Seoul 2000 FISITA World Automotive Congress June 12-15, 2000, Seoul, Korea

F2000A079

A Study on Response Improvement of Proportional Control Solenoid Valve for Automatic Transmission
Hyoun-Woo Lee1), Baek-Hyun Cho1) , Won-Hi Lee1)
Transmission Test Team, Powertrain R&D Center, Hyundai Motor Company 772-1, Changduk-Ri, Namyang-Myun, Hwasung-Gun, Kyonggi-Do, 445-850, Korea As most of these days automatic transmissions adopt an electro-hydraulic controlled system, the role of the solenoid valve electronically controlled occupies an important position. This paper presents the driving circuit model with a current compensator by using system identification theory in addition to the existing dynamic model of the proportional control solenoid valve(PCSV). And the optimized parameter in the current compensator is obtained by frequency domain analysis so that the dynamic response is improved. In addition, we find that there are good matches between the simulation results and the experimental data. Keywords: Proportional Control Solenoid Valve, Automatic Transmission, Driving circuit, System Identification, Parameter Optimization Electro-magnetic system is separated with some subsystem; Input signal filter, Feedback signal filter, Controller, Soleonid coil. The unknown parameters are obtained by using system identification theory like Chos study. Then the optimized parameter in current compensator of eletro-magnetic part is obtained by frequency domain analysis so that the dynamic response is improved. Also we find that there are good matches between the simulation results and the experimental data..
1)

INTRODUCTION
The solenoid valve used for automatic transmission has the complex characteristics. It has electric, magnetic, hydraulic and mechanical characteristics altogether. The characteristics are very closely connected to each other, so that its not so easy to understand and predict the performance. Among the characteristics, especially the magnetic part is most difficult to handle because of its complex nonlinearities to geometrical shape. So there have been many trials to establish generalized model for solenoid valve used at automatic transmission. Among those trials, Cho[1]** obtained the electromagnetic characteristic from the experimental data by using system identification theory for proportional control solenoid valve(PCSV) through derivation of linearized model. Comparatively precise model was presented from the study with no necessity of modification for load characteristic. However the unknown parameter existed mainly only in elecro-magnetic system, Cho estimated the parameters from the total system, i.e. from the relation between input pulse width modulation (PWM) signal and final output pressure value in his study. So it is inevitable that the error existed in hydro-mechanical part was reflected in the parameter estimation of electro-magnetic part. The conclusion that the electro-magnetic system governs the total system response is in conflict with common idea that the electro-magnetic system is faster (has good response) than hydro-mechanical system. This study tries to find the reason of low response for the dynamic characteristic of electro-magnetic system and to improve the dynamic response. mado@dreamwiz.com ** Numbers in brackets designate references at the end of paper 1

MODELING
STRUCTURE AND MAGNETIC PART BEHAVIOR OF ELETRO-

Fig.1 shows the schematic feature of electro-magnetic part including the driving circuit that is the target of this study. The PWM signal sets the reference value after being filtered. The feedback signal is measured at shunt resistor.
Rosc Cosc osc Cint Rsw Rint
PWM from MCU +

Coil shunt R

Integrator Csw

Comparator

Fig. 1 Schematic feature of PCSV electro-magnetic part

The difference between input signal and feedback signal is amplified, integrated and then compared with exponential type oscillator. The compared signal drives power transistor element with frequency 200Hz. Normally dither signal is applied to solenoid to diminish the effects of friction force. If reduces the dither frequency, hysteresis caused friction force would be to decrease but the possibility for the system to be unstable or to have resonance would be larger. Therefore its profitable to choose as low as possible frequency in the bounds which doesnt have an influence on the stability. The dither frequency is 200Hz in this study. The above mentioned systems form the feedback current compensator to prevent the effect of the electric characteristic changed by the wire length and temperature variation etc. MATHMATICAL EXPRESSIONS

