Submodulation of a pulse-width modulated solenoid operated control valve

Abstract: A PWM solenoid operated valve control (42) arrangement which substantially eliminates supply voltage (70) dependent variability of the valve (30-40) without the expense or inefficiency of a conventional voltage regulator. The coil of the solenoid valve is pulse-width-modulated in relation to the commanded output result and the energization periods are submodulated in relation to the magnitude of the supply voltage. The effective voltage applied to the coil, and hence the operating characteristics of the solenoid valve, are thereby made substantially independent of supply voltage variations.

Description: This invention relates to the control of a motor vehicle system having an (electro-hydraulic pressure) solenoid operated control valve, and more particularly to a control apparatus which compensates for variations in the system supply voltage. The achievement of accurate and repeatable fluid pressure regulation with electro-hydraulic pressure control valves in a motor vehicle environment poses a difficult control problem. In particular, the operating characteristics of such valves vary dramatically with the system supply voltage. In the past, this variability has been dealt with by independently regulating the supply voltage or by employing current limiting to protect the solenoid coil of such valves from damage due to overvoltage. WO-A-8202236 describes control apparatus in accordance with the pre-amble of Claim 1. Control apparatus in accordance with the present invention is characterised by the features specified in the characterising portion of Claim 1. The present invention is directed to a control which substantially eliminates the voltage-dependent variability of the solenoid operated control valve without the expense or inefficiency of a conventional voltage regulator. The energization of the solenoid coil of such a valve is pulse-width-modulated at a relatively low frequency primary duty cycle determined in relation to the commanded output pressure, and the energization periods are submodulated at a duty cycle determined in relation to the magnitude of the system supply voltage. The effective voltage applied to the solenoid coil, and hence the operating characteristics of the solenoid operated control valve, are thereby substantially independent of system supply voltage variations. In a mechanization of the present invention, the subject submodulation technique enabled a single solenoid driver and valve to be used with either a 12-volt or a 24-volt vehicle electrical system. The technique may also be used to achieve other related control objectives, such as reduction of the power dissipated by a solenoid when primary modulation of the solenoid operated control valve is no longer required. The present invention will now be described, by way of example with reference to the accompanying drawings, in which;- Figure 1a is a system diagram of a fluid operated motor vehicle transmission, including several solenoid operated (fluid pressure) control valves and a computer-based control unit for carrying out the voltage control technique of this invention; Figure 1b is a diagram illustrating the clutch engagements required to establish the various speed ratios of the transmission depicted in Figure 1a; Figure 1c is a diagram of a representative solenoid operated control valve referenced in Figure 1a; Figure 2 is a graphical representation of a desired pressure response characteristic of the solenoid operated control valves of Figure 1a. Graph A illustrates desired output pressure and Graph B illustrates the corresponding voltage pulse-width-modulation; Figure 3 graphically illustrates the variation in the operating characteristics of the solenoid operated control valves with variations in the system supply voltage without the submodulation control of this invention; Figure 4 is a block diagram of a control apparatus according to this invention in which the primary pulse-width-modulation duty cycle is submodulated in relation to the system supply voltage to achieve a substantially constant pressure response characteristic regardless of supply voltage variation; Figure 5 graphically illustrates an example of how the pressure response characteristic of Figure 2 is achieved at a higher system supply voltage, using the submodulation technique of this invention. Graph A illustrates desired output pressure and Graph B illustrates the corresponding primary and submodulated voltage; and Figures 6 and 7 are flow diagrams representative of computer program instructions executed by the computer-based control unit of Figure 1a in carrying out the submodulation voltage control of this invention. Referring now to the drawings, and more particularly to Figure 1a, the reference numeral 10 generally designates a motor vehicle drivetrain including a (throttled internal combustion) engine 12, a (fluidic) torque converter 14, a (six-speed fluid operated power) transmission 16 and a differential gearset (DG) 18. The engine 12 is connected to the torque converter 14 via shaft 20, the torque converter 14 is connected to the transmission 16 via shaft 22, the transmission 16 is connected to the differential gearset 18 via shaft 24 and the differential gearset is connected to a pair of drive wheels (not shown) via prop shafts 26 and 28. The speed and torque relationships between the engine 12 and the drive wheels of the vehicle are controlled by a fluid operated torque converter clutch, designated TCC, and five fluid operated