DCT SW Shanghai 20100608 Armin Gottschaller

Transmission Control Software Overview
Transmission Control SW: Overview

Double Clutch Transmission
Continuously Variable Transmission
Automatic Transmission
Four-WheelDrive Components
CC_SW_Shanghai_20100508.ppt
Inclusive their clutches and torque converters
Division Powertrain Business Unit Transmission

1 / P TR RD SW / 2010-05-03 Continental AG
Expertise: Complex Drivers BLDC Motor Control (Example)

Electric Motor Drive Software
Control by SW
Controller
position, speed, current Infrastructure
Hardware
Commutation by HW
Commutation
(e.g.ATIC107)
Mechanics
BLDC
Motor
Torque Speed
mechanical Load
Signal Processing
(e.g. speed calc)
Infrastructure
Position
(e.g. ATIC 107 or RPS-Sensor)
Infrastructure
Current measure
(e.g. ATIC 107)

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

ECU
Set point calculation
+
Clutch
Gradient / Slip Control Actuator
Physical Model of System in TCU

Actuator Model (Hydraulics / E-motor) Static & Dynamic Influences Online Adaptions Mechanical Clutch Model (Wet or Dry)
Actuator System
Clutch
Benefits: Good control performance High portability of code Well-structured software

Expertise: DCT Shift - Gear Control

ECU
Set point calculation
+
Gearbox
Position / Gradient Control Actuator
Physical Model of System in TCU

Actuator Model (Hydraulics / E-motor) Actuator System
Static & Dynamic Influences Online Adaptions
Mechanical Model
Synchronisation Unit
Benefits: Good control performance High portability of code Well-structured software

DCT Control Software
SW Architecture

Software architecture - Autosar

Continental AUTOSAR SW Components Application SW
Software Component AUTOSAR Interface
AUTOSAR Run Time Environment (RTE)

System Services
Development Error Tracer ECU State Manager CRC AUTOSAR COM Diagnostic Event Manager Watchdog Manager Function Inhibition Mngr
Memory Services
NVRAM Manager Flash EEPROM Emulation
Communication Services
Diag COM Manager Signal based GW PDU Router Flexray TP CAN TP Communication AUTOSAR Manager COM Generic NM CAN NM Flexray NM
I/O HW Abstraction
I/O Hardware Abstraction
CDD
Onboard Device Abstract.

Watchdog Interface SPI Handler
Memory HW Abstraction
EEPROM Interface FLASH Interface
Communication Hardware Abstraction

Flexray Interface CAN Interface LIN Interface (incl LIN TP)
Complex Device Drivers
Controllers Drivers
Watchdog Driver MCU Driver SPI Driver
Memory Drivers
Int FLASH Driver Int EEPROM Driver
Communication Drivers
Flexray Driver CAN Driver LIN Driver DIO Driver
I/O Drivers
GPT Driver PORT Driver
Ext FLASH Driver
Ext EEPROM Driver
ICU Driver
ADC Driver
PWM Driver
AUTOSAR Basic Software

DCT Control Software
Application SW Architecture

Software Architecture DCT Application Software

TRANSMISSION MANAGER DRIVING STRATEGY
SHAFT ACCESS CONTROL
SHAFT CONTROL DIAGNOSTICS
ADAPTION MANAGER
CLUTCH CONTROL
GEAR POSITIONER
TORQUE CONTROL
GEAR POSITIONER CONTROL
SHAFT PRESSURE CONTROL
CLUTCH POSITION CONTROL
MAIN PRESSURE CONTROL
INFRASTRUCTURE SOFTWARE

SHAFT ACCESS CONTROL Static Gear Decision SHAFT CONTROL Load Detection Fast Off Detection ADAPTION MANAGER CLUTCH CONTROL Brake Assistance
DIAGNOSTICS
GEAR POSITIONER Driver Detection
TORQUE CONTROL Slip Detection
GEAR POSITIONER CONTROL SHAFT PRESSURE CONTROL CLUTCH POSITION CONTROL Manual Mode Deceleration
MAIN PRESSURE CONTROL Gear Preselection Upshift Control Sequence

DIAGNOSTICS
GEAR POSITIONER Driver Detection
TORQUE CONTROL Slip Detection

TRANSMISSION MANAGER DRIVING STRATEGY (SAT)
DIAGNOSTICS
Determines the gear on the non-active GEAR POSITIONER TORQUE CONTROL Slip Detection Driver Detection shaft (i.e. clutch is open)

Handles general states of transmission (e.g. start-up, normal mode, shut-down, fail safe, ADAPTION EOL-calibration) MANAGER CLUTCH CONTROL Handles general states of engine (off, running, stalled)
GEAR POSITIONER
TORQUE CONTROL

SHAFT CONTROL DIAGNOSTICS Next Gear Determination GEAR POSITIONER
ADAPTION MANAGER Shaft Enable
CLUTCH CONTROL
TORQUE CONTROL

