circuits therefor
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
- B60W2050/0052—Filtering, filters
- B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
-
- 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
- F16D2300/00—Special features for couplings or clutches
- F16D2300/22—Vibration damping
-
- 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
- F16D2500/3042—Signal inputs from the clutch from the output shaft
- F16D2500/30426—Speed of the output shaft
-
- 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
- F16D2500/308—Signal inputs from the transmission
- F16D2500/3081—Signal inputs from the transmission from the input shaft
- F16D2500/30816—Speed of the input shaft
-
- 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
- F16D2500/316—Other signal inputs not covered by the groups above
- F16D2500/3163—Using the natural frequency of a component as input for the 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
- F16D2500/50—Problem to be solved by the control system
- F16D2500/502—Relating the clutch
- F16D2500/50293—Reduction of vibrations
-
- 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
- F16D2500/70605—Adaptive correction; Modifying control system parameters, e.g. gains, constants, look-up tables
-
- 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
- F16D2500/70668—Signal filtering
Definitions
- Filter for filtering vibrations superimposed on a speed signal and a method for adjusting a width of the filter
- the invention relates to a filter for filtering vibrations superimposed on a rotational speed signal, in particular chattering vibrations superimposed on a transmission input shaft rotational speed, which has a width and a method for adjusting a width of a filter.
- a linear filter is used to optimize the software-based vibration absorber.
- the width of the linear filter is predetermined in order to filter out juddering vibrations from the transmission input shaft speed.
- the real chattering vibrations may have frequencies that deviate from the predetermined width of the filter.
- the reason for this can be a geometric picking whose excitation frequency can depend on the slip, the gear input shaft speed or the engine speed. If the specified width of the filter does not match the available picking frequency, the picking can not be reliably filtered out of the transmission input shaft speed.
- driving strategies such as slip control and creep strategy, coupled with the plucking and reinforce this even more. As a result, the ride comfort in the motor vehicle is adversely affected.
- the invention has for its object to provide a filter for filtering vibrations, whereby the ride comfort of the vehicle is improved.
- the object is achieved in that the width of the filter is variably adjustable.
- This has the advantage that the width of the filter is adapted situationally, whereby a good response to varying picking frequencies occurs.
- the width of the filter determined by means of a vibration analysis leads to an improved response to actually occurring picking frequencies and thus to an improvement in ride comfort.
- the variably adjustable filter width of a period of the, the speed signal superimposed oscillations dependent can be easily detected by the vibration analysis and further processed by software.
- an FIR filter is used as the filter.
- a FIR filter there is a weighted summation of a limited number of past measurements.
- the filter is part of a control unit which is connected to a speed sensor, which is arranged opposite a transmission input shaft for detecting a transmission input shaft speed, wherein the transmission input shaft is arranged in a drive train of a vehicle.
- the width of the filter is set dynamically in response to a period of the oscillations of the rotational speed. This has the advantage that the width of the filter is adapted situationally, whereby a good response to varying picking frequencies occurs.
- the width of the filter determined by means of a vibration analysis leads to an improved response to actually occurring picking frequencies and thus to an improvement in ride comfort.
- the period of the oscillations of the rotational speed is determined on the basis of zero crossings of the oscillations. These period lengths can be easily detected by the vibration analysis and further processed by software.
- the speed is bandpass filtered before determining the period of the oscillations of the speed.
- the speed has a
- At least one period of the oscillation is used to set the width of the filter. This allows a finite look into the past, from which conclusions can be drawn on the actually occurring periods of the vibrations of the transmission input shaft speed, in order to filter out the juddering vibrations from the intake input shaft speed in a targeted manner.
- the width of the filter is determined from the ratio of the period duration to a sampling rate of the rotational speed. In order to be able to determine the period of the oscillations with sufficient accuracy, several zero crossings must be considered, since the period of the picking frequency can change during the measuring period.
- the period of the oscillations is used in an adaptive judder filtering to filter out juddering vibrations that are transmitted in a drive train of a vehicle from a clutch to the drive train comprising the transmission input shaft, thereby influencing the
- Cupping vibrations on driving strategies such as slippage strategy and creep strategy, are prevented. Since plucking is a major problem for dry clutch systems, especially for automated clutch systems, in the drivetrain of the vehicle, by preventing the gain of the
- FIG. 1 is a schematic diagram of a drive train of a motor vehicle
- Fig. 2 is a schematic representation of a width of an FIR filter whose
- Width of the period of the juddering vibration is adjusted
- Fig. 3 is a schematic representation of a signal chain of one with a
- Fig. 4 shows an embodiment of a signal chain of the with a
- a drive train 1 of a motor vehicle which has an internal combustion engine 2, which via a crankshaft 3 with an automated Coupling 4 is connected.
