CN102705398B - Method for controlling synchronous impact of clutch - Google Patents
Method for controlling synchronous impact of clutch Download PDFInfo
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- CN102705398B CN102705398B CN201210157014.5A CN201210157014A CN102705398B CN 102705398 B CN102705398 B CN 102705398B CN 201210157014 A CN201210157014 A CN 201210157014A CN 102705398 B CN102705398 B CN 102705398B
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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 congested in traffic city, in the Vehicle Driving Cycle process, the frequency of utilization of clutch is more and more higher, yet, be that AT, AMT, DCT exist the clutch synchronization shock problem at Vehicle Starting Process, make the riding comfort of vehicle reduce.Therefore, how to reduce the clutch synchronization impact is a Focal point and difficult point of studying both at home and abroad always.Electric control mechanical type automatic speed variator (AMT) is on the basis of traditional mechanical transmission (MT), install electronic control system (TCU) additional and carry out drive simulating person's operation intention, realize the automatic transmission of the separation of clutch and joint, gear selecting, gear-change operation.AMT is simple in structure, 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 is subject to automobile industry favor, and therefore, the present invention be take AMT as technical background carries out the correlative study of clutch synchronization impact, has certain meaning.
At present, much year, wherein, the control of clutch's jointing process is the emphasis of research to domestic research and development AMT always.The engaging process of clutch is mainly considered two aspect factors: the one, and shock extent, while requiring vehicle start or gearshift, transient acceleration is unsuitable too high, avoids power train to produce heavy shock loads, guarantees the smoothness of vehicle start, shift process.The 2nd, unit friction work, require the time of clutch's jointing process unsuitable long, avoids because the sliding wear overlong time causes clutch, reducing working life 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 may guarantee on this basis the quality of vehicle start, shift process, reduce the impact of transmission system, improve the working life of clutch and the travelling comfort of vehicle ride.
The orthodox car clutch control completes by the driver, the driver is according to driving sensation, adjustment is applied to the active force on clutch pedal, and the clutch control of AMT to be control algorithm judge according to the sensor signal be arranged on automobile the working state that automobile is current, the control signal of final controlling element is issued in adjustment, adjusts output action power by final controlling element and realizes what clutch work changed.Therefore the feedback signal by vehicle sensors realizes that it is an important research direction that vehicular clutch is controlled.The synchronous shock effect produced in engaging process for clutch the problem of the travelling comfort taken, the recent domestic scholar has carried out a large amount of research work in this regard, representational as Franco G etc.
[1]the synchronous impact of pointing out clutch is relevant with the variance ratio of synchronous front sliding wear rotating speed, 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]take shock extent as constraint conditio, and take motor and clutch optimum Match is optimization aim, and vehicle start and shift process are carried out to 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 to self adaptive control, realized the steadily synchronous of clutch; Pietro D etc.
[4]when proposition meets the synchronous condition of clutch smooth and steady and is clutch synchronization, 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 equate, adopt the Quadratic Optimum control algorithm to control engaging process, realized the steadily synchronous of clutch.All concentrate on the research aspect of clutch Engagement Control algorithm in above-mentioned research work, for how, the impact in the solenoidoperated cluthes engaging process is not especially synchronously impacted and is made counter-measure and systematically analysis thereof.
The reference of described technical background is as follows:
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, fourth 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 object of the invention is to, by the controlling method that provides a kind of clutch synchronization to impact, thereby the activating pressure before reducing synchronously by employing in the sliding wear stage of clutch reduces the control strategy that synchronous front friction torque reduces synchronous impact.The engagement positio of determining clutch according to the variation of sliding wear rotating speed and sliding wear relative speed variation starts at clutch the stage control clutch actuating mechanism positive movement engaged, make engagement positio reduce rapidly, increase fast friction torque, shorten sliding wear time, the reduction work of slipping in this stage as far as possible; When approaching when synchronous, control the clutch actuating mechanism reversing motion when the sliding wear rotating speed reaches certain value, make engagement positio increase, reduce the friction torque before synchronous.Thereby reduce the synchronous impact of clutch's jointing process.
The present invention realizes by following technological means:
The present invention compares with existing controlling method, has obvious advantage and benefit:
1, the impact of the whole engaging process of clutch is in the clutch synchronization stage the most constantly, the present invention is by adopting the strategy of first increases and then decreases to friction torque, effectively reduce the impact of synchronization point, can guarantee the unconspicuous increase of work of slipping in engaging process simultaneously.
