CN103197703B - For the method alleviating slippage vibration - Google Patents
For the method alleviating slippage vibration Download PDFInfo
- Publication number
- CN103197703B CN103197703B CN201210597067.9A CN201210597067A CN103197703B CN 103197703 B CN103197703 B CN 103197703B CN 201210597067 A CN201210597067 A CN 201210597067A CN 103197703 B CN103197703 B CN 103197703B
- Authority
- CN
- China
- Prior art keywords
- signal
- frequency
- cosine
- value
- achieve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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
-
- 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
-
- 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
- F16D2500/50—Problem to be solved by the control system
- F16D2500/502—Relating the clutch
- F16D2500/50293—Reduction of vibrations
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)
- Vibration Prevention Devices (AREA)
Abstract
A kind of method that the present invention relates to slippage vibration for alleviating in motor vehicle powertrain, this power train has driver element, variator and automated friction clutch.
Description
Technical field
The present invention relates to a kind of method for alleviating slippage vibration.
The present invention relates to a kind of method implemented as software strategy, for alleviating slippage vibration (Rupfschwingung) of the friction clutch of Mechatronics control.
Background technology
According to the such as prior art for the vibration regulation of antiskid difference described in DE 103 23 567A1, the difference between unfiltered, variator input revolution signal and corresponding filtered signal containing vibration is used by the input signal as adjusting means.This input signal by as weighting and be added to as on the actuator voltage of auxiliary voltage with its derivative.The meaning of derivative is, for vibration signal, it is thus achieved that the signal (note: the SIN function that the derivative of SIN function is cosine function and this cosine function is again a phase shift 90 °) of phase shift 90 °.
Under resonant conditions, the principal component of above-mentioned weighted sum is the time-derivative of this difference signal.First this signal has very noisy, thus must be given on clutch actuator and should have the voltage of very noisy mutually.Additionally, the higher frequency components in variator input revolution is the most together exaggerated.The most directly consider only one frequency further for slippage vibration, thus the most correctly consider phase shift outside the resonance of basic power train natural frequency.If the vibration investigated such as by a higher-frequency or the excitation of low frequency cause, then system anti-phase or in phase vibration by trend.Therefore, design weight in 90 ° of phase shifts is not correct, is not decay vibration but excited vibration under worst case.
Summary of the invention
The task of the present invention is, finds a kind of solution so that according to depending on the frequency of vibration occurred with signal smooth as far as possible, do not carry out clutch actuator control with not encouraging higher-frequency component.
This task is solved by the method with feature of present invention.
According to the present invention it is proposed that a kind of method of slippage vibration for alleviating in motor vehicle powertrain, this motor vehicle powertrain has driver element, variator and an automated friction clutch, wherein, performs below step:
There is described in the time course current signal value of signal of the SIN function of original frequency by one be multiplied with the current signal value of variator input revolution signal (IPS signal) and draw a sinusoidal product currency, by one described in the time course current signal value of a current signal value and variator input revolution signal (IPS signal) with the signal of the cosine function of original frequency be multiplied and draw a cosine product currency
To this sine product currency and begin to pass through, from this sine product currency, all sinusoidal product values that cycle of original frequency tries to achieve and ask moving average to draw a sinusoidal component value, to cosine product currency and begin to pass through, from this cosine product currency, all cosine product values that cycle of original frequency tries to achieve and ask moving average to draw a cosine component value
Amplitude (amplitude) is tried to achieve by this sinusoidal component value and cosine component value,
Try to achieve the phase shift (phase place) between variator input revolution signal (IPS signal) and this cosine function,
A signal representing slippage vibration is tried to achieve by this amplitude (amplitude) and phase shift (phase place),
Trying to achieve the value of the phase shift of this signal representing slippage vibration, wherein, this value so selects so that obtain a control signal acting on clutch actuator when this represents the signal of slippage vibration with this value phase shift, and this control signal alleviates slippage vibration.
