Method and controller for operating a transmission and transmission

Abstract

A method for operating a transmission (100) is proposed, in which a requested value of an output torque (M3) of the transmission (100) is read in and, on the basis of the requested value, a first control signal (150) for actuating a first actuator (120) of the transmission (100) and a second control signal (160) for actuating a second actuator (130) thereof are determined. The control signals (150, 160) result in input torques (M1, M2) which, depending on the requested value of the output torque (M3), result in torques of different sign and of different, non-zero absolute magnitude on the output shaft (118) or in torques of the same sign and of the same, non-zero absolute magnitude.

Description

TECHNICAL FIELD

[0001] The invention relates to a method for operating a transmission, a corresponding controller and a transmission. BACKGROUND

[0002] In a transmission, the play of the transmission can be covered by an increase in the gear quality or by spring-loaded tensioning of the sub-transmission. SUMMARY

[0003] Against this background, it is the task of the invention to realize an improved method for operating a transmission, an improved controller and an improved transmission.

[0004] This task is solved by a method for operating a transmission, a corresponding controller and a transmission according to the invention.

[0005] According to some embodiments, for covering the transmission play a redundant actuator, in particular an electric actuator, and at least one redundant transmission branch can be used. In other words, the covering of the transmission play can be realized, for example, by a transmission structure with redundant independent lines and a suitable actuation of the redundant actuators. Here, for torque requirements below a predefined limit value, the actuators can be tensioned against each other so that the transmission play can be covered and above the predefined limit value they can jointly contribute to the output torque.

[0006] Advantageously, according to some embodiments, the transmission play can be covered in such a way that an unlimited use of the transmission is realized without having to increase the engagement quality for this purpose. The play covering can also be generated independently of wear. Thus, according to some embodiments, the covering of the transmission play can be realized independently of the engagement quality and the wear by tensioning both transmission trains by separately implemented actuators. Thus, the resulting transmission can have a redundancy for the transmission and the drive, so that not only the transmission but also the actuators can be determined smaller in size depending on the respective application. In some applications, a redundant design of a part of the transmission exists for reasons of reliability, in which applications, according to some embodiments, the covering of the play can reduce additional financial expenditure when used. By using the redundantly implemented actuators, the reliability of the transmission can also be improved.

[0007] A method for operating a transmission having a transmission unit, a first actuator and a second actuator is proposed. Herein, the transmission unit has an output shaft for providing an output torque of the transmission, a first transmission train and a second transmission train. The first transmission train and the second transmission train are torque-transmissively connected on the output side with the output shaft. The first transmission train is torque-transmissively coupled on the drive side with the first actuator and the second transmission train is torque-transmissively coupled on the drive side with the second actuator. Herein, the first actuator is configured for coupling a first input torque into the first transmission train and the second actuator is configured for coupling a second input torque into the second transmission train.

[0008] Herein, the method comprises the following steps:

[0009] reading in a request signal, which represents a requested value for the output torque;

[0010] determining a first control signal for actuating the first actuator and a second control signal for actuating the second actuator by using the request signal. Herein, when the request signal represents a requested value for the output torque which lies in a first value range, the control signals cause an input torque which, on the output side, causes torques on the output shaft which have different signs and different absolute values which are not equal to zero. Conversely, when the request signal represents a requested value for the output torque which lies in a second value range which is different from the first value range, the control signals cause an input torque which, on the output side, causes torques on the output shaft which have the same sign and the same absolute value which is not equal to zero; and

[0011] outputting the first control signal to the first actuator and the second control signal to the second actuator in order to generate the first input torque and the second input torque.

[0012] The transmission can be used as part of an electric power steering system for a vehicle, for example as part of a so-called single pinion EPS (EPS = Electric Power Steering), a so-called double pinion EPS, a so-called column EPS (C-EPS), a rack-and-pinion EPS (R-EPS), another electric power steering system or a so-called torque overlay steering system (TOS = Torque Overlay Steering), or for another type of transmission drive. The request signal can be read in from an interface to a user input device, a sensing device and additionally or alternatively from a control device. In case the transmission is implemented as part of an electric power steering system for a vehicle, the request signal can be read in from an interface to a sensing device in order to sense a steering angle and additionally or alternatively a steering torque. The first actuator can be configured to generate a first input torque in response to the first control signal and to couple it into the first transmission train. The second actuator can be configured to generate a second input torque in response to the second control signal and to couple it into the second transmission train.