CLUTCH CONTROL
TORQUE CONTROL
Determines intermediate and final target SHAFT PRESSURE CONTROL CLUTCH POSITION CONTROL gear Handles interruption of running shifts MAIN PRESSURE CONTROL (change-of-mind shifts, skip shifts) Checks conditions to perform power-off downshift as AMT shift INFRASTRUCTURE SOFTWARE


CLUTCH CONTROL
TORQUE CONTROL
Handles the state of the transmission SHAFT PRESSURE CONTROL CLUTCH POSITION CONTROL (in-gear driving, shifting, limp home mode) Coordinates actions by gear actuators or MAIN PRESSURE CONTROL clutch on one shaft

ADAPTION MANAGER
CLUTCH CONTROL
GEAR POSITIONER
TORQUE CONTROL
Handling one shaft

Commands to individual gear actuators on this shaft (Gear A, Gear B or Neutral)

MAIN CONTROL Returns state ofPRESSURE shaft

ADAPTION MANAGER
CLUTCH CONTROL
GEAR POSITIONER
TORQUE CONTROL
Control of one gear actuator (Determination of setpoints)

Handles engagement & disengagement of gears


Closed-loop controllers to reach a comADAPTION MANAGER manded target position, force or velocity
CLUTCH CONTROL
Sends target current to gear actuator valves

GEAR POSITIONER TORQUE CONTROL

ADAPTION MANAGER
CLUTCH CONTROL
GEAR POSITIONER
High level clutch control (torque based) TORQUE CONTROL
Handles all clutch actions detailsPRESSURE on following slides) GEAR POSITIONER CONTROL (see SHAFT CONTROL
Determines Engine Torque Intervention


TRANSMISSION MANAGER CLUTCH STRATEGY DRIVING STRATEGY CLUTCH PROTECTION SHAFT ACCESS CONTROL
UPSHIFT SHAFT CONTROL DIAGNOSTICS
DOWNSHIFT ADAPTION MANAGER CLUTCH CONTROL
CREEP CONTROL GEAR POSITIONER
MICROSLIP CONTROL TORQUE CONTROL
LAUNCH GEAR POSITIONER CONTROL
CLUTCH SHAFTDIAGNOSIS PRESSURE CONTROL
Engine Torque Intervention
MAIN PRESSURE Clutch Adaption CONTROL

Main state machine of clutch DOWNSHIFT UPSHIFT Analysis ofCONTROL driving situation and derivation SHAFT ADAPTION MANAGER of clutch target state Calculation of necessary values (e.g. CREEP CONTROL MICROSLIP CONTROL speed values)
GEAR POSITIONER
CLUTCH CONTROL
DIAGNOSTICS
TORQUE CONTROL

Monitoring UPSHIFT of clutch slip & temperature DOWNSHIFT

SHAFT CONTROL DIAGNOSTICS ADAPTION MANAGER CLUTCH CONTROL
Takes measures to protect clutch (e.g. reduce slip & torque)

CREEP CONTROL GEAR POSITIONER MICROSLIP CONTROL TORQUE CONTROL

CREEP CONTROL Coordination of upshifts GEAR POSITIONER
Analyses sub-type of upshift

LAUNCH Handles all phases of shift CLUTCH GEAR POSITIONER CONTROL SHAFTDIAGNOSIS PRESSURE CONTROL CLUTCH POSITION CONTROL

CREEP CONTROL Coordination of downshifts MICROSLIP CONTROL GEAR POSITIONER
TORQUE CONTROL
Analyses sub-type of downshift

LAUNCH Handles all phases of shift CLUTCH GEAR POSITIONER CONTROL SHAFTDIAGNOSIS PRESSURE CONTROL CLUTCH POSITION CONTROL

LAUNCH Controls creep process GEAR POSITIONER CONTROL
Hillholder functionality Clutch protection Stall protection

LAUNCH Adjusts microslip at clutchesCLUTCH GEAR POSITIONER CONTROL SHAFTDIAGNOSIS PRESSURE CONTROL

Controls launch process UPSHIFT DOWNSHIFT Clutch protection at special situations SHAFT CONTROL ADAPTION MANAGER (heavy load, misuse) Stall protection
CREEP CONTROL GEAR POSITIONER MICROSLIP CONTROL
CLUTCH CONTROL
DIAGNOSTICS
TORQUE CONTROL

UPSHIFT SHAFT CONTROL
Compares measured and expected clutch pressure

DIAGNOSTICS

Sends engine torque request to engine management system

LAUNCH GEAR POSITIONER CONTROL CLUTCH SHAFTDIAGNOSIS PRESSURE CONTROL

Handles clutch adaptions for Kiss point and clutch characteristics

LAUNCH GEAR POSITIONER CONTROL CLUTCH SHAFTDIAGNOSIS PRESSURE CONTROL

ADAPTION MANAGER
CLUTCH CONTROL
GEAR POSITIONER
TORQUE CONTROL
GEAR POSITIONER CONTROL SHAFT PRESSURE CONTROL CLUTCH POSITION CONTROL Pressure target (wet clutch) or position
target (dry clutch) is derived from torque request
Clutch characteristics are basis