 Vr = V p + RswCswV p
Feedback signal filter

(1)

 V f = Vm + RinCinV m
PI Controller

(2)

 = k (V V ) + k (V  V  ) V c i p m p p m
Solenoid coil

(3)

Vc =

( Rsol + Rshunt ) L  Vf + Vf Rshunt Rshunt

(4)

Output filter Inside of the dotted line in Fig. 1 is assumed as a general PI controller. Solenoid is assumed as one resistor and one inductor connected by serial and shunt resistor is considered together. PWM input part is considered as a RC filter of first order. Feedback signal part seems to be not, but for the effective separation of parameter in system identification executed later, is considered as a first order RC filter. Then subtractor is considered at controller. The system has an analog filter of 50Hz in measurement system not in showing in Fig.1. In a period 2ms of PWM signal of 500Hz, the output signal must be sustained constant in order to apply system identification theory properly. But measuring the current in the soleonid coil after enough time later which makes the system stable, the signal oscillates with 200Hz which is the same with dither frequency. With this oscillating signal, proper system identification cannot be carried out. To avoid this phenomenon, use the 50Hz analog filter and include it in the total system model. The model is expressed like these differential equations. Input signal filter

 + V Vf = fV o f o

(5)

To linearize and normalize, define state and input variable as like this..

Vi =

Vi Vi ~ V V f V f ~ V Vc Vc ~ V

(6a)

V f = Vc = I =

(6b)

(6c)

I I ~ I Vout Vout ~ Vout

(6d)

Vout =

(6e)

1 0 0 0 sw ~ Vf 1 0 0 ~ V p in Vm sw V ~ ~ ~ m V p K p Vf K p Vm K p d + Ki ) ~ ( Ki ) ~ 0 Vc = ~ ( Vc sw Vc in dt Vc sw ~ V f 1 Vc K sol 0 0 ~ V o sol V f sol ~ Vf 0 0 0 ~ Vo f T Vo = [0 0 0 0 1] V p Vm Vc V f Vo

0 ~ Vr ~ 0 V p V p sw ~ Vm V rKp ~ 0 Vc + V Vr c sw V 0 f 0 V 0 o 0 1 f

(7)

(8)

Normallized Duty Ratio

D =

DD ~ D

1.0 0.5 0.0 -0.5 -1.0 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
Tim e[sec] (a) Tim e domain

(6f)

State space equation can be derived from upper equations as like (7),(8). STEADY STATE CHARACTERISTIC The above system has a linear characteristic, so its reasonable to model in those ways. To ascertain this fact, Fig. 2 shows the steady state characteristic test result. The test result shows that there is almost perfect linearity between PWM signal and current output signal so that the modeling is reasonable. So the nonlinearity characteristic between input PWM duty signal and output pressure which commonly exist in solenoid test would mainly result from the characteristics ; between current passing soleonid coil and magnetic force applied to spool valve, between flux and pressure of fluid.

10 1 10 0 10 -1 10 -2 10 -3 10 -4 10 10
0

Amplitude

10

10

Frequency[HZ]

SYSTEM IDENTIFICATION
INPUT SIGNAL DESIGN The system identification theory is the approximation technique of system dynamic characteristic. It assumes the parameters in model to minimize the error between real test data and model. So measured output data must have the enough information related with system dynamic characteristic. The input signal has to be designed to excite every modes of being identified system[2]. There is the possibility that signals magnitude is excessively large in a specific range. So the signal with minimum
* Test Data --- Fitting Data i=0.0117*Duty

