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2004 International CVT and

Hybrid Transmission Congress

Dynamic Performance
Analysis of a Full Toroidal IVT
- a theoretical approach -
R. Fuchs, Y. Hasuda I. James
Koyo Seiko Co. Ltd. Torotrak Development Ltd.

CVT2004
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Content
• Motivations
• Approach
• Dynamics of the full toroidal variator
• Interaction variator-hydraulic
• Variator system damping
• Conclusion

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Motivations

• IVT dynamic in the frequency domain

• Prediction of system behavior

• System design

• Transmission and driveline control

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Approach
Interaction Interaction
Variator-driveline Variator-driveline
(engine side) (vehicle side)

Interaction
Variator-hydraulic
Performance Analysis of a Full Toroidal IVT
- a theoretical approach -
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The Full Toroidal Variator

i Ti
o
Variator
To Dynamic model
Pe xp
(roller) (4 inputs, 4 outputs)
Pp dxp/dt

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Variator Dynamic: 2 Main Mechanisms

2 mains mechanisms dictates variator stability

① Traction drive  power transmission.

 basic control law for piston and
endload forces.

② Castor angle  roller self-alignment.

 castor angle and disc rotational
direction linked.

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Variator Dynamic: Static Response

Soft nonlinearities only due to toroidal geometry
 Linearization possible

Piston position Torque control

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Variator Stability: Frequency Response

The full toroidal variator is a nonlinear MIMO system.

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Variator Dynamic: Parametric Study

Dominant parameters
• Castor angle  Damping
• Roller speed  Stiffness
• Endload force  Gain
Castor angle, dxp/dt/Fp Roller speed, dxp /dt /Fp

100Hz

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Hydraulic Interaction: Closed-Loop

Mechanism of interaction
Variator ratio change produces pressure perturbation.

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Hydraulic Interaction: Closed-Loop

Block diagram

 T
Variator

Fe, Fp xp, dxp/dt

Hydraulic
circuit Pressure
demand

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Hydraulic Interaction: 2 Circuit Concepts

Pressure control circuits based on flow
control valve and pressure reducing valve

Pressure-reducing valve (PRV)

Flow control valve 　 (FCV)
u
u
PRV xp
xp FCV

Valve spool not sensitive Valve spool sensitive to

to pressure perturbation. pressure perturbation.

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Hydraulic Interaction: Frequency Response

Comparison of frequency response of hydraulic circuit: Fp/dxp/dt

Flow control valve Pressure reducing valve

damping

gain

bandwidth

bandwidth

• Low pass. • Low pass.

• Load pressure dependent. • Resonance peak.
• Load compliance dependent

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Hydraulic Interaction: Variator-FCV Circuit

Stable interaction
Hydraulic damping when variator resonance frequency is
higher than hydraulic cut-off frequency
Stability Closed-loop: Hydraulic damping

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Hydraulic Interaction: Variator-PRV Circuit

Valve stability can be guaranteed using
conventional hydraulic design techniques

Stable example Closed-loop: Hydraulic damping

Performance Analysis of a Full Toroidal IVT

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Hydraulic Interaction: Summary

2 basic circuits
Flow control valve circuit
• Interaction stable.
• Hydraulic damping.
• Technically not optimum for control.
Pressure reducing valve
• Interaction stable for high load compliance.
• Hydraulic damping.
• Technically good for control.

Importance of sub-system design

for system stability.
Performance Analysis of a Full Toroidal IVT
- a theoretical approach -
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System Damping: 2 Methods

• Differential hydraulic (major effect for FCV circuits)
• Damping orifices (major effect for PRV circuits)
Flow control valve 　 (FCV) Pressure-reducing valve (PRV)
Pp2 Pp1
FCV2 FCV1 Fp1
2Ft Fp2
u2 u1
Damping orifice Damping orifice Damping orifice xp Damping orifice
Pp2 Pp1
Fp2 Fp1 u2 u1
2Ft PRV2 PRV1
xp

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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System Damping: FCV Differential Circuit

Frequency responses Fp/dxp/dt for null differential pressures
FCV hydraulic Variator + FCV hydraulic

As pressures increases:
• Hydraulic gain increases & bandwidth decreases
• System damping

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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System Damping: PRV Circuit with Restriction

Frequency responses Fp/dxp/dt for different restriction areas
PRV hydraulic Variator + PRV hydraulic

As the area decreases:

• Hydraulic gain & damping increase
• System damping

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Conclusion
The variator-hydraulic system is stable
• For a given variator design, the system performance is
determined by the hydraulic circuit.
• Additional response tuning possible with control.

System design
• This analysis is a key step in a theoretical approach of system
design.
• It should be applied at the design stage to provide a system o
ptimised for fast but well damped response.

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -
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Outlook

Extension to the complete IVT driveline

• Complete theoretical investigation including dynamic
response of the driveline.
Experimental validation and implication on
driveability
• Using test rigs and prototype vehicles.

>> Future publications

Performance Analysis of a Full Toroidal IVT

- a theoretical approach -