EP0702139B1 - Method and device for the suppression of longitudinal oscillations of a motorised automotive vehicle - Google Patents

Method and device for the suppression of longitudinal oscillations of a motorised automotive vehicle Download PDF

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Publication number
EP0702139B1
EP0702139B1 EP19950401948 EP95401948A EP0702139B1 EP 0702139 B1 EP0702139 B1 EP 0702139B1 EP 19950401948 EP19950401948 EP 19950401948 EP 95401948 A EP95401948 A EP 95401948A EP 0702139 B1 EP0702139 B1 EP 0702139B1
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EP
European Patent Office
Prior art keywords
vehicle
torque
variable
value
acceleration
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EP19950401948
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German (de)
French (fr)
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EP0702139A1 (en
Inventor
Daniel Pignard
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Automobiles Peugeot SA
Automobiles Citroen SA
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Automobiles Peugeot SA
Automobiles Citroen SA
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Classifications

    • 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
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1497—With detection of the mechanical response of the engine

Definitions

  • the present invention relates to a method and a longitudinal oscillation suppression device of a motor vehicle, by command of at least a motor torque control parameter, in response to a request for acceleration of the vehicle by the driver.
  • a correction process combustion engine control parameters internal which consists, from an estimator model of the engine torque and a model for each gear ratio transmission estimator speed, to develop a variable which is a linear combination of the derivatives first and second of engine speed and represents the oscillations extracted from the engine speed, to apply a variable correction on this variable to determine the variation of the engine torque and from this variation, to determine the correction to be applied to the control parameter (s) of the motor.
  • This process has the disadvantage of not taking into account in the calculation of the correction to be applied to the motor control parameter. Only engine speed oscillations, and to require significant computing resources.
  • EP-A-332.119 describes a method for removing longitudinal oscillations of a motor vehicle, by control at least one motor torque control parameter. in response to a request for acceleration of the vehicle by the driver.
  • variable in step c) is an estimated value of the derivative of acceleration of the vehicle body by linear interpolation thereof to from the last two measured values of the instantaneous acceleration of the vehicle body as a function of time.
  • the object of the invention is therefore to propose a solution which is simple to apply. used to solve the problems of longitudinal oscillations mentioned previously.
  • the invention relates to methods elimination of longitudinal oscillations of a vehicle motor vehicle according to claims 1 and 2.
  • the invention also relates to devices elimination of longitudinal oscillations of a vehicle motor vehicle according to claims 3 and 4.
  • control of the engine torque delivered by the vehicle engine by command of one or more engine control parameters.
  • these control parameters could be, for example, the ignition advance for engines with explosion, the quantity of fuel allowed for the engines internal combustion, or intensity or voltage supply for electric motorization motors so-called electrically propelled vehicles.
  • the parameter (s) of control are chosen so that the engine torque is controlled almost instantaneously, that is to say for example every half turn of the crankshaft to heat engines.
  • the value of the motor torque must be determined periodically during operation of the vehicle.
  • This value of the engine torque can be measured or calculated in the case of an internal combustion engine from a model estimating the engine torque and representative data at all times of values of measurement of all or part of the following parameters: position vehicle acceleration control, speed engine, pressure in engine intake manifolds, ignition advance, fuel richness, quantity of fuel admitted, air temperature admitted, etc.
  • engine torque is calculated at starting with, among other things, engine speed, the latter is determined for example every 10 milliseconds or every the crankshaft U-turns for internal combustion engines.
  • the implementation of the method according to the invention requires knowledge as a function of time values of the instantaneous acceleration of the body of the vehicle.
  • a requested acceleration value ⁇ d by the driver via the vehicle's acceleration pedal is measured in step 2.
  • a value of the engine speed noted R m of an engine M is measured in step 4 by means of an appropriate sensor placed on the shaft of the engine M.
  • step 6 the calculation of an optimum torque of the motor denoted C opt is carried out in step 6 from a conventional mapping process.
  • step 8 we measure and record in step 8 the instantaneous acceleration values of the vehicle body as a function of time using a appropriate sensor attached to the vehicle body.
  • variable V is an estimated value of the derivative of the instantaneous acceleration of the vehicle body at the time of calculation. This estimate is performed by linear interpolation of the derivative at from the last two measured values of acceleration of the vehicle body depending on the time.
  • this variable V is equal to the difference between the last two measured values instantaneous acceleration of the vehicle body divided by the time period between the last two moments of measurement.
  • variable V is a value of the wave component of the instantaneous acceleration of the vehicle body calculated at an instant preceding the instant variable and separated from it by a quarter of the period of longitudinal oscillations to remove from the vehicle.
  • This variable V is equal to the difference between the value of the instantaneous acceleration of the body of the vehicle measured at an instant preceding the elaboration instant of the variable and separated from it by a quarter of period of the longitudinal oscillations to be removed from vehicle and the value of the instantaneous acceleration of the vehicle body calculated at the same time as if the engine was rigidly coupled to the vehicle without play and without elasticity.
  • part of the motor torque contained in this variable will not calculated a quarter period before its preparation but at time of it.
  • step 12 From this variable V, we calculate step 12, using a proportionality coefficient ⁇ depending on the intrinsic characteristics of the vehicle, a torque correction value ⁇ .V which is proportional to the variable V.
  • the coefficient of proportionality noted ⁇ is calculated from the intrinsic characteristics of the vehicle considered at the time of calculation.
  • the coefficient ⁇ can be determined from the proper pulsation of the oscillations to be removed from the vehicle for each speed report, a damping coefficient due to tires, a characteristic coefficient of transmission stiffness for each gear ratio, the mass of the body the vehicle, the moment of inertia of the engine torque, and rotating parts of the transmission, as well as ratio between the forward speed of the vehicle and the motor rotation speed.
  • the different parameters used for the calculation of the proportionality coefficient ⁇ are reset to update periodically and in particular whenever intrinsic characteristics of the vehicle are changing or are likely to change, as is the case for example after stopping the vehicle.
  • step 14 the optimum torque C opt and the torque correction value ⁇ .V are calculated from a torque corrected value denoted C cor obtained by summing the optimum torque C opt and the correction value ⁇ .V.
  • a corrected engine torque control parameter denoted P, is calculated in step 16 from a conventional model linking the engine torque control parameter and the delivered torque. by this engine in response to the application of this parameter.
  • the process as described can be implemented so cyclic during the entire operating time of the vehicle.
  • the passage of the game is detected by detection of a break in the evolution of the acceleration curve of the vehicle, or by any other appropriate means, and we use for the implementation of the process the value of the derivative instantaneous acceleration of the vehicle body measured immediately before the start of the corresponding period as the game progresses and that we grow in absolute value following a constant slope during the game.
  • This constant slope should pass the derivative of instant acceleration to a value between one and twice its value in 0.1 seconds.
  • Figure 2 is shown schematically a device for implementing the method according to the invention.
  • This computer 30 The purpose of this computer 30 is to adjust the or P motor control parameters M and store certain parameters from the sensors in a memory temporary 44, for subsequent reuse of these.
  • a corrected couple C cor which will be a linear extrapolation as a function of the time of the corrected couple C cor before the game whose proportionality coefficient is between 0 and 0.33 of the derivative of the optimum couple C opt during the game.
  • the set of sensors includes at least one instant acceleration sensor 20 linked to the body of the vehicle, an engine speed sensor 22 and a sensor associated with the vehicle acceleration control 24 for measure the driver's acceleration request.
  • suitable sensors connected to the calculator 30 must be added in case the proportionality coefficient ⁇ used for the calculation of the correction to be made to the engine torque depends on vehicle parameters which are likely to change in function of time and thus allow their updating in memory 42.
  • the program memory 40 there are stored, for use by the computer 30, algorithms for conventional calculation of the optimum torque C opt as a function of the acceleration demand ⁇ d of the driver, algorithms for calculating the value of correction of the torque ⁇ .V to be applied to the optimum torque as a function of the instantaneous acceleration ⁇ c measured from the vehicle body over time, algorithms for calculating the corrected torque C cor from the optimum torque C opt and the correction value ⁇ .V, algorithms for calculating the values of the motor control parameter (s) P as a function of the values of the corrected torque C cor , and algorithms for calculating the value of the instantaneous acceleration of the body of the vehicle as if the engine were rigidly coupled to the vehicle without play and without elasticity.
  • Characteristic data of the vehicle, resulting or not experimental measurements, and useful to the calculator for determining parameter values motor control, are stored in memory 42.
  • the computer 30 changes in memory 42 the values of the intrinsic characteristics having been updated from data from sensors appropriate.
  • Temporary memory 44 is used by the computer 30 for storing data received from the sensors that are used at times later than during the implementation of the process.
  • the computer controls at least one motor torque control parameter P to remove longitudinal oscillations of the vehicle, resulting from driver acceleration requests, according to the different calculation algorithms previously described in implementing the method according to the invention.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Description

