CN102705398A - Method for controlling synchronous impact of clutch - Google Patents
Method for controlling synchronous impact of clutch Download PDFInfo
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- CN102705398A CN102705398A CN2012101570145A CN201210157014A CN102705398A CN 102705398 A CN102705398 A CN 102705398A CN 2012101570145 A CN2012101570145 A CN 2012101570145A CN 201210157014 A CN201210157014 A CN 201210157014A CN 102705398 A CN102705398 A CN 102705398A
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- clutch
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- actuating motor
- sliding wear
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Abstract
The invention relates to a method for controlling a clutch, in particular to a method for controlling synchronous impact of the clutch. The method uses the control strategy to reduce the friction torque before synchronizing through reducing the joint pressure at the slipping friction stage of the clutch so as to reduce the synchronous impact. The joint position of the clutch is determined according to the rotary speed of the slipping friction and the change of the change rate of the rotary speed of the slipping friction, namely, the execution mechanism of the clutch moves forwards at the beginning of the jointing stage of the clutch, so that the joint position can be quickly reduced, the friction torque can be quickly enlarged, and the slipping friction time and the slipping friction work at the stage can be reduced as far as possible; and the execution mechanism of the clutch is controlled to move oppositely when synchronization is about to be achieved, namely, the rotary speed of the slipping friction reaches a certain value, so that the joint position can be enlarged, and the friction torque before synchronization can be reduced so as to reduce the synchronous impact of the clutch in the jointing process. According to the control method provided by the invention, the impact at the synchronizing time is effectively reduced, and the slipping friction is not remarkably increased in the joint process. The control method is simple and has strong instantaneity.
Description
Technical field
The present invention relates to a kind of controlling method of clutch, the controlling method that particularly a kind of clutch synchronization is impacted.
Background technique
At present, in the city of traffic congestion, the frequency of utilization of clutch is increasingly high in the vehicle driving process, yet, be that AT, AMT, DCT exist the clutch synchronization shock problem in the vehicle start process, make the riding comfort of vehicle reduce.Therefore, how to reduce that clutch synchronization impacts is the emphasis and the difficult point of research both at home and abroad always.Electric control mechanical type automatic speed variator (AMT) is on the basis of traditional mechanical formula speed changer (MT), installs the operation intention that electronic control system (TCU) is come drive simulating person additional, the automatic transmission of the separation of realization clutch and joint, choosing shelves, gear-change operation.AMT is simple in structure, and is with low cost, can realize the transmission of high pulling torque, improves the cornering ability of automobile, can be widely used in various degree type passenger vehicles, lorry, bus.At present, China has become automobile pollution big country in the world, and AMT more and more receives the automobile industry favor, and therefore, the present invention is that technical background carries out the correlative study that clutch synchronization is impacted with AMT, has certain meaning.
At present, domestic research and development AMT much year, wherein, the control of clutch's jointing process is the emphasis of research always.The engaging process of clutch is mainly considered two aspect factors: the one, and shock extent, transient acceleration is unsuitable too high when requiring vehicle start or gearshift, avoids power train to produce heavy shock loads, guarantees the smoothness of vehicle start, shift process.The 2nd, unit friction work requires the time of clutch's jointing process unsuitable long, avoids reducing working life because of the sliding wear overlong time causes clutch between principal and subordinate's Moving plate sheet.Shock extent and unit friction work are conflicting, therefore when considering Clutch Control, take into account shock extent and unit friction work.Just possibly guarantee the quality of vehicle start, shift process on this basis, reduce the impact of transmission system, improve the working life of clutch and the travelling comfort of vehicle ride.
The orthodox car clutch control is accomplished by the driver; The driver is according to driving sensation; Adjustment is applied to the active force on the clutch pedal; And the clutch control of AMT to be control algorithm judge the automobile current working state according to the sensor signal that is installed on the automobile, the control signal of final controlling element is issued in adjustment, realizes what clutch work changed through final controlling element adjustment output action power.Therefore the feedback signal through vehicle sensors realizes that vehicular clutch control is an important research direction.The synchronous shock effect that in engaging process, produces to clutch the problem of the travelling comfort taken, Chinese scholars has been carried out number of research projects in this regard in recent years, and is representational like Franco G etc.
