• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Summary The present invention relates to a process for vaporizing a driveline oscillation in a vehicle comprising an engine which provides a torque related to a torque cup M and rotates at a speed co. According to the present invention, an oscillation change S of the rotational speed o is determined for said motor. The torque cup M is then given an oscillation-vaporizing property by utilizing the oscillation change S. whereby the driveline oscillation can be effectively evaporated.
    公开号:SE1150149A1
    申请号:SE1150149
    申请日:2011-02-23
    公开日:2012-08-24
    发明作者:Niclas Lerede；Henrik Flemmer
    申请人:Scania Cv Ab；
    IPC主号:
    专利说明:

    TECHNICAL FIELD The present invention relates to a process for evaporating a driveline oscillation in a vehicle according to the preamble of patent 1, to a computer program for implementing the process according to the preamble of claim 14, and to a system for evaporating a driveline oscillation according to claim 14. the preamble of claim 16.
    Background Figure 1 schematically shows a heavy exemplary vehicle 100, such as a truck, bus or the like. The vehicle 100 schematically shown in Figure 1 comprises a front wheel pair 111, 112 and a rear wheel pair with drive wheels 113, 114. The vehicle further comprises a drive line with a motor 101, which may be, for example, an internal combustion engine, an electric motor, or a combination of these, that is to say a so-called hybrid. The motor 101 may, for example, in a conventional manner, via a shaft 102 emanating on the motor 101, be connected to a gearbox 103, possibly via a coupling 106. A shaft 107 emanating from the gearbox 103 drives the drive wheels 113, 114 via an end shaft 108, such as for example a conventional differential, and drive shafts 104, 105 connected to said end shaft 108. The motor 101 may also, for example if it is an electric motor, be directly connected to the output shaft 107 or to the drive shafts 104, 105.
    When a driver of the motor vehicle drives a torque request to the engine 101, for example by input via an input means, such as a depressing of an accelerator pedal, this can result in a relatively rapid torque change in the driveline. This moment is stopped by the drive wheels 113, 114 due to their friction against the ground and the rolling resistance of the motor vehicle 2. The drive shafts 104, 105 are then subjected to a relatively strong torque.
    Among other things, in terms of cost and weight, the drive shafts are not regularly dimensioned so that they can withstand this heavy load without being affected. Due to the relative weight of the drive shafts 104, 105, they instead act as torsion springs between the drive wheels 103, 104 and the end shaft 108.
    If the rolling resistance of the motor vehicle is no longer able to lean against the torque from the driveline, the motor vehicle 100 will start rolling, whereby the torsion spring-acting force in the drive shafts 103, 104 is released. When the motor vehicle 100 rolls away, this released force can result in driveline oscillations occurring, causing the motor vehicle to rock in the longitudinal direction, i.e. in the direction of travel.
    This rocking is experienced as very uncomfortable for a driver of the motor vehicle. For a driver Or a soft and pleasant chore experience onskvard, and when such a chore experience is achieved, it gives Oven a cancellation that the motor vehicle is a refined and selectively developed product. Therefore, such driveline oscillations can be quickly detected and efficiently evaporated.
    Previously known solutions for steaming driveline oscillations have been technically complicated, which has contributed to increased calculation complexity and implementation cost. The previously known complex solutions have Oven led to inefficient evaporation of these driveline oscillations, which have not succeeded in evaporating out the driveline oscillations with satisfactory results. Brief Description of the Invention It is an object of the present invention to provide a process for vaporizing driveline oscillations. This object is achieved by the above-mentioned method according to the characterizing part of claim 1.
    The object is achieved above by the above-mentioned computer program according to the characterizing part of claim 14. This object is achieved above by the above-mentioned system for vaporizing driveline oscillations according to the known part of claim 16.
    According to the present invention, therefore, these oscillations are damped by utilizing the oscillation change S. A torque request M sent to the engine in the vehicle is adapted to have a contribution to the torque request M, which acts as a damping for the driveline oscillations. Because the adapted torque cup M has an appearance, which is determined based on the change in oscillation S, the driveline oscillations can be quickly evaporated.
