Continuously variable transmission control
A control system for a vehicle uses one or more inputs of a velocity request, a brake request, a speed request, travel direction indication, engine speed, and vehicle speed to determine a control strategy for a continuously variable transmission. A target engine speed is selected based upon the inputs, and the engine and continuously variable transmission ratio are controlled to achieve the target engine speed while controlling the vehicle according to the inputs. In some embodiments, the control strategy further selects the target engine speed according to accessory system demands, such as a hoist or lift system.
1. A method for controlling a vehicle equipped with an engine coupled to a continuously variable transmission (CVT) with a controllable drive ratio, comprising:
via a processor on the vehicle, monitoring a current engine speed;
via the processor on the vehicle, monitoring a transmission output speed;
via the processor on the vehicle and based upon a commanded vehicle speed being greater than a current vehicle speed, executing an acceleration process comprising:
determining an acceleration engine speed based on the commanded vehicle speed;
determining a target engine speed that is greater than the acceleration engine speed;
commanding the engine to operate at the target engine speed;
iteratively determining, each time a predetermined amount of time elapses, whether the transmission output speed has changed compared to the transmission output speed at the end of the previous iteration, and, in response to the transmission output speed having changed, determining a new acceleration drive ratio for the CVT, wherein the new acceleration drive ratio facilitates the engine operating at the acceleration engine speed; and
iteratively changing the CVT to the new acceleration drive ratio.
2. The method of claim 1 , further comprising:
via the processor on the vehicle and based upon a commanded vehicle speed being less than a current vehicle speed, executing a deceleration process comprising:
determining a braking engine speed; and
iteratively determining, each time the predetermined amount of time elapses, whether the transmission output speed has changed, and, in response to the transmission output speed having changed, determining a new deceleration drive ratio for the CVT to facilitate the engine operating at the braking engine speed; and
iteratively changing the CVT to the new deceleration drive ratio.
3. The method of claim 1 , further comprising:
via the processor on the vehicle and based upon a commanded vehicle speed being equal to a current vehicle speed, executing a steady state process comprising:
determining a steady state engine speed based on the commanded vehicle speed, wherein the steady state engine speed minimizes engine speed and maximizes engine torque;
determining a steady state transmission output speed based on the commanded vehicle speed;
determining a steady state drive ratio for the CVT that is based on the steady state engine speed and the steady state transmission output speed;
changing the engine speed to the steady state engine speed; and
changing the CVT to the steady state drive ratio.
4. The method of claim 2 , further comprising:
via the processor on the vehicle and based upon a commanded vehicle speed being equal to a current vehicle speed, executing a steady state process comprising:
determining a steady state engine speed based on the commanded vehicle speed, wherein the steady state engine speed minimizes engine speed and maximizes engine torque;
determining a steady state transmission output speed based on the commanded vehicle speed;
determining a steady state drive ratio for the CVT that is based on the steady state engine speed and the steady state transmission output speed;
changing the engine speed to the steady state engine speed; and
changing the CVT to the steady state drive ratio.
5. The method of claim 4 , further comprising executing, via the processor on the vehicle, the acceleration process, the deceleration process, and the steady state process simultaneously by:
determining a control coefficient by dividing the current vehicle speed by the commanded vehicle speed, wherein the control coefficient is limited to values that are greater than or equal to 0 and less than or equal to 2;
determining an acceleration gain value based on the control coefficient, wherein the acceleration gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
determining a deceleration gain value based on the control coefficient, wherein the deceleration gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
determining a steady state gain value based on the control coefficient, wherein the steady state gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
wherein the acceleration gain value plus the deceleration gain value plus the steady state gain value equals 1;
determining a desired engine speed by adding the results of (i) multiplying the acceleration engine speed by the acceleration gain value, (ii) multiplying the braking engine speed by the deceleration gain value, and (iii) multiplying the steady state engine speed by the steady state gain value;
determining a desired transmission ratio by adding the results of (i) multiplying the acceleration drive ratio by the acceleration gain value, (ii) multiplying the deceleration drive ratio by the deceleration gain value, and (iii) multiplying the steady state drive ratio by the steady state gain value;
changing the engine speed to the desired engine speed; and
changing the drive ratio for the CVT to the desired transmission drive ratio.