Specifying in an Advantageous embodiments of the present invention, the value of this phase shift representing the signal that slippage vibrates is 90 °.
Another Advantageous embodiments of the present invention specifies, described is tried to achieve amplitude (amplitude) by being asked root to carry out by the quadratic sum of sinusoidal component and cosine component the two value by sinusoidal component value and cosine component value.
Specifying in another Advantageous embodiments of the present invention, trying to achieve of the phase shift (phase place) between variator input revolution signal (IPS signal) and cosine function is carried out by sinusoidal component and the sign of cosine component the two value and arctan function.
Another Advantageous embodiments of the present invention specifies, a frequency of amendment is obtained by the time-derivative of the phase shift between variator input revolution signal (IPS signal) and the cosine function tried to achieve, wherein, ask poor by the already present up-to-date corrected frequency (frequency revised) of original frequency or one and this frequency of amendment, try to achieve a revised frequency (frequency revised).
Specifying in another Advantageous embodiments of the present invention, sine _ function (30) and cosine _ function (20) are two mathematical functions mutually orthogonal, periodic.
The method have the advantages that, clutch actuator with controlling according to the frequency of vibration occurred is different changeable phases with signal smooth as far as possible, do not carry out with not encouraging higher-frequency component.
Other advantages of the present invention and advantageous scheme are following description and drawings and the theme of accompanying drawing description.
For the correlated components from the input revolution signal extraction slippage vibration of unfiltered variator, it is first assumed that an original frequency.At this it is contemplated that basic power train natural frequency, it is known in a narrow frequency band for a system.A cycle through this original frequency, this unfiltered variator input revolution signal is once multiplied with SIN function with for phase place known to this timeorigin with elective timeorigin, once it is multiplied with cosine function, average respectively, rolling average the most over one period (note: this to frequency with the most limited integrating range carry out rich in leaf transformation similar).Sinusoidal component and cosine component also can be interpreted relative to based on the amplitude (root of quadratic sum) of known phase and phase place (arc tangent of ratio), and tried to achieve amplitude and phase place by sinusoidal component and cosine component.This calculating is carried out continuously over time.Original frequency ω based on if0With the slippage vibration ω investigatedsigCoupled vibration component match, i.e. frequencies omega0And ωsigUnanimously, then the phase place obtained keeps stable.If at ω0And ωsigBetween exist (the biggest) frequency departure, then phase place will be with frequency departureProportionally according to:
Change.
This frequency departure now can be used for carrying out adaptive frequency relative to original frequency, and again performs the method by the frequency after adaptation.Alternatively, only using time dependent phase place as frequency of amendment, this is equivalent to effective frequency of amendment, need not clearly obtain the adaptation of initial frequency value.Because mostly only having the frequency close to basic power train natural frequency (it is selected as original frequency) to work in slippage vibrates, in most cases consider that the frequency departure drawn by time dependent phase place is sufficient to.
Below, as the most known from the most sub-technical literature, the harmonic oscillator that power train is reduced to powered vibration damping is investigated, and the feature of this harmonic oscillator is to have the property that
In starting of oscillation state, frequency of vibration is equivalent to driving frequency.
If driving frequency is apparently higher than natural frequency, then encourages and vibrate, being anti-phase.
If driving frequency is significantly lower than natural frequency, then encourages and vibrate, being homophase.
If driving frequency is identical with natural frequency, then directly there are 90 ° of phase contrasts in both and amplitude is maximum (resonance).
Thus produce following consequence:
Depending on frequency to be decayed, it is necessary to produce the inverted signal with respective phase for vibration damping.
The amplitude of described inverted signal also must correspondingly mate.
Therefore, this inverted signal can correspondingly produce, and its mode is, produces a sinusoidal vibration with respective amplitudes relative to detected phase place and is correspondingly used as adjusting parameter, the moment modulation on clutch.Here, time delay can also be considered as in phase place mutually by signal transit time or hardware dynamic characteristic, as detection frequency can by with phase matched.