    According to an embodiment of the invention, the oscillation change S is obtained by a derivation of an inverted version of an superimposed oscillation as has the motor rotational speed a. The derivation causes the adapted torque cup M to have the greatest amplitude when the inverted version of the superimposed oscillation changes the most. Torque oscillation Torque Or Above substantially inverted and shifted in time from the superimposed oscillations has the engine rotation speed. All in all, this is a rapid evaporation of the driveline oscillations.
    According to the present invention, for the damping of driveline oscillations, only motor-related signals are used which are already used in control systems in motor vehicles today. More specifically, according to the invention, the rotational speed co has the engine is used. This means that the solution according to the present invention can be implemented with very little addition in complexity, both for calculations and for the implementation itself.
    The damping of driveline oscillations is based on an oscillation change S has the rotational speed of the engine, which means that a reliable damping can be done substantially without delays. This is a major advantage over prior art systems in which unreliable and late steaming has been provided.
    According to an embodiment of the invention, driveline oscillations are detected based on the oscillation change S, wherein a driveline oscillation as detected by the oscillation change S has an amplitude which a predetermined number of times alternately exceeds a positive threshold value. within a predetermined time period T.
    Taken together, the present invention results in a very efficient detection and attenuation of the oscillations, which are based on analysis of the oscillation demand S and can be provided with a very small complexity addition.
    BRIEF DESCRIPTION OF THE DRAWINGS The invention will be further elucidated below with reference to the accompanying drawings, in which like reference numerals are used for like parts, and used: Figure 1 shows a motor vehicle; Figure 2a shows a motor rotation speed over time; Figure 2b shows an inverted version of a superimposed oscillation over time; Figure 2c shows a derivative of an inverted version of a superimposed oscillation over time; Figure 2d shows a derivative of an inverted version of an superimposed oscillation over time and threshold values; Figure 3a shows a vibration damping torque request Over time; Figure 3b shows a measured evaporation of a driveline oscillation; Figure 4 shows a flow chart for the detection and evaporation of a driveline oscillation; Figure 5 shows a circuit diagram for steaming a driveline oscillation; Figure 6 shows a control unit.
    Description of Preferred Embodiments According to the present invention, driveline oscillations can be detected and attenuated by analyzing an oscillation change S of the rotational speed of the motor 101. To be able to do this, this oscillation change S is first determined and then the appearance of this oscillation change S.
    The attenuation of a driveline oscillation according to the invention utilizes this analysis of oscillation change S by utilizing oscillation change S in producing an oscillation damping torque cup M.
    The vehicle 100 has an engine 101, which provides a torque. The torque Or provided is related to a torque request M, which may be a direct result of a driver input, for example via an accelerator pedal, or may be requested by the flag type of cruise control, or other device which is arranged to request torque from the engine 101.
    A detection of a driveline oscillation can be based on the change of oscillation S. If a driveline oscillation has been detected, according to the invention a torque request M is provided to the engine with an oscillation damping property causing the driveline oscillations to be counteracted and evaporated. The oscillation damping property is obtained by utilizing the oscillation change S. Basing the damping of the driveline oscillations only on the motor rotation speed Co has very large advantages related to implementation complexity and efficiency of the steaming.
    According to an embodiment of the present invention, this oscillation change S multiplied by at least one gain factor A / is added to an original torque cup M0, to create the torque cup M sent to the engine 101. Here, the original torque cup Rt is based on signals from, for example, an accelerator pedal and / or a cruise control, as described above. This at least one gain factor A7 can be given an arbitrary lamp value, which can be constant or variable as described in more detail below.
    According to an embodiment of the invention, the evaporation of the oscillation according to the invention is performed only if driveline oscillations have been detected. This reduces the complexity of the system according to the invention.
    According to an embodiment of the invention, a driveline oscillation is considered to exist at the amplitude of the oscillation change, i.e. the amplitude of a signal related to the oscillation change S has a value which a predetermined number of times alternately exceeds a positive 7 threshold value Th1 and falls below a negative threshold value Th2 and where all successive overruns and underruns, the viii saga Overruns of this positive threshold Th / and underruns of this negative threshold Th2 occur within a predetermined time period T. Thus Or two consecutive overruns and subdivisions have differed in time as most of a predetermined time period T.