La présente invention concerne un procédé et un dispositif de suppression des oscillations longitudinales d'un véhicule automobile à moteur, par commande d'au moins un paramètre de contrôle du couple du moteur, en réponse à une demande d'accélération du véhicule par le conducteur. The present invention relates to a method and a longitudinal oscillation suppression device of a motor vehicle, by command of at least a motor torque control parameter, in response to a request for acceleration of the vehicle by the driver.

Ces oscillations longitudinales prennent naissance notamment lors d'une variation de l'accélération du véhicule ou du couple moteur, d'une phase d'embrayage, ou encore du passage d'un obstacle sur une route. These longitudinal oscillations arise especially when the acceleration of the vehicle or engine torque, a clutch phase, or still crossing an obstacle on a road.

On connaít déjà dans l'état de la technique des procédés et des dispositifs de ce type qui permettent d'effectuer des corrections et des réglages des paramètres de contrôle du fonctionnement d'un moteur, pour éliminer les oscillations, en surveillant un paramètre et en introduisant dans une boucle de commande de ce paramètre, une constante, à des instants déterminés en fonction de la détection des oscillations. We already know in the state of the art of processes and devices of this type which allow make corrections and adjustments to parameters engine operation control, to eliminate oscillations, by monitoring a parameter and introducing into a command loop this parameter, a constant, at times determined according to the oscillation detection.

Cependant, ces procédés et ces dispositifs présentent un certain nombre d'inconvénients notamment au niveau de la détermination des instants d'application de la correction, dans la mesure où celle-ci n'intervient pas en permanence. However, these methods and devices have a number of drawbacks, particularly level of determination of the instants of application of correction, insofar as this does not occur permanently.

Il est également connu par le document FR-A-2 681 908, aux noms des Demanderesses, un procédé de correction des paramètres de contrôle d'un moteur à combustion interne qui consiste, à partir d'un modèle estimateur du couple moteur et d'un modèle pour chaque rapport de vitesse estimateur de la transmission, à élaborer une variable qui est une combinaison linéaire des dérivées premières et secondes du régime moteur et représente les oscillations extraites du régime moteur, à appliquer une correction variable sur cette variable pour déterminer la variation du couple moteur et à partir de cette variation, à déterminer la correction à appliquer sur le ou les paramètres de contrôle du moteur. It is also known from document FR-A-2 681 908, in the names of the Claimants, a correction process combustion engine control parameters internal which consists, from an estimator model of the engine torque and a model for each gear ratio transmission estimator speed, to develop a variable which is a linear combination of the derivatives first and second of engine speed and represents the oscillations extracted from the engine speed, to apply a variable correction on this variable to determine the variation of the engine torque and from this variation,   to determine the correction to be applied to the control parameter (s) of the motor.