- the automated clutch 4 leads via a transmission input shaft 5 to a transmission 6, which is connected via a transmission output shaft 7 with an axle 8 and thus with the wheels 9 of the vehicle.
- the clutch 4 forms with the axle 8, a mass-spring system. Since the axle 8 is fixed to the wheel 9 fixed to the ground, the clutch 4 oscillates relative to the wheel 9, whereby Rupfschwingungen are generated, which are transmitted to the drive train 1. This has the consequence that the rotational speed of the transmission input shaft 5, which is measured with the rotational speed sensor 10 and evaluated by the control unit 1 1, due to the juddering Jupins is gradient-related, wherein the speed curve sinusoidal Rupfschwing12. are superimposed together with noise.
- the controller 1 1 comprises a filter 12, preferably an FIR filter, whose width is adapted adaptively as a function of the period duration of the juddering oscillations.
- a filter 12 preferably an FIR filter, whose width is adapted adaptively as a function of the period duration of the juddering oscillations.
- the varying width of the filter 12 is shown, which varies with the period of the Rupfschwingung R.
- the juddering vibration R has a picking frequency which decreases over time by way of example. Due to this change in the picking frequency, the width of the filter 12 also changes.
- the width of the filter 12 in block B corresponds to the measured average period of the picking vibration R, which in this case is a higher one
- Rupffrequenz has.
- the width of the filter 12 shown in the block C is greater than the filter width shown in the block B, since the picking frequency is lower at this measurement period and thus a larger period duration occurs.
- Fig. 3a the Getnebeeingangswellendfitiere n G is shown over the time t, which are superimposed on the sinusoidal Rupfschwingungen R.
- the input input shaft speed n G is bandpass filtered.
- the bandpass filtered input input speed n Gb is illustrated in FIG. 3b.
- Fig. 3c shows a filtered input input speed n GF .
- a vibration analysis of the juddering vibrations R is performed by based on the zero crossings of, the transmission input shaft speed n G b superimposed Rupfschwingungen R, which are illustrated by the vertical lines whose period is determined.
- the width of the software 12 formed in the controller 1 1 filter 12 is tuned during the measurement period of the vibration analysis exactly on the present period of the juddering vibrations R.
- Fig. 4 are comparable to Fig. 3 shows three figures of the transmission input shaft speed shown.
- the measured transmission input speed n G which is superimposed by the Rupfschwingungen R is shown in Fig. 4a.
- the band-pass filtered transmission input shaft rotational speed n G b is shown in Fig. 4b and from the measured and band-pass filtered values of the transmission input shaft speed n G certain period duration of the juddering vibrations R is shown in Fig. 4c.
- the period of the chattering cycles R is determined at the zero crossings of the bandpass filtered transmission input speed n Gb .
- the maximum or minimum values can also be used to determine the period duration.
- a mean period is determined from a plurality of successive periods, which is the basis for determining the width of the filter 12.
- the width of the filter 12 is determined from a ratio of the at least one period duration to a sampling rate of the rotational speed n G by the control unit 11.
- the average period determined in this way corresponds to the width of the filter 12 and thus represents the basis for adaptive plucking filtering.
- a rattle-free transmission input shaft speed is made available which allows driving strategies that work without feedback of the juddering vibrations.
- the width of the filter 12 is determined dynamically by means of vibration analysis.