[0013] The input torque caused by the control signal can be transmitted by the transmission train and can be coupled into the output shaft on the output side in relation to the transmission train. The torque which is coupled into the output shaft in this way can represent a torque which adds up to the output torque. The first value range can comprise such absolute values for the requested output torque which represent a low requested output torque. The second value range can comprise such absolute values for the requested output torque which are greater than the absolute values contained in the first value range. In particular, the first value range can comprise absolute values which are greater than zero and less than or equal to a predefined threshold value. The second value range can comprise absolute values which are greater than the predefined threshold value. The transmission train can comprise at least one transmission element, for example a gearwheel, respectively. The transmission trains can have the same transmission ratio.

[0014] According to an embodiment, in the determining step, when the request signal represents a request value for the output torque which is zero, the control signal causes an input torque which, on the output side, causes a torque on the output shaft which has different signs and has the same absolute magnitude which is not equal to zero. Such an embodiment provides the advantage that the play can be reliably covered or reduced also in the unloaded state of the transmission. According to an embodiment, as long as the requested output torque is equal to zero or is included in a first value range, one of the actuators applies a constant input torque. While the other one of the actuators can apply an input torque which increases as the requested output torque increases. Here, such an actuator can increase its input torque which causes the output shaft to rotate in the requested direction. A transition of the requested output torque from a value included in the first value range to a value included in a second value range can cause the input torque of the actuator which is constant during the first value range to invert in sign and to increase in magnitude.

[0015] In the determining step, a threshold comparison can also be performed between the request value for the output torque and at least one predefined threshold value for the absolute magnitude of the output torque in order to assign the request value to the first value range if the request value for the output torque is below the threshold value and to the second value range if the request value for the output torque exceeds the threshold value. Thus, the first value range can include smaller absolute magnitudes of the output torque compared to the second value range. Such an embodiment provides the advantage that the torque request can be reacted to in a simple and fast manner in order that the actuators can be manipulated in sign situations.

[0016] Furthermore, in the determining step, the control signal can cause input torques which, taking into account their signs and the effective action coefficients of the transmission units, add up to the output torque. This can be valid for the first value range and for the second value range. Here, the input torques can not be equal to zero on each value range. Such an embodiment provides the advantage that the request value for the output torque can be reliably provided independently of wear and with low play.

[0017] Furthermore, the solution approach presented here seeks to realize a controller which is configured for carrying out, manipulating or implementing the steps of a variant of the method presented here in the respective device. The implementation variant of the solution approach in the form of a controller can also quickly and efficiently solve the tasks which form the basis of the solution approach.

[0018] To this end, the controller can have at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator (for reading in sensor signals from a sensor or for outputting data or control signals to an actuator) and / or at least one communication interface for reading in or outputting data embedded in a communication protocol. The computing unit can be, for example, a signal processor, a microcontroller or the like, wherein the memory unit can be a flash memory, an EPROM or a magnetic memory unit. The communication interface can be configured for reading in or outputting data wirelessly and / or wired, wherein a communication interface that can read in or output data wired can do so, for example, electrically or optically, from or into a corresponding data transmission line.

[0019] In the present case, a controller is to be understood as an electrical device that processes sensor signals and outputs control signals and / or data signals therefrom. The controller can have an interface that can be configured in a hardware and / or software manner. In the case of a hardware configuration, the interface can be, for example, part of a so-called system ASIC that contains very different functions of the controller. It is also possible, however, that the interface is a separate integrated circuit or at least partially composed of discrete structural elements. In the case of a software configuration, the interface can be a software module that exists, for example, on a microcontroller alongside other software modules.