Cependant, ce procédé présente un certain nombre d'inconvénients notamment au niveau de la complexité de la modélisation, du volume des calculs en temps réel nécessaires pour obtenir la correction et du fait que l'on agit très peu sur le début de l'oscillation. However, this method has a number of disadvantages particularly in terms of the complexity of the modeling, the volume of real-time calculations needed to get the correction and the fact that there is very little effect on the start of the oscillation.

On connaít également par la demande de brevet français n° 93-03605 déposée le 29 mars 1993, aux noms des demanderesses, un procédé de contrôle du fonctionnement d'un moteur à combustion interne d'un véhicule automobile, par commande d'au moins un paramètre P1 de contrôle du fonctionnement de ce moteur, qui consiste à élaborer un signal de régime moteur filtré NF représentatif d'oscillations du régime moteur N, et à asservir ce signal de régime moteur filtré à 0, pour amortir les oscillations du régime moteur, par calcul d'une correction à apporter au couple moteur et détermination de la correction correspondante CP à appliquer audit paramètre de contrôle du fonctionnement du moteur à l'aide d'un régulateur numérique dont les paramètres ont été préalablement calculés à partir d'un modèle estimateur du couple moteur dans lequel sont introduits les paramètres de contrôle du fonctionnement du moteur et d'un modèle estimateur de transmission filtré, pour chaque rapport de boíte de vitesses. We also know by the French patent application n ° 93-03605 filed March 29, 1993, in the names of the plaintiffs, a process for checking the operation of an internal combustion engine of a vehicle automotive, by command of at least one parameter P1 for controlling the operation of this engine, which consists in developing a speed signal filtered engine NF representative of oscillations of engine speed N, and to be controlled this engine speed signal filtered to 0, to dampen the oscillations of the speed engine, by calculation of a correction to be made to the engine torque and determination of the corresponding correction CP to be applied to said parameter of engine operation control using digital controller whose parameters were previously calculated from an estimator model of the engine torque into which the parameters of control of engine operation and a transmission estimator model filtered, for each gearbox report.

Ce procédé présente l'inconvénient de ne tenir compte dans le calcul de la correction à appliquer au paramètre de commande du moteur. que des oscillations du régime moteur, et de nécessiter des moyens de calcul importants. This process has the disadvantage of not taking into account in the calculation of the correction to be applied to the motor control parameter. only engine speed oscillations, and to require significant computing resources.

Par ailleurs, EP-A-332.119 décrit un procédé de suppression des oscillations longitudinales d'un véhicule automobile à moteur, par commande d'au moins un paramètre de contrôle du couple du moteur. en réponse à une demande d'accélération du véhicule par le conducteur. Furthermore, EP-A-332.119 describes a method for removing longitudinal oscillations of a motor vehicle, by control at least one motor torque control parameter. in response to a request for acceleration of the vehicle by the driver.

Ce procédé comporte les étapes suivantes :

  • a) déterminer en fonction du temps des valeurs d'accélération instantanée de la caisse du véhicule,
  • c) élaborer une variable à partir des valeurs déterminées de l'accélération instantanée de la caisse du véhicule en fonction du temps.
    • This process includes the following steps:
  • a) determine, as a function of time, instantaneous acceleration values of the vehicle body,
  • c) develop a variable from the determined values of the instantaneous acceleration of the vehicle body as a function of time.

    • La variable de l'étape c) est une valeur estimée de la dérivée de l'accélération de la caisse du véhicule par interpolation linéaire de celle-ci à partir des deux dernières valeurs mesurées de l'accélération instantanée de la caisse du véhicule en fonction du temps. The variable in step c) is an estimated value of the derivative of acceleration of the vehicle body by linear interpolation thereof to from the last two measured values of the instantaneous acceleration of the vehicle body as a function of time.

    Le but de l'invention est donc de proposer une solution simple à mettre en oeuvre pour résoudre les problèmes d'oscillations longitudinales mentionnés précédemment. The object of the invention is therefore to propose a solution which is simple to apply. used to solve the problems of longitudinal oscillations mentioned previously.  

    A cet effet, l'invention a pour objet des procédés de suppression des oscillations longitudinales d'un véhicule automobile à moteur, selon les revendications 1 et 2. To this end, the invention relates to methods elimination of longitudinal oscillations of a vehicle motor vehicle according to claims 1 and 2.  

    L'invention a également pour objet des dispositifs de suppression des oscillations longitudinales d'un véhicule automobile à moteur, selon les revendications 3 et 4. The invention also relates to devices elimination of longitudinal oscillations of a vehicle motor vehicle according to claims 3 and 4.  

    La présente invention sera mieux comprise à la lumière de la description qui va suivre, donnée uniquement à titre d'exemple et se référant aux dessins annexés sur lesquels :

    • la figure 1 représente un organigramme illustrant le fonctionnement du procédé selon l'invention ;
    • la figure 2 représente un schéma synoptique illustrant la structure d'un dispositif pour la mise en oeuvre du procédé selon l'invention.
    The present invention will be better understood in the light of the description which follows, given solely by way of example and with reference to the appended drawings in which:
    • FIG. 1 represents a flowchart illustrating the operation of the method according to the invention;
    • FIG. 2 represents a block diagram illustrating the structure of a device for implementing the method according to the invention.