(b) Frequency domain

Fig. 3 Excitation signal for system identification magnitude after one hundred trials was chosen. And the algorithm to change the scale to real signal rate was used. Considering the resolution of PWM input signal generator, the designed input signal was quantitized to twenty thousands number. The Fig.3 shows the time and frequency domain characteristic of the finally acquired excitation signal. To remove the leakage effect, the Hamming window was applied when carrying out the Fourier transfer. The magnitude is almost constant under the 50Hz and abrupt decrease over the 50Hz in frequency domain. Accordingly we can find that excitation signal characteristic coincides well with the design intention. PARAMETER ESTIMATION As a final step of the system identification, the unknown parameter, proportional and integrating gain, was acquired. Assuming the residue error like equation (9), (10) for the standard model equation, the method to get the unknown parameter which minimize that error was used[3].  (t ) = Ax(t ) + Bu(t ) x y (t ) = Cx(t ) + e(t )
0 20 40 60 80 100
Duty[%]

1.2 1.0 Current[A] 0.8 0.6 0.4 0.2 0.0

(9) (10)

Fig. 2 Steady state charicteristic test result

The Fig.4 shows the comparison between real test output and simulation output for the real test input. The simulation was carried out under the condition that the obtained parameter using the system identification theory was applied. The simulation results coincide well with the test results.

Normallized Duty Ratio

1.0 0.5 0.0 -0.5 -1.0 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
Tim e[sec] (a) Tim e domain

PI Input filter Solenoid coil Output filter Controller Vp Vr Vc Vf Vo + GIF(s) GC(s) GS(s) GOF(s) -

Vm Feedback filter
GFF(s)

Fig. 5 Block Diagram of Driving Circuit Input signal filter

10 1 10 0 10 -1 10 -2 10 -3 10 -4 10 10
0

Amplitude

GIF =

V p Vr

1 1+ s wif
(11)

10

10

Controller

Frequency[HZ] (b) Frequency domain

GC =

K s + KI Vc = P s V p Vm V f 1 = VC 1 + S ws V f 1 = Vm 1 + S w ff 1 Vo = V f 1 + S wof

(12)

Fig. 4 System identification result Comparing in frequency domain, there isnt large difference until concerned range 50Hz. So we can know that the identified result is reasonable. Same manner different 3 input was designed. Through test, proportional and integrating gain were obtained. It was arranged at Table.1. Meeting expectations, there is no serious difference among the test results. The obtained characteristic by using the system identification theory would speak for the real system well. And an arithmetic average of the test results was used in the simulation as the parameters of the PI controller.

Solenoid coil

GS =

(13)

Feedback signal filter

GFF =

(14)

Output filter

ANALYSIS OF CHARACTERISTIC
TRANSFER FUNCTION

THE

DYNAMIC

GOF =

(15)

The state space equation is useful for system identification, but it isnt so easy to understand the each systems physical characteristic and the relations between the systems. For the more intuitive analysis, the equation (7), (8) expressed state space form was transformed into the transfer function form (11)~(15). Table 1 System identification result Kp Test #1 Test #2 Test #3 Average 6.029 6.031 6.815 6.292 Ki 1358.9 1430.5 1353.1 1380.8 4

Block diagram can be composed using equation (11)~(15) like Fig.5. The input of controller is formed from the difference between input PWM signal and filtered final output current level voltage. This input signal is applied to the soleonid coil and generates current. The identified output signal is filtered by the analog first order filter with cut off frequency 50Hz . The input signal filter, feedback signal filter, soleonid coil and output signal filter are all first order dynamic characteristic. The controller is expressed as nominator and denominator are each first order system. The Fig.6 shows the frequency response of each system. The cutoff frequency of input signal filter is nearly 8Hz and the cutoff frequency of only solenoid coil is nearly 18Hz but the system response is improved by internal feedback as cutoff frequency 30Hz.

r e l l o r t n o C I P r e t l i f k c a b d e e F

l i o c d i o n e l o S m e t s y s k c a b d e e F

In put filte r F ee dbac k system

O utp ut filte r T o tal system

10

10

Amplitude

10 10 10 10

0
-1

-2 0 1 2

10

10

10

Am plitude

-1

10

10

-2

Frequency[Hz] (a) Frequency response for feedback system

10
-3

m e t s y s k c a b d e e F m e t s y s l a t o T

r e t l i f t u p n I r e t l i f t u p t u O

10

10

10

10 10

Frequency[H z]

