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SE540844C2 - A method for gear shifting in a gearbox, a gearbox and a vehicle - Google Patents

A method for gear shifting in a gearbox, a gearbox and a vehicle

Info

Publication number
SE540844C2
SE540844C2 SE1551559A SE1551559A SE540844C2 SE 540844 C2 SE540844 C2 SE 540844C2 SE 1551559 A SE1551559 A SE 1551559A SE 1551559 A SE1551559 A SE 1551559A SE 540844 C2 SE540844 C2 SE 540844C2
Authority
SE
Sweden
Prior art keywords
gearbox
planetary gear
gearwheel
gear
gearbox device
Prior art date
Application number
SE1551559A
Other versions
SE1551559A1 (en
Inventor
Selling Tomas
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1551559A priority Critical patent/SE540844C2/en
Priority to PCT/SE2016/051110 priority patent/WO2017095298A1/en
Priority to DE112016004918.8T priority patent/DE112016004918T5/en
Publication of SE1551559A1 publication Critical patent/SE1551559A1/en
Publication of SE540844C2 publication Critical patent/SE540844C2/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/40—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the assembly or relative disposition of components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B60K1/02—Arrangement or mounting of electrical propulsion units comprising more than one electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/38—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the driveline clutches
    • B60K6/387—Actuated clutches, i.e. clutches engaged or disengaged by electric, hydraulic or mechanical actuating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
    • B60K6/44—Series-parallel type
    • B60K6/445—Differential gearing distribution type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/50—Architecture of the driveline characterised by arrangement or kind of transmission units
    • B60K6/54—Transmission for changing ratio
    • B60K6/547—Transmission for changing ratio the transmission being a stepped gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
    • B60W10/11—Stepped gearings
    • B60W10/111—Stepped gearings with separate change-speed gear trains arranged in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B60W20/30—Control strategies involving selection of transmission gear ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H3/78—Special adaptation of synchronisation mechanisms to these gearings
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/0403—Synchronisation before shifting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/70—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for change-speed gearing in group arrangement, i.e. with separate change-speed gear trains arranged in series, e.g. range or overdrive-type gearing arrangements
    • F16H61/702—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for change-speed gearing in group arrangement, i.e. with separate change-speed gear trains arranged in series, e.g. range or overdrive-type gearing arrangements using electric or electrohydraulic control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
    • B60K6/22—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs
    • B60K6/36—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings
    • B60K6/365—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by apparatus, components or means specially adapted for HEVs characterised by the transmission gearings with the gears having orbital motion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F16H61/0403—Synchronisation before shifting
    • F16H2061/0422—Synchronisation before shifting by an electric machine, e.g. by accelerating or braking the input shaft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/12—Detecting malfunction or potential malfunction, e.g. fail safe; Circumventing or fixing failures
    • F16H2061/1224—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2200/00—Transmissions for multiple ratios
    • F16H2200/20—Transmissions using gears with orbital motion
    • F16H2200/203—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes
    • F16H2200/2064—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes using at least one positive clutch, e.g. dog clutch
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2200/00—Transmissions for multiple ratios
    • F16H2200/20—Transmissions using gears with orbital motion
    • F16H2200/2094—Transmissions using gears with orbital motion using positive clutches, e.g. dog clutches
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2306/00—Shifting
    • F16H2306/40—Shifting activities
    • F16H2306/44—Removing torque from current gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H2306/00—Shifting
    • F16H2306/40—Shifting activities
    • F16H2306/48—Synchronising of new gear
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H3/46—Gearings having only two central gears, connected by orbital gears
    • F16H3/48—Gearings having only two central gears, connected by orbital gears with single orbital gears or pairs of rigidly-connected orbital gears
    • F16H3/52—Gearings having only two central gears, connected by orbital gears with single orbital gears or pairs of rigidly-connected orbital gears comprising orbital spur gears
    • F16H3/54—Gearings having only two central gears, connected by orbital gears with single orbital gears or pairs of rigidly-connected orbital gears comprising orbital spur gears one of the central gears being internally toothed and the other externally toothed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
    • F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
    • F16H3/72—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion with a secondary drive, e.g. regulating motor, in order to vary speed continuously
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
    • F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
    • F16H37/04—Combinations of toothed gearings only
    • F16H37/042—Combinations of toothed gearings only change gear transmissions in group arrangement
    • F16H37/046—Combinations of toothed gearings only change gear transmissions in group arrangement with an additional planetary gear train, e.g. creep gear, overdrive
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/04—Smoothing ratio shift
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
    • F16H61/70—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for change-speed gearing in group arrangement, i.e. with separate change-speed gear trains arranged in series, e.g. range or overdrive-type gearing arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/62—Hybrid vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Structure Of Transmissions (AREA)

Abstract

The invention relates to a method for gear shifting in a gearbox (6). The method comprises the following steps of: a) generate torque balance between at least two of the first planetary gear components (26, 28, 34, 36) by means of the first and second electrical machines (50, 52) and disengage at least two of the first planetary gear components (26, 28, 34, 36) from each other by means of a first coupling element (38), b) generate torque balance in the range gearbox device (16) by means of the first and second electrical machines (50, 52), c) shift gear in the range gearbox device (16) to a neutral gear, so that the second planetary gear components (70, 72, 74, 78) are free to rotate in relation to each other, d) synchronize the speed between second planetary gear components (70, 72, 74, 78) in the range gearbox device (16) by means of at least one of the first and second electrical machines (50, 52), ande) engage a gear in the range gearbox device (16), by connecting at least two second planetary gear components (70, 72, 74, 78) to each other. The invention also relates to a gearbox (6), which is controlled by means of such a method and a vehicle (1), which comprises such a gearbox (6). The invention also relates to a computer program (P) and a computer program product for performing the method.