    La mise en oeuvre du procédé suivant l'invention nécessite le contrôle du couple moteur délivré par le moteur du véhicule, par commande d'un ou de plusieurs paramètres de contrôle du moteur. Suivant le type de moteur utilisé, ces paramètres de contrôle pourront être, par exemple, l'avance à l'allumage pour les moteurs à explosion, la quantité de carburant admis pour les moteurs à combustion interne, ou encore l'intensité ou la tension d'alimentation pour les moteurs électriques de motorisation des véhicules dits à propulsion électrique. The implementation of the method according to the invention requires control of the engine torque delivered by the vehicle engine, by command of one or more engine control parameters. Depending on the type of motor used, these control parameters could be, for example, the ignition advance for engines with explosion, the quantity of fuel allowed for the engines internal combustion, or intensity or voltage supply for electric motorization motors so-called electrically propelled vehicles.

    Dans tous les cas, le ou les paramètres de contrôle sont choisis de telle sorte que le couple moteur soit contrôlé d'une manière quasi instantanée, c'est-à-dire par exemple à chaque demi-tour de vilebrequin pour les moteurs thermiques. In all cases, the parameter (s) of control are chosen so that the engine torque is controlled almost instantaneously, that is to say for example every half turn of the crankshaft to heat engines.

    De plus, afin de contrôler les effets du pilotage du moteur, la valeur du couple moteur doit être déterminée périodiquement au cours du fonctionnement du véhicule. In addition, in order to control the effects of steering of the motor, the value of the motor torque must be determined periodically during operation of the vehicle.

    Cette valeur du couple moteur pourra être mesurée ou calculée dans le cas d'un moteur thermique à partir d'un modèle estimateur du couple moteur et de données représentatives à chaque instant de valeurs de mesure de tout ou partie des paramètres suivants : position de la commande d'accélération du véhicule, régime moteur, pression dans les tubulures d'admission du moteur, avance à l'allumage, richesse du carburant, quantité de carburant admis, température d'air admis, etc... . This value of the engine torque can be measured or calculated in the case of an internal combustion engine from a model estimating the engine torque and representative data at all times of values of measurement of all or part of the following parameters: position   vehicle acceleration control, speed engine, pressure in engine intake manifolds, ignition advance, fuel richness, quantity of fuel admitted, air temperature admitted, etc.

    Dans le cas où le couple moteur est calculé à partir, entre autres, du régime moteur, ce dernier est déterminé par exemple toutes les 10 millisecondes ou tous les demi-tours de vilebrequin pour les moteurs thermiques. If the engine torque is calculated at starting with, among other things, engine speed, the latter is determined for example every 10 milliseconds or every the crankshaft U-turns for internal combustion engines.

    Les paramètres de contrôle du couple moteur, les paramètres pris en compte dans la détermination du couple moteur ou les fréquences de mesure sont donnés ici à titre d'exemple mais ne limitent en aucun cas la portée de l'invention. Motor torque control parameters, parameters taken into account in determining the torque motor or the measurement frequencies are given here as example but in no way limit the scope of the invention.

    De même, la mise en oeuvre du procédé selon l'invention nécessite la connaissance en fonction du temps des valeurs de l'accélération instantanée de la caisse du véhicule. Likewise, the implementation of the method according to the invention requires knowledge as a function of time values of the instantaneous acceleration of the body of the vehicle.

    Ainsi, des mesures de l'accélération instantanée de la caisse du véhicule doivent être effectuées périodiquement au cours de l'avancement du véhicule avec une fréquence comparable à la fréquence utilisée pour le contrôle du couple du moteur. So measurements of instant acceleration of the vehicle body must be carried out periodically during the advancement of the vehicle with a frequency comparable to the frequency used for the engine torque control.

    Sur la figure 1, on a représenté un organigramme illustrant le fonctionnement du procédé selon l'invention. In Figure 1, there is shown a flowchart illustrating the operation of the method according to the invention.

    Ainsi, une valeur d'accélération demandée γd par le conducteur par l'intermédiaire de la pédale d'accélération du véhicule est mesurée à l'étape 2. Thus, a requested acceleration value γ d by the driver via the vehicle's acceleration pedal is measured in step 2.

    De même, une valeur du régime moteur notée Rm d'un moteur M est mesurée à l'étape 4 par l'intermédiaire d'un capteur approprié placé sur l'arbre du moteur M. Similarly, a value of the engine speed noted R m of an engine M is measured in step 4 by means of an appropriate sensor placed on the shaft of the engine M.

    A partir des valeurs γd et Rm, on effectue à l'étape 6 le calcul d'un couple optimum du moteur noté Copt à partir d'un procédé classique de cartographie. From the values γ d and R m , the calculation of an optimum torque of the motor denoted C opt is carried out in step 6 from a conventional mapping process.

    Parallèlement à cela, on mesure et on enregistre à l'étape 8 les valeurs d'accélération instantanée de la caisse du véhicule en fonction du temps à l'aide d'un capteur approprié fixé sur la caisse du véhicule. At the same time, we measure and record in step 8 the instantaneous acceleration values of the   vehicle body as a function of time using a appropriate sensor attached to the vehicle body.

    Ces valeurs d'accélération instantanée de la caisse du véhicule sont notées γc. These instantaneous acceleration values of the vehicle body are noted γ c .

    A partir de ces valeurs γc de l'accélération instantanée de la caisse du véhicule, mesurées à une fréquence supérieure à la fréquence des oscillations à supprimer du véhicule, on élabore à l'étape 10 une variable V. From these values γ c of the instantaneous acceleration of the vehicle body, measured at a frequency greater than the frequency of the oscillations to be removed from the vehicle, a variable V is developed in step 10.