2, according to clutch output shaft rotating speed and sliding wear rotating speed judgement residing stage of clutch's jointing process, carry out different control, effectively overcome the impact on whole engaging process of Engine torque and load torque.
3, with controlling methods such as fuzzy control, neuron networks, compare, the present invention only need be according to moving direction and the movement velocity of the different operating state solenoidoperated cluthes actuator of vehicle, and controlling method is simple, real-time.
The accompanying drawing explanation:
Fig. 1 is 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 diagram of electrodynamic type automatic clutch at lock out operation.
Fig. 3 is the schematic diagram of electrodynamic type automatic clutch in bonding operation.
Fig. 4 is control flow chart of the present invention.
Fig. 5 is before controlling in engaging process-rear engine, clutch rotational speed change curve.
Fig. 6 is before controlling in engaging process-rear clutch actuator displacement diagram figure.
Fig. 7 is before controlling in engaging process-rear friction torque plotted curve.
Fig. 8 is before controlling in engaging process-the rear line chart of writing music that impacts.
Fig. 9 is before controlling in engaging process-rear work of slipping plotted curve.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further set forth, the present invention has adopted the electrodynamic type automatic clutch.As shown in Figure 1, electrodynamic type automatic clutch system is comprised of mechanisms such as actuating motor, coupling, ball screws, and is furnished with encoder, position transducer, limit sensors.The present invention sends by 16 single-chip microcomputers of FreeScale MC9S12DT128 model the motion that pulse signal is controlled actuating motor, and actuating motor rotates and drives ball screw, the straight line motion before and after becoming rotatablely moving.By the straight line motion of ball screw, promote the separator levers of clutch, realize separation and the combination of clutch.Single-chip microcomputer also sends a high level or low level when sending pulse, controls the sense of rotation of 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 for detection of the displacement of ball screw, and limit sensors is for limiting the motion starting point and ending point of ball screw.The separation process of clutch as shown in Figure 2, single-chip microcomputer (PWM) module produces a square signal, control the motion of actuating motor, the size of square wave frequency determines the velocity magnitude of electric machine rotation, single-chip microcomputer produces a high level signal simultaneously, control the actuating motor forward rotation, now the driven by motor ball screw promotes clutch disengaging lever, clutch friction plate separates with platen, detect clutch position by position transducer, when position arrives the terminating point of ball screw, limit sensors feeds back signal to single-chip microcomputer, the output of single-chip microcomputer termination signal, motor stops operating, ball screw is stop motion thereupon, realized the lock out operation of clutch.Clutch's jointing process as shown in Figure 3, single-chip microcomputer (PWM) module produces a square signal, control the motion of actuating motor, the size of square wave frequency determines the velocity magnitude of electric machine rotation, single-chip microcomputer produces a low level signal simultaneously, the control actuating motor rotates backward, now the driven by motor ball screw is oppositely return, detect clutch position by position transducer, when position arrives the starting point of ball screw, limit sensors feeds back signal to single-chip microcomputer, the output of single-chip microcomputer termination signal, motor stops operating, ball screw is stop motion thereupon, realize the bonding operation of clutch.
Clutch is divided into three phases at zygophase.First stage is hollow travel 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 until the clutch output shaft rotating speed is undergone mutation ".Second stage is the sliding wear stage, now clutch is in the friction sliding wear stage, need clutch with make one faster speed 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, solenoidoperated cluthes carry out lock out operation with velocity reversal's motion of fixing, when the heterodromous distance of clutch surpasses 2mm, continue solenoidoperated cluthes and continue to engage with same speed positive movement of sliding wear stage, enter into the phase III synchronous phase.Reduce the purpose of synchronous impact thereby reach the friction torque reduced before synchronous front activating pressure reduces synchronously, thereby realize that the quick and stable of clutch is synchronous.
As shown in Figure 4, control flow of the present invention is as follows:
Emphasis of the present invention is the control to the sliding wear stage, mainly this stage being divided into to two sections carries out, while from clutch output shaft, having rotating speed to start to arrive the critical sliding wear rotating speed point of having set, it it is the starting stage of sliding wear process, solenoidoperated cluthes engage with speed faster, to shorten the sliding wear time of whole sliding wear process, reduce the working life that work of slipping increases clutch.Enter into the synchronous last stage when the sliding wear rotating speed during lower than the transition point set, now solenoidoperated cluthes reversing motion, thus reduce to reduce activating pressure before synchronous the impact that friction torque before synchronous reduces the clutch's jointing process synchronization point.
