DE10201978A1 - Method for operating vehicle automated clutch and/or automated gearbox, involves regulation/control strategy, whereby actuation system position is suitably influenced by actuator of actuation drive - Google Patents

Abstract

The method involves using at least one actuator for controlling and/or regulating the position of at least one actuation system for the clutch and/or gearbox and a regulation and/or control strategy. The position of the actuation system is suitably influenced by an actuator of an actuation drive. The strategy is implemented by a clutch actuator for the operation of the automated clutch.

Description

The invention relates to a method for actuating an automated clutch tion and / or an automated transmission of a vehicle in which we at least one actuator for controlling and / or regulating the position of at least one Adjustment system of the clutch and / or the transmission is used.

Automated clutches and automated ones are from vehicle technology Gear known in which the engagement process with a suitable one coupling strategy is implemented. This makes automation overall the drive train of a vehicle, in particular a motor vehicle, he made possible. It is also known that such automated couplings in egg automatic transmission can be used.

At least one actuator is required for automated clutch actuation Lich, the position of a control system of the clutch and / or the transmission controls and / or regulates. This involves a so-called disengagement at the clutch system operated to open or close the clutch. To a ge desired gear can z. B. the transmission z. B. correspond by actuator be operated accordingly.  

It has been shown that in the known method for actuating the au automated clutch and / or the automated gearbox the bearing ridges tion by the respective actuator is not optimal. This results in Einbu with regard to the control quality in the known method.

The invention is therefore based on the object of a method for actuation an automated clutch and / or an automated transmission to shape that in particular the control quality and also the control times be optimized so that overall the driving comfort of the vehicle is improved by the method according to the invention.

This object is achieved according to the invention by the features of the patent Proverb 1 solved.

Accordingly, a control and / or Control strategy used, in which the actuator the position of the respective Stellsys tems with the automated clutch and / or with the automated Ge drives can be set in a suitable manner, advantageously, quickly and easily.

A further development of the invention can provide that the invention Procedure used in automated clutch actuation. To is the actuator as a clutch actuator for implementing the regulation and / or control strategy trained. To achieve a high level of driving comfort Stuff is a good quality regulation of the situation as a release system formed adjustment system of the clutch required, which is invented by the method is guaranteed.

It is possible that in the method according to the invention an electric motor shear actuator, a hydraulic actuator or the like actuator  is used. The position of the actuator is the control variable for the actuator oil drive provided.

When using an electromotive actuator can be preferred an electric motor can be used. The electric motor can e.g. B. means a ratio with the clutch release system. As Translation can e.g. B. uses a worm gear or the like become.

During a switch-off phase of the clutch actuator can improve the control quality can be provided that the between the electric motor and the Disengagement system of the clutch provided worm gear self-inhibited is. However, this could reduce overall efficiency, so according to A development of the invention provides that the electromotive Actuator for holding a predetermined position, especially during a switch-off phase of the clutch actuator, against the counterforce of the off back system of the clutch is suitably energized. This can be advantageous ter self-locking during translation.

Through this so-called energizing the actuator, the off effects of the counterforce of the clutch on the position of the actuator ent speaking considered. This will keep the position of the stel oil drive z. B. during a switch-off phase of the actuator or position controller improved. This avoids frequent readjustment of the actuator and thus mechanical and thermal loads and / or vibration excitement, e.g. B. in the clutch release system.

According to another development of the invention, the invention According to the method provided that during any operation  phase of the vehicle a zero point of force is determined in the actuator. The The determined force zero point indicates the position of the actuator below the holding current may no longer act in the direction of the opening clutch. By determining the zero point of force of the actuator, an uneven wanted to advantageously prevent the actuator from moving. Because of this Force zero for each actuator due to manufacturing tolerances and Influences of the clutch release system are different for each vehicle is in the method according to the invention in an advantageous manner Force zero point determined in every operating phase.

The actuator can be determined by determining the zero force of the actuator drove suitably depending on this determined zero force the so that the actuator in a predetermined position, for. B. in the area the zero point of force.

In the method according to the invention, the zero point of force is preferably determined during the initial start-up in order to determine the type of stop tion of the actuator depending on the determined zero force set. Of course, the determination of the zero point of force can also be determined during every other operating phase of the vehicle.