    In other words, driveline oscillations are considered to exist at the amplitude of the change of oscillation a certain number of times, with the predetermined time period T from the time of an Over / Under of a threshold Tb1, Th2 under- / exceeding another threshold Thi, Th2, where these thresholds have different signs their thresholds. The amplitude of the oscillation change S must therefore have a certain number of times be alternating, have a size exceeding the positive threshold value Th / and have a size below the negative threshold value Th2, and make two consecutive threshold value passages within the predetermined time period T.
    That, as with this embodiment of the present invention, being able to detect driveline oscillations based solely on the engine rotation speed is very advantageous, since this speed is normally available in the motor vehicle. Prior art methods for detecting driveline oscillations have been based on additional signals, such as signals related to wheel speeds, which have resulted in additional sensors and increased complexity in detection. In addition, the evaporation of driveline oscillations can also be based only on the engine rotation speed, which simplifies the system for evaporation. The oscillation change S produced by the detection can also be used in the steaming, so that the calculation complexity is minimized by the present invention. A detection of driveline oscillations according to the invention will hereinafter be exemplified by means of Figures 2a to 2d, where schematic and non-limiting examples of signals will be used to explain the invention.
    According to an embodiment of the present invention, the detection is based on the oscillation change S of a rotational speed o of the motor 101. This rotational speed o can be determined by using a sensor 116, which may be arranged in connection with the clutch 106 and so that it can detect which rotational speed 0 the motor 101 provides. Rotation speed 0 can also be determined by using a model, where the model Or designed so that the motor rotation speed o can be easily deduced from it.
    The rotational speed 0 of the motor 101 may, if driveline oscillation occurs, include an superimposed oscillation. Figure 2a schematically shows an example of a desired motor rotation speed cod (dashed) over time. This motor rotation speed o starts in this example at a first speed, for example 500 rpm, and then increases linearly with time. An example of a motor rotation speed (solid), as it actually looks when it is measured by a sensor 116, or determined in another way, for example by means of a model for the motor rotation speed w, is also shown in Figure 2a.
    Figure 2a shows that the motor rotational speed 0 comprises the desired rotational speed cod and an superimposed oscillation. The longitudinal rocking of the motor vehicle 100 Or is related to this superimposed swing.
    When detecting driveline oscillations, there is normally no access to the desired motor rotation speed, etc., but only access to a signal corresponding to the motor rotation speed co. According to an embodiment of the present invention, the desired motor rotational speed cod can be obtained by filtering the signal for the motor rotational speed A with a filter, more preferably determined with a low-pass filter (LP filter). Since the LP filter is indicated so that the superimposed oscillations have the rotational speed and are above its passband, then the appearance of the desired motor rotational speed cod can be determined by means of this low-pass filtering (LP filtering).
    According to an embodiment of the present invention, an inverted version of the superimposed oscillation os of the motor rotational speed can then be obtained by subtracting the motor rotational speed from the desired motor rotational speed cod. The inverted version of the superimposed oscillation cos resulting from this subtraction is shown schematically in Figure 2b. Since the motor rotational speed o has been subtracted from the desired motor rotational speed cod, the inverted version of the superimposed oscillation cos is around the speed 0 rpm, i.e. around the x-axis in Figure 2b. Since the motor rotational speed o has been subtracted from the desired motor rotational speed cod, the inverted version of the superimposed oscillation cos also has an appearance where the waveform of the inverted version of the superimposed oscillation ws is substantially inverted to the waveform of the oscillations of the motor rotational speed.
    One skilled in the art understands that the above-mentioned subtraction ay can be performed, for example, by first inverting, that is, changing signs of the amplitude for, a signal for the motor rotation speed co and then adding it with it a signal for the desired motor rotation speed COd. The subtraction can also be performed, for example, by subtracting a signal for the desired motor rotation speed cod from a signal for the motor rotation speed co, and then inverting, that is, changing the sign of, the signal for the result of this subtraction.