[1]The synchronous impact of pointing out clutch is relevant with synchronously preceding sliding wear change in rotational speed rate, and the method that adopts engine speed and clutch rotational speed to follow the tracks of has been carried out target control to the synchronous impact of clutch; Zhang Tai etc.
[2]With the shock extent is constraint conditio, is optimization aim with motor and clutch optimum Match, and vehicle start and shift process are carried out Comprehensive Control; Seat army is strong etc.
[3]According to the speed discrepancy of clutch output shaft rotating speed, engine speed and clutch output shaft the engaging process of clutch has been carried out self adaptive control, realized clutch steadily synchronously; Pietro D etc.
[4]Engine speed and variance ratio, gearbox input shaft rotating speed and variance ratio thereof, output shaft of gear-box rotating speed and variance ratio thereof equated when proposition was satisfied the synchronous condition of clutch smooth and steady and is clutch synchronization; Adopt the Quadratic Optimum control algorithm that engaging process is controlled, realized the steadily synchronous of clutch.All concentrate on the research aspect of clutch control algorithm in the above-mentioned research work, to how the impact in the solenoidoperated cluthes engaging process is not impacted especially synchronously and is made counter-measure and systemic the analysis thereof.
The reference of said technical background is following:
1.Franco?G,?Luigi?G,?Luigi?I,?et?al.?Smooth?Engagement?for?Automotive?Dry?Clutch[C]．Proceedings?of?the?40th?IEEE?Conference?on?Decision?and?Control,?Orlando,?Florida?USA,?December?2001:?529~533.
2. open Thailand, Ge Anlin, Guo Lishu etc. improve the research [J] that the vehicle start shift quality improves riding comfort. agricultural mechanical journal, 2003,34 (1): 18 ~ 20,24
3. seat army is strong, Chen Huiyan, Ding Huarong. the Research on Adaptive Control Strategy of clutch [J] in the automatic mechanical transmission system starting-up process. and war industry's journal, 2004,25 (6): 657 ~ 661.
4.Pietro?D,?Carlos?C?W,?Hubert?B.?Lurch?avoidance?strategy?and?its?implementation?in?AMT?vehicles[J].?Mechatronics,?2008,?18:?289~300.
Summary of the invention
The objective of the invention is to, through the controlling method that provides a kind of clutch synchronization to impact, thereby the friction torque before reducing synchronously in the sliding wear stage of clutch through the activating pressure before adopting reduction synchronously reduces the synchronous control strategy that impacts.The engagement positio of confirming clutch according to the variation of sliding wear rotating speed and sliding wear relative speed variation is promptly at stage solenoidoperated cluthes actuator positive movement that clutch begins to engage; Make engagement positio reduce, increase fast friction torque rapidly, shorten sliding wear time, the reduction work of slipping in this stage as far as possible; When near synchronously the time, control clutch actuating mechanism reversing motion when promptly the sliding wear rotating speed reaches certain value makes the friction torque before engagement positio increases, reduces synchronously.Thereby reduce the synchronous impact of clutch's jointing process.
The present invention realizes through following technological means:
The present invention compares with existing controlling method, has remarkable advantages and benefit:
1, the impact of clutch entire bonding process is in the clutch synchronization stage the most constantly; The present invention increases earlier the strategy that afterwards reduces through friction torque is adopted; Effectively reduce the impact of synchronization point, can guarantee the unconspicuous increase of work of slipping in the engaging process simultaneously.
2, judge the residing stage of clutch's jointing process according to clutch output shaft rotating speed and sliding wear rotating speed, carry out Different control, effectively overcome the influence of Engine torque and load torque the entire bonding process.
3, compare with controlling methods such as fuzzy control, neuron networks, the present invention only needs moving direction and the movement velocity according to the different operating State Control clutch actuating mechanism of vehicle, and controlling method is simple, real-time.
Description of drawings:
Fig. 1 is an electrodynamic type automatic clutch structural representation.