According to an advantageous development of the invention, that the determination of the zero point of force preferably during a defin th, reproducible movement of the actuator takes place. For example therefor a retraction of the actuator to engage the clutch if the ignition of the vehicle is switched off, can be provided. This Si tuation is also referred to as a parking lock function.  

Furthermore, the ancestor of the actuator can also be defined as a movement bes z. B. can be provided in a so-called sniffing function. About that In addition, these movements of the actuator can occur when the clutch is stuck can also be triggered intentionally without having a negative impact the driving comfort of the vehicle is caused. Of course you can other suitable defined movements of the actuator in the Er averaging the zero point of force.

Another development of the invention can provide that defi reproducible situations or movements of the actuator Holding current is provided at a defined height against the force of the clutch becomes. There is a sudden start of the actuator in the direction open clutch due to z. B. Too little counterforce of the release system tems of the coupling. This can e.g. B. with the help of a so-called after rule recognition can be carried out. With the readjustment detection it can probably a combination of the aforementioned movements as well as any one Combination of other suitable movements can be considered to further optimize the method according to the invention.

When determining the zero point of force of the actuator z. B. when returning drive the actuator the smallest movement and z. B. the ancestor largest movement of the actuator, for each of which the Stellan starts to move drive was detected when the force zero point was determined or registered be cured. Of course, other suitable methods for Determining the zero point of force in the actuator with the inventive Procedure possible.

It is particularly advantageous if the determined zero force is suitably processed is being processed. According to a further development of the invention,  that the determined zero force z. B. for the control of the actuator is used.

According to another development of the invention, it can be provided that the determined zero force z. B. for the control of the actuator during an ongoing operating phase is used. For example, this can be provided by using the determined force zero point directly. However, it is also conceivable that this is carried out by using the results of previous investigations. For this purpose, the following equation can preferably be used, in which the corresponding machined force zero point is determined:
P _resulting = aP _new + bP _old
With
P _{resulting '} = resulting zero point of force
a, b = suitable factors
P _new = determined force zero
P _alt = force zero of previous investigations

Of course, these different uses of the determined zero point of force can also be suitably combined with one another.

Furthermore, it is also conceivable that in the method according to the invention determined zero point in a z. B. non-volatile memory is saved. This has the advantage that the values stored in the memory for use with another, e.g. B. next, operating phase used can be.  

Another development of the invention can provide that a z. B. defi nated substitute value is used as the force zero point. This can e.g. B. then before be seen if no z. B. plausible zero point of force is determined. Dar In addition, it is conceivable that the replacement value also during commissioning can be used.

In order to further optimize the method according to the invention, it is also possible can be seen that the processing of each determined zero point of force Temperatures z. B. from the release system and / or from the Stellan drive must be taken into account. For example, it is possible that if present a predetermined over or under temperature, the determined zero force is not used. Furthermore, it is also conceivable that at least one Factor and / or a suitable offset depending on the temperature at the Determination of the zero point of force is used. Of course you can other suitable methods also depending on other parameters be taken into account when determining the zero point of force.

When using the determined zero point of force there exists according to Further development of the invention the possibility of the so-called holding current the actuator in the direction of ancestors z. B. only determined above one To let force zero work. Here, for. B. may be an additional predetermined travel offset is taken into account at the determined zero force point the.

Another possibility can provide that the holding current of the Stel oil drive in the direction of reversing z. B. only below the determined force zero point works. Of course, this option may also be used a predetermined path offset are taken into account. Preferably one predetermined distance offset are subtracted from the determined force zero point. It  it is also conceivable that a combination of the two options in which he inventive method is used.

According to a development of the invention, it is particularly advantageous if the determined zero force z. B. to simulate a suitable release force characteristic of the clutch is used. This can advantageously a adapted to the release force characteristic of the clutch, for. B. path dependent ge, holding current of the actuator are enabled. Of course other suitable uses of the determined force zero are also included the inventive method conceivable.

Another advantageous embodiment of the invention can provide that as Actuator a gear actuator is used, which in the automated Ge drive actuation is used. By using suitable control and / or Tax strategies can e.g. B. the switching times or gear change times the automated transmission can be shortened in an advantageous manner.

A further development of the invention can provide for a time-optimal tax tion z. B. with reversing operation in the inventive method for a sentence is coming. In the time-optimal control, the actuator can, for. B. to Approaching a predetermined target position is initially accelerated to a maximum and then be maximally delayed in order to reach the target position as quickly as possible pass. As a result, the required movement of the actuator takes place in short zester time.

