KR101694042B1 - Method of launching of vehicle - Google Patents

Method of launching of vehicle Download PDF

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Publication number
KR101694042B1
KR101694042B1 KR1020150107562A KR20150107562A KR101694042B1 KR 101694042 B1 KR101694042 B1 KR 101694042B1 KR 1020150107562 A KR1020150107562 A KR 1020150107562A KR 20150107562 A KR20150107562 A KR 20150107562A KR 101694042 B1 KR101694042 B1 KR 101694042B1
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South Korea
Prior art keywords
engine
vehicle
speed
calculating
engine speed
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KR1020150107562A
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Korean (ko)
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김진성
남주현
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현대자동차주식회사
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    • 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
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
    • 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
    • F16H—GEARING
    • F16H59/00—Control inputs to control units of change-speed-, or reversing-gearings for conveying rotary motion
    • F16H59/36—Inputs being a function of speed
    • 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
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/68—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings
    • F16H61/684—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive
    • F16H61/688—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive with two inputs, e.g. selection of one of two torque-flow paths by clutches

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Hydraulic Clutches, Magnetic Clutches, Fluid Clutches, And Fluid Joints (AREA)

Abstract

A method of controlling an oscillation of a vehicle includes a basic setting step in which a controller of the transmission sets a basic target speed of the engine in accordance with an amount of an accelerator pedal operation; A correction amount calculating step of calculating a correction amount by a difference between the measured target engine speed and the basic target speed that the controller receives; The controller applying the correction amount to the basic target speed to calculate an engine final target speed; Wherein the controller calculates an engine speed control error by a difference between the engine final target speed and the measured engine speed; And the first feedback control step in which the controller feedback-controls the clutch actuator using the engine speed control error.

Figure R1020150107562

Description

[0001] METHOD OF LAUNCHING OF VEHICLE [0002]

The present invention relates to a vehicle oscillation control method, and more particularly, to a vehicular oscillation control method in which a vehicle equipped with a DCT (Dual Clutch Transmission) that implements a dual clutch with a dry clutch or an Automated Manual Transmission (AMT) To a control method of the control unit.

The oscillation control for oscillating the DCT vehicle having the dry clutch adjusts the clutch torque relative to the engine torque generated in accordance with the input of the driver's accelerator pedal from the idle state and the stopped state of the engine, It is a control to gradually connect.

That is, the target engine speed is determined according to the input of the accelerator pedal of the driver, and the clutch is gradually connected to follow the engine speed.

For reference, unless otherwise stated, the term 'clutch' in this description means a dual clutch of a DCT or a dry clutch constituting a clutch of an AMT.

The clutch torque, which varies according to the degree of connection of the clutch, acts as a load for changing the engine speed. Therefore, in order to follow the target engine speed, the engine torque corresponding to the driver's accelerator pedal operation amount The feedback control of the clutch torque is performed in real time. If this feedback control is not properly performed, the engine may be jolted, impacted, or turned off, resulting in a drop in the sensation of the vehicle's oscillation.

However, since the engine torque and the clutch torque received by the controller for controlling the transmission such as the DCT or the AMT are not accurate actual values but are estimated values from maps and the like, there are some inaccuracies depending on the state of the vehicle. Therefore, So that it is difficult to properly secure the oscillation performance of the vehicle.

It is to be understood that the foregoing description of the inventive concept is merely for the purpose of promoting an understanding of the background of the present invention and should not be construed as an admission that it is a prior art already known to those skilled in the art. Will be.

KR 10-2011-0107066 A

The present invention improves the oscillation performance of the vehicle by enabling the clutch control to be performed more appropriately in spite of the inaccuracy of the engine torque and the clutch torque in the oscillation control for starting the vehicle by connecting the dry clutch, And an object of the present invention is to provide an oscillation control method of a vehicle which can improve the commerciality.

According to an aspect of the present invention, there is provided an oscillation control method for a vehicle,

A basic setting step of the controller of the transmission to set a basic target speed of the engine in accordance with the amount of operation of the accelerator pedal;

A correction amount calculating step of calculating a correction amount by a difference between the measured target engine speed and the basic target speed that the controller receives;

The controller applying the correction amount to the basic target speed to calculate an engine final target speed;

Wherein the controller calculates an engine speed control error by a difference between the engine final target speed and the measured engine speed;

And a first feedback control step in which the controller feedback-controls the clutch actuator using the engine speed control error.

