Method for actuating a clutch

1. A method for actuating a clutch in the drivetrain of a motor vehicle, comprising using a clutch position controller to:

generate a respective position setpoint for each predetermined target interval in a plurality of predetermined target intervals;

in each predetermined target interval, actuate the clutch in a plurality of predetermined controller sampling intervals;

discretize a respective position setpoint change into a plurality of intermediate position setpoints;

determine a number of intermediate position setpoints in the plurality of intermediate position setpoint depending on a ratio of each target interval to a predetermined controller sampling interval;

specify the respective position setpoint changes in steps to actuate the clutch;

in a first intermediate step, calculate a maximum by comparing an amount of a remainder of a respective position setpoint change with reference to a number of intermediate steps and a predetermined activation threshold of the clutch position controller; and,

add a previously determined maximum to a respective position setpoint generated in a target interval previous to a current target interval to determine an intermediate respective position setpoint discretized in the controller sampling interval.

2. The method according to claim 1 , further comprising, in a current target interval, using the clutch position controller to determine a current respective position setpoint change from a difference between a currently generated respective position setpoint and a respective position setpoint generated in a target interval preceding the current target interval.

3. The method according to claim 1 , further comprising, using the clutch position controller to distribute a current respective position setpoint change over a plurality of intermediate steps corresponding to an integral ratio of the target interval and the controller sampling interval.

4. The method according to claim 1 , further comprising using the clutch position controller to:

discretize the plurality of intermediate position setpoints into a plurality of intermediate steps in the controller sampling interval; and,

form each intermediate position setpoint by using a sum of a previously determined respective position setpoint and a remainder of a remaining residual respective position setpoint change with reference to a remaining number of intermediate steps in a respective intermediate step.

5. The method according to claim 1 , further comprising using the clutch position controller to form a first discretized intermediate position setpoint in the controller scanning interval in a first intermediate step by using a sum of a respective position setpoint generated in a target interval preceding a current target interval, and a remainder, with reference to a number of intermediate steps, of a current respective position setpoint change.

6. The method according to claim 1 , wherein an intermediate position setpoint discretized in the controller sampling interval in a immediately preceding intermediate step corresponds to a respective position setpoint generated in a current target interval.

7. The method according to claim 1 , further comprising, using the clutch position controller to determine whether an amount of a respective position setpoint change is greater than a predetermined minimum and less than a predetermined maximum.