    According to another embodiment of the present invention, the inverted version of the superimposed oscillation cos is determined by means of a model for said inverted version of the superimposed oscillation cos. According to one embodiment, this model is used to determine the inverted version of the superimposed oscillation cos a "two-mass model", which describes two oscillating masses with a weight between these two masses. Television pivot masses are modeled thereby, of which a first pivot mass represents the engine 101 and a second pivot mass represents the wheels 111, 112, 113, 114 and an environment of the vehicle. According to the model, each of the first and second pivot masses has a respective mass and rotates at a respective speed. The first and second torque masses are affected by a first and a second torque, respectively, of which the first torque is a supplied motor torque compensated with gearing and the second torque is the torque with which the environment affects the vehicle. The weight between the swing masses is modeled as a spring with a damping.
    In total, this model has three states, of which a first state represents the rotational speed of the motor co, a second state represents the rotational speed of the wheels and a third state represents an angular difference between them, i.e. a rotation of the drive shafts. From this model, motor rotation speed A and spring rotation can then be obtained, from which the inverted version of the superimposed swing cos can be determined. As mentioned above, driveline oscillations can be detected by analyzing an oscillation change S having the rotational speed of the motor 101. To obtain an oscillation change S, the motor rotation speed io from the inverted version of the superimposed oscillation co is derived from the inverted version of the superimposed oscillation cos. time, according to an embodiment of the present invention. The inverted version of the superimposed oscillation cos (solid) and the derivative of the inverted version of the superimposed oscillation cos, the viii saga oscillation change S of the motor rotational speed co (dashed), are shown schematically in Figure 2c. Since the change of oscillation S consists of the derivative of the inverted version of the superimposed oscillation cos, it represents a change in the inverted version of the superimposed oscillation cos Over time.
    In the analysis of the oscillation change S, at least two thresholds related to the amplitude are used, the oscillation change S. According to the invention, a driveline oscillation is considered to be equal to the amplitude of the oscillation change has a value which a predetermined number of times alternating Over / Under passes (in other words passes) where the two threshold values Th1, Th2 have a positive threshold value Th / and a negative threshold value Th2, respectively, and where each of two consecutive Over- / underpasses (in other words passages) for the predetermined number of times occurs within a predetermined time period T from each other. All consecutive over / underfalls must therefore be separated in the time of a maximum of this predetermined time period T for the driveline oscillation to be considered detected. 12 Lampliga threshold values Thi, Th2 can be developed empirically, the viii saga through tests, or can be simulated. The appropriate length of the predetermined time period T can also be obtained empirically, that is to say through tests, or can be simulated. The length of the predetermined time period T and / or the threshold values ThL Th2 depends on at least one of the frequency of the inverted superimposed oscillations cAs and the noise level of sensors in the system. In general, the threshold values Th1, Th2 and / or the time period T should be chosen so that incorrect detection of driveline oscillations due to fluttering signals etc. is avoided.
    Figure 2d shows the change in oscillation S (dashed) Over time, and two thresholds Thi, Th2, of which a first threshold has a positive threshold value Thloch a second threshold has a negative threshold value Th2. According to the present invention, a driveline oscillation as detected in the change of oscillation S is considered to be a predetermined number of times with alternating signs. These thresholds Th1, Th2 exceed all consecutive Over- / undercurrents 211 and 212; 212 and 213; 213 and 214, respectively, take place in a predetermined time period T from the most recent over / under 211; 212 and 213, respectively.
    As can be seen in the example shown in Figure 2d, the change in oscillation S only at a case 211 has a positive amplitude which is greater On the first threshold value Thi, whereby it begins to run for a first time t. Then, in a second case, the change of oscillation S has 212, which has the effect that the first time t / Or is less than the predetermined time period T, the viii saga said that in the example described above in connection with Figure 2d, the number of over- / underruns for detection was set to three, whereby the amplitude at the third event 213 Over / falls below a threshold value Th1, Th2 and dl the threshold values have been over- / undersigned with alternating signs, that is to say the positive first threshold value Th / and the negative second threshold value Th2 have been exceeded respectively, is less than an amplitude has the oscillation change S, and the time t1, t2, which elapsed between all consecutive Over- / undershoots of the thresholds has been within the predetermined time period T, is considered according to the present invention a driveline oscillation to be detected.