[0020] A drive device is also proposed, wherein the drive device has the following features:

[0021] An embodiment of the above-mentioned controller;

[0022] a drive unit having an output shaft, a first drive train and a second drive train; and

[0023] a first actuator and a second actuator, wherein the controller is in signal-transmitting connection with the first actuator and the second actuator.

[0024] The control device can advantageously be installed or used in connection with or in association with a drive device in order to operate the drive device or to control the operation of the drive device.

[0025] According to an embodiment, the first actuator and the second actuator can be electric motors. Additionally or alternatively, the drive unit can be embodied as a reduction gear. Each actuator can be operated in both rotational directions. The reduction gear can be configured for converting the number of revolutions of the actuator into a lower number of revolutions of the output shaft. Such an embodiment offers the advantage that a fast response of the actuator and / or an increase in torque, in particular of an electric actuator, is achieved.

[0026] The first and second drive trains can also be embodied identically to one another. Such an embodiment offers the advantage that the construction and operation of the transmission can be realized simply and inexpensively.

[0027] Furthermore, the first and second drive trains can be coupled with the output shaft directly or via a common transmission stage on the output side. Thus, only a part of the transmission unit or the entire transmission unit can be embodied redundantly. Such an embodiment offers the advantage that the redundant drive train can be embodied in a suitable manner depending on the type of transmission.

[0028] Here, the first drive train can have a first planetary gear and the second drive train can have a second planetary gear. Here, the common transmission stage can have a sector gear shaft. The first and second drive trains can also function as a first transmission stage, wherein the common transmission stage can function as a second transmission stage. Such an embodiment offers the advantage that a transmission unit embodied in this way can be used as a reduction gear with covered play reliably and independently of wear. BRIEF DESCRIPTION OF DRAWINGS

[0029] Embodiments of the solution presented here are explained in more detail in the following description with reference to the accompanying drawings. The drawings show:

[0030] Figure 1 a schematic diagram of a transmission according to one embodiment;

[0031] Figure 2 a front plan view of a transmission according to one embodiment.

[0032] Figure 3 a side view of a transmission from Figure 2 .

[0033] Figure 4 a flow chart of a method for operating according to one embodiment; and

[0034] Figure 5 a torque-time diagram according to one embodiment. DETAILED DESCRIPTION

[0035] Figure 1A schematic diagram of a transmission 100 according to an embodiment is shown. The transmission 100 can be used, for example, as part of an electromechanical steering system or other transmission system for a vehicle. The transmission 100 has a transmission unit 110, a first actuator 120, a second actuator 130 and a controller 140. The transmission unit 110 is torque-transmissively coupled with the first actuator 120 and with the second actuator 130. The controller 140 is signal-transmissively coupled with the first actuator 120 and with the second actuator 130. The controller 140 is configured for operating the transmission 100. In particular, the controller 140 is configured for actuating the first actuator 120 and the second actuator 130.

[0036] The transmission unit 110 has a first transmission train 112, a second transmission train 114 and an output shaft 118. The first transmission train 112 and the second transmission train 114 are torque-transmissively coupled with the output shaft 118 on the output side. According to the embodiment shown here, the first transmission train 112 and the second transmission train 114 are coupled with the output shaft 118 on the output side by a common transmission stage 116. According to another embodiment, the first transmission train 112 and the second transmission train 114 are coupled directly with the output shaft 118 on the output side.

[0037] The first transmission train 112 is torque-transmissively coupled with the first actuator 120 on the drive side. The first actuator 120 is configured for coupling a first input torque Ml into the first transmission train 112. The first transmission train 112 is shaped for applying a torque defined by a transmission ratio of the first transmission train 112 onto the output shaft 118 by using the first input torque Ml. The second transmission train 114 is torque-transmissively coupled with the second actuator 130 on the drive side. The second actuator 130 is configured for coupling a second input torque M2 into the second transmission train 114. The second transmission train 114 is shaped for applying a torque defined by a transmission ratio of the second transmission train 114 onto the output shaft 118 by using the second input torque M2. An output torque M3 of the transmission 100 can be provided on the output shaft 118, which, according to this embodiment, results from the sum of the torques provided by the transmission trains 112, 114.