6. The method of claim 5 , wherein:
the controller on the vehicle determines that the acceleration gain value equals 1 when the control coefficient is greater than or equal to 0 and less than or equal to 0.6, that the acceleration gain value decreases from 1 to 0 as the control coefficient changes from greater than 0.6 to less than or equal to 1.0, and that the acceleration gain value equals 0 when the control coefficient is greater than 1.0 and less than or equal to 2.0;
the controller on the vehicle determines that the steady state gain value equals 0 when the control coefficient is greater than or equal to 0 and less than or equal to 0.6, that the steady state gain value increases from 0 to 1 as the control coefficient changes from greater than 0.6 to less than or equal to 1, that the steady state gain value decreases from 1 to 0 as the control coefficient changes from greater than 1 to less than or equal to 1.4, and that the steady state gain value equals 0 when the control coefficient is greater than 1.4 and less than or equal to 2.0; and
the controller on the vehicle determines that the deceleration gain value equals 0 when the control coefficient is greater than or equal to 0 and less than or equal to 1, that the deceleration gain value increases from 0 to 1 as the control coefficient changes from greater than 1 to less than or equal to 1.4, and that the deceleration gain value equals 1 when the control coefficient is greater than 1.4 and less than or equal to 2.0.
7. The method of claim 4 , further comprising:
via the controller on the vehicle, determining an operative engine speed based upon power requirements of a hoist mechanism;
via the controller on the vehicle, changing the engine speed from whichever of the acceleration engine speed, braking engine speed, or steady state engine speed at which the engine had been operating to the operative engine speed; and
via the controller on the vehicle, controlling the drive ratio for the CVT such that the vehicle operates at the commanded vehicle speed regardless of an increase of the engine speed above whichever of the acceleration engine speed, braking engine speed, or steady state engine speed at which the engine had been operating.
8. A non-transitory computer readable medium (CRM) comprising instructions that, when executed by a processor of a vehicle systems manager, cause the vehicle systems manager to:
monitor a current engine speed;
monitor a transmission output speed;
based upon a commanded vehicle speed being greater than a current vehicle speed, execute an acceleration program causing the processor of the vehicle system manager to:
determine an acceleration engine speed based on the commanded vehicle speed;
determine a target engine speed that is greater than the acceleration engine speed;
command the engine to operate at the target engine speed;
iteratively determine, for each time a predetermined amount of time elapses, whether the transmission output speed has changed compared to the transmission output speed at the end of the previous iteration, and, in response to the transmission output speed having changed, determine a new acceleration drive ratio for the CVT, wherein the new acceleration drive ratio is decreased compared to the previous acceleration drive ratio to facilitate the engine operating at the acceleration engine speed if the current engine speed is less than the acceleration engine speed, or wherein the new acceleration drive ratio is increased compared to the previous acceleration drive ratio to facilitate the engine operating at the acceleration engine speed if the current engine speed is greater than the acceleration engine speed; and
iteratively change the CVT to the new acceleration drive ratio.
9. The CRM of claim 8 , wherein the instructions are further configured, when executed by the processor of the vehicle systems manager, cause the vehicle systems manager to:
based upon a commanded vehicle speed being less than a current vehicle speed, execute a deceleration program causing the processor of the vehicle system manager to:
determine a braking engine speed; and
iteratively determine, for each time the predetermined amount of time elapses, whether the transmission output speed has changed, and, in response to the transmission output speed having changed, determine a new deceleration drive ratio for the CVT to facilitate the engine operating at the braking engine speed; and
iteratively change the CVT to the new deceleration drive ratio.
10. The CRM of claim 9 , wherein the instructions are further configured, when executed by the processor of the vehicle systems manager, cause the vehicle systems manager to:
based upon a commanded vehicle speed being equal to a current vehicle speed, execute a steady state program causing the processor of the vehicle system manager to:
determine a steady state engine speed based on the commanded vehicle speed, wherein the steady state engine speed minimizes engine speed and maximizes engine torque;
determine a steady state transmission output speed based on the commanded vehicle speed;
determine a steady state drive ratio for the CVT that is based on the steady state engine speed and the steady state transmission output speed;
change the engine speed to the steady state engine speed; and
change the CVT to the steady state drive ratio.