1, single-chip microcomputer signaling interface 2, actuating motor 3, coupling 4, limit sensors 5, ball screw 6, pressure transducer 7, displacement transducer 8, platen 9, friction plate 10, flywheel
Fig. 2 is the schematic representation of electrodynamic type automatic clutch at lock out operation.
Fig. 3 is the schematic representation of electrodynamic type automatic clutch in bonding operation.
Fig. 4 is a control flow chart of the present invention.
Fig. 5 controls preceding-rear engine, clutch rotational speed change curve in the engaging process.
Fig. 6 controls preceding-back clutch actuator displacement diagram figure in the engaging process.
Fig. 7 controls preceding-back friction torque plotted curve in the engaging process.
Fig. 8 impacts the line chart of writing music for controlling preceding-back in the engaging process.
Fig. 9 controls preceding-back work of slipping plotted curve in the engaging process.
Embodiment
Below in conjunction with accompanying drawing the present invention is further set forth, the present invention has adopted the electrodynamic type automatic clutch.Shown in accompanying drawing 1, electrodynamic type automatic clutch system is made up of mechanisms such as actuating motor, coupling, ball screws, and is furnished with encoder, position transducer, limit sensors.The motion that the present invention sends pulse signal control actuating motor through 16 single-chip microcomputers of FreeScale MC9S12DT128 model, actuating motor are rotated and are driven ball screw, the straight line motion before and after becoming rotatablely moving.Through the straight line motion of ball screw, promote the separator levers of clutch, the separation that realizes clutch with combine.Single-chip microcomputer also sends a high level or low level when sending pulse, the sense of rotation of control actuating motor realizes moving forward and backward of ball screw.The angle that the pulsed quantity reflection actuating motor that encoder sends rotates.Position transducer is used to detect the displacement of ball screw, and limit sensors is used to limit the motion starting point and the terminating point of ball screw.The separation process of clutch is shown in accompanying drawing 2, and single-chip microcomputer (PWM) module produces a square signal, the motion of control actuating motor; The velocity magnitude that the size decision motor of square wave frequency rotates, single-chip microcomputer produces a high level signal simultaneously, control actuating motor forward rotation; This moment, the driven by motor ball screw promoted clutch disengaging lever, and clutch friction plate separates with platen, detected clutch position through position transducer; Limit sensors feeds back signal to single-chip microcomputer when the position arrives the terminating point of ball screw, the output of single-chip microcomputer termination signal, and motor stops operating; Ball screw is stop motion thereupon, has realized the lock out operation of clutch.Clutch's jointing process is shown in accompanying drawing 3, and single-chip microcomputer (PWM) module produces a square signal, the motion of control actuating motor; The velocity magnitude that the size decision motor of square wave frequency rotates, single-chip microcomputer produces a low level signal simultaneously, control actuating motor backward rotation; This moment, the driven by motor ball screw was oppositely return, and detected clutch position through position transducer, and limit sensors feeds back signal to single-chip microcomputer when the position arrives the starting point of ball screw; The output of single-chip microcomputer termination signal; Motor stops operating, and ball screw is stop motion thereupon, realizes the bonding operation of clutch.
Clutch is divided into three phases at zygophase.Phase I is the idle stroke stage, and this stage clutch output shaft rotating speed is 0, needs clutch to engage fast to reduce power interruption time, therefore adopts the method for " clutch engages fast and undergos mutation up to the clutch output shaft rotating speed ".Second stage is the sliding wear stage; This moment, clutch was in the friction sliding wear stage; Need clutch to engage to shorten the sliding wear time, reduce work of slipping, when the sliding wear rotating speed of sliding wear process and sliding wear relative speed variation arrive the transition point of having set to make a fast speeds; Solenoidoperated cluthes carry out lock out operation with fixing velocity reversal's motion; When the heterodromous distance of clutch surpasses 2mm, continue solenoidoperated cluthes and continue to engage with same speed positive movement of sliding wear stage, promptly enter into the phase III synchronous phase.Reduce the purpose of impact synchronously thereby reach the friction torque that reduces before preceding synchronously activating pressure reduces synchronously, thereby the quick and stable that realizes clutch is synchronous.