Description

A method for gear shifting in a gearbox, a gearbox and a vehicle BACKGROUND AND PRIOR ART The invention relates to a method for gear shifting in a gearbox according to the preamble of patent claim 1. The invention also relates to a gearbox according to the preamble of patent claim 17, which is controlled by means of such a method. The invention also relates to a vehicle according to the preamble of patent claim 18, which comprises such a gearbox.
Vehicles, and in particular heavy goods vehicles, e.g. trucks, are usually equipped with a gearbox connected to the combustion engine, which gearbox may be automatic, manual or a combination thereof. In an automated manual transmission, a so-called AMT gearbox, the gearbox is controlled by an electronic control device. Such a gearbox may be equipped with a main gearbox device provided with a main shaft. A lay shaft is arranged in parallel to the main shaft. The main shaft is connectible to an input shaft via the lay shaft and to an output shaft in the gearbox via a range gearbox device, if such a range gearbox device is integrated in the gearbox. The gearbox may also be equipped with a split gear device, arranged between the input shaft and the lay shaft. The range gearbox device may constitute a separate device instead of being integrated in the gearbox. In addition to the combustion engine, also an electrical machine may be arranged between the combustion engine and the gearbox. The combustion engine can together with the electrical machine deliver power to the vehicle as a hybride drive or as an alternative may one of the combustion engine or the electrical machine deliver power to the vehicle.
A brake mechanism may be arranged to retard the lay shaft in connection with change of gears in the gearbox, in order to achieve synchronous rotational speeds between the lay shaft and the main shaft, so that the new gear may be engaged without any difference in rotation speed existing between those transmission parts in the gearbox which are brought to engage with each other at the moment the new gear is engaged. The brake mechanism is thus used to retard the lay shaft in relation to the main shaft at a stage during a shifting operation when the main gearbox is in the neutral position, while the lay shaft is disconnected from the main shaft.
In gearboxes of this type, the synchronization devices, comprising conical synchronization rings and coupling rings, may be replaced by toothed operating sleeves, which are displaced axially in order to engage with gearwheels placed on the main shaft. Each gearwheel placed on the main shaft is engaged with corresponding gearwheel elements, which are firmly attached to the lay shaft. On shifting, the operating sleeve is displaced axially in order to engage with coupling teeth arranged on a selectable gearwheel, in order to connect the gearwheel to, and rotation lock it, on the main shaft. The synchronization device in the split gearbox device and in the range gearbox device may also be replaced by toothed operating sleeves.
The range gearbox device is usually provided between the main gearbox device and a propeller shaft coupled to the drive wheels of the vehicle. The range gearbox device is accommodated in a gearbox housing and comprises an input shaft coupled to the main gearbox device, an output shaft and between the input shaft and the output shaft is the planetary gear disposed. The planetary gear usually comprises three components, which are rotatable arranged relative to each other namely a sun gear, a planet carrier with planet gears and a ring gear. With knowledge of the number of teeth of the sun gear and the ring gear the relative speed of the three components can be determined during operation. In a range gearbox device the sun gear can be rotatable connected to the input shaft, a number of planet gears which engage said sun gear, which planet gears are rotatable mounted on the planet carrier which is fixedly connected to the output shaft, and an axially displaceable ring gear which surrounds and engages the planet gears. The teeth of the sun gear, planet gears and ring gear can be helical, that is, they have an angle to a common rotation axis of the sun gear, planet carrier and ring gear.
There are range gearboxes in which the synchronization devices are replaced with coupling sleeves provided with splines. By controlling the transmission to synchronous speed between the two components to be assembled an axial displacement of the coupling sleeve along the two components is made possible in order to connect them. When the components should be detached the transmission is controlled so that torque balance occurs between the components so that the coupling sleeve is not transmitting torque. It then becomes possible to move the coupling sleeve axially along the components in order to disengage them from each other.
The torque balance is a condition where a torque acting on the ring gear, corresponding to the product of the torque acting on the planet carrier and the gear ratio of the planetary gear while a torque acts on the sun gear, corresponding to the product of the torque acting on the planet carrier and (1 - the gear ratio of the planetary gear). In the case that two of the components of the planetary gear, sun gear, ring gear or planet carrier, are coupled together by a coupling sleeve, the coupling sleeve transmits no torque between the planetary gear elements when torque balance occurs. Thus, the coupling sleeve can be easily displaced and the planetary gear components released.
Document DE102008001650 relates to a powertrain provided with an internal combustion engine, a main gear and an auxiliary transmission such as a range gear provided with a planetary gear, arranged downstream to the main gear. The range gear is coupled to an electric machine, such as an electrical motor or generator, which may be used for synchronizing gears and shafts when shifting gears.
Document WO2012084331 relates to a transmission comprising a main gearbox and a rear mounted range gearbox connected downstream of the main gearbox and designed as a planetary gear. An electric machine is connected to a further planetary gear downstream the main gearbox.
SUMMARY OF THE INVENTION Despite prior art, there is a need to develop a method, which makes it possible to shift gears in a gearbox with the use of a small amount of energy. There is also a need to develop a method, which makes it possible to shift gears in a gearbox within a short period of time. There is a further need to develop a method, which makes it possible to shift gears in a gearbox without need of an electric accumulator.
The object of the invention is thus to provide a method for gear shifting in a gearbox of the type defined in the introduction, which makes it possible to shift gears in a gearbox with the use of a small amount of energy.
Another object of the invention is to provide a method, which makes it possible to shift gears in a gearbox within a short period of time.
A further object of the invention is to provide a method, which makes it possible to shift gears in a gearbox without need of an electric accumulator.
These objectives are achieved with a method, which is characterised by the features specified in patent claim 1.