Accompanying drawing explanation
Fig. 1 is the waveform diagram of the present invention.
Detailed description of the invention
This method is illustrated by a specific embodiment below according to accompanying drawing 1:
IPS signal 10 is that non-filter transmission inputs revolution.
Cosine function 20 and SIN function 30 are two periodic functions (orthogonal) with original frequency, and IPS signal is multiplied with the two function.Select power train natural frequency as original frequency.
The result obtained that is multiplied is cosine product 40 and sinusoidal product 50.
Two moving averages through a cycle of original frequency are cosine component 60 and cosine component 70.
The root of the two component (cosine component 60 and cosine component 70) quadratic sum is amplitude 80.
Phase shift between IPS signal 10 and cosine function 20 can calculate by sign and arctan function from the two component (cosine component 60 and cosine component 70) and be designated as phase place 90 in FIG.
Can be calculated the signal after filtration by amplitude 80 and phase place 90 now, this signal represents slippage vibration and is denoted as the vibration 100 of isolation in FIG.Here, the frequency of signal 100 changes due to the phase place 90 of change in time course.
This signal 100 can be loaded by a phase place, in the example in fig 1 with 90 ° of loadings.Its result is denoted as control signal 110 in FIG.
Being drawn a frequency of amendment by the time-derivative of the phase place 90 tried to achieve, this frequency of amendment describes revised frequency 130 as with the difference of original frequency.This revised frequency 130 now can be used for: replaces original frequency, is again carried out the method with this revised frequency 130.This repetition can disposably be carried out, or the most frequently carry out until frequency of amendment less than one can be predetermined threshold value, the most sufficiently small.As have described that in the vibration 100 being tried to achieve isolation by amplitude 80 and phase place 90 above, can only use time dependent phase place 90 as frequency of amendment, this is equivalent to effective frequency of amendment, without the coupling obtaining initial frequency value clearly.Because mostly the frequency near original frequency only occurring in practice as slippage vibration, in most cases so consider that the frequency shift (FS) only drawn by time dependent phase place 90 is sufficient to.
According to the frequency tried to achieve (according to there is situation, it should be constant original frequency or be drawn by time dependent phase place 90 by effective frequency of amendment, frequency in the signal of the vibration 100 of isolation, or when there is revised frequency 130, it should be just revised frequency 130), now can as above when trying to achieve by signal 100 being loaded the control signal 110 obtained with phase place the most interpreted as carry out phase shift, i.e. consider above-mentioned characteristic and the response time of system of forced vibration, make the vibration damping occurred slippage vibration when transmitting torque on clutch.Simplifying in embodiment one, control signal 110 is obtained with the phase place in-migration of 90 ° by the signal loading of the vibration 100 to isolation.
I.e., by introducing this phase shift and introducing the amplitude 80 tried to achieve, and according to there is situation introducing original frequency or introducing the frequency obtained by the vibration 100 isolated or then introduce this revised frequency 130 when there is revised frequency 130, generate control signal 110, this control signal is used as the given torque modulation signal of clutch adjustor, in order to the interfering slippage of active damping vibrates.
Interference vibration is extracted from the signal of variator input revolution signal 10 or the undesirable torque modulation from other reflection clutches.
For the clutch skidded, this occurs based on basic power train natural frequency (slippage frequency of vibration).Here, not only determine the occurred interference vibration frequency departure relative to slippage frequency of vibration, and determine phase place and amplitude.
One particularly advantageous feature of the method is, suppression noise and higher-frequency and/or low frequency component.
Generating an adjustment signal according to amplitude, phase and frequency deviation, this adjustment signal is such as used as the given moment modulated signal of clutch adjustor, vibrates with active attenuation slippage.
Input signal (IPS signal) and produced vibration and original frequency (original frequency) or the calculating of the moving average of the product of frequency (revised frequency) revised are carried out continuously.
