DE102011002471A1 - Method for determining actuating torque for drive unit of drive train of motor car, involves charging component of actuating torque with another component of actuating torque, where latter component is determined by state feedback - Google Patents

Abstract

The method involves determining a first component (M1) of actuating torque (u) for a drive unit by a controller (11) depending on rotation speed difference (deltan) between actual rotation speed (n-ist) and target rotation speed (n-soll) of the drive unit. The first component is charged with a second component (M2) of the actuating torque, where the second component is determined by a state feedback (12). The first component is charged with a third component (M3) of the actuating torque by disturbance variable compensation. An independent claim is also included for a transmission control device.

Description

The invention relates to a method for determining an actuating torque for a drive unit according to the preamble of claim 1. Furthermore, the invention relates to a transmission control device for carrying out the method.

1 shows the known from the prior art structure of a drive train of a motor vehicle, which is a drive unit 1 and an automatic or automated manual transmission 2 with several switching elements 3 includes, wherein the automatic or automated manual transmission 2 between the drive unit 1 and a downforce 4 is switched. The gear 2 Converts speeds and torques and provides a traction power supply of the drive unit 1 at the output 4 ready.

To execute a circuit in the automated manual transmission 2 will be at least one switching element 3 switched off or opened and at least one other switching element 3 switched on or closed. When carrying out a starting process, the powertrain of the 1 a switching element 3 as starting element 5 , from which it follows that according to 1 the starting element 5 from an internal gear shift element 3 provided. In contrast, it is also possible that a gear external, separate starting element is present.

According to 1 It is also known from the prior art that the operation of the drive unit 1 from an engine control device 6 and the operation of the automatic transmission 2 from a transmission control device 7 controlled and / or regulated. The engine control device 6 swaps according to the arrow 8th with the drive unit 1 Data from. The transmission control device 7 exchanges with the automated or automatic transmission 2 according to the arrow 9 Data from. Likewise exchange according to the arrows 10 the transmission control device 7 and the engine control device 6 with each other data.

As data, which the engine control device 6 and the transmission control device 7 when executing a start-up procedure or a switching operation, shows 1 on the one hand, an actual rotational speed n-is of the drive unit 1 and on the other hand, a control torque u for the drive unit 1 , wherein the actual speed is n-the drive unit 1 the transmission control device 7 from the engine control device 6 is provided, and wherein the adjusting torque u for the drive unit 1 the engine control device 6 from the transmission control device 7 provided.

From the prior art, it is therefore already known that for the execution of a start-up process or to perform a switching operation, the transmission control device 7 the engine control device 6 a control torque u for the drive unit 1 based on which the engine control device 6 the operation of the drive unit 1 controls or regulates, wherein for determining or determining the actuating torque u for the drive unit 1 the engine control device 6 the transmission control device 7 the actual speed n-is the drive unit 1 provides.

On this basis, the present invention based on the object to provide a novel method for determining a control torque for a drive unit and a novel transmission control device.

This object is achieved by a method according to claim 1. According to the invention determines a controller depending on the speed difference between the actual speed of the drive unit and the desired speed of the drive unit, a first component of the actuating torque, the first component of the actuating torque at least with a second component of the actuating torque, which is determined by a state feedback, charged becomes. The control torque is composed of at least two components, namely from the first component, which determines the controller depending on the speed difference between the actual speed and the target speed of the drive unit, and the second component, which is determined by the state feedback. Such a determined actuating torque allows a particularly preferred operation of the drive unit.

According to an advantageous development, the first component of the actuating torque continues to be charged with a third component of the actuating torque, which is determined via a feedforward control. Then, if in addition a third component of the actuating torque is provided via a Störgrößenaufschaltung, a control technically robust and thus against disturbances unimpeachable determination of the actuating torque for the drive unit is possible, whereby the operation of the drive unit can be further improved.

Preferably, parameters of the same which change over the service life of the drive unit are determined via an identification, parameters of the controller being adapted via an adaptation depending on the identification. The adaptation of the controller parameters of the controller, which determines the first component for the manipulated variable of the drive unit, allows a further improvement of the robustness and quality in the determination of the actuating torque for the drive unit and thus a further improvement of the operation of the drive unit.

Preferred embodiments of the invention will become apparent from the dependent claims and the description below. Embodiments of the invention will be described, without being limited thereto, with reference to the drawings. Showing:

1 a schematic of a powertrain with a transmission control device;

2 a block diagram to illustrate the inventive method for determining a control torque for a drive unit and thus the operation of the transmission control device according to the invention; and

3 a further block diagram to illustrate a development of the method according to the invention and thus the operation of the transmission control device according to the invention.