    The detection as described above in connection with Figures 2a-2d can of course be modified within the scope of the independent claims. For example, the number of Over- / Under-violations of the thresholds Th7, Th2 can be any suitable number of Over- / Under-Underruns. Thus, detection can take place in the event of one or more exceedances / underruns of the thresholds Thi, Th2. As described above in connection with Figure 2d, detection can take place, for example, in the case of three over- / subtractions with alternating characters. However, the number of overruns / subtractions of the thresholds Th1, Th2 for detected driveline oscillation can also be set, for example, to four, whereby the time t2 between the breach at the third event 213 and the undershot at the fourth event 214, i.e. the negative second threshold value Th2 is again exceeded nor fir be longer than the predetermined time period T for detection to occur. 14 The order of the over- / undershoots can also be changed, so that the first passage of a threshold is constituted by an undershoot, that is to say, the change of oscillation S has an amplitude which is less than the negative second threshold value Th2.
    In general, the reliability of the detection can be increased by increasing the predetermined number of thresholds / violations. However, an increase in the predetermined number means that the detection is delayed somewhat. The system can thus be calibrated differently for different applications, and for different requirements for reliability and delay for detection.
    An evaporation of driveline oscillations according to the invention, where the evaporation is based on the oscillation change S. is exemplified below, whereby schematic and non-limiting examples of signals will be used to explain the invention.
    Figure 3a schematically shows an example of an unwanted motor rotational speed cod (dashed) over time, and an example of a motor rotational speed i0 (solid). In addition, the inverted version of the superimposed oscillation ws (solid) and the oscillation change S (dashed) are shown, which is obtained by deriving the inverted version of the superimposed oscillation ws.
    It is clear from Figure 3a that the oscillation change S is offset in time from the inverted superimposed oscillations cos. In addition, the fact that the oscillation change S is obtained by deriving the inverted superimposed oscillations cos that the oscillation change S is at its greatest, the viii saga has mostly positive and negative amplitudes, respectively, when the motor rotation speed increases and decreases the most.
    The change in oscillation S thus has the greatest amplitude when the motor rotation speed a changes the most.
    In other words, the change of oscillation S of the inverted superimposed oscillations as will be substantially in opposite phase to a corresponding change of oscillation having the motor rotation speed a, that is to say in opposite phase to a corresponding derivative of the motor rotation speed co. This can also be expressed as the oscillation change S having the inverted superimposed oscillations as Or substantially inverted in comparison with a corresponding oscillation change for the motor rotational speed a. ) for the motor rotational speed a is due to the fact that the motor rotational speed co 320 according to the invention is subtracted from the desired motor rotational speed ad when producing the oscillation change S.
    This has the effect, when the oscillation change S is then used to create an oscillation-damping torque cup M to the motor 101 in the motor vehicle 100, that the oscillation-damping torque cup M has a relatively minimum value when the motor rotation speed acar at most has the motor rotation speed co. This allows driveline oscillations to be evaporated very efficiently by using the present invention.
    Figure 3b shows food data recorded by a vehicle during the process of evaporating driveline oscillations according to the invention Or activated. The solid line represents the torque contribution M of the present invention, the same signal 513 in Figure 5 below. The dashed line 16 represents the motor rotational speed co. The main data clearly shows that the damping of the oscillations according to the invention is activated when the driveline oscillations are detected, that is to say when the oscillation change S has passed the thresholds with alternating signs a certain number of gings, and where consecutive threshold passages are different in time with the maximum predetermined period. it is clear that the torque contribution M from the method according to the invention is based on the derivative of the superimposed oscillation as and ddrfOr is shifted in time towards the motor rotation speed a pi so that the waveform has the torque contribution M is substantially inverted and amplified in relation to an oscillation change the oscillations can be effectively evaporated.
    Figure 4 shows a flow chart of the method according to the invention. In a first step 401, the process starts. In a second stage 402, an oscillation change S is determined having the rotational speed a of the motor 101.
    In a third step 403 of the method, an oscillation damping torque request M is created. This oscillation damping torque request M is given an oscillation damping property by utilizing the oscillation demand S determined in the second step 402 of the method.
