DE102011002471A1 - Method for determining actuating torque for drive unit of drive train of motor car, involves charging component of actuating torque with another component of actuating torque, where latter component is determined by state feedback - Google Patents
Method for determining actuating torque for drive unit of drive train of motor car, involves charging component of actuating torque with another component of actuating torque, where latter component is determined by state feedback Download PDFInfo
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- DE102011002471A1 DE102011002471A1 DE201110002471 DE102011002471A DE102011002471A1 DE 102011002471 A1 DE102011002471 A1 DE 102011002471A1 DE 201110002471 DE201110002471 DE 201110002471 DE 102011002471 A DE102011002471 A DE 102011002471A DE 102011002471 A1 DE102011002471 A1 DE 102011002471A1
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- drive unit
- component
- actuating torque
- torque
- controller
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- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 230000006978 adaptation Effects 0.000 claims description 8
- IAZDPXIOMUYVGZ-UHFFFAOYSA-N Dimethylsulphoxide Chemical compound CS(C)=O IAZDPXIOMUYVGZ-UHFFFAOYSA-N 0.000 abstract 1
- 239000013598 vector Substances 0.000 description 10
- 239000011159 matrix material Substances 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/188—Controlling power parameters of the driveline, e.g. determining the required power
- B60W30/1882—Controlling power parameters of the driveline, e.g. determining the required power characterised by the working point of the engine, e.g. by using engine output chart
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/021—Introducing corrections for particular conditions exterior to the engine
- F02D41/0215—Introducing corrections for particular conditions exterior to the engine in relation with elements of the transmission
-
- 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
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
-
- 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
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/001—Proportional integral [PI] controller
-
- 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
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0016—State machine analysis
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/06—Combustion engines, Gas turbines
- B60W2510/0638—Engine speed
-
- 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
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/081—Speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2250/00—Engine control related to specific problems or objectives
- F02D2250/18—Control of the engine output torque
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Transmission Device (AREA)
Abstract
Description
Die Erfindung betrifft ein Verfahren zur Ermittlung eines Stellmoments für ein Antriebsaggregat nach dem Oberbegriff des Anspruchs 1. Des Weiteren betrifft die Erfindung eine Getriebesteuerungseinrichtung zur Durchführung des Verfahrens.The invention relates to a method for determining an actuating torque for a drive unit according to the preamble of
Zur Ausführung einer Schaltung im automatisierten Schaltgetriebe
Gemäß
Als Daten, welche die Motorsteuerungseinrichtung
Aus dem Stand der Technik ist es demnach bereits bekannt, dass zur Ausführung eines Anfahrvorgangs oder zur Ausführung eines Schaltvorgangs die Getriebesteuerungseinrichtung
Hiervon ausgehend liegt der vorliegenden Erfindung die Aufgabe zu Grunde, ein neuartiges Verfahren zur Ermittlung eines Stellmoments für ein Antriebsaggregat sowie eine neuartige Getriebesteuerungseinrichtung zu schaffen.On this basis, the present invention based on the object to provide a novel method for determining a control torque for a drive unit and a novel transmission control device.
Diese Aufgabe wird durch ein Verfahren gemäß Anspruch 1 gelöst. Erfindungsgemäß ermittelt ein Regler abhängig von der Drehzahldifferenz zwischen der Ist-Drehzahl des Antriebsaggregats und der Soll-Drehzahl des Antriebsaggregats eine erste Komponente des Stellmoments, wobei die erste Komponente des Stellmoments zumindest mit einer zweiten Komponente des Stellmoments, die über eine Zustandsrückführung ermittelt wird, verrechnet wird. Das Stellmoment setzt sich aus mindestens zwei Komponenten zusammen, nämlich aus der ersten Komponente, die der Regler abhängig von der Drehzahldifferenz zwischen der Ist-Drehzahl und der Soll-Drehzahl des Antriebsaggregats ermittelt, und der zweiten Komponente, die über die Zustandsrückführung ermittelt wird. Ein derart ermitteltes Stellmoment erlaubt einen besonders bevorzugten Betrieb des Antriebsaggregats.This object is achieved by a method according to
Nach einer vorteilhaften Weiterbildung wird die erste Komponente des Stellmoments weiterhin mit einer dritten Komponente des Stellmoments, die über eine Störgrößenaufschaltung ermittelt wird, verrechnet. Dann, wenn zusätzlich eine dritte Komponente des Stellmoments über eine Störgrößenaufschaltung bereitgestellt wird, ist eine regelungstechnisch robuste und demnach gegenüber Störungen unanfällige Ermittlung des Stellmoments für das Antriebsaggregat möglich, wodurch der Betrieb des Antriebsaggregats weiter verbessert werden kann.According to an advantageous development, the first component of the actuating torque continues to be charged with a third component of the actuating torque, which is determined via a feedforward control. Then, if in addition a third component of the actuating torque is provided via a Störgrößenaufschaltung, a control technically robust and thus against disturbances unimpeachable determination of the actuating torque for the drive unit is possible, whereby the operation of the drive unit can be further improved.