    Selon un premier mode de mise en oeuvre du procédé selon l'invention, la variable V est une valeur estimée de la dérivée de l'accélération instantanée de la caisse du véhicule à l'instant de calcul. Cette estimation est réalisée par interpolation linéaire de la dérivée à partir des deux dernières valeurs mesurées de l'accélération instantanée de la caisse du véhicule en fonction du temps. According to a first embodiment of the method according to the invention, the variable V is an estimated value of the derivative of the instantaneous acceleration of the vehicle body at the time of calculation. This estimate is performed by linear interpolation of the derivative at from the last two measured values of acceleration of the vehicle body depending on the time.

    De manière classique, cette variable V est égale à la différence entre les deux dernières valeurs mesurées de l'accélération instantanée de la caisse du véhicule divi-sée par la période de temps séparant les deux derniers instants de mesure. Classically, this variable V is equal to the difference between the last two measured values instantaneous acceleration of the vehicle body divided by the time period between the last two moments of measurement.

    Selon un second mode de mise en oeuvre du procédé selon l'invention, la variable V est une valeur de la composante ondulatoire de l'accélération instantanée de la caisse du véhicule calculée à un instant précédent l'instant d'élaboration de la variable et séparé de celui-ci par un quart de la période des oscillations longitudinales à supprimer du véhicule. According to a second mode of implementation of the method according to the invention, the variable V is a value of the wave component of the instantaneous acceleration of the vehicle body calculated at an instant preceding the instant variable and separated from it by a quarter of the period of longitudinal oscillations to remove from the vehicle.

    Cette variable V est égale à la différence entre la valeur de l'accélération instantanée de la caisse du véhicule mesurée à un instant précédent l'instant d'élaboration de la variable et séparé de celui-ci par un quart de période des oscillations longitudinales à supprimer du véhicule et la valeur de l'accélération instantanée de la caisse du véhicule calculée au même moment comme si le moteur était attelé rigidement au véhicule sans jeu et sans élasticité. This variable V is equal to the difference between the value of the instantaneous acceleration of the body of the vehicle measured at an instant preceding the elaboration instant of the variable and separated from it by a quarter of period of the longitudinal oscillations to be removed from vehicle and the value of the instantaneous acceleration of the   vehicle body calculated at the same time as if the engine was rigidly coupled to the vehicle without play and without elasticity.

    Pour éviter les écueils de divergence de correction et l'absence de correction pendant le premier quart de période que provoque cette variable brute, une partie du couple moteur contenu dans cette variable ne sera pas calculée un quart période avant son élaboration mais au moment de celle-ci. To avoid the pitfalls of correction divergence and the lack of correction during the first shift period caused by this raw variable, part of the motor torque contained in this variable will not calculated a quarter period before its preparation but at time of it.

    A partir de cette variable V, on calcule à l'étape 12, à l'aide d'un coefficient de proportionnalité λ fonction des caractéristiques intrinsèques du véhicule, une valeur de correction du couple λ.V qui soit proportionnelle à la variable V. From this variable V, we calculate step 12, using a proportionality coefficient λ depending on the intrinsic characteristics of the vehicle, a torque correction value λ.V which is proportional to the variable V.

    Le coefficient de proportionnalité noté λ est calculé à partir des caractéristiques intrinsèques du véhicule considérées à l'instant de calcul. The coefficient of proportionality noted λ is calculated from the intrinsic characteristics of the vehicle considered at the time of calculation.

    En particulier, le coefficient λ peut être déterminé à partir de la pulsation propre des oscillations à supprimer du véhicule pour chaque rapport de vitesse, d'un coefficient d'amortissement dû aux pneumatiques, d'un coefficient caractéristique de la raideur de transmission pour chaque rapport de vitesse, de la masse de la caisse du véhicule, du moment d'inertie du couple du moteur, et des éléments tournants de la transmission, ainsi que du rapport entre la vitesse d'avancement du véhicule et la vitesse de rotation du moteur. In particular, the coefficient λ can be determined from the proper pulsation of the oscillations to be removed from the vehicle for each speed report, a damping coefficient due to tires, a characteristic coefficient of transmission stiffness for each gear ratio, the mass of the body the vehicle, the moment of inertia of the engine torque, and rotating parts of the transmission, as well as ratio between the forward speed of the vehicle and the motor rotation speed.

    Ce dernier paramètre caractérise en fait le rapport de boíte de vitesses utilisé pour les véhicules munis d'une boíte de vitesses. This last parameter actually characterizes the gearbox ratio used for vehicles fitted with a gearbox.

    Les différents paramètres utilisés pour le calcul du coefficient de proportionnalité λ sont remis à jour périodiquement et en particulier chaque fois que les paramètres caractéristiques intrinsèques du véhicule changent ou sont susceptibles de changer, comme c'est le cas par exemple après un arrêt du véhicule. The different parameters used for the calculation of the proportionality coefficient λ are reset to update periodically and in particular whenever intrinsic characteristics of the vehicle   are changing or are likely to change, as is the case for example after stopping the vehicle.

    On pourra également déterminer le coefficient λ expérimentalement en réalisant une succession d'essais, et en retenant pour λ la valeur ayant conduit au meilleur résultat. We can also determine the coefficient λ experimentally by carrying out a succession of tests, and retaining for λ the value that led to the best result.

    A l'étape 14, on calcule à partir du couple optimum Copt et de la valeur de correction du couple λ.V une valeur corrigée du couple notée Ccor obtenue en effectuant la somme du couple optimum Copt et de la valeur de correction λ.V. In step 14, the optimum torque C opt and the torque correction value λ.V are calculated from a torque corrected value denoted C cor obtained by summing the optimum torque C opt and the correction value λ.V.

    A partir de ce couple corrigé Ccor, on calcule à l'étape 16 un paramètre corrigé de contrôle de couple du moteur, noté P à partir d'un modèle classique liant le paramètre de contrôle du couple d'un moteur et le couple délivré par ce moteur en réponse à l'application de ce paramètre. From this corrected torque C cor , a corrected engine torque control parameter, denoted P, is calculated in step 16 from a conventional model linking the engine torque control parameter and the delivered torque. by this engine in response to the application of this parameter.

