dct sw shanghai 20100608 armin gottschaller

Transmission Control Software

Overview

Division Powertrain Business Unit Transmission

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1 / P TR RD SW / 2010-05-03 © Continental AG

Transmission Control SW: Overview

Double

Clutch

Transmission

Continuously

Variable

Transmission

Automatic

Transmission

Inclusive their clutches and torque converters

Four-Wheel-

Drive

Components


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Software

Control by SW

Hardware

Commutation by HW

Expertise: Complex Drivers BLDC Motor Control (Example)

Controller position, speed,

current

BLDC

Motor mechanical

Load

Position

(e.g. ATIC 107

or RPS-Sensor)

Current

measure (e.g. ATIC 107)

Signal

Processing (e.g. speed calc)

Torque

Speed

Mechanics

Commutation

(e.g.ATIC107)

Infra-

structure

Infra-

structure

Infra-

structure

Electric Motor Drive


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Physical Model of System in TCU

Expertise: DCT Shift - Clutch Control (wet and dry)

Gradient /

Slip

Control

Actuator

Static & Dynamic

Influences

Online Adaptions

Set point

calculation

Clutch ECU

-

+

Clutch

Actuator

System

Actuator Model

(Hydraulics / E-motor)

Mechanical Clutch Model

(Wet or Dry)

Benefits:

• Good control performance

• High portability of code

• Well-structured software


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Physical Model of System in TCU

Expertise: DCT Shift - Gear Control

Position /

Gradient

Control

Actuator

Static & Dynamic

Influences

Online Adaptions

Set point

calculation

Gearbox ECU

-

+

Synchronisation

Unit

Actuator

System

Actuator Model

(Hydraulics / E-motor)

Mechanical Model

Benefits:

• Good control performance

• High portability of code

• Well-structured software


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DCT Control Software

SW Architecture


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Software architecture - Autosar

AUTOSAR

Interface

DIO

Driver

PORT

Driver

GPT

Driver

ICU

Driver

PWM

Driver

ADC

Driver

I/O Drivers Communication Drivers

CAN Driver LIN Driver Flexray Driver

Memory Drivers

Int FLASH

Driver

Int EEPROM

Driver

Ext EEPROM

Driver

Ext FLASH

Driver

Controllers Drivers

Watchdog

Driver SPI Driver

MCU Driver

SPI Handler Watchdog Interface

Onboard Device Abstract.

FLASH Interface EEPROM Interface

Memory HW Abstraction

CAN Interface Flexray Interface

Communication Hardware Abstraction

LIN Interface (incl LIN

TP)

I/O Hardware Abstraction

I/O HW Abstraction

Communication

Manager

Generic NM

CAN

NM

Flexray

NM

PDU Router

CAN TP Flexray TP

AUTOSAR

COM

Signal

based

GW

Diag COM

Manager

Communication Services

Flash EEPROM

Emulation

NVRAM

Manager

Memory Services

Diagnostic

Event Manager

Development

Error Tracer

System Services

Watchdog

Manager

ECU State

Manager

Function

Inhibition Mngr CRC

AU

TO

SA

R C

OM

Complex

Device

Drivers

CDD

AUTOSAR Run Time Environment (RTE)

Software

Component

Software

Component

Software

Component

AUTOSAR

Interface

AUTOSAR

Interface

Software

Component

AUTOSAR

Interface

Software

Component

AUTOSAR

Interface

AUTOSAR SW Components

AUTOSAR Basic Software

Continental

Application SW


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DCT Control Software

Application SW Architecture


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Software Architecture – DCT Application Software

DIA

GN

OS

TIC

S

INFRASTRUCTURE SOFTWARE

GEAR POSITIONER CONTROL CLUTCH POSITION CONTROL SHAFT PRESSURE CONTROL

GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL

SHAFT ACCESS CONTROL

TRANSMISSION MANAGER DRIVING STRATEGY

ADAPTION MANAGER

MAIN PRESSURE CONTROL


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL


TRANSMISSION MANAGER


ADAPTION MANAGER

GEAR POSITIONER CONTROL SHAFT PRESSURE CONTROL

GEAR POSITIONER

SHAFT CONTROL


ADAPTION MANAGER

Static Gear Decision

Load Detection

Driver Detection

Fast Off Detection

Brake Assistance

Deceleration

Slip Detection

Manual Mode

Upshift Control Sequence Gear Preselection

DRIVING STRATEGY


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


GEAR POSITIONER

SHAFT CONTROL


ADAPTION MANAGER


Load Detection

Driver Detection

Fast Off Detection

Brake Assistance

Deceleration

Slip Detection

Manual Mode


DRIVING STRATEGY


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


GEAR POSITIONER

SHAFT CONTROL


ADAPTION MANAGER


Load Detection

Driver Detection

Fast Off Detection

Brake Assistance

Deceleration

Slip Detection

Manual Mode


DRIVING STRATEGY (SAT)