This application is to improve driver comfort in the case of sliding (rupfenden) dry dual clutch.Especially to improve hardware with this and for the franchise of moment unbalance and reduce waste product.
The contribution of the present invention is, skidding tendency (because can reduce by the present invention) of clutch system is the most important, therefore can optimize other parameters (moment capacity, abrasion etc.).
For reason in service life, vibration calculating should only be carried out with a base frequency, the most described initial frequency, because so can strongly optimize the calculating of moving average.But also contemplate for frequency feedback, for improving signal quality further.
It is not necessary to use SIN function or cosine function to detect, however, it is also possible to use other periodic functions (such as box function, Kastenfunktion).Be used as adaptation function to produce adjustable parameter, it is non-linear that this function is such as also contemplated in systems response behavior.Phase shift also is able to produce by different way.
Various input and output signal different, that meet power train moment in most important significance can be used, such as motor vehicles longitudinal acceleration as input signal or regulator pressure as output signal.
The present invention relates to, carry out, by regulation clutch position, the slippage vibration that active attenuation occurs on friction clutch, to improve driver comfort.Higher-frequency and low frequency vibration should not encouraged at this.This invention particularly focuses on, even if also being able to the negative feedback providing phase place correct when driving frequency is near basic power train natural frequency.
Reference numerals list
10 IPS signals (variator input signal)
20 cosine functions
30 SIN functions
40 cosine products
50 sinusoidal products
60 cosine components
70 sinusoidal components
80 amplitudes
90 phase places
100 Independent Vibrations
110 control signals
120 original frequencies
130 frequency of amendments
Claims (6)
1., for the method alleviating the slippage vibration in power train, this power train has driver element, car
Variator and automated friction clutch, it is characterised in that implement the steps of:
One is had described in the time course signal of the SIN function (30) of original frequency
The current signal value of signal of current signal value and variator input revolution (10) be multiplied
Draw sinusoidal product (50) currency, at the beginning of having one described in time course one
The current signal value of the signal of the cosine function (20) of beginning frequency inputs revolution with variator
(10) current signal value of signal is multiplied and draws cosine product (40) currency,
To this sine product (50) currency and from the beginning of this sine product (50) currency
Sinusoidal product (50) all values tried to achieve through a cycle of this original frequency asks mobile
Meansigma methods draws a sinusoidal component (70) value, to this cosine product (40) currency with
And expect in a week from what this cosine product (40) currency began to pass through this original frequency
Cosine product (40) all values obtained asks moving average to draw a cosine component (60)
Value,
Amplitude (80) is tried to achieve by this sinusoidal component (70) value and cosine component (60) value,
Try to achieve the phase between signal and this cosine function (20) of variator input revolution (10)
Displacement (90),
A signal (100) representing the vibration of this slippage is tried to achieve by this amplitude (80) and phase shift (90),
Try to achieve the value of the phase shift of this signal (100) representing slippage vibration, wherein, this phase place
The value moved so selects so that represent the signal (100) of slippage vibration with this phase place at this
A control letter acting on automated friction clutch actuator is obtained during the value phase shift moved
Number, this control signal alleviates the vibration of this slippage.
The most in accordance with the method for claim 1, it is characterised in that the described letter representing slippage vibration
The value of the phase shift of number (100) is 90 °.
3. according to the method described in claim 1 or 2, it is characterised in that by sinusoidal component (70)
Value and cosine component (60) value so try to achieve amplitude (80): by sinusoidal component (70) and cosine
The quadratic sum of component (60) asks root to try to achieve.
4. according to the method described in claim 1 or 2, it is characterised in that variator input revolution (10)
Phase shift (90) between signal and cosine function (20) by sign and arctan function by just
String component (70) and (60) two values of cosine component are tried to achieve.
5. according to the method described in claim 1 or 2, it is characterised in that inputted revolution by variator
(10) time-derivative of the tried to achieve phase shift between signal and cosine function (20) tries to achieve a correction frequency
Rate, wherein, tries to achieve by by original frequency or the frequency of already present up-to-date correction and frequency of amendment
One revised frequency (130).