Vorzugsweise werden sich über die Lebensdauer des Antriebsaggregats verändernde Parameter desselben über eine Identifikation ermittelt, wobei abhängig von der Identifikation Parameter des Reglers über eine Adaption angepasst werden. Die Anpassung der Reglerparameter des Reglers, der die erste Komponente für die Stellgröße des Antriebsaggregats ermittelt, erlaubt eine weitere Verbesserung der Robustheit und Qualität in der Ermittlung des Stellmoments für das Antriebsaggregat und damit einer weitere Verbesserung des Betriebs des Antriebsaggregats.Preferably, parameters of the same which change over the service life of the drive unit are determined via an identification, parameters of the controller being adapted via an adaptation depending on the identification. The adaptation of the controller parameters of the controller, which determines the first component for the manipulated variable of the drive unit, allows a further improvement of the robustness and quality in the determination of the actuating torque for the drive unit and thus a further improvement of the operation of the drive unit.
Bevorzugte Weiterbildungen der Erfindung ergeben sich aus den Unteransprüchen und der nachfolgenden Beschreibung. Ausführungsbeispiele der Erfindung werden, ohne hierauf beschränkt zu sein, an Hand der Zeichnung näher erläutert. Dabei zeigt:Preferred embodiments of the invention will become apparent from the dependent claims and the description below. Embodiments of the invention will be described, without being limited thereto, with reference to the drawings. Showing:
Die hier vorliegende Erfindung betrifft ein Verfahren zur Ermittlung eines Stellmoments u für ein Antriebsaggregat
Das Stellmoment u für das Antriebsaggregat
Die erste Komponente M1 des Stellmoments u wird zumindest mit einer zweiten Komponente M2 des Stellmoments u verrechnet, die über eine Zustandsrückführung
Besonders bevorzugt ist eine Variante der Erfindung, in welcher, wie
Dann, wenn die erste Komponente M1 für das Stellmoment u, die vom Regler
Wie bereits ausgeführt, wird die erste Komponente M1 des Stellmoments u für das Antriebsaggregat
Gemäß
Die zweite Komponente M2 des Stellmoments u wird über die Zustandsrückführung
Bei der Größe R x handelt es sich um eine Parametermatrix der Zustandsrückführung
Das Verhalten des Antriebsaggregats
Bei der Störgröße zk handelt es sich um das Reibmoment des Antriebsaggregats
Die im Zustandsvektor x enthaltende Ist-Drehzahl n-ist des Antriebsaggregats
Die ebenfalls im Zustandsvektor x enthaltene Größe MSE, die dem bei einem Anfahrvorgang vom Anfahrelement
Die Störgröße zk bzw. das Reibmoment des Antriebsaggregats
Die Reglerparameter RP und RI des Reglers
Gemäß
Abhängig von der über die Identifikation
Das erfindungsgemäße Verfahren, nämlich die Bestimmung bzw. Ermittlung des Stellmoments u für das Antriebsaggregat
Als Ausgangsgröße gibt die Getriebesteuerungseinrichtung
Die Getriebesteuerungseinrichtung
Vorzugsweise umfasst die Getriebesteuerungseinrichtung
Nach einer vorteilhaften Weiterbildung der Erfindung umfasst die Getriebesteuerungseinrichtung
Die Soll-Drehzahl n-soll wird von der Getriebesteuerungseinrichtung
BezugszeichenlisteLIST OF REFERENCE NUMBERS
- 11
- Antriebsaggregatpower unit
- 22
- Getriebetransmission
- 33
- Schaltelementswitching element
- 44
- Abtrieboutput
- 55
- Anfahrelementstarting element
- 66
- MotorsteuerungseinrichtungMotor controller
- 77
- GetriebesteuerungseinrichtungTransmission control device
- 88th
- Datenaustauschdata exchange
- 99
- Datenaustauschdata exchange
- 1010
- Datenaustauschdata exchange
- 1111
- Reglerregulator
- 1212
- ZustandsrückführungState feedback
- 1313
- P-RegleranteilP controller share