And a condition judging step of judging whether or not the condition of the engine and the clutch satisfy a condition for calculating an appropriate and stable correction amount between the basic setting step and the correction amount calculating step.

In the condition determining step, it is determined whether or not the engine torque exceeds a predetermined reference engine torque, the clutch torque exceeds a predetermined reference clutch torque, and the engine speed variation is less than a predetermined reference variation, It is possible to perform the correction amount calculating step.

Wherein the controller calculates an engine speed control error based on a difference between the engine basic target speed and the measured engine speed when any one of the conditions is not satisfied in the condition determination step, And a second feedback control step of feedback-controlling the clutch actuator.

The feedback control of the clutch actuator may be performed by calculating the PI control value for the engine speed control error in the second feedback control step.

The controller further performs a feedforward value calculating step of calculating a feedforward value for controlling the clutch actuator according to the engine torque and the accelerator pedal operation amount;

And to control the clutch actuator by adding the PI control value obtained in the second feedback control step to the feedforward value.

The controller may determine the feed forward value as a difference value obtained by subtracting a value obtained by multiplying a target engine speed change amount according to an accelerator pedal operation amount by an engine rotational moment of inertia from an engine torque.

In the first feedback control step, the PI control value for the engine speed control error may be calculated to feedback-control the clutch actuator.

The controller further performs a feedforward value calculating step of calculating a feedforward value for controlling the clutch actuator according to the engine torque and the accelerator pedal operation amount;

And to control the clutch actuator by adding the PI control value obtained in the first feedback control step to the feed forward value.

The controller may determine the feed forward value as a difference value obtained by subtracting a value obtained by multiplying a target engine speed change amount according to an accelerator pedal operation amount by an engine rotational moment of inertia from an engine torque.

The present invention improves the oscillation performance of the vehicle by enabling the clutch control to be performed more appropriately in spite of the inaccuracy of the engine torque and the clutch torque in the oscillation control for starting the vehicle by connecting the dry clutch, Thereby improving the merchantability.

1 is a configuration diagram of a DCT-equipped vehicle to which the present invention can be applied;
2 is a flowchart showing an embodiment according to the present invention,
3 is a control block diagram of an embodiment according to the present invention.

1, the power of the engine E is configured to be provided to the drive wheels W through a DCT (DUAL CLUTCH TRANSMISSION), and the two clutches 1 constituting the DCT are each configured to be coupled to the clutch actuator 3 The clutch actuator is controlled by the controller 5, and the controller is configured to receive an ACCELERATOR POSITION SENSOR (APS) signal to receive an accelerator pedal operation amount.

Of course, the controller is also provided with information such as engine torque and engine speed.

Referring to Figs. 2 and 3, the embodiment of the present invention includes a basic setting step S10 of setting the basic target speed [alpha] of the engine in accordance with the accelerator pedal operation amount by the controller of the transmission; A condition determining step (S20) of determining whether the operation of the engine and the clutch actuator is out of the transient state; A correction amount calculating step (S40) of calculating a correction amount (?) By a difference between the measured target engine speed and the basic target speed when the controller (5) satisfies all the conditions of the condition determining step (S20) ; A correction applying step (S50) of the controller to add the correction amount to the basic target speed to calculate an engine final target speed (beta); An error calculating step (S60) of calculating the engine speed control error by a difference between the engine final target speed (?) And the measured engine speed until the oscillation is completed after the application of the correction; A first feedback control step (S70) of the controller to feedback-control the clutch actuator using the engine speed control error; The engine speed control error is calculated by the difference between the basic target speed? Of the engine and the measured engine speed while the condition of the condition judging step (S20) is not satisfied, And a second feedback control step (S30) for feedback-controlling the feedback control.

In the basic setting step S10, the basic target speed of the engine is set in accordance with the accelerator pedal operation amount input to the current controller from the map of the basic target speed? Of the engine according to the accelerator pedal operation amount.

Of course, the map of the basic target speed? According to the amount of operation of the accelerator pedal establishes an engine basic target speed required for the amount of operation of the accelerator pedal for smooth oscillation of the vehicle through a plurality of tests and analyzes.