The present invention relates to a method for determining an actuating torque u for a drive unit 1 a drive train of a motor vehicle. As already related to 1 described, includes the drive train in addition to the drive unit 1 an automatic or automated transmission 2 with several switching elements 3 and a starting element 5 , where it is the starting element 5 For example, it may be a gear-internal starting element, which then of one of the switching elements 3 automatic or automated transmission 2 provided.

The adjusting torque u for the drive unit 1 is from an automatic or automated transmission 2 associated transmission control device 7 determined and one of the drive unit 1 associated engine control device 6 provided, wherein for determining the actuating torque u, the engine control device 6 the transmission control device 7 the actual speed n-is the drive unit 1 provides.

2 illustrates a preferred variant of the method according to the invention for determining the actuating torque u for the drive unit 1 , wherein according to 2 a regulator 11 depending on a speed difference Δn = n-soll - n-is between an actual speed n-ist of the drive unit 1 and a target speed n-soll for the drive unit 1 a first component M1 of the actuating torque u determined.

The first component M1 of the actuating torque u is at least offset with a second component M2 of the actuating torque u, which has a state feedback 12 is provided or determined.

Particularly preferred is a variant of the invention, in which, like 2 shows the first component M1 of the actuating torque u, the controller 11 is provided, not only with that of the state feedback 12 provided or determined, second component M2 is charged, but in addition with a third component M3, which is provided or determined via a feedforward control.

Then, if the first component M1 for the adjusting torque u, by the controller 11 is provided with both of the state feedback 12 provided or ascertained, second component M2 as well as the third component M3 provided or determined by the feedforward control applies, applies to the actuating torque u of the drive unit 1 following relationship: u = M1 - M2 - M3.

As already stated, the first component M1 of the actuating torque u for the drive unit 1 from the regulator 11 on the basis of the rotational speed difference Δn between the actual rotational speed n-ist and the target rotational speed n-soll of the drive unit 1 determined. The actual rotational speed n-is a metrologically recorded variable, that of the transmission control device 7 from the engine control device 6 provided. The target rotational speed n-soll is one of the transmission control device 7 in particular dependent on an accelerator pedal operation or accelerator operation calculated size.

According to 2 is the regulator 11 as a PI controller with a P controller part 13 and an I controller part 14 educated. The P controller part 13 is determined by the controller parameter R _P and the I controller part 14 defined by the controller parameter R _I. For the first component M1 of the actuating torque u for the drive unit 1 the following relationship applies accordingly: M1 = R _P × Δn + R _I × ∫Δn.

The second component M2 of the actuating torque u is the state feedback 12 provided or determined, wherein the following applies to the second component M2 of the actuating torque u:

The quantity R _x is a parameter matrix of the state feedback 12 and at the quantity x _k about a state vector of the drive unit 1 , wherein the state vector x _{k of} the drive unit 1 on the one hand, the actual speed n-is the drive unit 1 and on the other hand comprises a moment M _SE , which at the start of the starting element 5 transmitted torque or switching on the switching element from the switching element 3 transferred torque corresponds.

The behavior of the drive unit 1 is described in the state space by the following equation, where A _{k is} a parameter matrix and B _k and E _{k are} parameter vectors: x _{k + 1} = A _k × x _k + B _k × u _k + E _k × z _k .

The disturbance z _k is the frictional torque of the drive unit 1 , so that the following equation applies: M3 = z _k .

The actual speed n-contained in the state vector x is the drive unit 1 is a metrologically detectable size.

The size M _SE , which is also contained in the state vector x , which is the starting point of the starting element 5 transmitted torque or the switching element in a switching operation of the switching element 3 corresponds torque transmitted, is not determined by measurement, but this size is calculated by a control technical observer. In 2 is through a measurement vector 15 visualizes that of the state vector x only the actual speed n-ist of the drive unit 1 metrologically recorded.

The disturbance z _k or the friction torque of the drive unit 1 is from the transmission control device 7 preferably via a in the transmission control device 7 stored or stored map determined.

The controller parameters R _P and R _{I of} the controller 11 and the parameters of the matrix R _x for state feedback 12 are preferably determined by using a step response such that when there is an abrupt change of the respective input variable x _k .DELTA.n or the resulting aligning torque and optimum operation of the drive unit 1 allowed.

According to 3 is provided according to an advantageous embodiment of the method according to the invention, that via an identification 16 using the actuating torque u for the drive unit and using the state vector x of the drive unit 1 , which is the actual speed n-the drive unit 1 and in a starting process that of the starting element 5 transmitted torque or the switching element from the switching element in a switching operation 3 transmitted torque includes, over the life of the drive unit 1 altering parameters thereof, which are incorporated into the parameter matrix A _k and the parameter vectors B _k and E _k , are determined, namely such that a quality measure J is minimized during the identification. For the quality measure J the following equation applies: J = f (x _k, u _k).