Dry clutch: Position controller of clutch

Wet clutch: Target current for pressure control valve
ADAPTION MANAGER
CLUTCH CONTROL
GEAR POSITIONER
TORQUE CONTROL

ADAPTION MANAGER
CLUTCH CONTROL
GEAR POSITIONER
TORQUE CONTROL Coordination of adaptions ("online" or "EOL") which apply simultaneous actions on clutch and gear side SHAFT PRESSURE CONTROL CLUTCH POSITION CONTROL

Adjustment of shaft supply pressure deADAPTION MANAGER pending on requests of gear and clutch CLUTCH CONTROL actuator
TORQUE CONTROL
GEAR POSITIONER

ADAPTION MANAGER
CLUTCH CONTROL
GEAR POSITIONER
Adjustment of line pressure depending on requests coming from both shafts
TORQUE CONTROL
Transmission Control Software
Application SW
additional components for HEV

Software Architecture DCT Application Software Special Functionality - Hybrid Electrical Vehicle (HEV)
TRANSMISSION MANAGER DRIVING STRATEGY HYBRID COORDINATOR
CLUTCH CONTROL
HYBRID RESTART
GEAR POSITIONER
TORQUE CONTROL
Software Architecture DCT Application Software Special Functionality - Hybrid Electrical Vehicle (HEV)
TRANSMISSION MANAGER
Coordination of HEV driving states: Electric drive, Hybrid drive, Coasting, Engine Restart, Engine Stop
DRIVING STRATEGY
HYBRID COORDINATOR
CLUTCH CONTROL
HYBRID RESTART
GEAR POSITIONER
CONTROL Control of additionalTORQUE "HEV clutch"
Handling of Engine Restart

GEAR POSITIONER CONTROL SHAFT PRESSURE CONTROL
Coordination of clutch & engine
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

Thank you for your Attention
Thank you for your Attention


DCT SW Shanghai 20100608 Armin Gottschaller

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Transmission Control Software Overview

Transmission Control SW: Overview

Continuously Variable Transmission

Inclusive their clutches and torque converters

Division Powertrain Business Unit Transmission

Expertise: Complex Drivers BLDC Motor Control (Example)

Division Powertrain Business Unit Transmission

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

Physical Model of System in TCU

Benefits: Good control performance High portability of code Well-structured software

Division Powertrain Business Unit Transmission

Expertise: DCT Shift - Gear Control

Physical Model of System in TCU

Static & Dynamic Influences Online Adaptions

Benefits: Good control performance High portability of code Well-structured software

Division Powertrain Business Unit Transmission

DCT Control Software

Division Powertrain Business Unit Transmission

Software architecture - Autosar

Software Component AUTOSAR Interface

Software Component AUTOSAR Interface

Software Component AUTOSAR Interface

Software Component AUTOSAR Interface

Software Component AUTOSAR Interface

AUTOSAR Run Time Environment (RTE)

Onboard Device Abstract.

Communication Hardware Abstraction

Complex Device Drivers

Ext FLASH Driver

Ext EEPROM Driver

AUTOSAR Basic Software

Division Powertrain Business Unit Transmission

DCT Control Software

Division Powertrain Business Unit Transmission

Software Architecture DCT Application Software

SHAFT ACCESS CONTROL

SHAFT CONTROL DIAGNOSTICS

GEAR POSITIONER CONTROL

SHAFT PRESSURE CONTROL

CLUTCH POSITION CONTROL

MAIN PRESSURE CONTROL

Software Architecture DCT Application Software

GEAR POSITIONER Driver Detection

TORQUE CONTROL Slip Detection

MAIN PRESSURE CONTROL Gear Preselection Upshift Control Sequence

Software Architecture DCT Application Software

GEAR POSITIONER Driver Detection

TORQUE CONTROL Slip Detection

MAIN PRESSURE CONTROL Gear Preselection Upshift Control Sequence

Software Architecture DCT Application Software

MAIN PRESSURE CONTROL Gear Preselection Upshift Control Sequence

Software Architecture DCT Application Software

SHAFT ACCESS CONTROL

SHAFT CONTROL DIAGNOSTICS

GEAR POSITIONER CONTROL

SHAFT PRESSURE CONTROL

CLUTCH POSITION CONTROL

MAIN PRESSURE CONTROL

Software Architecture DCT Application Software

SHAFT ACCESS CONTROL

SHAFT CONTROL DIAGNOSTICS Next Gear Determination GEAR POSITIONER

ADAPTION MANAGER Shaft Enable

GEAR POSITIONER CONTROL