• Determines the gear on the non-active

shaft (i.e. clutch is open)


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DIA

GN

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TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

• Handles general states of transmission

(e.g. start-up, normal mode, shut-down,

fail safe, EOL-calibration)

• Handles general states of engine

(off, running, stalled)


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

Next Gear Determination Shaft Enable


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


• Determines intermediate and final target

gear

• Handles interruption of running shifts

(change-of-mind shifts, skip shifts)

• Checks conditions to perform power-off

downshift as AMT shift


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


• Handles the state of the transmission

(in-gear driving, shifting, limp home mode)

• Coordinates actions by gear actuators or

clutch on one shaft


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

• Handling one shaft

• Commands to individual gear actuators on

this shaft (Gear A, Gear B or Neutral)

• Returns state of shaft


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DIA

GN

OS

TIC

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GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

• Control of one gear actuator

(Determination of setpoints)

• Handles engagement & disengagement

of gears


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DIA

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TIC

S


CLUTCH POSITION CONTROL SHAFT PRESSURE CONTROL

GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER • Closed-loop controllers to reach a com-

manded target position, force or velocity

• Sends target current to gear actuator valves

GEAR POSITIONER CONTROL


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

• High level clutch control (torque based)

• Handles all clutch actions

(see details on following slides)

• Determines Engine Torque Intervention


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

CLUTCH STRATEGY CLUTCH PROTECTION

DOWNSHIFT

MICROSLIP CONTROL CREEP CONTROL

UPSHIFT

CLUTCH DIAGNOSIS LAUNCH

Engine Torque Intervention Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT


Engine Torque Intervention

• Main state machine of clutch

• Analysis of driving situation and derivation

of clutch target state

• Calculation of necessary values (e.g.

speed values)

Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT



• Monitoring of clutch slip & temperature

• Takes measures to protect clutch (e.g.

reduce slip & torque)

Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT



• Coordination of upshifts

• Analyses sub-type of upshift

• Handles all phases of shift

Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT



• Coordination of downshifts

• Analyses sub-type of downshift

• Handles all phases of shift

Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT


Engine Torque Intervention Clutch Adaption

• Controls creep process

• Hillholder functionality

• Clutch protection

• Stall protection


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DIA

GN

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TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT



• Adjusts microslip at clutches

Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT



• Controls launch process

• Clutch protection at special situations

(heavy load, misuse)

• Stall protection

Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT



• Compares measured and expected

clutch pressure

Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT



• Sends engine torque request to engine

management system

Clutch Adaption


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DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER


DOWNSHIFT


UPSHIFT



• Handles clutch adaptions for Kiss point

and clutch characteristics

Clutch Adaption


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DIA

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S



GEAR POSITIONER

SHAFT CONTROL CLUTCH CONTROL




ADAPTION MANAGER

• Pressure target (wet clutch) or position

target (dry clutch) is derived from torque

request

• Clutch characteristics are basis

TORQUE CONTROL


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DIA

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GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

• Dry clutch: Position controller of clutch

• Wet clutch: Target current for pressure

control valve

CLUTCH POSITION CONTROL


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DIA

GN

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TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

• Coordination of adaptions ("online" or

"EOL") which apply simultaneous actions

on clutch and gear side


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DIA

GN

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TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

• Adjustment of shaft supply pressure de-

pending on requests of gear and clutch

actuator


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GN

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TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




ADAPTION MANAGER

• Adjustment of line pressure depending

on requests coming from both shafts


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Transmission Control Software

Application SW additional components for HEV


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Software Architecture – DCT Application Software Special Functionality - Hybrid Electrical Vehicle (HEV)

DIA

GN

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TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




HYBRID COORDINATOR

HYBRID RESTART


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Software Architecture – DCT Application Software Special Functionality - Hybrid Electrical Vehicle (HEV)

DIA

GN

OS

TIC

S



GEAR POSITIONER

SHAFT CONTROL

TORQUE CONTROL

CLUTCH CONTROL




• Control of additional "HEV clutch"

• Handling of Engine Restart

• Coordination of clutch & engine

HYBRID RESTART

• Coordination of HEV driving states:

Electric drive, Hybrid drive, Coasting,

Engine Restart, Engine Stop

HYBRID COORDINATOR


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Conclusion: DCT systems

In production - Wet clutch / Hydraulic actuation

Volkswagen & Audi "6 Speed DSG"

Audi "S tronic" for "quattro" vehicles

AMG “Speedshift DCT”

BMW "M DCT“ (part of the application SW)

In production - Dry clutch / Hydraulic actuation

Volkswagen "7 Speed DSG"

Several projects under development


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Thank you for your Attention Thank you for your Attention

dct sw shanghai 20100608 armin gottschaller

Documents

p tr rd sw

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