After the debugging and compiling that complete control program, by BDM, download to in 16 single-chip microcomputers of FreeScale MC9S12DT128 model, carry out the clutch starting-up process and engage experiment.Figure 5 shows that and control front and back motor, clutch's jointing process speed curves figure, the sliding wear time before and after as can be seen from the figure controlling remains unchanged substantially, thereby has guaranteed the unconspicuous increase of work of slipping of engaging process.Figure 6 shows that the displacement diagram of clutch's jointing process electric actuator before and after controlling.Figure 7 shows that and control front and back friction torque curve, find out from figure, the friction torque of the clutch synchronization point after control is than decreasing before controlling.Figure 8 shows that the shock extent curve of clutch's jointing process, from figure, can significantly find out, after controlling, the shock extent of synchronous point is than the obvious reduction that has before controlling, Figure 9 shows that the work of slipping plotted curve in clutch's jointing process, can significantly find out that from figure decline due to the friction torque before synchronous makes the work of slipping after control reduce to some extent, has reached satisfied control effect.
Claims (1)
1. the controlling method that clutch synchronization is impacted, is characterized in that, comprises the following steps:
Step 1, according to clutch output shaft, whether there is rotating speed to judge that whether clutch is in hollow travel stage, when clutch starts to engage, the pulse signal that is 16～48KHz to frequency of actuating motor output is controlled motor movement speed, control the actuating motor forward rotation to high level signal of actuating motor simultaneously, the direction motion that now electric actuator reduces to clutch position with the speed of 0.04～0.12m/s, realize the quick joint of clutch, whether detect the clutch output shaft rotating speed is 0 simultaneously, 0 repeating step 1 if, if rotating speed is not 0 enters step 2 stage,
Step 2, when no longer being 0, the clutch output shaft rotating speed enters into the sliding wear stage, to frequency of actuating motor output, be now that 16～48KHz pulse signal is controlled motor movement speed, control the actuating motor forward rotation to high level signal of actuating motor, now electric actuator continues with the speed of 0.04～0.12m/s the direction motion reduced to clutch position simultaneously; Gather engine speed ω e and clutch output shaft rotational speed omega c, both are the poor sliding wear rotational speed omega ec that obtains, and calculate the sliding wear relative speed variation, the transition point of having set when sliding wear rotating speed and the arrival of sliding wear relative speed variation of whole engaging process is ω ec=700rpm, and the sliding wear relative speed variation enters into step 3 stage while being less than zero;
Step 3, when the sliding wear rotating speed that engaging process detected and sliding wear relative speed variation thereof arrive the transition point of having set, control the actuating motor reversing motion to low level signal of actuating motor, the direction motion that now electric actuator increases to clutch position with constant speed, reduced the front activating pressure of clutch synchronization and reduced synchronous front friction torque; When the distance increased when clutch position is reverse surpasses 2mm, enter into step 4 stage;
Step 4, to frequency of actuating motor output, be that 16～48KHz pulse signal is controlled motor movement speed, control the actuating motor forward rotation to high level signal of actuating motor simultaneously, now electric actuator continues with the speed of 0.04～0.12m/s the direction motion reduced to clutch position, the quick joint of realizing clutch is synchronous, for electric actuator after preventing clutch synchronization continues motion damage actuator, detect clutch position by limit sensors, sensor feedback signal when clutch arrives the irreducible minimum site, and the spacing value 3mm set, cut-off Single-chip Controlling signal, motor stops operating, engaging process completes.
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN201210157014.5A CN102705398B (en) | 2012-05-18 | 2012-05-18 | Method for controlling synchronous impact of clutch |
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| CN102705398A CN102705398A (en) | 2012-10-03 |
| CN102705398B true 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2012
- 2012-05-18 CN CN201210157014.5A patent/CN102705398B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 (3)
| Title |
|---|
| 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》.2004,第25卷(第6期), * |
| 离合器起步过程的控制策略;雷雨龙等;《汽车工程》;20000831;第22卷(第4期);266-269，281 * |
| 雷雨龙等.离合器起步过程的控制策略.《汽车工程》.2000,第22卷(第4期), |
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