That is, in the present embodiment, the clutch actuator is controlled to follow the basic target speed? Of the engine in accordance with the accelerator pedal operation amount of the driver by the second feedback control step S30, If all the conditions of step S20 are satisfied, the correction amount delta is calculated by the difference between the actually measured engine speed and the basic target speed alpha of the engine, and the correction amount delta is applied to the engine final target speed beta] is set and then the engine speed control error to be used in the first feedback control step S70 is obtained and applied by the difference between the engine speed and the engine final target speed [beta] By reducing the difference between the speed and the actual engine speed, it is possible to prevent an excessive feedback control amount, thereby preventing the vehicle from jiggling and improving the sense of rush.

There is a transition in which the engine speed, torque, clutch torque, etc. suddenly change to a state in which it is difficult to predict, and in this situation, the engine's basic target speed? Since it is not desirable to correct the final target speed of the engine, in this embodiment, a second feedback control step S30 is performed to control the clutch actuator using the basic target speed [alpha] of the engine as it is .

In the condition determining step S20, it is determined whether or not the engine torque exceeds a predetermined reference engine torque, the clutch torque exceeds a predetermined reference clutch torque, and the engine speed variation is less than a predetermined reference variation, The correction amount calculating step S40 is performed.

When any one of the conditions is not satisfied in the condition determination step (S20), the controller calculates an engine speed control error by a difference between the basic target speed (?) Of the engine and the measured engine speed, And a second feedback control step (S30) for feedback-controlling the clutch actuator using a speed control error.

Of course, the reference engine torque, the reference clutch torque, and the reference change amount in the above-described condition determination step (S20) can be set such that the operation of the engine and the clutch actuator is released from the transient state And it is a value set by a plurality of experiments and analyzes for the vehicle model.
For reference, the error calculating step S60 of Fig. 2 is a step of calculating an engine speed control error by a difference between the engine final target speed [beta] and the measured engine speed.

In the first feedback control step S70, the clutch actuator is feedback-controlled using the engine speed control error calculated in the error calculating step S60, which substantially corresponds to the engine final target speed? The second feedback control step S30 feedback-controls the clutch torque according to the basic target speed [alpha] of the engine, which is substantially equivalent to the basic target speed [alpha] of the engine And feedback control of the clutch actuator using an engine speed control error which is a difference from the measured engine speed.

In the first feedback control step S70 and the second feedback control step S30, a PI control value (Proportional Integral Control Value) for the engine speed control error is calculated to feedback-control the clutch actuator.

In the present embodiment, the controller 5 further carries out a feed forward value calculating step (S80) of calculating a feed forward value for controlling the clutch actuator in accordance with the engine torque and the accelerator pedal operation amount, as illustrated in Fig. 3 And controls the clutch actuator by adding the PI control value obtained in the first feedback control step S70 or the second feedback control step S30 to the feedforward value.

The controller 5 determines the feedforward value as a difference value obtained by subtracting the value obtained by multiplying the target engine speed change amount according to the accelerator pedal operation amount by the engine rotational moment of inertia from the engine torque.

The controller 5 is provided with a map of the target engine speed change amount in advance for the smooth oscillation of the vehicle with respect to the accelerator pedal operation amount and sets a value obtained by multiplying the engine target speed change amount according to the accelerator pedal operation amount by the rotational inertia moment of the engine Is subtracted from the current engine torque, and the clutch actuator is determined as a feed forward value to be controlled.

The feed forward value corresponds to a clutch torque for securing a desired level of the vehicle's oscillation state in accordance with an accelerator pedal operation of the driver and adds a PI control value according to the engine speed control error to form a final clutch torque And by controlling the clutch actuator accordingly, it is possible to control the clutch torque quickly and precisely, thereby ensuring smooth and smooth oscillation of the vehicle.

That is, the present invention controls the clutch torque by adding the feedback value according to the engine basic target speed to the feedforward value at the beginning of the vehicle's oscillation, and then, when the engine and the clutch enter the steady state after the transient state, Value is added to the feedback value according to the engine final target speed to control the clutch torque to complete the oscillation of the vehicle.