Depends on the over the identification 16 certain parameters of the drive unit 1 become controller parameters of the controller 11 about an adaptation 17 adapted, namely the controller parameters R _P and R _I of in 2 and 3 shown PI controller, this adaptation 17 preferably via a correction map to ensure a matched control parameters R _P and R _I stable controller behavior.

The inventive method, namely the determination or determination of the actuating torque u for the drive unit 1 , is from the transmission control device 7 performed, for which it is the input speed as the actual speed n-the drive unit 1 needed, that of the transmission control device 7 from the engine control device 6 is provided as an input.

The output is the transmission control device 7 the determined actuating torque u for the drive unit 1 to the engine control device 6 out.

The transmission control device 7 at least captures the controller 11 and the state feedback 12 to determine the two components M1 and M2 of the actuating torque u.

The transmission control device preferably comprises 7 also a feedforward control for determining the component M3 for the control torque u.

According to an advantageous development of the invention, the transmission control device comprises 7 also the identification 16 and the adaptation 17 for adapting the controller parameters of the controller 11 ,

The target speed n-soll is from the transmission control device 7 calculated or determined in particular depending on an accelerator pedal operation or accelerator pedal operation.

LIST OF REFERENCE NUMBERS

1

power unit

2

transmission

3

switching element

4

output

5

starting element

6

Motor controller

7

Transmission control device

8th

data exchange

9

data exchange

10

data exchange

11

regulator

12

State feedback

13

P controller share

14

I controller share

15

measurement vector

16

ID

17

adaptation

Claims (10)

Method for determining an actuating torque (u) for a drive unit ( 1 ) of a drive train, in addition to the drive unit ( 1 ) an automatic or automated transmission ( 2 ) with several switching elements ( 3 ) and a starting element ( 5 ), wherein for a starting process or a switching operation, depending on a rotational speed difference (Δn) between an actual rotational speed (n-ist) and a target rotational speed (n-soll) of the drive assembly ( 1 ) the actuating torque (u) for the drive unit ( 1 ), characterized in that a controller ( 11 ) is determined depending on the speed difference (Δn) between the actual speed (n-is) and the target speed (n-soll) of the drive unit, a first component (M1) of the actuating torque (u) for the drive unit, wherein the first component (M1) of the actuating torque (u) at least with a second component (M2) of the actuating torque (u), which via a state feedback ( 12 ) is calculated, is charged. A method according to claim 1, characterized in that the first component (M1) of the actuating torque continues with a third. Component (M3) of the actuating torque, which is determined by a feedforward control, is calculated. A method according to claim 1 or 2, characterized in that the first component (M1) of the actuating torque (u) for the drive unit ( 1 ) via a controller ( 11 ) is determined with a P-controller component and an I-controller component to which the speed difference (Δn) between the actual speed (n-is) and the target speed (n-soll) of the drive unit is provided as an input variable, and as Output quantity, the first component (M1) of the actuating torque provides. Method according to one of claims 1 to 3, characterized in that the state feedback ( 12 ) as the input variable ( x ) the actual rotational speed of the drive unit and during a starting operation a moment of the starting element ( 5 ) or during a switching operation a moment of a switching element ( 3 ) and that the state feedback ( 12 ) determines therefrom the second component (M2) of the actuating torque (u), which is offset by subtraction with the first component (M1) of the actuating torque (u). A method according to claim 4, characterized in that the actual rotational speed of the drive unit ( 1 ) metrologically and the moment of the starting element ( 5 ) or the moment of the switching element ( 3 ) is calculated by an observer. Method according to one of claims 1 to 5, characterized in that the third component (M3) of the actuating torque (u), the friction torque of the drive unit ( 1 ), with the first component (M1) of the actuating torque (u) is subtracted by subtraction. Method according to one of claims 1 to 6, characterized in that over the life of the drive unit ( 1 ) changing parameters thereof via an identification ( 16 ) and that, depending on the identification ( 16 ) Parameters of the controller ( 11 ) about an adaptation ( 17 ) be adjusted. Method according to claim 7, characterized in that the identification ( 16 ) depending on the actuating torque (u) for the drive unit, depending on the actual speed (n-is) of the drive unit and depending on the moment of the starting element ( 5 ) or the moment of the switching element ( 3 ) the parameters of the drive unit ( 1 ) is determined such that a quality measure is minimized. Method according to claim 7 or 8, characterized in that the adaptation ( 17 ) the parameters of the controller ( 11 ) via a correction map adapts. Transmission control device ( 7 ) of an automatic or automated transmission ( 2 ), which is based on an actual speed (n-ist) of a drive unit provided as an input variable ( 1 ) as the output variable a setting torque (u) for the drive unit ( 1 ), characterized in that it carries out the method according to one of claims 1 to 9.

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