It is conceivable that an electromotive actuator, for. B. a Electric motor or the like is used. However, it is also conceivable that e.g. B. an electro-hydraulic drive or the like drive is used becomes.  

In an electromotive actuator z. B. as the manipulated variable on the Electric motor applied voltage can be used. For example a maximum to accelerate and decelerate the actuator Voltage are applied, the change between the acceler supply movement and the deceleration movement of the actuator The direction of action is switched at the appropriate moment. This is called Designated four-quadrant operation or reversing operation.

An advantageous development of the invention can provide that a time suboptimal control or implementation in the inventive method ren is used. It can be provided that the position controller formed gear actuator includes an additional regulator. For example a state controller or the like controller can be used. The state regulator can e.g. B. be integrated in a control unit. With the state controller can e.g. B. an additional feedback to take into account a manipulated variable be carried out.

This state controller can, for. B. to approximate the time-optimal behavior least be designed such that the respective manipulated variable z. B. the actuator assume a maximum value in the direction of acceleration as long as possible can bnd in the deceleration direction at least briefly to a sign reversal of the manipulated variable leads. Of course, other suitable ones are also Interpretations of the state controller possible to the procedure according to the invention further optimize. In particular, the time-optimal control with the suboptimal control both used separately and suitable with each other which can be combined.

The method according to the invention can, as described, for. B. at one electronic clutch management (EKM) for actuating an automati  Use a clutch of a motor vehicle. Of course you can the inventive method even with a fully automated Schaltge drives (ASG) for actuating the automated clutch and the automati based transmission are used in principle. This can possibly be invented method according to the invention also for actuating a continuously variable CVT transmission be used.

Further advantages and advantageous configurations of the invention result from the subclaims.

The claims submitted with the application are drafted strikes without prejudice for obtaining further patent protection. The An notifier reserves the right to add more, so far only in the description and / or To claim drawings disclosed combination of features.

Relationships used in subclaims point to further training the subject of the main claim by the features of the respective towards subclaim; they are not considered a waiver of achieving one independent, objective protection for the combinations of features of to understand related subclaims.

Since the subjects of the subclaims with regard to the prior art reserves the right to make its own independent inventions on the priority date Applicant before becoming the subject of independent claims or part to make statements of compliance. You can also continue to invent independently  containing one of the subjects of the preceding subclaims have independent design.

The exemplary embodiments are not to be understood as a limitation of the invention hen. Rather, there are numerous variations within the scope of the present disclosure Rations and modifications possible, especially such variants, elements and combinations and / or materials, for example by combination or modification of individual in connection with that in the general Be writing and embodiments and the claims described and in the features or elements contained in the drawings or procedural step ten for the expert with regard to the solution of the task are removed and through combinable features to a new item or new ones Lead process steps or process step sequences, also insofar as they Test and work procedures concern.

Claims (39)