[0038] The controller 140 has a reading-in device 142, a determining device 144 and an output device 146. The reading-in device 142 is configured to read in the request signal 105. The request signal 105 represents a requested value of the output torque M3 of the transmission 100. Here, the request signal 105 can be read in from a user interface or a control device of the transmission 100, which is not shown here, to a sensor device, to a steering system, to a transverse guidance device or to another transmission system. The reading-in device 142 is also configured to forward the request signal 105 to the determining device 144. The determining device 144 is configured to determine, by using the request signal 105, a first control signal 150 for actuating the first actuator 120 and a second control signal 160 for actuating the second actuator 130. The determining device 144 is configured to determine the first control signal 150 and the second control signal 160 in such a way that, when the request signal 105 represents a requested value of the output torque M3 which lies in a first value range, the same input torques M1 and M2 are caused, which in turn cause torques on the output side on the output shaft 118 which have different signs and different absolute values which are not equal to zero. Furthermore, the determining device 144 is configured to determine the first control signal 150 and the second control signal 160 in such a way that, when the request signal 105 represents a requested value of the output torque M3 which lies in a second value range which is different from the first value range, the input torques M1 and M2 cause torques on the output side on the output shaft 118 which have the same sign and the same absolute value which is not equal to zero. The determining device 144 is also configured to forward the first control signal 150 and the second control signal 160 to the output device 146. The output device 146 is configured to output the first control signal 150 to the first actuator 120 and the second control signal 160 to the second actuator 130 in order to generate the first input torque M1 and the second input torque M2.

[0039] Figure 2 A front view of the transmission 100 according to one embodiment is shown. Here, the transmission 100 corresponds to or is similar to the transmission from Figure 1 According to the embodiment shown here, in the transmission 100, a first transmission train 112, a second transmission train 114 and a common transmission stage 116 of a transmission unit, a first actuator 120 and a second actuator 130 are shown in Figure 2

[0040] According to the embodiment shown in Figure 2 The first actuator 120 is embodied as an electric actuator or electric motor and the second actuator 130 is embodied as an electric actuator or electric motor according to the embodiment shown in Figure 2 An electric drive device with two transmission trains 112 and 114 and two electric actuators or actuators 120 and 130 is shown. Exemplarily, in the case of the electric drive device shown in​Figure 2 The different rotational directions of the actuators 120 and 130 are drawn in. From the different rotational directions, input torques with different signs result. The drawn rotational directions are therefore related to the operation of the transmission 100 in the case of a request value of the output torque in the first value range, as explained in Figure 1

[0041] According to the embodiment shown here, the transmission unit of the transmission 100 is implemented as a reduction gear. Here, the first transmission train 112 and the second transmission train 114 are implemented, for example, identically to one another. Here, the first transmission train 112 and the second transmission train 114 act as a first transmission stage of the transmission unit, and the common transmission stage 116 acts as a second transmission stage of the transmission unit.

[0042] Figure 3 A side view of the transmission 100 from Figure 2 is shown. Here, in the illustration of Figure 3 , the transmission unit 110 is shown in the transmission 100, which has a first transmission train 112 as part of a first transmission stage, including a planetary gear transmission 313, a common transmission stage 116 as a second transmission stage, including a sector gear shaft 317, an output shaft 118 and a first actuator 120. By way of the illustration, here the second actuator and the second transmission train are covered in the drawing by the first actuator 120 and the first transmission train 112. Here, the second transmission train also has a planetary gear transmission.

[0043] It can be seen in particular in the side view of Figure 3 that the first transmission stage with the first transmission train 112 and here, by way of the illustration, the second transmission train covered, is arranged between the first actuator 120 on the one hand and the second actuator covered here by way of the illustration and the second transmission stage or the common transmission stage 116 on the other hand. The first transmission train 112 and here, by way of the illustration, the second transmission train covered are therefore coupled in a torque-transmitting manner to the output shaft 118 by means of the common transmission stage 116.