- 1414
- I-RegleranteilI controller share
- 1515
- Messvektormeasurement vector
- 1616
- IdentifikationID
- 1717
- Adaptionadaptation
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201110002471 DE102011002471A1 (en) | 2011-01-05 | 2011-01-05 | Method for determining actuating torque for drive unit of drive train of motor car, involves charging component of actuating torque with another component of actuating torque, where latter component is determined by state feedback |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE201110002471 DE102011002471A1 (en) | 2011-01-05 | 2011-01-05 | Method for determining actuating torque for drive unit of drive train of motor car, involves charging component of actuating torque with another component of actuating torque, where latter component is determined by state feedback |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102011002471A1 true DE102011002471A1 (en) | 2012-07-05 |
Family
ID=46509286
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE201110002471 Withdrawn DE102011002471A1 (en) | 2011-01-05 | 2011-01-05 | Method for determining actuating torque for drive unit of drive train of motor car, involves charging component of actuating torque with another component of actuating torque, where latter component is determined by state feedback |
Country Status (1)
Country | Link |
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DE (1) | DE102011002471A1 (en) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19961312C1 (en) * | 1999-12-18 | 2001-06-28 | Bayerische Motoren Werke Ag | Method and device for controlling a continuously variable automatic transmission |
DE10311885A1 (en) * | 2002-03-28 | 2003-10-09 | Luk Lamellen & Kupplungsbau | Vehicle transmission systems |
DE102005004224A1 (en) * | 2005-01-28 | 2006-08-10 | Voith Turbo Gmbh & Co. Kg | Method for controlling the starting process in a drive train of a vehicle |
DE102007056623B3 (en) * | 2007-11-23 | 2009-05-20 | Mtu Friedrichshafen Gmbh | Method for controlling a stationary gas engine |
DE102006029044B4 (en) * | 2006-06-24 | 2009-12-10 | Ford Global Technologies, LLC, Dearborn | A method of assisting the launching of motor vehicles |
DE102008061056A1 (en) * | 2008-12-08 | 2010-02-04 | Audi Ag | Drive unit e.g. internal-combustion engine, controlling and/or regulating method for motor vehicle, involves selecting approach speed of drive unit based on gradients of angle of depression and/or amount of angle of depression |
-
2011
- 2011-01-05 DE DE201110002471 patent/DE102011002471A1/en not_active Withdrawn
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19961312C1 (en) * | 1999-12-18 | 2001-06-28 | Bayerische Motoren Werke Ag | Method and device for controlling a continuously variable automatic transmission |
DE10311885A1 (en) * | 2002-03-28 | 2003-10-09 | Luk Lamellen & Kupplungsbau | Vehicle transmission systems |
DE102005004224A1 (en) * | 2005-01-28 | 2006-08-10 | Voith Turbo Gmbh & Co. Kg | Method for controlling the starting process in a drive train of a vehicle |
DE102006029044B4 (en) * | 2006-06-24 | 2009-12-10 | Ford Global Technologies, LLC, Dearborn | A method of assisting the launching of motor vehicles |
DE102007056623B3 (en) * | 2007-11-23 | 2009-05-20 | Mtu Friedrichshafen Gmbh | Method for controlling a stationary gas engine |
DE102008061056A1 (en) * | 2008-12-08 | 2010-02-04 | Audi Ag | Drive unit e.g. internal-combustion engine, controlling and/or regulating method for motor vehicle, involves selecting approach speed of drive unit based on gradients of angle of depression and/or amount of angle of depression |
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