These objectives are also achieved with a gearbox, which is characterised by the features specified in patent claim 17.
These objectives are also achieved with a vehicle, which is characterised by the features specified in patent claim 18.
The method according to the invention comprises the following steps of: a) generate torque balance between at least two of the first planetary gear components by means of the first and second electrical machines and disen gage at least two of the first planetary gear components from each other by means of a first coupling element, b) generate torque balance in the range gearbox device by means of the first and second electrical machines, c) shift gear in the range gearbox device to a neutral gear, so that the second planetary gear components are free to rotate in relation to each other, d) synchronize the speed between second planetary gear components in the range gearbox device by means of at least one of the first and second electrical machines, and e) engage a gear in the range gearbox device, by connecting at least two second planetary gear components to each other.
The method describes how the range gearbox device is shifted into the high range gear position wherein an upshift takes place in the second planetary gear. Before the range gearbox device is shifted into the high range gear position the range gearbox device is shifted into a neutral gear, which make it possible to synchronize the speed between a movable components in the second planetary gear. This means that a method for gear shifting in a gearbox is achieved, which makes it possible to shift gears with the use of a small amount of energy. Also, the method makes it possible to shift gears in a gearbox within a short period of time.
The powertrain may be provided with the internal combustion engine. However, the first and second electrical machines are designed to provide enough power and torque to the driving wheels for propulsion of the vehicle. Power to the first and second electrical machines may be provided from an energy storage such as an electrochemical energy storage arranged in the vehicle or from an external energy storage such as wires or other electrical conducting means (not disclosed) in the environment where the vehicle is used.
Further, the method makes it possible to shift gears in a gearbox without need of an electric storage. When torque balance and synchronization are generated by means of the first and second electrical machines one of the electrical machines, may generate electrical power to the other electrical machine. Thus, no electric storage is needed for rotating the electrical machines. An internal combustion engine may be connected to the first electrical machine, which is under certain operation modes driven by the internal combustion engine. The first electrical machine is under such circumstances generating electrical power to the second electrical machine. For this reason also shifting of gears in the gearbox can be performed using a small amount of energy. The traditional clutch is replaced by the first planetary gear and the two electrical machines, and therefore shifting gears can be made within a short period of time.
According to a further embodiment of the invention, the second planetary gear components comprise a second planetary gear with a second ring gearwheel, a second sun gearwheel and a second planet carrier, on which at least one second planet gearwheel is rotatable mounted, which second sun gearwheel is connected to a main shaft in the gearbox. With such a configuration of the range gearbox device the number of gears in the gearbox can be duplicated. Also, shifting gears can be made within a short period of time in such a range gearbox device. The second electrical machine is used to brake the second sun gearwheel for connection of the second sun gearwheel with the second planer carrier. According to this embodiment of the invention the deceleration of the speed of the second sun gearwheel to the same speed as the second planet carrier may be made by switching the second electrical machine into a braking mode. The second electrical machine will thus bring the second sun gearwheel to rotate with such a speed in relation to the second carrier.
According to a still further embodiment of the invention torque balance in the range gearbox device in step b) is generated between the second ring gearwheel and a gearbox housing.
According to a still further embodiment of the invention the second ring gearwheel in step c) is released from the gearbox housing by means of a second coupling element.
According to a still further embodiment of the invention, the gear in the range gearbox device is in step e) engaged by connecting the second planet carrier and the second sun gearwheel. Thus, the range gearbox device is shifted into the high range gear position.
According to an embodiment of the invention, the gearbox comprises a main gearbox device and a split gearbox device, and in step g) gears in the main gearbox device and/or in the split gearbox device are shifted to a neutral gear. When gears in the main gearbox device and in the split gearbox device are shifted to a neutral gear, both the main gearbox device and the split gearbox device are simultaneously prepared to be synchronized before gear shifting. Therefore, shifting gears can be made within a short period of time. The torque transmitting elements in the gearbox are according to an embodiment of the invention a lay shaft, a main shaft and gearwheels arranged on these shafts.
According to a further embodiment of the invention, the gears in the main gearbox device and/or in the split gearbox device are engaged in step i). The gears in the main gearbox device and in the split gearbox device may be engaged in sequence. Thus, shifting gears can be made within a short period of time.
According to a still further embodiment of the invention, the first planetary gear components of the first planetary gear comprises a first ring gearwheel, a first sun gearwheel and a first planet carrier, on which at least one first planet gearwheel is rotatable mounted, which first planet carrier is connected to the input shaft. Such a first planetary gear replaces a traditional clutch, which results in that shifting gears can be made within a short period of time.
According to a still further embodiment of the invention, the first electrical machine is arranged on the first sun gearwheel and the second electrical machine is arranged on the first ring gearwheel. Such a configuration of the first and second electrical machines at the first planetary gear components makes it possible to generate torque balance and synchronization in order to shifting gears in the gearbox. Therefore, shifting gears can be made within a short period of time and without the need of an electric accumulator.
According to a still further embodiment of the invention, the torque balance in step a) is generated between the first sun gearwheel and the first planet carrier. Using the first and second electrical machines to generate torque balance between at least two of the first sun gearwheel and the first planet carrier and disengage them by means of a first coupling element shifting gears can be made within a short period of time. Also the traditional clutch can be replaced.
According to a still further embodiment of the invention, the at least two of the first planetary gear components in step a) are disengaged from each other by means of the first coupling element are the first sun gearwheel and the first planet carrier. When torque balance has been generated between the first sun gearwheel and the first planet carrier they may be disengaged by means of a first coupling element comprising an axially displaceable sleeve provided with splines. Thus, shifting gears can be made within a short period of time.