    According to an embodiment of the invention, the method Oven comprises a further step, which is carried out after the second step 402 and before the third step 403 of the method. In this further step, a driveline oscillation is detected based on the oscillation change S. According to an embodiment of the invention, the driveline oscillation is considered to be detected when the oscillation change S has an amplitude which a predetermined number of times alternately exceeds a positive threshold value / undershoot of the thresholds occurs mom a predetermined time period T.
    The present invention also relates to a system for vaporizing a driveline oscillation in a vehicle 100, wherein the vehicle 100 comprises a motor 101 which rotates at a speed co, also called rotational speed co or engine rotational speed co. The system includes a determination unit and a torque unit. The determination unit is designed to determine how the change of oscillation S of rotational speeds is. The torque unit, which requests torque from the motor 101, is arranged to give this torque cup M an oscillation-damping property by utilizing the oscillation change S, as described above for the method according to the invention.
    According to an embodiment of the invention, the system also comprises a detection unit, which is arranged to detect if a driveline oscillation is present. According to an embodiment of the system of the invention, the detection unit is arranged to consider that a driveline oscillation exists if the change of oscillation S has an amplitude which a predetermined number of times alternately exceeds a positive threshold value Thirespective falls below a negative threshold value Th2, where all two consecutive a predetermined time period T, as described above for the process of the invention.
    Figure 5 schematically shows a circuit diagram 500 for a possible implementation of the steaming according to the invention. A motor rotation speed co, which may be, for example, 18 measured with the sensor 116, is provided with a filter 502 and a subtraction unit 503, in that a corresponding signal for the motor rotation speed o is coupled to the filter 502 and to the subtraction unit 503 as an input signal 501.
    As described above, the desired motor rotational speed cod is obtained by filtering the signal for the motor rotational speed o with the filter 502. The desired motor rotational speed cod is thus an output 504 from the filter 502, and can be seen as an at least semi-static component of the motor rotational speed co.
    In the subtraction unit 503, the motor rotational speed o is subtracted from the desired motor rotational speed cod, whereby the inverted superimposed oscillation cos is produced as output 505 from the subtraction unit 503.
    As mentioned above, driveline oscillations can be detected by analyzing an oscillation change S having the rotational speed iA 501 of the motor 101. This oscillation change S is obtained as output 506 from a derivative 507 unit in which the inverted superimposed oscillation cos is time derived.
    The oscillation change S is then multiplied by a gain factor A / in a multiplier 509, where the gain factor A / is an input signal 508 to the multiplier 509, and is added in an adder 512 to a amplified version of the inverted superimposed oscillation cos, which has been amplified by an amplification factor A2. in a multiplier 511, where gain factor A2 is an input signal 510 to multiplier 511. The gain factors A1 A2 may be constant and / or variable. The same output signal 513 from the adder 512 is obtained a torque contribution to the torque cup M to the motor 101. This torque contribution M has been continued by the invention with an oscillation damping property, which can be used to evaporate the driveline oscillations when this torque contribution is 1/6. is added to an original torque request P10, which is based, for example, on signals from an accelerator pedal and / or a cruise control, as described above.
    The constant value of one or more of these amplification factors AL A2 can be empirically obtained and calibrated in the vehicle by experiment.
    According to one embodiment, one or more of these gain factors AL A2 consist of standardized values, which have sizes adapted to avoid excessive values of the output signal 513, i.e. for the torque contribution M. This can be done, for example, by standardizing the gain factors AL A2 with the aid of a maximum allowed value X for the output signal 513.
    This standardization can be the output signal 513, which Or a result of the addition 505 * 510 + 506 * 508, has a larger value than the maximum allowed value X, for example gOras according to: 508 '= 508 (X / (505 * 510 + 506 * 508)) 510 '= 5 (X / (505 * 510 + 506 * 508)), where 508' and 510 'respectively constitute standardized input signals related to standardized gain factors A1' and A2f respectively.
    The values of the standardized input signals 508 'and 510', respectively, can be determined at or after the detection of the driveline oscillations, since the output signals 505, 506 are available already at the detection. If the normalized input signals 508 'and 510' are determined during the detection phase, i.e. before the output signal 513 is produced, these can be normalized to the largest conceivable value the output signal 513 would have received when the attenuation of driveline oscillations is activated.