transmission clutches, designated C1 - C5, which thereby define control chambers. The torque converter clutch TCC is selectively engaged by a solenoid operated control valve 30 to mechanically connect the impeller and turbine of torque converter 14. The clutches TCC, C1, C2, C3, C4, C5 are selectively engaged and disengaged by the solenoid operated control valves 30, 32, 34, 36, 38, 40 respectively, according to the diagram shown in Figure 1b, to selectively establish a desired transmission speed ratio. The illustrated transmission gearset provides one reverse ratio and six forward ratios, and is described in detail in US Patent No. 4,070,927. An operator manipulated accelerator pedal 41 positions the engine throttle for controlling the engine power output. The operation of the solenoid operated control valves 30 - 40 is controlled by a computer-based control unit 42 via lines 44 - 54 in response to various input signals representative of system parameters. Such inputs include an engine throttle position signal %T on line 56, an engine output shaft speed signal N e on line 58, a torque converter output shaft speed signal N t on line 60, a transmission output shaft speed signal N o on line 62, a system supply voltage signal Vb on line 64, a transmission fluid temperature signal T sump on line 66 and an operator range selector position signal RS on line 68. The system supply voltage is supplied by a source of direct voltage which includes the storage battery 70, and the input signals are obtained with conventional electrical transducers such as potentiometers, thermisters and magnetic speed pickups. Internally, the computer-based control unit 42 comprises a number of conventional devices including a microcomputer (uC) with internal clock and memory, an input/output device (I/O) and an array of PWM generators (PWM) and drivers (DR). As indicated below, two PWM generators (PWM) and one driver (DR) are dedicated to each (submodulated) solenoid operated control valve 30 - 40. The PWM outputs are combined in the respective drivers (DR) by a logical AND function, and the resulting signal is used to energize the respective solenoid operated control valve. The computer-based control unit 42 thereby defines control means, driver means, and PWM means. The hydraulic circuit of transmission 16 is designated generally by the reference numeral 80 and includes a positive displacement pump 82 for supplying pressurized hydraulic fluid from the sump or reservoir 84, to the clutches TCC and C1 - C5 through various hydraulic and electro-hydraulic valving mechanisms. After passing through a main circuit filter 86, the fluid output of pump 82 is directed to a main pressure regulator valve 88 which develops regulated fluid pressures in lines 90, 92 and 94, and thereby defines a source of fluid pressure. The fluid in line 90, generally referred to as converter feed pressure, is directed through the torque converter 14, as schematically designated by the converter shell 98. After passing through a cooler 100 and cooler filter 102, the converter fluid is then regulated down to a lower pressure by the regulator valve 104 and directed to the transmission lube circuit, as designated by the bubble 106. The fluid in line 92, generally referred to as main or line pressure, is supplied as an input to the solenoid operated control valves 30 - 40, and also to a control pressure regulator valve 96. The control pressure regulator valve 96 develops a somewhat lower pressure in line 98, referred to herein as the control pressure, such pressure being directed to the solenoid of each control valve 30 - 40 as described below in reference to Figure 1c. The fluid in line 94, referred to as the converter clutch pressure, is supplied directly by solenoid operated control valve 30 to the torque converter clutch TCC to engage the same. This pressure is also supplied to the main pressure regulator valve 88 to provide a lower regulated line pressure in the converter lock-up mode. As exemplified by the solenoid operated control valve 36 in Figure 1c, each solenoid operated control valve 30 - 40 includes a (pressure-balanced) spool valve 150 and a pulse-width-modulated (PWM) solenoid valve 152 for variably connecting the control pressure in line 98 to a pilot chamber 154 of spool valve 150. The fluid pressure in the pilot chamber 154 produces a force which opposes the force of a spring 156 and the feedback pressure in line 162; the result of such forces determines the position of a spool 158, and hence, the degree of communication between the main pressure supply in line 92 and the respective clutches TCC and C1 - C5. When the PWM solenoid valve 152 is deenergized, the fluid pressure in the pilot chamber 154 is exhausted, and the spring 156 urges the spool 158 upward to exhaust the clutch pressure via exhaust port 160. When the PWM solenoid valve 152 is energized at a relatively low PWM duty cycle, the spool 158 moves downward, partially cutting off the exhaust port 160 and partially uncovering the main pressure supply in line 92. As the PWM duty cycle is increased, the spool 158 continues to move downward, increasing the clutch pressure, until the exhaust port 160 is fully cut off and the main pressure supply in line 92 is fully uncovered. The above relationship between PWM duty cycle and clutch pressure is graphically illustrated in Figure 2. In particular, Graph A depicts the clutch pressure generated for the increasing PWM duty cycles depicted in Graph B. As indicated in Graph B, the PWM solenoid valve is energized with modulated (battery) system supply voltage V b and the clutch pressure is variable up to the main supply pressure MAIN. Significantly, the pressure v. duty cycle relationship depicted in Figure 2 is specific to a given terminal voltage of storage battery 70. For a given PWM duty cycle, a higher battery voltage will increase the clutch pressure and a lower battery voltage will decrease the clutch pressure. So in practice, the solenoid operated control valves 30 - 40 can be characterized by a family of pressure v. duty cycle traces as shown in Figure 3. Each trace of Figure 3 corresponds to a different battery supply voltage V₁, V₂, V₃, V₄, V₅, the voltages V₁ and V₅ representing the uppermost and lowermost excursions, respectively, of the system supply voltage V b . The variability is especially significant when it is considered that the transmission 16 can be installed in either 12-volt or 24-volt electrical systems. The primary object of this invention is to control the energization of the solenoid operated control valves 30 - 40 so that they exhibit substantially a given pressure v. duty cycle characteristic regardless of the system supply voltage. As indicated above, this object is achieved according to this invention by submodulating the primary PWM duty cycle in relation to the magnitude of the system supply voltage, as indicated in the system diagram of Figure 4. As indicated in that Figure by the block 170, the primary PWM frequency is relatively low, such as 100 Hz, and the on-time/off-time duty cycle is determined as a function of a pressure command for the respective clutch. The fluid temperature T sump may also be a factor, as indicated. As indicated by the block 172, the submodulation PWM frequency is relatively high, such as 2 kHz, and the on-time/off-time duty cycle is determined as a function of the system supply voltage V b . The primary and submodulation duty cycles are combined by a logical AND function as indicated by the block 174 to form an output signal for controlling the application of the system supply voltage V b to the respective solenoid operated control valves. An example of the PWM energization for a given (battery) system supply voltage is graphically illustrated in Figure 5. Graph A depicts the desired pressure v. primary duty cycle characteristic, and Graph B shows how the various primary duty cycles are submodulated to provide the proper energization of the respective solenoid operated control valve. Since submodulation reduces the effective energization dictated by the primary duty cycle, the desired pressure v. primary duty cycle characteristic is preferably chosen to correspond substantially to that which would occur at the lowermost excursion of the (battery) system supply voltage -- that is, V₅ in Figure 3. Thus, as indicated at block 172 of Figure 4, the submodulation duty cycle is 100% for system supply voltages of V₅ or less, and progressively less than 100% for system supply voltages greater than V₅. Effectively, the lower the submodulation duty cycle, the lower the energization of the respective solenoid operated control valve. The end result is that the solenoid operate control valve always produces the desired pressure v. primary duty cycle characteristic regardless of the system supply voltage, as indicated in Figure 4 by block 176. As with the primary duty cycle information, the submodulation duty cycle information is stored in the microcomputer memory of computer-based control unit 42 in the form of a conventional look-up table. The primary duty cycle look-up table is addressable as a function of the desired pressure, and the submodulation duty cycle look-up table is addressable as a function of the system supply voltage V b . Figures 6 and 7 are flow diagrams representative of computer program instructions executed by the computer-based control unit 42 of Figure 1a in carrying out the submodulation control technique of this invention. Figure 6 represents an executive or main loop program which directs the sequential execution of various subroutines, one of which is depicted in greater detail in the flow diagram of Figure 7. Block 180 designates a series of instructions executed at the initiation of each period of vehicle operation for setting the various timers, registers and variable values of computer-based control unit 42 to predetermined initial values. Thereafter, blocks 182 - 190 are sequentially and repeatedly executed as indicated by the flow diagram lines. Block 182 reads the various input signal values and outputs the required control signals to the PWM generators and drivers for solenoid operated control valves 30 - 40. Blocks 184 - 188 analyze the various system input signals described above in reference to Figure 1a and develop pressure command signals P CMD for application to the solenoid operated control valves at the next execution of block 182. Block 190 (SOLENOID CONTROL) performs the control functions of blocks 170 and 172 described above in reference to the control system diagram of Figure 4 and is further detailed in the flow diagram of Figure 7 as indicated. As indicated by instruction block 200 in Figure 7, the first step of the SOLENOID CONTROL routine is the determination of the primary PWM duty cycles PDCTCC, and PDC1 - PDC5 for the various solenoid operated control valves 30 - 40. Such duty cycles are determined as described above in reference to Figure 4 as a function of the respective clutch pressure commands P CMDTCC and P CMD1 - P CMD5 and the transmission fluid temperature T sump in the sump 84. In practice, values such