According to a still further embodiment of the invention, the speed between rotatable torque transmitting elements in step h) is synchronized by means of accelerating the second electrical machine, so that the input shaft is reaching a synchronized speed for shifting gears in a split gearbox device in the gearbox. Accelerating the input shaft by means of the second electrical machine, shifting gears can be made within a short period of time.
According to a still further embodiment of the invention, the speed between rotatable torque transmitting elements in step h) is synchronized by means of a synchronizing device arranged in the split gearbox device in the gearbox, so that the input shaft is reaching a synchronized speed for shifting gears in the split gearbox device.
According to a still further embodiment of the invention, the speed between rotatable torque transmitting elements in step i) is synchronized by means of accelerating the lay shaft in the gearbox by means of the second electrical machine, so that a gearwheel in a main gearbox device is reaching a synchronized speed for shifting gears in the main gearbox device in the gearbox. Accelerating the lay shaft by means of the second electrical machine, shifting gears can be made within a short period of time.
According to a still further embodiment of the invention, the method comprises the further step of: j) synchronize the speed between at least two of the first planetary gear components by means of the first and second electrical machines and engage at least two of the first planetary gear components to each other by means of the first coupling element.
According to a still further embodiment of the invention, the at least two of the planetary gear components engaged to each other by means of the first coupling element in step j) are the first sun gearwheel and the first planet carrier.
According to a still further embodiment of the invention the torque balance in step b) also is generated by an internal combustion engine connected to the first planetary gear.
When torque balance and synchronization are generated by means of the first and second electrical machines the internal combustion engine rotates one of the electrical machines, which generates electrical power to the other electrical machine. Thus, no electric accumulator is needed for rotating the electrical machines. For this reason also shifting of gears in the gearbox can be performed using a small amount of energy.
The invention also relates to a computer program and a computer program product for performing the method according to the invention.
BRIEF DESCRIPTION OF THE DRAWINGS Below is a description of, as examples, preferred embodiments of the invention with reference to the enclosed drawings, in which: Fig. 1 shows schematically a vehicle in a side view, provided with a gearbox shifted by the method according to the invention, Fig. 2 shows schematically a sectional view of a powertrain with the gearbox, which is shifted into a low range gear position, Fig. 3 shows schematically a sectional view of a powertrain with the gearbox, which is shifted into a natural gear position, Fig. 4 shows schematically a sectional view of a powertrain with the gearbox, which is shifted into a high range gear position, Fig. 5 shows schematically a sectional view of a powertrain with the gearbox, according to an alternative embodiment, which is shifted into a low range gear position, and Fig. 6 shows a flow chart of the method for shifting the gearbox according to the invention.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE IN-VENTION Fig. 1 shows schematically a side view of a vehicle 1, e.g. a truck, with a powertrain 2 provided with a gearbox 6 shifted by the method according to the invention. The powertrain 2 comprises also a propulsion arrangement, such as an internal combustion engine 4 and/or electrical machines 50, 52, which is connected to the gearbox 6, and the gearbox 6 is further connected to driving wheels 8 of the vehicle 1 via a propeller shaft 10.
Fig. 2 shows schematically a sectional view of the powertrain 2 with the gearbox 6, which is shifted by the method according to the invention. The gearbox 6 is provided with a split gearbox device 12, a main gearbox device 14 and a range gearbox device 16, which is shifted into a low range gear position. The split gearbox device 12 comprises an input gearwheel 30e rotatable arranged on an input shaft 18 and a split gearwheel 30d rotatable arranged on a main shaft 20. The main gearbox device 14 comprises at least a first and a second main gearwheel 30a-30c rotatable arranged on the main shaft 20. The range gearbox device 16 is connected to the main shaft 20 and to the propeller shaft 10. The propeller shaft 10 is connected to the driving wheels 8. However, the split gearbox device 12 can be excluded in the gearbox 6.
The gearbox 6 is also provided with a lay shaft 22 which comprises gearwheel elements 32a-32e, which are engaged with the input gearwheel 30e and the split gearwheel 30d, and the main gearwheels 30a-30c, respective.
A first planetary gear 24 is connected to the input shaft 18. The first planetary gear 24 comprises a first ring gearwheel 26, a first sun gearwheel 28 and a first planet carrier 34, on which at least one first planet gearwheel 36 is rotatable mounted. The first planet carrier 34 is connected to the input shaft 18. The first sun gearwheel 28 and the first planet carrier 34 may be engaged to each other by means of a first coupling element 38. The first coupling element 38 comprises preferably a first axially movable sleeve 40, which is equipped internally with splines 42. The first axially movable sleeve 40 is displaced axially in order to be brought into engagement with a transmission shaft 19 and the first planet carrier 34. The transmission shaft 19 is connected to the first sun gearwheel 28.
The axial displacement of the first axially movable sleeve 40 is provided by a shift fork 44 arranged in an outside circumferential groove 46 in the first axially movable sleeve 40. The shift fork 44 is influenced by a power means 48. The power means 48 may be a pneumatic, hydraulic or electric cylinder.
First and second electrical machines 50, 52 are arranged to rotate and brake the first planetary gear 24. The first electrical machine 50 is arranged at the first sun gearwheel 28 and the second electrical machine 52 is arranged at the first ring gearwheel 26.
If the powertrain 2 is provided with an internal combustion engine 4 it may be connected to the first sun gearwheel 28 of the first planetary gear 24.
A brake mechanism 58 may be connected to the lay shaft 22 for retarding the lay shaft 22 when shifting gears in the gearbox 6.
The electrical machines 50, 52 may generate driving torque or brake torque on the input shaft 18. The electrical machines 50, 52 may be connected to an electric storage 60 which delivers electrical power to the electrical machines 50, 52 or receives electrical power from the electrical machines 50, 52 when the electrical machines 50, 52 generate brake torque on the input shaft 18.