    On pilote enfin à l'étape 18 le moteur M en fonction du paramètre P calculé à l'étape précédente. Finally, the motor M is piloted in step 18. function of the parameter P calculated in the previous step.

    Afin de permettre de limiter de manière permanente les oscillations longitudinales du véhicule, le procédé tel que décrit peut être mis en oeuvre de manière cyclique pendant toute la durée de fonctionnement du véhicule. In order to limit permanently the longitudinal oscillations of the vehicle, the process as described can be implemented so cyclic during the entire operating time of the vehicle.

    Dans le cas où le véhicule est soumis à une variation d'accélération d'une valeur origine à une valeur cible de signe opposé, il existe, à un instant donné, une absence totale de transmission de puissance depuis le moteur jusqu'aux roues motrices du véhicule, cette période correspondant au temps de passage du jeu de ladite transmission. In the event that the vehicle is subjected to a variation of acceleration from an original value to a value target of opposite sign, there exists, at a given instant, a complete absence of power transmission since engine to the drive wheels of the vehicle, this period corresponding to the passage time of the clearance of said transmission.

    Pendant cette période, l'accélération instantanée de la caisse du véhicule ne résulte plus de l'action du moteur. Elle est quasiment nulle et correspond uniquement à l'action des forces de freinage dues aux différents éléments du véhicule et à l'accélération due au poids du véhicule, laquelle est fonction de la déclivité de la route. During this period, instant acceleration of the vehicle body no longer results from the action of the motor. It is almost zero and corresponds only the action of the braking forces due to the different   vehicle components and acceleration due to the weight of the vehicle, which is a function of the gradient of the road.

    Dans ces conditions, afin de pouvoir mettre en oeuvre le procédé tel que décrit précédemment dans le premier mode de mise en oeuvre du procédé, qui nécessite la connaissance de la dérivée de l'accélération instantanée, on détecte le passage du jeu par détection d'une rupture dans l'évolution de la courbe de l'accélération du véhicule, ou par tout autre moyen approprié, et on utilise pour la mise en oeuvre du procédé la valeur de la dérivée de l'accélération instantanée de la caisse du véhicule mesurée immédiatement avant le début de la période correspondant au passage du jeu et que l'on fait croítre en valeur absolue suivant une pente constante pendant le jeu. Cette pente constante devra faire passer la dérivée de l'accélération instantanée à une valeur comprise entre une et deux fois sa valeur en 0,1 seconde. Under these conditions, in order to be able to implements the process as described previously in the first mode of implementation of the method, which requires knowledge of the derivative of instantaneous acceleration, the passage of the game is detected by detection of a break in the evolution of the acceleration curve of the vehicle, or by any other appropriate means, and we use for the implementation of the process the value of the derivative instantaneous acceleration of the vehicle body measured immediately before the start of the corresponding period as the game progresses and that we grow in absolute value following a constant slope during the game. This constant slope should pass the derivative of instant acceleration to a value between one and twice its value in 0.1 seconds.

    Sur la figure 2 est représenté de manière schématique un dispositif permettant de mettre en oeuvre le procédé selon l'invention. In Figure 2 is shown schematically a device for implementing the method according to the invention.

    Celui-ci comprend un ensemble de capteurs de type classique 20, 22, 24 reliés à un calculateur 30 capable de traiter les informations reçues des capteurs suivant des programmes stockés dans une mémoire 40 et en fonction de paramètres caractéristiques du véhicule stockés dans une mémoire 42. This includes a set of conventional type 20, 22, 24 connected to a computer 30 able to process information received from sensors according to programs stored in a memory 40 and in function of vehicle characteristic parameters stored in memory 42.

    Ce calculateur 30 a pour objet d'ajuster le ou les paramètres P de contrôle du moteur M et de stocker certains paramètres issus des capteurs dans une mémoire temporaire 44, en vue d'une réutilisation ultérieure de ceux-ci. The purpose of this computer 30 is to adjust the or P motor control parameters M and store certain parameters from the sensors in a memory temporary 44, for subsequent reuse of these.

    On préfèrera utiliser pendant le jeu, un couple corrigé Ccor qui sera une extrapolation linéaire en fonction du temps du couple corrigé Ccor avant le jeu dont le coefficient de proportionnalité est compris entre 0 et 0,33 de la dérivée du couple optimum Copt pendant le jeu. We prefer to use during the game, a corrected couple C cor which will be a linear extrapolation as a function of the time of the corrected couple C cor before the game whose proportionality coefficient is between 0 and 0.33 of the derivative of the optimum couple C opt during the game.

    L'ensemble de capteurs comprend au moins un capteur d'accélération instantanée 20 lié à la caisse du véhicule, un capteur de régime moteur 22 et un capteur associé à la commande d'accélération 24 du véhicule pour mesurer la demande d'accélération du conducteur. The set of sensors includes at least one instant acceleration sensor 20 linked to the body of the vehicle, an engine speed sensor 22 and a sensor associated with the vehicle acceleration control 24 for measure the driver's acceleration request.

    Comme on l'a décrit précédemment, bien d'autres valeurs de mesure peuvent être avantageusement prises en compte dans la mise en oeuvre du procédé. As described above, many others measured values can advantageously be taken into account in the implementation of the process.