    If the output signal 513 does not have a larger value than the maximum permissible value X, the non-standardized input signals 508 and 510, respectively, are used, which have the non-standardized gain factors A / and A2, respectively.
    As described above will be appreciated by one skilled in the art, the subtraction of the motor rotation speed from the desired motor rotation speed ad to give the inverted superimposed oscillation is also performed in other ways with the subtraction unit 503. For example, an inverter can be used in combination with an adder to provide same function. The important thing here is that the torque contribution is given the oscillation-damping property that its appearance is substantially inverted and shifted in time in relation to the superimposed oscillations has the motor rotation speed co, which a person skilled in the art realizes can be performed in a number of ways.
    Figure 6 shows a control unit according to the present invention. For the sake of simplicity, only one control unit 600 is shown in Figure 6, but vehicles of the type shown often comprise a relatively starting number of control units, e.g. for control of motor, vOxelldda, etc., which Or vOlkant for the person skilled in the art.
    The present invention can thus be implemented in the control unit 600, but can also be implemented in whole or in part in one or more other control units located at or outside the vehicle.
    Control units of the type shown Or are normally arranged to receive sensor signals from different parts of the vehicle. The 21 control unit-generated control signals are normally also dependent both on signals from other control units and on signals from components. In particular, the control unit is arranged to receive signals from a sensor 116 for motor rotation speed which can for instance be arranged in connection with the coupling 106.
    Control units of the type shown Or furthermore are usually arranged to emit control signals to various parts and components of the vehicle, in the present example for example to the engine control unit for requesting / ordering control of the engine torque.
    The control is often controlled by programmed instructions. These programmed instructions typically consist of a computer program, which when executed in a computer or controller causes the computer / controller to perform undesired control, such as process steps of the present invention. The computer program usually consists of a computer software product 603 stored on a digital storage medium 602 such as: ROM (Read-Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable PROM), Flash Memory, EEPROM (Electrically Erasable PROM), a hard disk drive, etc., in or in conjunction with the controller, and which is executed by the controller. By following the instructions of the other computer program, the behavior of the vehicle in a specific situation can thus be adapted.
    Furthermore, the control unit 600 is provided with devices 604, 607, 605, 606 for receiving and transmitting input and output signals, respectively. These input and output signals may contain waveforms, pulses, or other attributes, which of the input signals devices 604, 607 may be detected as information and may be converted into signals which may be processed by the calculation unit 601. These signals are then provided to the calculation unit 601. The devices 605 , 60 606 for transmitting output signals Or arranged to convert signals obtained from the calculating unit 601 for creating output signals by e.g. modulate the signals, which can be transmitted to other parts of the system, for example to the motor 101, before damping driveline oscillations.
    Each of the connections to the devices for receiving and transmitting input and output signals, respectively, may be one or more of a cable; a data bus, such as a CAN bus (Controller Area Network bus), a MOST bus (Media Orientated Systems Transport bus), or any other bus configuration; or by a trAdlos connection. Also the connections for inputs and outputs, as well as between filters 502, derivative unit 507, subtractor 503, multipliers 511, 509 and adders 512 shown in Figure 5 may be formed by one or more of these cables, buses, or trAdlasa connections.
    One skilled in the art will appreciate that the above-mentioned computer may be constituted by the computing unit 601 and that the above-mentioned memory may be constituted by the memory unit 602.
    Those skilled in the art will also recognize that the above system may be modified according to the various embodiments of the method of the invention.
    In addition, the invention relates to a motor vehicle 100, for example a truck or a bus, comprising at least one system according to the invention.
    The present invention is not limited to the embodiments of the invention described above, but relates to and includes all embodiments within the scope of the appended independent claims. 23
    权利要求:
    Claims (17)
    [1]
    A determination of an oscillation change S of the rotational speed o of said motor (101); wherein 2. said torque cup M is given an oscillation damping property by utilizing said oscillation change S.
    [2]
    A method according to claim 1, wherein said oscillation damping property is obtained by adding said oscillation change S, multiplied by at least one gain factor A1, to an initial torque request M,
    [3]
    A method according to claim 2, wherein said original torque cup M0 originates in at least one of the callers in the group: 1. an accelerator pedal; and 2. a cruise control.