[0044] Figure 4 A flowchart of a method 400 for operating is shown according to an embodiment. The method 400 can be implemented for operating a transmission. More precisely, the method 400 for operating can be implemented for operating a transmission from the above-mentioned figures or similar transmissions or for controlling the operation of these transmissions.

[0045] Here, the method 400 for operating can be used or by means of a transmission from Figure 1 ​controller or the like. In particular, the steps of the method 400 for operating can be implemented by means of the devices of the controller, as for example by means of the reading-in device, the determining device and the output device of the controller from Figure 1 The method 400 for operating has a reading-in step 420, a determining step 440 and an output step 460.

[0046] In the reading-in step 420, a request signal is read in, which request signal represents a requested value of the output torque of the transmission. Subsequently, in the determining step 440, a first control signal for actuating the first actuator of the transmission and a second control signal for actuating the second actuator of the transmission are determined by using the request signal read in in the reading-in step 420. Here, when the request signal represents a requested value of the output torque which lies in a first value range, the control signals determined in the determining step 440 result in an input torque which, on the output side, results in torques on the output shaft having different signs and different absolute values not equal to zero. Furthermore, when the request signal represents a requested value of the output torque which lies in a second value range different from the first value range, the control signals determined in the determining step 440 result in an input torque which, on the output side, results in torques on the output shaft 118 having the same sign and the same absolute value not equal to zero. Subsequently, in the output step 460, the first control signal determined in the determining step 440 is output to the first actuator and the second control signal determined in the determining step 440 is output to the second actuator in order to generate a first input torque and a second input torque.

[0047] According to one embodiment, the control signals determined in the determining step 440 result in input torques which, taking into account their signs and the effective action coefficients of the transmission units, add up to the output torque. According to one embodiment, when the request signal represents a requested value of the output torque of zero, the control signals determined in the determining step 440 result in input torques which, on the output side, result in torques on the output shaft having different signs and the same absolute value not equal to zero. In particular, according to one embodiment, in the determining step 440, a threshold comparison is carried out of the requested value of the output torque with at least one predefined threshold value for the absolute value of the output torque in order to assign it to the first value range when it is below the threshold value and to the second value range when it exceeds the threshold value.

[0048] Figure 5A torque-time graph 500 according to one embodiment is shown. In the torque-time graph 500, the torque M associated with a transmission or similar transmission device from one of the figures described above is plotted at time t. More precisely, here, a first input torque M1, a second input torque M2, and an output torque M3 are plotted at time t. Here, by way of example, the output torque M3 also corresponds to the requested value of the output torque M3 represented by the request signal. Furthermore, a first value range 502 and a second value range 504 are plotted. In particular, Figure 5 An exemplary operation of the actuator of the transmission device is shown when the torque request is, for example, triangular.

[0049] According to one embodiment, a first value range 502 includes absolute values ​​of output torque M3 that are greater than zero and less than a threshold value, a second value range 504 includes absolute values ​​of output torque M3 that are greater than a threshold value, and a third value range includes only absolute values ​​of output torque M3 that are zero. Figure 5 It is obvious that the input torques M1 and M2 are different for the three ranges mentioned.

[0050] This results in the following: for the first value range 502, torques with different absolute values ​​and opposite signs act on the output shaft. For the second value range 504, torques with different absolute values ​​and the same sign act on the output shaft. For the third value range, i.e., under no-load conditions, torques with the same absolute value but opposite signs act on the output shaft.

[0051] Even in Figure 5 It is not explicitly stated that the requested value for zero output torque M3 is excluded from the first value range 502 or is located outside both the first value range 502 and the second value range 504. The first value range 502 and the second value range 504 do not overlap with each other. In other words, the first value range 502 and the second value range 504 are separated from each other by limit values ​​or thresholds related to the torque magnitude.

[0052] From Figure 4 In the method for operation, according to the embodiments shown herein, the steps are determined to be implemented as follows and / or derived from Figure 1 The controller or its determining device is constructed as follows:

[0053] For the first value range 502, the control signal causes input torques M1 and M2 with different signs and different absolute values ​​that are not equal to zero.