While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

One; clutch
3; Clutch actuator
5; controller
7; APS
S10; Basic setup steps
S20; Condition determination step
S30; The second feedback control step
S40; Calibration amount calculating step
S50; Apply calibration step
S60; Error calculation step
S70; The first feedback control step
S80; Feed forward value calculation step

Claims (10)

A basic setting step of the controller of the transmission to set a basic target speed of the engine in accordance with the amount of operation of the accelerator pedal;
A condition judging step of judging whether the operation of the engine and the clutch actuator is out of the transient state;
A correction amount calculating step of calculating a correction amount based on a difference between the measured target engine speed and the basic target speed when all the conditions of the condition determination step are satisfied;
The controller applying the correction amount to the basic target speed to calculate an engine final target speed;
Wherein the controller calculates the engine speed control error by a difference between the engine final target speed and the measured engine speed until the oscillation is completed after the application of the correction, A first feedback control step of:
Wherein the engine speed control error is calculated based on a difference between a basic target speed of the engine and a measured engine speed while the condition of the condition determining step is not satisfied, A feedback control step;
And a control unit for controlling the oscillation of the vehicle.
delete The method according to claim 1,
In the condition determining step, it is determined whether or not the engine torque exceeds a predetermined reference engine torque, the clutch torque exceeds a predetermined reference clutch torque, and the engine speed variation is less than a predetermined reference variation, To perform the correction amount calculating step
Wherein the vehicle is an automotive vehicle.
delete The method according to claim 1,
And the feedback control of the clutch actuator is performed by calculating the PI control value for the engine speed control error in the second feedback control step
Wherein the vehicle is an automotive vehicle.
The method of claim 5,
The controller further performs a feedforward value calculating step of calculating a feedforward value for controlling the clutch actuator according to the engine torque and the accelerator pedal operation amount;
And controlling the clutch actuator by adding the PI control value obtained in the second feedback control step to the feed forward value
Wherein the vehicle is an automotive vehicle.
The method of claim 6,
The controller determines the feedforward value as a difference value obtained by subtracting a value obtained by multiplying a target engine speed change amount according to an accelerator pedal operation amount by an engine rotational moment of inertia from an engine torque
Wherein the vehicle is an automotive vehicle.
The method according to claim 1,
The feedback control of the clutch actuator by calculating the PI control value for the engine speed control error in the first feedback control step
Wherein the vehicle is an automotive vehicle.
The method of claim 8,
The controller further performs a feedforward value calculating step of calculating a feedforward value for controlling the clutch actuator according to the engine torque and the accelerator pedal operation amount;
And controlling the clutch actuator by adding the PI control value obtained in the first feedback control step to the feed forward value
Wherein the vehicle is an automotive vehicle.
The method of claim 9,
The controller determines the feedforward value as a difference value obtained by subtracting a value obtained by multiplying a target engine speed change amount according to an accelerator pedal operation amount by an engine rotational moment of inertia from an engine torque
Wherein the vehicle is an automotive vehicle.
KR1020150107562A 2015-07-29 2015-07-29 Method of launching of vehicle KR101694042B1 (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180114357A (en) 2017-04-10 2018-10-18 현대자동차주식회사 Starting control method for vehicles

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08184331A (en) * 1994-12-29 1996-07-16 Suzuki Motor Corp Start control device for electronic clutch
JP2008045609A (en) * 2006-08-11 2008-02-28 Hitachi Ltd Control method and controller of clutch
KR20110107066A (en) 2010-03-24 2011-09-30 현대자동차주식회사 Apparatus for creep torque controlling of dual clutch transmission in vehicle and method thereof
WO2012090569A1 (en) * 2010-12-27 2012-07-05 ヤマハ発動機株式会社 Start control system and vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08184331A (en) * 1994-12-29 1996-07-16 Suzuki Motor Corp Start control device for electronic clutch
JP2008045609A (en) * 2006-08-11 2008-02-28 Hitachi Ltd Control method and controller of clutch
KR20110107066A (en) 2010-03-24 2011-09-30 현대자동차주식회사 Apparatus for creep torque controlling of dual clutch transmission in vehicle and method thereof
WO2012090569A1 (en) * 2010-12-27 2012-07-05 ヤマハ発動機株式会社 Start control system and vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20180114357A (en) 2017-04-10 2018-10-18 현대자동차주식회사 Starting control method for vehicles

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