    [4]
    A method according to any one of claims 1-3, wherein said oscillation damping torque cup M is determined only when driveline oscillations have been detected.
    [5]
    A method according to any one of claims 1-4, wherein a detection of said driveline oscillation is performed based on said oscillation change S.
    [6]
    A method according to claim 5, wherein a driveline oscillation upon detection is considered to exist if said oscillation change S has an amplitude which a predetermined number of gings alternately exceeds a positive threshold value Thirespective respectively exceeds a negative 24 threshold value Th2, all consecutive exceedances of said positive said negative threshold value Th2 are separated in time by most of a predetermined time period T.
    [7]
    A method according to any one of claims 1-6, wherein said oscillation change S is based on said rotational speed o for said motor (101).
    [8]
    A method according to claim 7, wherein said rotational speed 0 comprises a desired rotational speed 02 and an superimposed oscillation.
    [9]
    The method of claim 8, wherein said Desired rotational speed cod is determined by a filtering of said rotational speed co.
    [10]
    A method according to any one of claims 8-9, wherein an inverted version of said superimposed oscillation cos is determined by subtraction of said rotational speed and from said desired rotational speed cod.
    [11]
    A method according to any one of claims 8-9, wherein an inverted version of said superimposed oscillation cos is determined by means of a model for said inverted version of said superimposed oscillation cos.
    [12]
    A method according to any one of claims 10-11, wherein said oscillation change S is determined by time derivation of said inverted version of said superimposed oscillation ws.
    [13]
    A method according to any one of claims 1-12, wherein said rotational speed o is determined by means of a device in the group of: - a sensor (116) arranged to detect said rotational speed co; and - a model for the said rotational speed co.
    [14]
    A computer program comprising a program code, which if said program code is executed in a computer, causes said computer to perform the method according to any of claims 1-13.
    [15]
    A computer program product comprising a computer-printable medium and a computer program according to claim 14, wherein said computer program is included in said computer-printable medium.
    [16]
    A system for attenuating a driveline oscillation in a vehicle (100) comprising a motor (101), which provides a torque related to a torque request M and rotates at a speed co, characterized by - a determining unit, which is arranged to determine an oscillation change S of the rotational speed n for the said motor (101); and - a torque unit, arranged to give said torque request M an oscillation damping property by utilizing said oscillation change S.
    [17]
    A system according to claim 16, wherein said torque unit Or is arranged to add said oscillation change S, multiplied by at least one gain factor A, to an initial torque request M, said oscillation damping property being obtained. FIG, 1 102 116 103 "-108 106 107 101 P --- 2/6 CO d / V.
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    同族专利:
    公开号 | 公开日
    SE537116C2|2015-01-20|
    EP2678204B1|2016-08-10|
    BR112013017186A2|2016-09-20|
    RU2553403C2|2015-06-10|
    KR20130118997A|2013-10-30|
    US9050979B2|2015-06-09|
    EP2678204A1|2014-01-01|
    JP2014512472A|2014-05-22|
    RU2013142939A|2015-03-27|
    US20130325277A1|2013-12-05|
    CN103339008A|2013-10-02|
    WO2012115580A1|2012-08-30|
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    法律状态:
    2016-10-04| NUG| Patent has lapsed|
    优先权:
    申请号 | 申请日 | 专利标题
    SE1150149A|SE537116C2|2011-02-23|2011-02-23|Attenuation of driftline oscillations|SE1150149A| SE537116C2|2011-02-23|2011-02-23|Attenuation of driftline oscillations|
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    US13/984,901| US9050979B2|2011-02-23|2012-02-21|Damping of power train oscillations|
    EP12715742.8A| EP2678204B1|2011-02-23|2012-02-21|Damping of power train oscillations|
    CN2012800071468A| CN103339008A|2011-02-23|2012-02-21|Damping of power train oscillations|
    KR1020137025005A| KR20130118997A|2011-02-23|2012-02-21|Damping of power train oscillations|
    RU2013142939/11A| RU2553403C2|2011-02-23|2012-02-21|Damping of power transmission oscillations|
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