The main gearbox device 14 comprises operating main gear sleeves 62a, 62b, which are equipped internally with splines 42. Each main gear sleeve 62a, 62b is displaced axially in order to be brought into engagement with the main gearwheels 30a-30c and the split gearwheel 30d placed on the main shaft 20. The main gearwheels 30a-30c and the split gearwheel 30d are free to rotate in relation to the main shaft 20 when the main gear sleeves 62a, 62b disengage the main gearwheels 30a-30c and the split gearwheel 30d from the main shaft 20. Each main gearwheel 30a-30c, placed on the main shaft 20, is engaged with corresponding gearwheel elements 32a-32c, which are fixed to the lay shaft 22. On shifting, the operating main gear sleeve 62a, 62b is displaced axially from a disengaged position to an engaged position in order to engage with splines 42 arranged on a selectable main gearwheel 30a-30c and the split gearwheel 30d in order to connect the gearwheel 30a-30c and the split gearwheel 30d to, and rotation lock it, on the main shaft 20. Alternatively, the axially displaceable main gear sleeves 62a, 62b may also be brought into engagement with the main gearwheels 30a-30c and the split gearwheel 30d by means of synchronization means (not disclosed).
The split gear box device 12 comprises an operating split gear sleeve 64, which is equipped internally with splines 42. The split gear sleeve 64 is displaced axially in order to be brought into engagement with the input gearwheel 30e and the split gearwheel 30d, placed on the input shaft 18 and the main shaft 20, respective. However, for the gearwheel 30d to be free to rotate in relation to the main shaft 20 also the axially displaceable main gear sleeve 62b must disengage the gearwheel 30d from the main shaft 20. The gearwheels 30d, 30e are free to rotate in relation to the input shaft 18 when the split gear sleeve 64 disengages the gearwheels 30d, 30e from the input shaft 18. However, also the main gear sleeve 62b must disengage the gearwheel 30d from the main shaft 20 so that that gearwheel 30d is free to rotate in relation to the main shaft 20. The gearwheels 30d, 30e, placed on the input shaft 18 and the main shaft 20, are engaged with corresponding gearwheel elements 32d, 32e, which are fixed to the lay shaft 22. On shifting, the split gear sleeve 64 is displaced axially from a disengaged position to an engaged position in order to engage with splines 42 arranged on a selectable gearwheel 30d, 30e in order to connect the input gearwheel 30e or the split gearwheel 30d to, and rotation lock it, with the input shaft 18. Alternatively, the axially displaceable split gear sleeve 64 may also be brought into engagement with the input gearwheel 30e and the split gearwheel 30d by means of a synchronization device 65 (fig. 5), comprising conical synchronization rings and coupling rings. However, according to one embodiment the electrical machines 50, 52, the internal combustion engine 4 and the brake mechanism 58 connected to the lay shaft 22 are used to synchronize the gearbox 6 when shifting gears. The main gear sleeve 62b may also be used to be brought into engagement with the split gear wheel 30d when the split gear wheel 30d is engaged with the input shaft 18 by means of the split gear sleeve 64. Thus, a direct connection between the input shaft 18 and the main shaft 20 is achieved, wherein the gear ratio in the split and main gearbox devices is 1 :1.
The range gearbox device 16 comprises a second planetary gear 66 which has a low and a high gear, so that the shifting capability of the gearbox 6 can be divided into a low range gear position and a high range gear position. In a first gear position corresponding to the low range gear position a downshift takes place in the second planetary gear 66. In the high range gear position the gear ratio is 1 :1 in the second planetary gear 66. Fig. 2 shows the range gearbox device 16 in the first gear position, corresponding to the low range gear position.
The range gearbox device 16 is accommodated in a gearbox housing 68, which surrounds the gearbox 6, and is connected to the main shaft 20 of the main gearbox device 14. The second planetary gear 66 comprises three main components which are rotatable arranged in relation to each other, namely a second sun gearwheel 70, a second planet carrier 72 and a second ring gearwheel 74. A number of second planet gearwheels 78 are rotatable arranged on the second planet carrier 72. With knowledge of the number of teeth 76 of second sun gearwheel 70 and the second ring gearwheel 74, the relative gear ratio of the three components can be determined. The second sun gearwheel 70 is connected to the main shaft 20, which extends out of the main gearbox device 14. The second planet gearwheels 78 engage the second sun gearwheel 70. The second ring gearwheel 74 surrounds and engages the second planet gearwheels 78.
A second coupling element 86 comprising a second axially displaceable coupling sleeve 88 is in a first gear position arranged to connect the gearbox housing 68 with the second ring gearwheel 74 and in a second gear position arranged to disconnect the gearbox housing 68 from the second ring gearwheel 74. The second axially movable coupling sleeve 88 is in the first gear position arranged to disconnect the second sun gearwheel 70 from the second planet carrier 72. The second axially movable coupling sleeve 88 is in a second gear position arranged to connect the second sun gearwheel 70 to the second planet carrier 72. Also, the second axially movable coupling sleeve 88 is in a neutral gear position arranged to disconnect the second sun gearwheel 70 from the second planet carrier 72 and at the same time disconnect the second ring gear wheel 74 from the gearbox housing 68.
The second axially displaceable coupling sleeve 88 is on an inner surface provided with splines 42 arranged to interact with the corresponding splines 42 arranged on the second ring gearwheel 74 and on the periphery of a projection 94 which is fixedly connected to the gearbox housing 68. The splines 42 on the second axially movable coupling sleeve 88 are also arranged to cooperate with corresponding splines 42 arranged on the periphery of a first sprocket 96 which is mounted on the main shaft 20 of the second sun gearwheel 70, which is connected to the main shaft 20 in the main gearbox device 14.