-1

Amplitude

10 10

-2

Fig. 7 Frequency Response of Improved System To examine the possibility of response improvement and stability in the feedback system, evaluate a Loot rocus of the total system for the variation of the time constant of the feedback signal filter. Fig.8 shows this Loot rocus. In figure, present capacity setting value point is expressed as o and 10 times smaller value * . In present setting value, the poles mainly determines the response characteristic are the two complex conjugate closed to an imaginary axis. Smaller the time constant is, lager the damping ratio and smaller the natural frequency. So however we diminish the value of the time constant of the feedback signal filter, the cutoff frequency of the total system cannot be raised.

-3

10

10

10

Frequency[Hz] (b) Frequency response for total system

Fig. 6 Frequency Response of Driving Circuit Because the input signal filter and feedback system are form of serial connection, the total system response is governed by input signal filter of low cutoff frequency. Fig. 6 shows this fact well and this fact coincides with the Chos analysis which expected the electro-magnetic system cutoff frequency as 10Hz. IMPROVEMENT OF DRIVING CIRCUIT RESPONSE To change the input signal filters time constants would improve the system response of the total system from the above analysis. It can be assumed that to raise the cutoff frequency of the input signal filter up to 30Hz would be the same effect to the total system. The time constant of the input system is changed so that the input signal filter line intersects the feedback system line at the point of magnitude 3dB in the frequency domain. Fig.7 shows that the total system response when the input system time constant was changed in that way. We can know that the total system response is improved.

200 150 100 50 0 -50 -100 -150 -200 -500

-450

-400

-350

-300

-250

-200

-150

-100

-50

Fig. 8 Root locus for feedback system depending on time constant of the feedback filter 5

10 10

Test result

Simulation

automatic transmission. test.

And the value was verified by

REFERENCES
[1] Baek-Hyun Cho, Gyu-Hong Jung, Jae-Woong Hur, and Kyo-Il Lee. 1999. Modeling of Proportional Control Solenoid Valve for Automatic Transmission Using System Identification Theory. SAE Transmission and Driveline systems Symposium. pp. 329-335
1 10 100

Amplitude

10 10 10

-1

-2

-3

frequency[Hz]

[2] N. K. Sinha, B. Kuszta, 1983. Modeling and Identification of Dynamic Systems. Van Nostrand Reinold Company. & Simulation [3] Lennart Ljung, 1987. System Identification : Theory for the User, Prentice Hall Inc.

Fig. 9 Frequecy Response of Test result of Improved System

The time constant of the input signal filter is also limited to the range of feedback systems cutoff frequency. At last the value of the capacity (the parameter to determine the time constant of input signal filter) is changed from 100nF to 20nF. Fig.9 shows the result of the test and simulation. As an input signal, the same earlier exited signal for the system identification is used. We can confirm that, if we set the cutoff frequency as 30Hz, the total system response is improved as the same grade. However raising the cutoff frequency over than this value is useless. Its limited by the cutoff frequency of the feedback system. So the 30Hz is the optimized value of the total systems cutoff frequency as well as input and feedback systems cutoff frequency.

CONCLUSION
Following is the summary of the main study results; 1. We established more accurate subsystem of the electro-magnetic system for the proportional control solenoid valve under the functional classification compared with existed model as assumed second order system. 2. We obtained the unknown parameters of the current compensator as assumed PI controller using the system identification theory. 3. We confirmed that the driving circuits cutoff frequency is mainly affected by PWM input signal filter. To change the parameter of the feedback signal filter cannot extend the frequency range of the closed loop system. 4. We found optimized parameters of input signal filter and feedback signal filter and improved the system response characteristic from 10Hz to 30Hz of the driving circuit. This value was assumed to be proper when considering the total response characteristic of the 6