Method and device for controlling the slip of a vehicle clutch

1. A method for controlling the slip of a vehicle clutch, wherein in the method the difference between a speed signal of the drive-end input shaft of the clutch and a filtered speed signal of a transmission-end clutch output shaft are maintained at a desired value, by carrying out the following steps:

(a) calculating a sliding average value n_ma from a raw signal n_raw corresponding to an instantaneous speed of the transmission-end output shaft of the clutch, of which an averaging range of N interrupts is adapted to a chatter frequency 1/T for a respective gear;

(b) calculating a derivative of a sliding average value n_dot from the sliding average value n_ma, calculated in a current interrupt, and from a sliding average value n_ma_old, calculated from a previous interrupt;

(c) calculating a smoothed derivative of a speed signal n_dot_filt with a PT1-filter from the derivative of the sliding average value n_dot calculated in step (b) and from a smoothed derivative of a speed signal n_dot_filt_old calculated in the previous interrupt;

(d) calculating a predicted speed signal n_pred for the current interrupt from a filtered speed signal n_filt_old calculated in the previous interrupt and from the smoothed derivative of the speed signal n_dot_filt;

(e) calculating a weighted average value n_PT1 from the raw signal n_raw and the filtered speed signal n_filt_old calculated in the previous interrupt; and

(f) calculating a filtered speed signal n_filt from a weighted average value n_PT1 and from the predicted speed signal n_pred.

2. The method according to claim 1 , wherein the derivative n_dot is calculated according to the following formula: n_dot=(n_ma−n_ma_old)Δt, wherein Δt=T/N.

3. The method according to claim 1 , wherein the smoothed derivative n_dot_filt is calculated according to the following formula:

n _dot — filt =( p 2 *n _dot+(100− p 2)* n _dot — filt _old)/100;

wherein p 2 is a weighting factor.

4. The method according to claim 1 , wherein the predicted speed signal n_pred is calculated according to the following formula:

n — pred=n — filt _old+ n _dot — filt*Δt.

5. The method according to claim 1 , wherein the weighted average value n_PT1 is calculated according to the following formula:

n — PT 1=( p 1 *n _raw* f — n +(100− p 1)* n — filt _old)/100;

wherein p 1 is a weighting factor, and

f_n

=

T

N

.

6. The method according to claim 1 , wherein the filtered speed signal n_filt is calculated according to the following formula: n_filt=(p 3 *n_pred+(100−p 3 )*n_PT1)/100;

wherein p 3 is a weighting factor.

7. The method according to claim 6 , wherein weighting factor p 3 is set to zero, when the difference between the raw signal n_raw and filtered speed signal n_filt exceeds a limit value for a period longer than the period T of the chatter frequency.

8. The method according to claim 7 , wherein after setting weighting factor p 3 to zero, the value of weighting factor p 3 in each interrupt is raised via a ramp by a fixed amount until an original value of weighting factor p 3 is attained again.

9. The method according to claim 1 , wherein the speed signal of the drive-end input shaft of the clutch is supplied by an electronic engine control device.

10. An apparatus for controlling the slip of a vehicle clutch, comprising a sensor for generating a raw signal n_raw corresponding to the instantaneous speed of the output shaft and an electronic control device, which features an input connected with the sensor, and a further input on which the speed signal of an input shaft of the clutch is present, wherein the electronic control device controls the slip of the clutch according to the method of claim 1 .