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2004 International Continuously Variable and Hybrid Transmission Congress September 23-25, 2004 Control and Operating Behavior of Continuously Variable Chain Transmissions Roland Mölle Introduction – Chain-CVT Clamping Systems Ratio Control Design during Range Shifts in Autarkic Hybrid
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Hydro-Mechanical Torque Sensor
Typical CVT chain of amodern passenger car:Audi multitronicTorque Capacity up to 300 NmNominal Power 162 kW (V6-3.0)
Pull type Chain in Audi/LuK CVT
Constant Pressure System
Speed Ratio Control
Constant Oil Flow System (PIV)
sF (axial movement of sensorplate)
Conventional Torque Sensor(System PIV)
shift speed ds/dt
Slide valve travelCharacteristic Curve of Actuator in Conventional PIV Clamping Systems
Range shift in Autarkic Hybrid raised the need for improved speed ratio control:
Extremely high torque gradients during range shift(CVT engaged vs. disengaged)
Error signal <0,002 required
Driveline of the Autarkic Hybrid
Absolute value of deviation
Algebraic sign of deviation
Variation of param. (gain scheduling):
Value of control variable
CVT Controller, Variable in Structure
... lead to a change in required z-ratio for steady state operation
Influence of Disturbance Variables
Improved control system is needed for speed ratio control at SYN (i=0,458) during range shift.
Disturbance feedforward (torque)
Extension of the Speed Ratio Controller
The taken measures resulted in a significant improvement of the quality of speed ratio control and reliability of range shifts.
Apply same principles to the CVT controller for universal use:
Results and further Aims
Pulley Misalignment, shaft deflection, pulley distortion, …
… change in clamping force ratio
Extension of the Control Structure
background task (duration ?)
constant task time (e.g. 5ms)
Question: Where to get the z-map from ?
Output of Linear Controller supposed to be Zero in steady state!
Adaptation of z-map
Value of the manipulated variable from linear controllerx weighting factor.
Visualization and Discussion of the Adaptation Process
Modification of the
CVTControl of the Rate ofSpeed Ratio Change di/dt