    En particulier, des capteurs appropriés reliés au calculateur 30 devront être ajoutés dans le cas où le coefficient de proportionnalité λ utilisé pour le calcul de la correction à apporter au couple moteur dépend de paramètres du véhicule qui sont susceptibles d'évoluer en fonction du temps et ainsi permettre leur remise à jour dans la mémoire 42. In particular, suitable sensors connected to the calculator 30 must be added in case the proportionality coefficient λ used for the calculation of the correction to be made to the engine torque depends on vehicle parameters which are likely to change in function of time and thus allow their updating in memory 42.

    Dans la mémoire programme 40, sont stockés, en vue de leur utilisation par le calculateur 30, des algorithmes de calcul classique du couple optimum Copt en fonction de la demande d'accélération γd du conducteur, des algorithmes de calcul de la valeur de correction du couple λ.V à appliquer au couple optimum en fonction de l'accélération instantanée γc mesurée de la caisse du véhicule au cours du temps, des algorithmes de calcul du couple corrigé Ccor à partir du couple optimum Copt et de la valeur de correction λ.V, des algorithmes de calcul des valeurs du ou des paramètres P de contrôle du moteur M en fonction des valeurs du couple corrigé Ccor, et des algorithmes de calcul de la valeur de l'accélération instantanée de la caisse du véhicule comme si le moteur était attelé rigidement au véhicule sans jeu et sans élasticité. In the program memory 40, there are stored, for use by the computer 30, algorithms for conventional calculation of the optimum torque C opt as a function of the acceleration demand γ d of the driver, algorithms for calculating the value of correction of the torque λ.V to be applied to the optimum torque as a function of the instantaneous acceleration γ c measured from the vehicle body over time, algorithms for calculating the corrected torque C cor from the optimum torque C opt and the correction value λ.V, algorithms for calculating the values of the motor control parameter (s) P as a function of the values of the corrected torque C cor , and algorithms for calculating the value of the instantaneous acceleration of the body of the vehicle as if the engine were rigidly coupled to the vehicle without play and without elasticity.

    Des données caractéristiques du véhicule, résultant ou non de mesures expérimentales, et utiles au calculateur pour la détermination des valeurs des paramètres de contrôle du moteur, sont stockées dans la mémoire 42. Characteristic data of the vehicle, resulting or not experimental measurements, and useful to the calculator   for determining parameter values motor control, are stored in memory 42.

    Dans le cas où les caractéristiques intrinsèques du véhicule stockés dans la mémoire 42 peuvent varier au cours du temps, le calculateur 30 modifie dans la mémoire 42 les valeurs des caractéritiques intrinsèques ayant été réactualisées à partir de données issues de capteurs appropriés. In the case where the intrinsic characteristics of the vehicle stored in memory 42 may vary depending on over time, the computer 30 changes in memory 42 the values of the intrinsic characteristics having been updated from data from sensors appropriate.

    La mémoire temporaire 44 est utilisée par le calculateur 30 pour stocker des données reçues des capteurs qui sont utilisées à des instants ultérieurs au cours de la mise en oeuvre du procédé. Temporary memory 44 is used by the computer 30 for storing data received from the sensors that are used at times later than during the implementation of the process.

    C'est le cas notamment des valeurs de l'accélération instantanée de la caisse du véhicule. This is particularly the case for the acceleration values of the vehicle body.

    On conçoit alors que, en fonction de ces différentes informations, le calculateur commande au moins un paramètre P de contrôle du couple moteur pour supprimer les oscillations longitudinales du véhicule, résultant des demandes d'accélération du conducteur, selon les différents algorithmes de calcul décrits précédemment en mettant en oeuvre le procédé selon l'invention. We can then see that, according to these different information, the computer controls at least one motor torque control parameter P to remove longitudinal oscillations of the vehicle, resulting from driver acceleration requests, according to the different calculation algorithms previously described in implementing the method according to the invention.

    Claims (4)