The most in accordance with the method for claim 5, it is characterised in that SIN function (30) and cosine
Function (20) is two mutually orthogonal, periodic mathematical functions.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102011083991.7 | 2011-10-04 | ||
| DE102011083991 | 2011-10-04 | ||
| DE102011086579.9 | 2011-11-17 | ||
| DE102011086579 | 2011-11-17 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103197703A CN103197703A (en) | 2013-07-10 |
| CN103197703B true CN103197703B (en) | 2016-09-28 |
Family
ID=47878814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210597067.9A Expired - Fee Related CN103197703B (en) | 2011-10-04 | 2012-09-29 | For the method alleviating slippage vibration |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN103197703B (en) |
| DE (1) | DE102012217132B4 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112013001982A5 (en) | 2012-04-11 | 2015-01-08 | Schaeffler Technologies Gmbh & Co. Kg | Method for reducing juddering vibrations |
| DE112014001944A5 (en) | 2013-04-11 | 2016-01-07 | Schaeffler Technologies AG & Co. KG | A method of reducing juddering vibration of a friction clutch in a powertrain of a vehicle |
| CN106233023B (en) * | 2014-04-16 | 2019-02-19 | 舍弗勒技术股份两合公司 | For designing the method for the software damper of clutch controller and for the software damper for buffeting vibration of decaying |
| KR101601445B1 (en) * | 2014-07-04 | 2016-03-09 | 현대자동차주식회사 | Dry clutch control method for vehicle |
| DE102015207152B4 (en) * | 2015-04-20 | 2021-08-12 | Zf Friedrichshafen Ag | Method for regulating an automated friction clutch and a drive train for a motor vehicle and a control device for operating an automated friction clutch arranged in a drive train of a motor vehicle |
| DE102015226275B4 (en) | 2015-12-21 | 2022-09-22 | Schaeffler Technologies AG & Co. KG | Procedure for testing a friction clutch |
| DE102017123953B4 (en) | 2017-10-16 | 2021-09-30 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method and device for determining a transfer function of a drive train component |
| DE102018111150B4 (en) | 2018-05-09 | 2019-12-05 | Schaeffler Technologies AG & Co. KG | Method for determining the drive train sensitivity of a drive train of a motor vehicle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0642579A (en) * | 1992-07-20 | 1994-02-15 | Mazda Motor Corp | Vehicle vibration reducing device |
| CN1386687A (en) * | 2001-05-21 | 2002-12-25 | Dbt自动化有限公司 | Method for controlling chain transmission of working mechanism in mine, and chain grab conveyer |
| DE10323567A1 (en) * | 2002-05-27 | 2003-12-11 | Luk Lamellen & Kupplungsbau | Process for modulating the torque transmitted from vehicle clutch, during engagement of the clutch during starting, comprises modulating the torque according to variable derived exclusively from the rotational speed of the clutch disk |
| CN1514916A (en) * | 2001-06-13 | 2004-07-21 | ¬��Ħ��Ƭ����������Ϲ�˾ | Method and system for regulating torque transmiision capacity of frictionally engaged, torque transmitting assembly |
| CN1547647A (en) * | 2001-08-24 | 2004-11-17 | ¬��Ħ��Ƭ����������Ϲ�˾ | Method and system for control of an automatic friction clutch arranged between an engine and a gearbox on a motor vehicle |
| DE102005034526A1 (en) * | 2004-08-24 | 2006-03-02 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method uses a position controller of an automatic clutch for reducing position oscillations of an actuator |
| CN102112763A (en) * | 2008-07-14 | 2011-06-29 | 舍弗勒技术两合公司 | Dual clutch |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE112008001539B4 (en) | 2007-07-05 | 2019-05-16 | Schaeffler Technologies AG & Co. KG | Method and device for controlling the slip of a vehicle clutch |
-
2012
- 2012-09-24 DE DE102012217132.0A patent/DE102012217132B4/en not_active Expired - Fee Related