The splines 42 on the second axially movable coupling sleeve 88 are also arranged to cooperate with corresponding splines 42 arranged on the second planet carrier 72. Corresponding splines 42 disposed on the second planet carrier 72 are made on the periphery of a second sprocket 98 which is mounted on the second planet carrier 72.
The low gear in the range gearbox device 16 is obtained by displacing the second axially movable coupling sleeve 88, so that the second ring gearwheel 74 is connected to the projection 94 of the gearbox housing 68. The high gear in the range gearbox device 16 is obtained by displacing the second axially movable coupling sleeve 88, so that the second sun gearwheel 70 is connected to the second planet carrier 72. The neutral gear position in the range gearbox device 16 is obtained by displacing the second axially movable coupling sleeve 88, so that the second axially movable coupling sleeve 88 is in a arranged to disconnect the second sun gearwheel 70 from the second planet carrier 72 and at the same time disconnect the second ring gear wheel 74 from the gearbox housing 68. In the neutral gear position no torque is transferred through the range gearbox device 16. Fig. 3 shows schematically a sectional view of a powertrain with the gearbox, which is shifted into a neutral gear position.
The high gear in the range gearbox device 16 is obtained by displacing the second axially movable coupling sleeve 88, so that the second sun gearwheel 70 is connected to the second planet carrier 72. Fig. 4 shows schematically a sectional view of a powertrain with the gearbox, which is shifted into a high range gear position.
Fig. 5 shows the alternative embodiment mentioned above, where the axially displaceable split gear sleeve 64 may also be brought into engagement with the input gearwheel 30e and the split gearwheel 30d by means of a synchronization device 65, comprising conical synchronization rings and coupling rings.
The axial displacement of the second axially movable coupling sleeves 88 is provided by power means (not shown), corresponding to the power means 48 in connection to the first axially movable coupling sleeve 40.
Preferably, the first and second axially movable coupling sleeves 40, 88 each has a low weight, which means that there is a need of low energy and force to move the respective coupling sleeve 40, 88 when shifting gears. This allows a quick gear shifting between the different gear positions in the range gearbox device 16.
Fig. 6 shows a flow chart of the method for shifting the gearbox 6 according to the invention. The method according to the invention comprises the following steps of: a) generate torque balance between at least two of the first planetary gear components 26, 28, 34, 36 by means of the first and second electrical machines 50, 52 and disengage at least two of the first planetary gear components 26, 28, 34, 36 from each other by means of a first coupling element, b) generate torque balance in the range gearbox device 16 by means of the first and second electrical machines 50, 52, c) shift gear in the range gearbox device 16 to a neutral gear, so that the second planetary gear components 70, 72, 74, 78 are free to rotate in relation to each other, d) synchronize the speed between second planetary gear components 24, 70, 72, 74 in the range gearbox device 16 by means of at least one of the first and second electrical machines 50, 52, and e) engage a gear in the range gearbox device 16, by connecting at least two second planetary gear components 70, 72, 74, 78 to each other.
The method describes how the range gearbox device 16 is shifted into the high range gear position wherein an upshift takes place in the second planetary gear 66. Before the range gearbox device 16 is shifted into the high range gear position the range gearbox device 16 is shifted into a neutral gear, which make it possible to synchronize the speed between second planetary gear components 70, 72, 74, 78 in the second planetary gear 66. This means that a method for gear shifting in a gearbox 6 is achieved, which makes it possible to shift gears with the use of a small amount of energy. Also, the method makes it possible to shift gears in a gearbox 6 within a short period of time.
Preferably, the second planetary gear components 70, 72, 74, 78 comprise a second planetary gear 66 with a second ring gearwheel 74, a second sun gearwheel 70 and a second planet carrier 72, on which at least one second planet gearwheel 78 is rotatable mounted, wherein the speed between the second planet carrier 72 and the second sun wheel 70 is synchronized in step d). With such a configuration of the range gearbox device 16 the number of gears in the gearbox 6 can be duplicated. Also, shifting gears can be made within a short period of time in such a range gearbox device 16. The second electrical machine 52 is used to brake the second sun gearwheel 70 for connection of the second sun gearwheel 70 with the second planer carrier 72. According to this embodiment of the invention the deceleration of the speed of the second sun gearwheel 70 to the same speed as the second planet carrier 72 may be made by switching the second electrical machine 52 into a braking mode. The second electrical machine 52 will thus bring the second sun gearwheel 70 to rotate with such a speed in relation to the second carrier 72.
Preferably, torque balance in the range gearbox device 16 in step b) is generated between the second ring gearwheel 74 and a gearbox housing 68.
Preferably, the second ring gearwheel 74 in step c) is released from the gearbox housing 68 by means of a second coupling element 86.
Preferably, the gear in the range gearbox device 16 is in step e) engaged by connecting the second planet carrier 72 and the second sun gearwheel 70. Thus, the range gearbox device 16 is shifted into the high range gear position.
Preferably, the gearbox 6 comprises a main gearbox device 14 and a split gearbox device 12, and in step g) gears in the main gearbox device 14 and/or in the split gearbox device 12 are shifted to a neutral gear. When gears in the main gearbox device 14 and in the split gearbox device 12 are shifted to a neutral gear, both the main gearbox device 14 and in the split gearbox device 12 are simultaneously prepared to be synchronized before gear shifting.
Therefore, shifting gears can be made within a short period of time. The torque transmitting elements in the gearbox 6 are according to an embodiment of the invention a lay shaft 22, a main shaft 20 and gearwheels 30a-30c, 32a-32c arranged on these shafts.
Preferably, the gears in the main gearbox device 14 and/or in the split gearbox device 12 are engaged in step i). The gears in the main gearbox 14 device and in the split gearbox device 12 may be engaged in sequence. Thus, shifting gears can be made within a short period of time.