11. The CRM of claim 10 , wherein the instructions are further configured, when executed by the processor of the vehicle systems manager, cause the vehicle systems manager to:
execute the acceleration process, the deceleration process, and the steady state process simultaneously by:
determining a control coefficient by dividing the current vehicle speed by the commanded vehicle speed, wherein the control coefficient is limited to values that are greater than or equal to 0 and less than or equal to 2;
determining an acceleration gain value based on the control coefficient, wherein the acceleration gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
determining a deceleration gain value based on the control coefficient, wherein the deceleration gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
determining a steady state gain value based on the control coefficient, wherein the steady state gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
wherein the acceleration gain value plus the deceleration gain value plus the steady state gain value equals 1;
determining a desired engine speed by adding the results of (i) multiplying the acceleration engine speed by the acceleration gain value, (ii) multiplying the braking engine speed by the deceleration gain value, and (iii) multiplying the steady state engine speed by the steady state gain value;
determining a desired transmission ratio by adding the results of (i) multiplying the acceleration drive ratio by the acceleration gain value, (ii) multiplying the deceleration drive ratio by the deceleration gain value, and (iii) multiplying the steady state drive ratio by the steady state gain value;
changing the engine speed to the desired engine speed; and
changing the drive ratio for the CVT to the desired transmission drive ratio.
12. The CRM of claim 11 , wherein the instructions are further configured, when executed by the processor of the vehicle systems manager, cause the vehicle systems manager to:
determine that the acceleration gain value equals 1 when the control coefficient is greater than or equal to 0 and less than or equal to 0.6, that the acceleration gain value decreases from 1 to 0 as the control coefficient changes from greater than 0.6 to less than or equal to 1.0, and that the acceleration gain value equals 0 when the control coefficient is greater than 1.0 and less than or equal to 2.0;
determine that the steady state gain value equals 0 when the control coefficient is greater than or equal to 0 and less than or equal to 0.6, that the steady state gain value increases from 0 to 1 as the control coefficient changes from greater than 0.6 to less than or equal to 1, that the steady state gain value decreases from 1 to 0 as the control coefficient changes from greater than 1 to less than or equal to 1.4, and that the steady state gain value equals 0 when the control coefficient is greater than 1.4 and less than or equal to 2.0; and
determine that the deceleration gain value equals 0 when the control coefficient is greater than or equal to 0 and less than or equal to 1, that the deceleration gain value increases from 0 to 1 as the control coefficient changes from greater than 1 to less than or equal to 1.4, and that the deceleration gain value equals 1 when the control coefficient is greater than 1.4 and less than or equal to 2.0.
13. The CRM of claim 12 , wherein the instructions are further configured, when executed by the processor of the vehicle systems manager, cause the vehicle systems manager to:
determine an operative engine speed based upon power requirements of a hoist mechanism;
change the engine speed from whichever of the acceleration engine speed, braking engine speed, or steady state engine speed at which the engine had been operating to the operative engine speed; and
control the drive ratio for the CVT such that the vehicle operates at the commanded vehicle speed regardless of an increase of the engine speed above whichever of the acceleration engine speed, braking engine speed, or steady state engine speed at which the engine had been operating.
14. A system for controlling a vehicle powered by an engine coupled to a continuously variable transmission (CVT), comprising:
a processor operatively coupled to an engine speed source, operatively coupled to a transmission output shaft speed source, operatively coupled to an electronic engine speed control actuator, and operatively coupled to an electronic transmission ratio control actuator;
wherein the processor is configured to receive a commanded vehicle speed;
wherein the processor is configured to either receive or determine a current vehicle speed;
wherein the processor is configured to either receive an engine speed from the engine speed source or to determine the engine speed based on the engine speed source;
wherein the processor is configured to either receive a transmission output shaft speed from the transmission output shaft speed source or to determine the transmission output shaft speed based on the transmission output shaft speed source;
wherein the processor is programmed to accelerate the vehicle, based upon the commanded vehicle speed being greater than the current vehicle speed, by:
determining an acceleration engine speed and a target engine speed that is greater than the acceleration engine speed;
causing the electronic engine speed control actuator to command the engine to operate at the target engine speed;
determine a target drive ratio for the CVT based on the engine speed and the transmission output shaft speed to cause the engine to operate at the selected engine speed;
causing the electronic transmission ratio control actuator to operate the CVT at the target drive ratio; and
at a predetermined time interval, repeatedly redetermining the target drive ratio in response to the transmission output shaft speed changing, and causing the electronic transmission ratio control actuator to operate the CVT at the redetermined target drive ratio to cause the engine to operate at the selected engine speed.