- 2012-09-29 CN CN201210597067.9A patent/CN103197703B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0642579A (en) * | 1992-07-20 | 1994-02-15 | Mazda Motor Corp | Vehicle vibration reducing device |
| CN1386687A (en) * | 2001-05-21 | 2002-12-25 | Dbt自动化有限公司 | Method for controlling chain transmission of working mechanism in mine, and chain grab conveyer |
| CN1514916A (en) * | 2001-06-13 | 2004-07-21 | ¬��Ħ��Ƭ����������Ϲ�˾ | Method and system for regulating torque transmiision capacity of frictionally engaged, torque transmitting assembly |
| CN1547647A (en) * | 2001-08-24 | 2004-11-17 | ¬��Ħ��Ƭ����������Ϲ�˾ | Method and system for control of an automatic friction clutch arranged between an engine and a gearbox on a motor vehicle |
| DE10323567A1 (en) * | 2002-05-27 | 2003-12-11 | Luk Lamellen & Kupplungsbau | Process for modulating the torque transmitted from vehicle clutch, during engagement of the clutch during starting, comprises modulating the torque according to variable derived exclusively from the rotational speed of the clutch disk |
| DE102005034526A1 (en) * | 2004-08-24 | 2006-03-02 | Luk Lamellen Und Kupplungsbau Beteiligungs Kg | Method uses a position controller of an automatic clutch for reducing position oscillations of an actuator |
| CN102112763A (en) * | 2008-07-14 | 2011-06-29 | 舍弗勒技术两合公司 | Dual clutch |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103197703A (en) | 2013-07-10 |
| DE102012217132A1 (en) | 2013-04-04 |
| DE102012217132B4 (en) | 2021-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103197703B (en) | For the method alleviating slippage vibration | |
| CN102917936B (en) | The method and apparatus of the vibration on the output shaft reducing CD-ROM drive motor | |
| US9018870B2 (en) | Control device | |
| CN102804259B (en) | Active analog generating device | |
| EP2824829B1 (en) | Electric motor and motor controller | |
| CN106233031B (en) | For determining for the method for buffeting the parameter of software damper of vibration that decays | |
| CN103210235B (en) | Active vibration/noise suppression device | |
| US6565479B2 (en) | Apparatus and method for smoothing of vehicle drivelines | |
| US10017185B2 (en) | Method for damping electromechanical oscillations in an electromechanical system and oscillation damping system for employing such method | |
| CN104080675B (en) | Damping control device | |
| US10118625B2 (en) | Anti-jerk method | |
| KR102127131B1 (en) | Dynamometer control | |
| EP2600341A2 (en) | Active vibration noise control apparatus | |
| US9075418B2 (en) | Vibration damping device and method for canceling out a vibration at a damping position based on a phase difference | |
| CN104380067B (en) | The control device of dynamometer system | |
| US6629025B2 (en) | Surge suppression control for a motor vehicle drivetrain | |
| CN106458054B (en) | The double card Thalmann filter of torsion damping for electric traction driving | |
| US9278681B2 (en) | Hybrid electric vehicle driveline active damping and transient smoothness control | |
| CN101178435B (en) | Method for regulating the acoustic pressure in transmission and the reception gain of a sensor | |
| JP4311043B2 (en) | Electric motor control device | |
| KR20230156335A (en) | Waveform Optimization Methods for Electric Motors | |
| CN104853951B (en) | For the system and corresponding method of the rotary speed for controlling motor vehicles electro-motor | |
| EP2678205A1 (en) | Detection of power train oscillations | |
| CN102686358B (en) | Method for controlling a transportation shaft for optimizing machining performance in accordance with the weight of a material | |
| JP5967026B2 (en) | Vehicle approach notification device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160928 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |