Juddering vibrations are reduced in a motor vehicle drive train that is loadable by a drive device comprising an internal combustion engine, a clutch device and a transmission device, by performing the steps of (i) determining whether juddering vibrations are present; (ii) disposing or coupling in o
Juddering vibrations are reduced in a motor vehicle drive train that is loadable by a drive device comprising an internal combustion engine, a clutch device and a transmission device, by performing the steps of (i) determining whether juddering vibrations are present; (ii) disposing or coupling in or to the motor vehicle drive train a device selected from the group consisting of an internal combustion engine, a clutch device and a transmission device; (iii) assigning a rotary parameter to a drive train component, wherein the parameter is torque or speed, and (iv) adjusting at least one of the devices to counteract the juddering vibrations, where in response to the adjusting, the rotary parameter is modified and in response to modifying the rotary parameter, the juddering vibration is modified over time.
대표청구항▼
What is claimed is: 1. A method for reducing juddering vibrations in a motor vehicle drive train that is loadable by a drive device comprising an internal combustion engine, a clutch device and a transmission device, said method comprising the steps of: (i) determining whether juddering vibrations
What is claimed is: 1. A method for reducing juddering vibrations in a motor vehicle drive train that is loadable by a drive device comprising an internal combustion engine, a clutch device and a transmission device, said method comprising the steps of: (i) determining whether juddering vibrations are present; (ii) disposing or coupling in or to the motor vehicle drive train a device selected from the group consisting of an internal combustion engine, a clutch device and a transmission device; (iii) assigning a rotary parameter to a drive train component, wherein said parameter is torque or speed, and (iv) adjusting at least one of said devices to counteract the juddering vibrations, where in response to the adjusting, the rotary parameter is modified and in response to modifying the rotary parameter, the juddering vibration is modified over time. 2. The method as described in claim 1, wherein the adjusting further comprises modulating torque that is transmissible by the clutch device and/or clutch control travel to counteract the juddering vibration. 3. The method as described in claim 2, wherein the adjusting further comprises sinusoidally modulating torque transmissible by the clutch device and/or the clutch control travel. 4. The method as described in claim 2, wherein the juddering vibration comprises at least one predetermined time characteristic and the drive train comprises a component having at least one parameter, said method comprising the step of calculating said at least one predetermined parameter of the time characteristic and/or calculating said at least one parameter of the drive train component. 5. The method as described in claim 4, which comprises the step of calculating a first phase and/or amplitude and/or period of the juddering vibration as a function of transmission input speed. 6. The method as described in claim 4 comprising the step of calculating a first phase and/or amplitude and/or period of modulation of clutch control travel and/or of transmissible clutch torque as a function of transmission input speed. 7. The method as described in claim 4 comprising the step of measuring transmission input speed. 8. The method as described in claim 7, wherein measuring the transmission input speed is performed at set time intervals. 9. The method as described in claim 4, wherein calculated transmission input speed comprises a first at least one local extremum, a first at least one local maximum, said method further comprising the step of calculating a second period and/or phase and/or amplitude as a function of the first at least one local extremum. 10. The method as described in claim 6 comprising the step of calculating a second period and/or phase and/or amplitude for the modulated torque that is transmissible by the clutch device and/or of the modulated clutch control travel as a function selected from the group consisting of the calculated period, the phase, the amplitude of the juddering vibration, and the transmission input speed. 11. The method as described in claim 4, wherein the juddering vibration comprises a parameter and transmission input speed comprises a time characteristic, said method comprising the step of determining the parameter and/or of the time characteristic via an estimate and/or measurement and/or calculation in a first step; and determining the parameter in a second step as a function of the determination of the first step for the improvement and/or monitoring of the precision of the parameter calculated in the first step. 12. The method as described in claim 11 wherein the calculated transmission input speed comprises a second at least one local extremum and a time position and where the parameter comprises the second at least one local extremum or the timing position of the second at least one local extremum. 13. The method as described in claim 4 wherein the juddering vibration comprises a third at least one local extremum, especially a third at least one local maximum, with a first actual position; and the method further comprising: measuring or evaluating transmission input speed to provide speed signals at timed intervals, the signals comprising a fourth at least one local extremum, especially a fourth at least one local maximum, with a second actual position; calculating, in a first step, the timing position of the fourth at least one local extremum, in particular a local extremum in the time characteristic that last occurred; and, calculating and/or further approximating, in a second step, the first and/or second actual position. 14. The method as described in claim 13, which comprises the step of calculating the time interval or time deviation between the fourth at least one local extremum and the first and/or second actual position. 15. The method as described in claim 8, which comprises the step of calculating in a first step a phase angle of the juddering vibration and/or the time characteristic of the transmission input speed, in particular, calculating a local extremum, especially a local maximum of the transmission input speed, where the transmission input speed signals are provided at timed intervals, and calculating in a second step, the deviation between the phase angle detected in the first step and the actual phase angle and/or the deviation of a local extremum calculated in the first step by the actual extremum. 16. The method as described in claim 15 wherein calculating the deviation comprises the step of considering that in the first step, speed signals set at timed intervals, and/or measuring accuracies are used that are made necessary via the speed measurement in the first step. 17. The method as described in claim 15, wherein a prescribed control or evaluation, especially a measured value evaluation, occurs once within a prescribed time window (Tint), and the method comprises the step of providing or considering a prescribed measured value or measure value pair of a prescribed parameter, such as a transmission input speed, for this time window and considering the provision or consideration of the prescribed value in the calculation of the deviation. 18. The method as described in claim 15, wherein calculating the deviation comprises the further step of considering any increase of the transmission input speed that is essentially independent of the juddering vibration. 19. The method as described in claim 15 wherein calculating the deviation comprises the step of using a parameter selected from the group consisting of interrupt time Tint said interrupt time Tint being the duration of a time period in which an evaluation, especially a measured value evaluation of angular speed of a transmission input shaft, occurs once and is provided for the one measured value or measured value pair; median, the median indicating the focal point of predetermined measured value pairs, and in particular from assignments of the angular speed of the transmission input shaft to instants at which these angular speeds are present; an instant (Tmax) that is present if a local extremum, especially a local maximum, related to rotary or angular speed signals of the transmission input shaft provided at timed intervals, which was detected as required in a first step, is present or is assigned to it; local extremum, especially a local maximum (ωmax) that is related to rotary or angular speed signals of the transmission input shaft, which in some cases was detected in a first step; amplitude of juddering vibration (A) and in particular last amplitude of the juddering vibration; frequency of the juddering vibration (ωGrabbing)/(2*π)); total (average) slope of the angular speed of the transmission input shaft (B); and, angle between two teeth of a travel sensor (φpulse). 20. The method as described in claim 14, which comprises the steps of determining or approximating via the calculated deviation, an actual local extremum, especially a maximum, of an angular speed of a transmission input shaft and/or determining or approximating the actual phase of the angular speed of the transmission input shaft that is moved, also in a vibratory manner, during the juddering. 21. The method as described in claim 15, which comprises the steps of modulating a reference clutch control travel and/or torque transmissible by the clutch transmission using the phase angle calculated in the first step, and in particular the phase angle of the angular speed of the transmission input shaft and/or the juddering vibration. 22. The method as described in claim 15, which comprises the steps of using a phase angle of the rotary speed and/or the angular speed of the transmission input shaft and/or of the juddering vibration that is at least approximated in a second step to the actual phase angle of this transmission input speed and/or of the juddering vibration; and/or using the deviation for the modulation of the reference clutch control travel and/or of the torque transmissible by the clutch device. 23. The method as described in claim 14, which comprises the steps of changing the period of modulation of reference clutch control travel and/or of the torque transmissible by the clutch device, and in particular in order to at least further approximate the phase angle of this modulated reference clutch control travel and/or torque transmissible by the clutch device to the actual phase angle of the speed of the transmission input shaft, using the time deviation of the time position between an extremum calculated in a first step, especially a local maximum, of the transmission input speed and a value for a local extremum at least approximated in a second step to the time position of an actual extremum, especially a maximum. 24. The method as described in claim 23, wherein changing the period of the modulation comprises changing the period of the modulation of the reference clutch control travel and/or of the torque transmissible by the clutch device in such a manner that the period is extended or shortened for a period by this deviation. 25. The method as described in claim 21, which comprises modulating the reference clutch control travel and/or the torque transmissible by the clutch device as a function of the detected local extremum, especially local maximum, and/or of its time position and/or of a calculated deviation in order to counteract the juddering vibrations. 26. The method as described in claim 1, wherein adjusting the device (iv) is performed by changing the position of a drive train component to counteract detected juddering vibrations, where the position change is prescribed according to a predetermined function, especially a time function, that has a ramp function; and, in response to changing the position, changing a rotary parameter of a drive train component. 27. The method as described in claim 1 comprising determining whether there are juddering vibrations in a motor vehicle drive train; changing the position of a device to counteract juddering vibrations, whereby the juddering vibrations are counteracted by the change in the position of the device in first time segments and the change in the position of the device is interrupted in second time segments so that the system may vibrate freely in these two time segments; and, in response changing the position of this device, changing a rotary parameter of a drive train component. 28. The method as described in claim 26 wherein the device is the clutch device; and the method comprises modulating the torque transmissible by the clutch device and/or the clutch control travel, especially a reference clutch control travel, in order to counteract the juddering vibrations. 29. The method as described in claim 28, wherein the ramp function comprises a section in which a ramp is run up from a starting value to a value and a section situated later in time in which a ramp is driven back down from this value to a final value and in particular to a final value that corresponds to the starting value. 30. The method as described in claim 29, wherein the ramp function comprises at least one first section in which a ramp is driven up from a starting value to a value and at least one second section subsequent to the first section in which the ramp function is held to this constant value, and at least one third section in turn succeeding the second in which the ramp function is driven down from the constant value to a final value, and in particular to a final value that corresponds to the starting value. 31. The method as described in claim 30, wherein the constant value is essentially equal to "one". 32. The method as described in claim 31, wherein the starting value and the final value of the ramp function in each case equals "zero". 33. The method as described in claim 32, which comprises specifying the modulated clutch control travel as a function of an adjustment factor and in particular as a function of an adjustment constant. 34. The method as described in claim 33, which comprises specifying the modulated clutch control travel as a function of an amplitude of the juddering vibrations and in particular as a function of the last amplitude found. 35. The method as described in claim 34, which comprises determining the modulated clutch control travel as a function of a sine function and in particular as a function of a sine function that depends on frequency of the judder and/or of time and/or of a determined phase shift between juddering vibration and the characteristic of the travel modulation. 36. The method as described in claim 34, which comprises determining the modulated clutch control travel as a function of an amplitude of the juddering vibration and as a function of a sine function, the amplitude being updated at the zero crossing of the sine function and in particular as a function of the transmission input speed. 37. The method according to claim 26, wherein adjusting the device (iv) is performed by alternately changing the position of a device selected from the group consisting of the transmission device and the clutch device, especially clutch control travel modulation, in first time segments and the excluded change of this position in second time segments until it detecting that the amplitude of the juddering vibration is smaller than a prescribed shutoff threshold. 38. The method as described in claim 37, wherein the duration of the first time segments corresponds to between one and five judder periods, especially two to three judder periods. 39. The method as described in claim 37, which comprises specifying the modulated clutch control travel as a function of a phase shift between the juddering vibration and the characteristic of the actual travel modulation and/or as a function of a sine function that is a function of the phase shift; and, updating a current phase shift in two time periods. 40. The method as described in claim 37, which comprises specifying the modulated clutch control travel as a function of a phase shift between the juddering vibration and the characteristic of the actual travel modulation and/or as a function of a sine function that is a function of this phase shift; and, considering a current phase shift in first time periods for the clutch control travel modulation as a constant and in particular at least partially corresponding to a value that was calculated of a previous second period. 41. The method as described in claim 1, which comprises the steps of determining whether juddering vibrations are present in a motor vehicle drive train; disposing a clutch device in this drive train that can be operated in a slip mode; and modulating the torque transmissible by the clutch device and/or of the clutch control travel to counteract the detected juddering vibrations, whereby the modulation is such that there is control of a modulated reference clutch torque, which is specified as the difference between the unmodulated clutch torque and a product, whereby this product, furthermore, has a first factor that is a function of the angular speed of a clutch plate and/or the angular speed of a transmission input shaft and/or the angular speed of a wheel of the motor vehicle and/or a ratio that is assigned to a gear which is shifted in a transmission device disposed in a drive train, and whereby, furthermore, this adjustment constant is a function of parameters of the vibrating drive train system and/or of parameters that describe or at least assist in describing the friction characteristic of the clutch device. 42. The method as described in claim 1, which comprises determining whether juddering vibrations are present in a motor vehicle drive train; disposing a clutch device in this drive train that can be operated in a slip mode; and, modulating torque transmissible by the clutch device and/or the clutch control travel to counteract detected juddering vibrations, whereby the modulation is such that there is control of a modulated reference clutch torque, which is specified as the difference between unmodulated clutch torque and a product, whereby this product, furthermore, has a first factor that is a function of the angular speed of a clutch plate and/or the angular speed of a transmission input shaft and/or the angular speed of a wheel of the motor vehicle and/or a ratio that is assigned to a gear which is shifted in a transmission device disposed in a drive train, and whereby, furthermore, this adjustment constant is a function of the reference clutch torque and/or of a nominal clutch torque that is calculated assuming a nominal friction value and/or is a function of a calculated slip. 43. The method as described in claim 41, wherein the adjustment constant is a function of a function that describes how the coefficient of friction of the clutch device changes via the slip of the clutch device, and/or a function of the time derivative of such a function. 44. The method as described in claim 41, wherein the adjustment constant is a function of period T of the juddering vibration. 45. The method as described in claim 41, wherein the adjustment constant is a function of the moment of inertia of a clutch plate and/or of the transmission input. 46. The method as described in claim 41, wherein the adjustment constant is a function of a nominal coefficient of friction of the clutch device. 47. The method as described in claim 41, wherein the adjustment constant is a function of a quotient of two amplitudes of the juddering vibration that follow one after the other in time sequence and in particular of the logarithm of such a quotient. 48. The method as described in claim 26, which comprises building up the ramp to its target value within approximately one period of the juddering vibration. 49. The method as described in claim 1, which comprises determining whether juddering vibrations are present in a motor vehicle drive train; disposing a clutch device within the drive train that is operable in a slip mode; and, modulating the torque transmissible by the clutch device and/or of the clutch control travel to counteract detected juddering vibrations, whereby this modulation is such that the modulation is carried out in different sections according to a different characteristic. 50. The method as described in claim 1, which comprises determining whether juddering vibrations are present in a motor vehicle drive train; disposing a clutch device within the drive train that is operable in a slip mode; and, modulating the torque transmissible by the clutch device and/or of the clutch control travel to counteract detected juddering vibrations, whereby this modulation is such that it is designed in a vibratory manner and has a first half wave and as required a second half wave whereby the amplitude of the first half wave is greater than the amplitude of the second half wave. 51. The method as described in claim 50, which comprises interrupting or terminating the modulation according to the second half wave, and calculating the phase of the juddering vibration, and in particular via at least one local extremum, such as a local maximum, of the juddering vibration and/or of the transmission input speed. 52. The method as described in claim 50, wherein the amplitude of the second half wave is equal to zero. 53. The method as described in claim 51, which comprises interrupting or terminating the modulation according to the first half wave and, calculating the phase of the juddering vibration, and in particular via at least one local extremum, such as a local maximum, of the juddering vibration and/or of the transmission input speed. 54. The method as described in claim 50, wherein the first half wave and/or the second half wave is a half wave of a sinusoidal vibration. 55. The method as described in claim 2, which comprises starting the modulation with a phase shift in relation to the juddering vibration. 56. The method as described in claim 55, which comprises detecting a local extremum, especially a local maximum, of the juddering vibration; and, in response thereto starting the modulation. 57. The method as described in claim 2, which comprises the steps of forming the modulation in such a manner that a tangent of the time characteristic of the modulation of the transmissible torque and/or of the clutch control travel at the beginning and/or at the end of a half wave runs essentially parallel to the time axis. 58. The method as described in claim 1, which comprises the steps of determining whether juddering vibrations are present in a motor vehicle drive train; disposing a clutch device within the drive train that is operable in a slip mode, and modulating the torque transmissible by the clutch device and/or the clutch control travel to counteract detected juddering vibrations, wherein the modulation is such that the modulation is determined as a function of the juddering vibration and/or the parameters describing the juddering vibration and/or a function describing the juddering vibration and as a function of prescribed boundary conditions. 59. The method as described in claim 58, which comprises the step of describing the juddering vibration especially as a function of the torsion angle of a predetermined drive train section. 60. The method as described in claim 58, which comprises the steps of prescribing the characteristic of the modulation as a function of variables, and prescribing these variables at least partially on the basis of the boundary conditions. 61. The method as described in claim 58, wherein a boundary condition comprises the torsion angle at the instant "zero" corresponding to the difference between the torsion angle that would be present in the given load scenario while disregarding the juddering vibration and the angle amplitude corresponds to the juddering vibration. 62. The method as described in claims 58, wherein a boundary condition comprises the time derivative of the torsion angle at the "zero" instant being equal to "zero". 63. The method as described in claim 58, wherein a boundary condition comprises a torsion angle at the instant of the half period of the juddering vibration corresponding to the torsion angle that would be present in the given load scenario while disregarding the juddering vibration. 64. The method as described in claim 58, wherein a boundary condition comprises the time derivative of the torsion angle at the instant of the half period of the juddering vibration being equal to "zero". 65. The method as described in claim 58, wherein the period of the modulation of the torque transmissible by the clutch device and/or of the clutch control travel corresponds to the half period of the juddering vibration. 66. The method as described in claim 58, which comprises the steps of modulating the torque transmissible by the clutch device and/or the clutch control travel by an amount corresponding to a function a*sin(co*t), a being a factor, ωcorresponding to 2*π times the frequency of the modulation vibration and t being the time.
Treinies Stefan,DEX ; Vogt Thomas,DEX ; Haeuser Andreas,DEX, Method and engine control for suppressing vibration of the drive train in a motor vehicle.
Hofmann Rainer (Stuttgart DEX), Regulating apparatus which influences a mixture-forming installation of an internal-combustion engine of a motor vehicle.
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