as those shown in Figure 4 can be stored in a two dimensional look-up table in the memory of the microcomputer (uC) of computer-based control unit 42. Then, blocks 202 - 208 are executed to determine the submodulation PWM duty cycles SUBDCTCC and SUBDC1 - SUBDC5. If a transmission shift is in progress, as determined by the decision block 202, the blocks 204 and 206 are executed to separately determine the submodulation duty cycles for the shifting and nonshifting solenoid valves. The shifting solenoid operated control valves -- that is, the solenoid operated control valves which control the fluid pressures in oncoming and offgoing clutches -- are submodulated at a voltage-dependent duty cycle as described above in reference to Figure 4. The nonshifting solenoid operated control valves -- that is, the solenoid operated control valves which control the fluid pressures in disengaged or fully engaged clutches -- are submodulated at a voltage-dependent duty cycle chosen in relation to the desired solenoid current level. The normally closed nonshifting solenoid operated control valves are submodulated at a relatively low voltage-dependent duty cycle to reduce the power to that required to hold such valves in the open (hydraulic-on) state. The normally open nonshifting solenoid operated control valves are submodulated at a somewhat higher voltage-dependent duty cycle, but lower than that required for shifting, chosen to maintain sufficient current to return the solenoid operated control valve to the closed (hydraulic-off) state in the event of a momentary loss of system supply voltage. If a shift is not in progress, all of the solenoid operated control valves are nonshifting valves and the block 208 is executed to determine the submodulation duty cycles as described above in reference to the block 206. Thereafter the block 182 of Figure 6 outputs the various primary and submodulation duty cycles to the PWM generators and drivers of computer-based control unit 42. For each submodulated solenoid operated control valve 30 - 40, a first PWM generator develops a PWM waveform in accordance with the primary duty cycle at the primary frequency, and a second PWM generator develops a PWM waveform in accordance with the submodulation duty cycle at the submodulation frequency. As indicated in Graph B of Figure 5, the submodulation frequency is substantially greater than the primary modulation frequency. The primary and submodulation duty cycles are then combined in the respective driver circuit (DR) by a logical AND function as indicated by the block 174 in Figure 4 and amplified to correspondingly energize the solenoid operated control valve.

Claims: Control apparatus for generating a desired fluid pressure in a control chamber (C1-C5) of a motor vehicle transmission (16), comprising: a source (82,88) of fluid pressure; an electrically energizable, solenoid operated control valve (32-40) adapted to alternately connect and disconnect the source (82,88) with the control chamber (C1-C5) in accordance with such energization; a source of direct voltage including a storage battery (70), having a system supply voltage (Vb) which varies depending on vehicle operation; control means (42) for developing a relatively low frequency PWM valve energization signal having an on-time/off-time duty cycle which if applied to the solenoid operated control valve (32-40) would produce the desired pressure in the control chamber when the system supply voltage (Vb) of the source (70) is a predetermined low; and driver means (42) for energizing the solenoid operated control valve (32-40) with the said source of direct voltage in accordance with the submodulated PWM valve energization signal; characterised in that the control means (42) submodulates the on-time of the PWM valve energization signal in relation to the system supply voltage (Vb) of the source so as to effectively reduce the on-time when the system supply voltage (Vb) is greater than the predetermined low. Control apparatus as claimed in Claim 1, wherein the driver means (42) energizes the solenoid operated control valve (30-40) with the source (70) of direct voltage in accordance with an on/off control signal applied thereto; wherein the control means (42) includes primary modulation look-up means for providing a relatively low frequency PWM duty cycle command for the solenoid operated control valve as a function of the desired fluid pressure, assuming a relatively low system supply voltage of the source, and submodulation look-up means for providing a relatively high frequency PWM duty cycle command as a function of the system supply voltage of the source; and further comprising PWM means (42) for combining the PWM duty cycle commands provided by the primary modulation and submodulation look-up means to form the on/off control signal for the driver means, whereby the solenoid operated control valve is variably energized to produce the desired pressure in the control chamber (C1-C5) regardless of the system supply voltage of the source. Control apparatus as claimed in Claim 2, wherein the PWM means (42) combines the PWM duty cycle commands provided by the primary modulation and submodulation look-up means by a logical AND operation (172).

Inventors: BENDER JAMES GRANT, HERRON LEE FREDERICK, STRUTHERS KEITH DUANE, BENDER, JAMES GRANT, HERRON, LEE FREDERICK, STRUTHERS, KEITH DUANE
Applicants: DELCO ELECTRONICS CORP, GEN MOTORS CORP, DELCO ELECTRONICS CORPORATION, GENERAL MOTORS CORPORATION
Application year: 1990
Main classification: F16H61
IPC codes: F16H61, G05D16