- the filter 12 can adapt to the changing picking frequencies in the case of geometrically induced picking situationally and filter out chattering vibrations reliably.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112016000924.0T DE112016000924A5 (de) | 2015-02-27 | 2016-02-25 | Filter zur Filterung von ein Drehzahlsignal überlagernden Schwingungen sowie ein Verfahren zur Einstellung einer Breite des Filters |
CN201680011272.9A CN107257758B (zh) | 2015-02-27 | 2016-02-25 | 用于对与转速信号叠加的振动进行滤波的滤波器以及用于设定滤波器的宽度的方法 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015203504 | 2015-02-27 | ||
DE102015203504.2 | 2015-02-27 | ||
DE102015203944.7 | 2015-03-05 | ||
DE102015203944 | 2015-03-05 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016134716A1 true WO2016134716A1 (de) | 2016-09-01 |
Family
ID=55794837
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2016/200110 WO2016134716A1 (de) | 2015-02-27 | 2016-02-25 | Filter zur filterung von ein drehzahlsignal überlagernden schwingungen sowie ein verfahren zur einstellung einer breite des filters |
Country Status (3)
Country | Link |
---|---|
CN (1) | CN107257758B (de) |
DE (2) | DE102016203004A1 (de) |
WO (1) | WO2016134716A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017221876A1 (de) * | 2017-12-05 | 2019-06-06 | Zf Friedrichshafen Ag | Gradientenbestimmung |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10323567A1 (de) * | 2002-05-27 | 2003-12-11 | Luk Lamellen & Kupplungsbau | Verfahren und Vorrichtung zum Modulieren des von einer Fahrzeugkupplung übertragenen Moments |
DE102008030481A1 (de) * | 2007-07-05 | 2009-01-08 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Verfahren und Vorrichtung zum Regeln des Schlupfes einer Fahrzeugkupplung |
DE102011102400A1 (de) * | 2010-06-21 | 2011-12-22 | Schaeffler Technologies Gmbh & Co. Kg | Verfahren zur Glättung eines Getriebeeingangswellendrehzahlsignales eines Getriebes |
DE102013204698A1 (de) * | 2012-04-11 | 2013-10-17 | Schaeffler Technologies AG & Co. KG | Verfahren zur Verminderung von Rupfschwingungen |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5170433A (en) * | 1986-10-07 | 1992-12-08 | Adaptive Control Limited | Active vibration control |
JP3843082B2 (ja) * | 2003-06-05 | 2006-11-08 | 本田技研工業株式会社 | 能動型振動騒音制御装置 |
CN100346572C (zh) * | 2004-10-07 | 2007-10-31 | 丰田自动车株式会社 | 对输出转矩具有振动减小控制功能的电机驱动装置 |
JP4174061B2 (ja) * | 2006-03-23 | 2008-10-29 | 本田技研工業株式会社 | ハイブリッド車両の能動型制振制御装置 |
JP2008312339A (ja) * | 2007-06-14 | 2008-12-25 | Panasonic Corp | 電動機の制御装置 |
JP5359305B2 (ja) * | 2009-01-21 | 2013-12-04 | パナソニック株式会社 | 能動型騒音制御装置 |
WO2011065441A1 (ja) * | 2009-11-25 | 2011-06-03 | シンフォニアテクノロジー株式会社 | 制振装置及びこれを備えた車両 |
DE102009047198A1 (de) * | 2009-11-26 | 2011-06-01 | Universität Rostock | Mikroarraybasiertes Ortsfilter |
KR20130055472A (ko) * | 2011-11-18 | 2013-05-28 | 현대자동차주식회사 | 자동차의 구동계 진동 제어장치 및 그 제어방법 |
-
2016
- 2016-02-25 DE DE102016203004.3A patent/DE102016203004A1/de active Pending
- 2016-02-25 CN CN201680011272.9A patent/CN107257758B/zh active Active
- 2016-02-25 DE DE112016000924.0T patent/DE112016000924A5/de not_active Withdrawn
- 2016-02-25 WO PCT/DE2016/200110 patent/WO2016134716A1/de active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10323567A1 (de) * | 2002-05-27 | 2003-12-11 | Luk Lamellen & Kupplungsbau | Verfahren und Vorrichtung zum Modulieren des von einer Fahrzeugkupplung übertragenen Moments |
DE102008030481A1 (de) * | 2007-07-05 | 2009-01-08 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Verfahren und Vorrichtung zum Regeln des Schlupfes einer Fahrzeugkupplung |
DE102011102400A1 (de) * | 2010-06-21 | 2011-12-22 | Schaeffler Technologies Gmbh & Co. Kg | Verfahren zur Glättung eines Getriebeeingangswellendrehzahlsignales eines Getriebes |
DE102013204698A1 (de) * | 2012-04-11 | 2013-10-17 | Schaeffler Technologies AG & Co. KG | Verfahren zur Verminderung von Rupfschwingungen |
Also Published As
Publication number | Publication date |
---|---|
CN107257758B (zh) | 2021-10-26 |
CN107257758A (zh) | 2017-10-17 |
DE112016000924A5 (de) | 2017-11-30 |
DE102016203004A1 (de) | 2016-09-01 |
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