15. The apparatus of claim 14 , wherein redetermining the target drive ratio comprises lowering the target drive ratio when the engine speed is less than the selected engine speed or increasing the target drive ratio when the engine speed is greater than the selected engine speed.
16. The apparatus of claim 14 , wherein:
the processor is further programmed to maintain a steady state speed for the vehicle, based upon the commanded vehicle speed being equal to the current vehicle speed, by:
determining a steady state engine speed based on the commanded vehicle speed, wherein the steady state engine speed minimizes engine speed and maximizes engine torque;
determining a steady state transmission output speed based on the commanded vehicle speed;
determining a steady state drive ratio for the CVT that is based on the steady state engine speed and the steady state transmission output speed;
causing the electronic engine speed control actuator to command the engine to operate at the steady state engine speed; and
causing the electronic transmission ratio control actuator to operate the CVT at the steady state drive ratio;
and wherein
the processor is further programmed to decelerate the vehicle, based upon the commanded vehicle speed being less than the current vehicle speed, by:
determining a braking engine speed; and
iteratively determining, each time the predetermined amount of time elapses, whether the transmission output speed has changed, and, in response to the transmission output speed having changed, determining a new deceleration drive ratio for the CVT to facilitate the engine operating at the braking engine speed; and
iteratively causing the electronic transmission ratio control actuator to operate the CVT at the new deceleration drive ratio.
17. The apparatus of claim 16 , wherein the processor is further programmed to simultaneously perform a weighted implementation of vehicle acceleration, steady state speed, and deceleration by:
determining a control coefficient by dividing the current vehicle speed by the commanded vehicle speed, wherein the control coefficient is limited to values that are greater than or equal to 0 and less than or equal to 2;
determining an acceleration gain value based on the control coefficient, wherein the acceleration gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
determining a deceleration gain value based on the control coefficient, wherein the deceleration gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
determining a steady state gain value based on the control coefficient, wherein the steady state gain value is limited to values that are greater than or equal to 0 and less than or equal to 1;
wherein the acceleration gain value plus the deceleration gain value plus the steady state gain value equals 1;
determining a desired engine speed by adding the results of (i) multiplying the acceleration engine speed by the acceleration gain value, (ii) multiplying the braking engine speed by the deceleration gain value, and (iii) multiplying the steady state engine speed by the steady state gain value;
determining a desired transmission ratio by adding the results of (i) multiplying the acceleration drive ratio by the acceleration gain value, (ii) multiplying the deceleration drive ratio by the deceleration gain value, and (iii) multiplying the steady state drive ratio by the steady state gain value;
causing the electronic engine speed control actuator to command the engine to operate at the desired engine speed; and
causing the electronic transmission ratio control actuator to operate the CVT at the desired transmission drive ratio.
18. The apparatus of claim 17 , wherein the processor is further programmed to:
determine that the acceleration gain value equals 1 when the control coefficient is greater than or equal to 0 and less than or equal to 0.6, that the acceleration gain value decreases from 1 to 0 as the control coefficient changes from greater than 0.6 to less than or equal to 1.0, and that the acceleration gain value equals 0 when the control coefficient is greater than 1.0 and less than or equal to 2.0;
determine that the steady state gain value equals 0 when the control coefficient is greater than or equal to 0 and less than or equal to 0.6, that the steady state gain value increases from 0 to 1 as the control coefficient changes from greater than 0.6 to less than or equal to 1, that the steady state gain value decreases from 1 to 0 as the control coefficient changes from greater than 1 to less than or equal to 1.4, and that the steady state gain value equals 0 when the control coefficient is greater than 1.4 and less than or equal to 2.0; and
determine that the deceleration gain value equals 0 when the control coefficient is greater than or equal to 0 and less than or equal to 1, that the deceleration gain value increases from 0 to 1 as the control coefficient changes from greater than 1 to less than or equal to 1.4, and that the deceleration gain value equals 1 when the control coefficient is greater than 1.4 and less than or equal to 2.0.
19. The apparatus of claim 17 , wherein the processor is further programmed to:
determine an operative engine speed based upon power requirements of a hoist mechanism;
cause the electronic engine speed control actuator to command the engine to operate at the operative engine speed; and
cause the electronic transmission ratio control actuator to change the drive ratio of the CVT such that the vehicle operates at the commanded vehicle speed regardless of the change of the engine speed to the operative engine speed.