    1. Method for the suppression of longitudinal oscillations of a motorised automotive vehicle, operated with at least one control parameter of the engine torque responding to an acceleration request to the vehicle by the driver, characterised in that it comprises the following steps:
      a) determining (in 8) according to time values of instantaneous acceleration (γc) of the vehicle body;
      b) determining (in 6) an optimum value of the driving torque (Copt) for the acceleration requested (γd) by the driver,
      c) developing (in 10) a variable (V) from the given values of instantaneous acceleration (γc) of the vehicle body according to time, which variable (V) is an estimated value of the derivative of the vehicle body acceleration by its linear interpolation from the last two measured values of the instantaneous acceleration of the vehicle body according to time,
      d) calculating (in 12) a torque correction value (λ.V) proportional to that variable (V) and according to the intrinsic characteristics of the vehicle, to be applied to the driving torque of optimum value (Copt),
      e) calculating (in 14) a corrected torque value (Ccor) from the optimum torque values and correction values,
      f) calculating (in 16) a corrected parameter (P) for the control of the engine torque corresponding to this corrected torque value (Ccor), and
      g) driving (in 18) the engine according to this corrected parameter (P) with a delay compared with the development moment of the variable (V) inferior or equal to a sixth of the phase of the longitudinal oscillations to be eliminated from the vehicle.
    2. Method for the suppression of longitudinal oscillations of a motorised automotive vehicle, operated with at least one control parameter of the engine torque responding to an acceleration request to the vehicle by the driver, characterised in that it comprises the following steps:
      a) determining (in 8) according to time values of instantaneous acceleration (γc) of the vehicle body,
      b) determining (in 6) an optimum value of the driving torque (Copt) for the acceleration requested (Vd) by the driver,
      c) developing (in 10) a variable (V) from the given values of instantaneous acceleration (γc) of the vehicle body according to time, which variable (V) is a value of the undulating component of the instantaneous acceleration of the vehicle body calculated at a previous moment, separated from the development moment of the variable by a quarter of the phase of the longitudinal oscillations to be eliminated from the vehicle,
      d) calculating (in 12) a torque correction value (λ.V) proportional to that variable (V) and according to the intrinsic characteristics of the vehicle, to be applied to the driving torque of optimum valuc (Copt ),
      e) calculating (in 14) a corrected torque value (Ccor), and
      f) calculating (in 16) a corrected parameter (P) to control the engine torque corresponding to this corrected torque value (Ccor), and
      g) driving (in 18) the engine according to this corrected parameter (P) with a delay compared with the development moment of the variable (V) lower than or equal to a sixth of the phase of the longitudinal oscillations to be eliminated from the vehicle.
    3. Device for the suppression of longitudinal oscillations of a motorised automotive vehicle, operated with at least one control parameter of the engine torque responding to an acceleration request to the vehicle by the driver, characterised in that it comprises:
      a) means (20) adapted to determine according to time the instantaneous acceleration values of the vehicle body,
      b) means (30) adpated to determine an optimum value of the driving torque (Copt) for the acceleration requested by the driver,
      c) means (30) adapted to develop a variable from given values of the instantaneous acceleration of the vehicle body according to time, which variable (V) is an estimated value of the derivative of the acceleration of the vehicle body by its linear interpolation from the last two measured values of the instantaneous acceleration of the vehicle body according to time,
      d) means (30) adapted to calculate a correction value of the torque proportional to this variable and according to the intrinsic characteristics of the vehicle, to be applied to the driving torque of optimum value,
      e) means (30) adapted to calculate a corrected torque value from the optimum torque values and correction values,
      f) means (30) adapted to calculate a corrected control parameter of the engine torque corresponding to this value of corrected torque, and
      g) means (30) adapted to drive the engine according to this corrected parameter with a delay compared with the development moment of the variable lower than or equal to a sixth of the phase of the longitudinal oscillations to be eliminated from the vehicle.
    4. Device for the suppression of longitudinal oscillations of a motorised automotive vehicle, operated with at least one control parameter of the engine torque responding to an acceleration request to the vehicle by the driver, characterised in that it comprises:
      a) means (20) adapted to determine according to time values of instantaneous acceleration of the vehicle body,
      b) means (30) adapted to determine an optimum value of the driving torque (Copt) for the acceleration requested by the driver,
      c) means (30) adapted to develop a variable from the given values of instantaneous acceleration of the vehicle body according to time, which variable (V) is a value of the undulating component of the instantaneous acceleration of the vehicle body calculated at a previous moment separated from the development moment of the variable by a quarter of the phase of the longitudinal oscillations to be eliminated from the vehicle,
      d) means (30) adapted to calculate a correction value of torque proportional to this variable and according to the intrinsic characteristics of the vehicle, to be applied to the driving torque of optimum value,
      e) means (30) adapted to calculate a corrected torque value trom the optimum torque values and correction values,
      f) means (30) adapted to calculate a corrected control parameter of the engine torque corresponding to this value of corrected torque, and
      g) means (30) adapted to drive the engine according to this corrected parameter with a delay compared with the development moment of the variable lower than or equal to a sixth of the phase of the longitudinal oscillations to be eliminated from the vehicle.
    EP19950401948 1994-09-14 1995-08-24 Method and device for the suppression of longitudinal oscillations of a motorised automotive vehicle Expired - Lifetime EP0702139B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    FR9410982A FR2724433B1 (en) 1994-09-14 1994-09-14 METHOD AND DEVICE FOR REMOVING LONGITUDINAL OSCILLATIONS FROM A MOTOR VEHICLE
    FR9410982 1994-09-14

    Publications (2)

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    EP0702139A1 EP0702139A1 (en) 1996-03-20
    EP0702139B1 true EP0702139B1 (en) 1999-11-10

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    Application Number Title Priority Date Filing Date
    EP19950401948 Expired - Lifetime EP0702139B1 (en) 1994-09-14 1995-08-24 Method and device for the suppression of longitudinal oscillations of a motorised automotive vehicle

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    DE (1) DE69513256T2 (en)
    FR (1) FR2724433B1 (en)

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    DE10351047A1 (en) * 2003-10-31 2005-06-02 Bayerische Motoren Werke Ag Process for controlling a drive unit of a motor vehicle uses the longitudinal acceleration of the motor vehicle as the input variable for a control circuit
    FR2920901B1 (en) * 2007-09-10 2010-03-12 Peugeot Citroen Automobiles Sa REMOVAL OF LONGITUDINAL OSCILLATIONS OF A MOTOR VEHICLE

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    DE2906782A1 (en) * 1979-02-22 1980-09-04 Bosch Gmbh Robert DEVICE FOR DAMPING VIBRATION VIBRATIONS IN AN INTERNAL COMBUSTION ENGINE
    US4928652A (en) * 1987-09-17 1990-05-29 Mazda Motor Corporation Engine control system for suppressing car body vibration
    JP2701270B2 (en) * 1987-11-05 1998-01-21 株式会社日立製作所 Ignition advance control device
    JP2759957B2 (en) * 1988-03-09 1998-05-28 株式会社日立製作所 Engine control method
    FR2681908A1 (en) * 1991-09-27 1993-04-02 Peugeot METHOD FOR CORRECTING THE CONTROL PARAMETERS OF AN INTERNAL COMBUSTION ENGINE AND DEVICE FOR IMPLEMENTING THE METHOD.
    FR2707347B1 (en) * 1993-07-06 1995-09-22 Siemens Automotive Sa Method and device for controlling the speed of an internal combustion engine in the idle phase.

    Also Published As

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    FR2724433A1 (en) 1996-03-15
    FR2724433B1 (en) 1997-01-17
    EP0702139A1 (en) 1996-03-20
    DE69513256T2 (en) 2000-03-23
    DE69513256D1 (en) 1999-12-16

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