Preferably, the first planetary gear components 26, 28, 34, 36 of the first planetary gear 24 comprises a first ring gearwheel 26, a first sun gearwheel 28 and a first planet carrier 34, on which at least one first planet gearwheel 36 is rotatable mounted, which first planet carrier 34 is connected to the input shaft 18. Such a first planetary gear replaces a traditional clutch, which results in that shifting gears can be made within a short period of time.
Preferably, the first electrical machine 50 is arranged on the first sun gearwheel 28 and the second electrical machine 52 is arranged on the first ring gearwheel 26. Such a configuration of the first and second electrical machines 50, 52 at the first planetary gear 24 components makes it possible to generate torque balance and synchronization in order to shifting gears in the gearbox 6. Therefore, shifting gears can be made within a short period of time and without the need of an electric storage 60.
Preferably, the torque balance in step a) is generated between the first sun gearwheel 28 and the first planet carrier 34. Using the first and second electrical machines 50, 52 generate torque balance between at least two of the first sun gearwheel 28 and the first planet carrier 34 and disengage them by means of a first coupling element 38 shifting gears can be made within a short period of time. Also the traditional clutch can be replaced.
Preferably, the at least two of the first planetary gear components 26, 28, 34, 36 in step a) are disengaged from each other by means of the first coupling element 38 are the first sun gearwheel 28 and the first planet carrier 34. When torque balance has been generated between the first sun gearwheel 28 and the first planet carrier 34 they may be disengaged by means of a first coupling element 38 comprising a first axially displaceable sleeve 40 provided with splines. Thus, shifting gears can be made within a short period of time.
Preferably, the speed between rotatable torque transmitting elements 18, 22, 30d-30e, 32d-32e in step h) is synchronized by means of accelerating the second electrical machine 52, so that the input shaft 18 is reaching a synchronized speed for shifting gears in a split gearbox device 12 in the gearbox 6. Accelerating the input shaft 18 by means of the second electrical machine 52 shifting gears can be made within a short period of time.
The brake mechanism 58 connected to the lay shaft 22 may be arranged for retarding the lay shaft 22 when shifting gears in the split gearbox device 12.
Preferably, according to an embodiment of the invention, the speed between rotatable torque transmitting elements in step h) is synchronized by means of a synchronizing device 65 arranged in the split gearbox device 12 in the gearbox 6, so that the input shaft 18 is reaching a synchronized speed for shifting gears in the split gearbox device 12.
Preferably, according to an embodiment of the invention, the speed between rotatable torque transmitting elements 20, 22, 30a-30d, 32a-32d in step i) is synchronized by means of accelerating the lay shaft 22 in the gearbox 6 by means of the second electrical machine 52, so that a gearwheel 30a-30d in a main gearbox device 14 is reaching a synchronized speed for shifting gears in the main gearbox device 14 in the gearbox 6..
Preferably, the method comprises the further step of: j) synchronize the speed between at least two of the first planetary gear components 26, 28, 34, 36 by means of the first and second electrical machines 50, 52 and engage at least two of the first planetary gear components 26, 28, 34, 36 to each other by means of the first coupling element 38.
Preferably, the at least two of the planetary gear components 26, 28, 34, 36 engaged to each other by means of the first coupling element 38 in step j) are the first sun gearwheel 28 and the first planet carrier 34.
Preferably, the torque balance in step b) also is generated by an internal combustion engine 4 connected to the first planetary gear 24.
When torque balance and synchronization are generated by means of the first and second electrical machines 50, 52 the internal combustion engine 4 rotates one of the electrical machines 50, 52, which generates electrical power to the other electrical machine 50, 52. Thus, no electric accumulator is needed for rotating the electrical machines 50, 52. For this reason also shifting of gears in the gearbox 6 can be performed using a small amount of energy.
The invention also relates to a computer programme P and a computer programme product for performing the method steps. The computer program P controls the gear shifting in the gearbox 6, wherein said computer program P comprises program code for making an electronic control unit 100 or a computer 104 connected to the electronic control unit 100 to performing the method steps according to the invention as mentioned herein, when said computer programme P is run on the electronic control unit 100 or a computer 104 connected to the electronic control unit 100.
Position detectors 106 arranged in the gearbox 6 are connected to the control unit 100. The position detectors 106 provide the control unit 100 with information about the axial position of respective axial movable coupling sleeves 40, 88.
The computer programme product comprises a program code stored on a, by an electronic control unit 100 or a computer 104 connected to the electronic control unit 100 readable, media for performing the method steps according to the invention as mentioned herein, when said computer programme P is run on the electronic control unit 100 or a computer 104 connected to the electronic control unit 100. Alternatively, the computer programme product is directly storable in an internal memory M into the electronic control unit 100 or a computer 104 connected to the electronic control unit 100, comprising a computer programme P for performing the method steps according to the invention, when said computer programme P is run on the electronic control unit 100 or a computer 104 connected to the electronic control unit 100.
The components and features specified above may within the framework of the invention be combined between the different embodiments specified.

Claims (20)

Claims
1. A method for gear shifting in a gearbox (6) comprising an input shaft (18) and an output shaft (84), which is connectable to a propeller shaft (10); a first planetary gear (24), with first planetary gear components (26, 28, 34, 36), which is connected to the input shaft (18); a first and second electrical machine (50, 52) arranged to rotate and brake the first planetary gear (24); and a range gearbox device (16) arranged between the input shaft (18) and the output shaft (84), which range gearbox device (16) comprises a second planetary gear (66), with second planetary gear components (70, 72, 74, 78); characterised in the following steps of: a) generate torque balance between at least two of the first planetary gear components (26, 28, 34, 36) by means of the first and second electrical machines (50, 52) and disengage at least two of the first planetary gear components (26, 28, 34, 36) from each other by means of a first coupling element (38), b) generate torque balance in the range gearbox device (16) by means of the first and second electrical machines (50, 52), c) shift gear in the range gearbox device (16) to a neutral gear, so that the second planetary gear components (70, 72, 74, 78) are free to rotate in relation to each other, d) synchronize the speed between second planetary gear components (70, 72, 74, 78) in the range gearbox device (16) by means of at least one of the first and second electrical machines (50, 52), and e) engage a gear in the range gearbox device (16), by connecting at least two second planetary gear components (70, 72, 74, 78) to each other.