Shown in accompanying drawing 4, control flow of the present invention is following:
Emphasis of the present invention is the control to the sliding wear stage; Mainly this stage being divided into two sections carries out; During from critical sliding wear rotating speed point that clutch output shaft has rotating speed to begin to arrive to have set is the starting stage of sliding wear process; Solenoidoperated cluthes engage with fast speeds, to shorten the sliding wear time of whole sliding wear process, reduce the working life that work of slipping increases clutch., the sliding wear rotating speed enters into the synchronous last stage when being lower than the transition point of setting, solenoidoperated cluthes reversing motion this moment, thus the friction torque before reducing synchronously with the activating pressure before reducing synchronously reduces the impact of clutch's jointing process synchronization point.
After the debugging and compiling accomplished control program, download to in 16 single-chip microcomputers of FreeScale MC9S12DT128 model through BDM, carry out the clutch starting-up process and engage experiment.Shown in Figure 5 as can be seen from the figure the sliding wear time before and after the control remains unchanged basically in order to control front and back motor, clutch's jointing process speed curves figure, thereby has guaranteed the unconspicuous increase of work of slipping of engaging process.Displacement diagram for clutch's jointing process YE before and after the control shown in Figure 6.Shown in Figure 7 for controlling front and back friction torque curve, see that from figure the friction torque of the clutch synchronization point after the control is than preceding the decreasing of control to find out.Shown in Figure 8 is the shock extent curve of clutch's jointing process; From figure, can significantly find out; The shock extent of control back synchronous points is than the tangible reduction that has before controlling; Shown in Figure 9 is work of slipping plotted curve in the clutch's jointing process, from figure, can significantly find out because the decline of the friction torque synchronously makes the work of slipping after the control reduce to some extent, has reached satisfied control effect.
Claims (1)
1. the controlling method of clutch synchronization impact is characterized in that, may further comprise the steps:
Step 1, whether there is rotating speed to judge whether clutch is in the idle stroke stage according to clutch output shaft; When clutch begins to engage; To the pulse signal control motor movement speed that frequency of actuating motor output is 16～48KHz, give a high level signal control of actuating motor actuating motor forward rotation simultaneously, the direction motion that this moment, electric actuator reduced to clutch position with the speed of 0.04～0.12m/s; Realize the quick joint of clutch; Whether be 0, if be 0 then repeating step 1, if rotating speed is not 0 then gets into step 2 stage if detecting the clutch output shaft rotating speed simultaneously;
Step 2,, the clutch output shaft rotating speed enters into the sliding wear stage when no longer being 0; Be 16～48KHz pulse signal control motor movement speed to frequency of actuating motor output this moment; Give a high level signal control of actuating motor actuating motor forward rotation simultaneously, this moment, electric actuator moved to the direction that clutch position reduces with the speed continuation of 0.04～0.12m/s; Gather engine speed ω e and clutch output shaft rotational speed omega c; Both do difference and obtain sliding wear rotational speed omega ec; And calculate the sliding wear relative speed variation; Arriving the transition point of having set when the sliding wear rotating speed of entire bonding process and sliding wear relative speed variation is ω ec=700rpm, and the sliding wear relative speed variation enters into step 3 stage less than zero the time;
Step 3, when the sliding wear rotating speed that detects engaging process and sliding wear relative speed variation thereof arrive the transition point of having set; Give the reversing motion of a low level signal control of actuating motor actuating motor; This moment, electric actuator to the direction motion that clutch position increases, reduced the friction torque before the preceding activating pressure of clutch synchronization has promptly reduced synchronously with constant speed; When the reverse distance that increases of clutch position surpasses 2mm, promptly enter into step 4 stage;