1. A method for actuating an automated clutch and / or an automated transmission of a vehicle, in which at least one actuator is used to control and / or regulate the position of at least one actuating system of the clutch and / or the transmission, characterized in that a Regulation and / or control strategy is used, in which an actuator drives the position of the control system in a suitable manner by the actuator. 2. The method according to claim 1, characterized in that in the auto automated clutch actuation as an actuator a clutch actuator to the Um setting the control and / or control strategy is used. 3. The method according to claim 2, characterized in that an electro motorized actuator is used, which for holding a vorbe agreed position against a counterforce of the release system formed control system of the clutch is energized. 4. The method according to claim 3, characterized in that the Stellan powered during a switch-off phase of the clutch actuator. 5. The method according to any one of claims 1 to 4, characterized in that a force during any operating phase of the vehicle  zero point of the actuator is determined. 6. The method according to claim 5, characterized in that the Stellan depending on the determined zero force to stick predetermined position is suitably energized. 7. The method according to any one of claims 5 or 6, characterized in that that the determination of the zero point of force during the commissioning of the Clutch is performed. 8. The method according to claim 7, characterized in that the determination the zero point of force during the initial start-up of the clutch is carried out. 9. The method according to any one of claims 5 to 8, characterized in that the determination of the zero force at a defined reproduc cash movement of the actuator is carried out. 10. The method according to claim 9, characterized in that as a movement a retraction of the actuator to engage the clutch at a Parking lock function is used. 11. The method according to any one of claims 9 or 10, characterized in that as a movement an ancestor of the actuator with a sniff function is used. 12. The method according to any one of claims 9 to 11, characterized in that the actuator with at least a predetermined movement a holding current with a defined height against the counterforce of Coupling is applied, and that the movement of the Stellan  drive to open the clutch due to insufficient counterforce Clutch is registered. 13. The method according to claim 12, characterized in that a suitable Nete readjustment detection is used. 14. The method according to any one of claims 5 to 13, characterized in that when determining the zero point of force when the stel the smallest movement and when moving the actuator forward the biggest movement is being held. 15. The method according to any one of claims 5 to 14, characterized in that every determined force zero point is processed appropriately. 16. The method according to claim 15, characterized in that the determined Force zero point for actuating the actuator during a tep operating phase. 17. The method according to any one of claims 15 or 16, characterized in net that the determined force zero point directly when the Actuator is taken into account. 18. The method according to any one of claims 15 to 17, characterized in that the determined zero point including at least one result nisse previous investigations of the force zero processed becomes. 19. The method according to claim 18, characterized in that the processed zero point of force (P _resulting ) is determined by the following equation:
P _resulting = a * P _new + b * P _old
With
P _resulting = resulting zero point of force
a, b = suitable factors
P _new = determined force zero
P _alt = force zero of previous investigations 20. The method according to any one of claims 5 to 19, characterized in that that at least one determined zero point in a non-volatile Memory saved for use during another operating phase becomes. 21. The method according to any one of claims 5 to 20, characterized in that in each operating phase a predetermined substitute value as zero force point is used if there is no or no plausible force zero point is averaged. 22. The method according to any one of claims 15 to 21, characterized in that that the temp rature of the release system and / or the actuator is taken into account. 23. The method according to claim 22, characterized in that when reached the machined force zero is not an over- and / or under-temperature is used. 24. The method according to any one of claims 22 or 23, characterized in net that each determined zero point of force with at least one factor and / or an offset depending on the temperature is processed.   25. The method according to any one of claims 3 to 24, characterized in that the actuator is energized in such a way that the actuator in a predetermined position in the direction of ancestors above a determined Force zero point is held. 26. The method according to any one of claims 3 to 25, characterized in that the actuator is energized in such a way that the actuator in a predetermined position in the direction of return below the determine force zero point is held. 27. The method according to any one of claims 25 or 26, characterized in net that when energizing the actuator in addition to the zero force a travel offset is taken into account. 28. The method according to any one of claims 3 to 27, characterized in that the determined zero force for the simulation of a disengagement force line of the clutch is used, one to the release force characteristic he never adapted the path-independent holding current of the actuator is possible. 29. The method according to claim 1, characterized in that at an au automated transmission actuation as an actuator to implement a transmission actuator zen of the control and / or control strategy is used. 30. The method according to claim 29, characterized in that a zeitop timed control used in automated gearbox actuation becomes. 31. The method according to claim 30, characterized in that at the time optimal control of the actuator for starting a predetermined  The target position is accelerated to the maximum and then decelerated to the maximum to reach the target position as quickly as possible. 32. The method according to any one of claims 29 to 31, characterized in that that an electromotive actuator is used. 33. The method according to claim 32, characterized in that in the electromotive actuator uses the voltage as the manipulated variable becomes. 34. The method according to claim 33, characterized in that for loading accelerate and to retard the actuator a maximum span voltage is applied, the change between the acceleration and the delay by switching the direction of action in the appropriate Moment. 35. The method according to any one of claims 29 to 34, characterized in that a hydraulic actuator is used. 36. The method according to any one of claims 29 to 35, characterized in that that time-suboptimal control in automated transmissions activity is used. 37. The method according to claim 36, characterized in that at the time suboptimal control at least one state controller with an addition feedback used to take into account a manipulated variable limitation becomes.   38. The method according to claim 37, characterized in that the Zu level controller is implemented in a control unit. 39. The method according to any one of claims 37 or 38, characterized in net that the state controller for the approximation of a time-optimal Ver holding is designed such that the respective manipulated variable of the Stellan drive in the direction of acceleration as long as possible a maximum value can assume and that it is at least briefly in the deceleration direction sign reversal for the respective manipulated variable.