2. The method of claim 1, wherein the second planetary gear components (70, 72, 74, 78) of the second planetary gear (66) comprise a second ring gearwheel (74), a second sun gearwheel (70) and a second planet carrier (72), on which at least one second planet gearwheel (78) is rotatable mounted, characterised in that in step d) synchronizing the speed between the second planet carrier (72) and the second sun gearwheel (70).
3. The method of claim 2, characterised in that in step b) generating torque balance in the range gearbox device (16) between the second ring gearwheel (74) and a gearbox housing (68).
4. The method of claim 3, characterised in that in step c) releasing the second ring gearwheel (74) from the gearbox housing (68) by means of a second coupling element (86).
5. The method according to any of claims 2 - 4, characterised in that in step e) engaging the gear in the range gearbox device (16) by connecting the second planet carrier (72) and the second sun gearwheel (70).
6. The method of any of the preceding claims, characterised in the further steps: f) generating torque balance in a main gearbox device (14) and/or in a split gearbox device (12) in the gearbox (6) by means of the first and second electrical machines (50, 52), g) shifting gear in the main gearbox device (14) and/or in the split gearbox device (12) to a neutral gear, h) synchronizing the speed between rotatable torque transmitting elements (18, 22, 30d-30e, 32d-32e) in the split gearbox device (12) and engaging a gear in the split gearbox device (12), and i) synchronizing the speed between rotatable torque transmitting elements (20, 22, 30a-30d, 32a-32d) in the main gearbox device (14) and engaging a gear in the main gearbox device (14).
7. The method of any of the preceding claims, characterised in that the first planetary gear components (26, 28, 34, 36) of the first planetary gear (24) comprises a first ring gearwheel (26), a first sun gearwheel (28) and a first planet carrier (34), on which at least one first planet gearwheel (36) is rotatable mounted, which first planet carrier (34) is connected to the input shaft (18).
8. The method of claim 7, characterised in that the first electrical machine (50) is arranged on the first sun gearwheel (28) and the second electrical machine (52) is arranged on the first ring gearwheel (26).
9. The method according to any claims 7 and 8, characterised in that in step a) the torque balance is generated between the first sun gearwheel (28) and the first planet carrier (34).
10. The method according to any of claims 7 - 9, characterised in that in step a) the at least two of the planetary gear components (26, 28, 34, 36) disengaged from each other by means of the first coupling element (38) are the first sun gearwheel (28) and the first planet carrier (34).
11. . The method of claim 6, characterised in that in step h) the speed between rotatable torque transmitting elements (18, 22, 30d-30e, 32d-32e) is synchronized by means of accelerating the second electrical machine (52), so that the input shaft (18) is reaching a synchronized speed for shifting gears in a split gearbox device (12) in the gearbox (6).
12. The method of claim 6, characterised in that in step h) the speed between rotatable torque transmitting elements (18, 22, 30d-30e, 32d-32e) is synchronized by means of a synchronizing device (65) arranged in the split gearbox device (12) in the gearbox (6), so that the input shaft (18) is reaching a synchronized speed for shifting gears in the split gearbox device (12).
13. The method of claim 6, characterised in that in step i) the speed between rotatable torque transmitting elements (20, 22, 30a-30d, 32a-32d) is synchronized by means of accelerating the lay shaft (22) in the gearbox (6) by means of the second electrical machine (52), so that a gearwheel (30a-30d) in a main gearbox device (14) is reaching a synchronized speed for shifting gears in the main gearbox device (14) in the gearbox (6).
14. The method of any of the preceding claims, characterised in the further step: j) synchronize the speed between at least two of the first planetary gear components (26, 28, 34, 36) by means of the first and second electrical machines (50, 52) and engage at least two of the first planetary gear components (26, 28, 34, 36) to each other by means of the first coupling element (38).
15. The method according to claims 9 and 14, characterised in that in step j) the at least two of the planetary gear components (26, 28, 34, 36) engaged to each other by means of the first coupling element (38) are the first sun gearwheel (28) and the first planet carrier (34).
16. The method of any of the preceding claims, characterised in that the torque balance in step b) also is generated by an internal combustion engine (4) connected to the first planetary gear (24).
17. Gearbox (6) comprising an input shaft (18) and a main shaft (20), characterised in that the gearbox (6) is controlled by an electronic control unit 100 or a computer 104 connected to the electronic control unit 100 performing the method of any of the claims 1 - 16.
18. Vehicle (1) comprising a gearbox (6) provided with an input shaft (18) and a main shaft (20) and a first and a second electrical machine (50, 52) arranged on the input shaft (18), characterised in that the gearbox (6) is controlled by an electronic control unit 100 or a computer 104 connected to the electronic control unit 100 performing the method of any of the claims 1 - 16.
19. A computer program (P) for controlling the gear shifting in a gearbox (6), wherein said computer program (P) comprises program code for making an electronic control unit (100) or another computer (104) connected to the electronic control unit (100) to performing the steps according to any of the claims 1 - 16.
20. A computer program product comprising a program code stored on a media readably by a computer (104) for performing the method steps according to any of the claims 1 - 16, when said program code runs on an electronic control unit (100) or another computer (104) connected to the electronic control unit (100).
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