Step 4, be 16～48KHz pulse signal control motor movement speed to frequency of actuating motor output, give a high level signal control of actuating motor actuating motor forward rotation simultaneously, this moment, electric actuator continued the direction motion that reduces to clutch position with the speed of 0.04～0.12m/s; The quick joint of realizing clutch is synchronous; For YE after preventing clutch synchronization continues motion damage actuator, detect clutch position through limit sensors, sensor feedback signal when clutch arrives the irreducible minimum site; And the spacing value 3mm that sets; By the Single-chip Controlling signal, motor stops operating, and engaging process is accomplished.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210157014.5A CN102705398B (en) | 2012-05-18 | 2012-05-18 | Method for controlling synchronous impact of clutch |
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| CN201210157014.5A CN102705398B (en) | 2012-05-18 | 2012-05-18 | Method for controlling synchronous impact of clutch |
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| CN102705398A true CN102705398A (en) | 2012-10-03 |
| CN102705398B CN102705398B (en) | 2014-01-01 |
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| CN201210157014.5A Expired - Fee Related CN102705398B (en) | 2012-05-18 | 2012-05-18 | Method for controlling synchronous impact of clutch |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106567922A (en) * | 2015-10-13 | 2017-04-19 | 上海汽车集团股份有限公司 | Control method and device for clutch |
| CN112158080A (en) * | 2020-09-30 | 2021-01-01 | 深圳市英威腾电动汽车驱动技术有限公司 | Control method, system and device for manual transmission electric automobile |
| CN113124147A (en) * | 2021-04-16 | 2021-07-16 | 山推工程机械股份有限公司 | Gear shifting control method and device and engineering machinery |
| CN114383841A (en) * | 2021-11-05 | 2022-04-22 | 江苏汇智高端工程机械创新中心有限公司 | Method and system for acquiring load spectrum of gearbox clutch pack and engineering machinery |
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| JP3518163B2 (en) * | 1996-05-10 | 2004-04-12 | トヨタ自動車株式会社 | Vehicle control device |
| CN1737397A (en) * | 2005-09-12 | 2006-02-22 | 浙江大学 | Clutch combination controlling method based on fuzzy controlling technology |
| CN101649874A (en) * | 2009-09-21 | 2010-02-17 | 北京工业大学 | Fuzzy control method for clutch stages based on working state of engine |
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2012
- 2012-05-18 CN CN201210157014.5A patent/CN102705398B/en not_active Expired - Fee Related
Patent Citations (3)
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| JP3518163B2 (en) * | 1996-05-10 | 2004-04-12 | トヨタ自動車株式会社 | Vehicle control device |
| CN1737397A (en) * | 2005-09-12 | 2006-02-22 | 浙江大学 | Clutch combination controlling method based on fuzzy controlling technology |
| CN101649874A (en) * | 2009-09-21 | 2010-02-17 | 北京工业大学 | Fuzzy control method for clutch stages based on working state of engine |
Non-Patent Citations (2)
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| 席军强等: "自动机械传动***起步过程中离合器的自适应控制策略研究", 《兵工学报》, vol. 25, no. 6, 30 November 2004 (2004-11-30) * |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106567922A (en) * | 2015-10-13 | 2017-04-19 | 上海汽车集团股份有限公司 | Control method and device for clutch |
| CN106567922B (en) * | 2015-10-13 | 2018-04-10 | 上海汽车集团股份有限公司 | The control method and device of clutch |
| CN112158080A (en) * | 2020-09-30 | 2021-01-01 | 深圳市英威腾电动汽车驱动技术有限公司 | Control method, system and device for manual transmission electric automobile |
| CN112158080B (en) * | 2020-09-30 | 2022-05-17 | 深圳市英威腾电动汽车驱动技术有限公司 | Control method, system and device for manual transmission electric automobile |
| CN113124147A (en) * | 2021-04-16 | 2021-07-16 | 山推工程机械股份有限公司 | Gear shifting control method and device and engineering machinery |
| CN114383841A (en) * | 2021-11-05 | 2022-04-22 | 江苏汇智高端工程机械创新中心有限公司 | Method and system for acquiring load spectrum of gearbox clutch pack and engineering machinery |
| CN114383841B (en) * | 2021-11-05 | 2024-05-10 | 江苏汇智高端工程机械创新中心有限公司 | Method and system for acquiring clutch Bao Zaihe spectrum of gearbox and engineering machinery |
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| CN102705398B (en) | 2014-01-01 |
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Granted publication date: 20140101 Termination date: 20170518 |