[0054] For a second value range 504 that is different from the first value range 502, the control signal causes input torques M1 and M2 that have the same sign and the same absolute value that is not equal to zero.

[0055] For the first value range 502 and for the second value range 504, the control signals cause input torques Ml and M2 which, taking into account their sign and the effective action coefficient of the transmission unit, add up to the output torque M3.

[0056] When the request signal represents a request value of zero for the output torque, the control signals cause input torques which, on the output side, on the output shaft, cause torques of different sign and of the same absolute magnitude which is not equal to zero.

[0057] The request value of the output torque M3 is threshold-com- pared with at least one predefined threshold value for the absolute magnitude of the output torque M3, in order to assign it to the first value range 502 if the request value of the output torque M3 is below the threshold value and to the second value range 504 if the request value exceeds the threshold value.

[0058] Subsequently, the embodiments and the advantages of the embodiments are again summarized and briefly explained in another way with reference to the above-described figures.

[0059] The transmission 100 utilizes the redundant electric actuators 120 and 130, here realized by two electric actuators 120 and 130 which are separated, in order to cover the play of the transmission unit 110 or at least a part of the transmission unit which is driven by these electric actuators. For this purpose, the transmission unit 110 or the part of the transmission unit is also designed redundantly. In the unloaded state, the two electric actuators 120 and 130 are thus actuated such that they exert small input torques Ml and M2 of opposite sign with respect to the output side of the transmission unit 110. Thereby, the two redundant transmission branches 112 and 114 interact with one another. If now an output torque M3 of one sign or of the other sign is to be applied, this is applied by the actuator 120 or 130 which is immediately adjacent in this direction. The other actuator 120 or 130 continues to exert a small input torque of opposite sign. If the input torques of both actuators 120 and 130 are required in order to apply the output torque M3, the actuator 120 or 130 which has been used up to now for the realization of the pretension can be reversed, so that the same absolute magnitude is also provided for the output torque M3. The use of both actuators 120 and 130 can be interchanged at the moment of the torque request crossing zero, in order to achieve an even wear of the gear components. Irrespective of the wear which can occur over the entire service life of the components, the play coverage can be achieved, determined by the principle used.

[0060] If the transmission trains 112, 114 have different transmission ratios, these can be taken into account when actuating the electric actuators 120 and 130 in such a way that the input torques Ml and M2 are adapted by using the transmission ratios.

[0061] List of reference signs

[0062] 100 transmission

[0063] 105 request signal

[0064] 110 transmission unit

[0065] 112 first drive train

[0066] 114 second drive train

[0067] 116 common transmission stage

[0068] 118 output shaft

[0069] 120 first actuator

[0070] 130 second actuator

[0071] 140 controller

[0072] 142 reading-in device

[0073] 144 determining device

[0074] 146 output device

[0075] 150 first control signal

[0076] 160 second control signal

[0077] M1 first input torque

[0078] M2 second input torque

[0079] M3 output torque

[0080] 313 planetary transmission or planetary gear

[0081] 317 sector shaft

[0082] 400 method for operating

[0083] 420 reading-in step

[0084] 440 determining step

[0085] 460 output step

[0086] 500 torque-time diagram

[0087] 502 first value range

[0088] 504 second value range

[0089] M torque

[0090] t time

Claims

1. A method (400) for operating a transmission device (100), wherein, The transmission device (100) has a first actuator (120), a second actuator (130), and a transmission unit (110), wherein the transmission unit (110) has a first transmission system (112), a second transmission system (114), and an output shaft (118), the output shaft being used to provide the output torque (M3) of the transmission device (100), wherein the first transmission system (112) and the second transmission system (114) are coupled to the output shaft (118) on the output side in a torque-transmitting manner, wherein the first transmission system (112) is coupled to the output shaft (118) in a torque-transmitting manner. 2) The second drivetrain (114) is torque-transmittingly coupled to the first actuator (120) on the drive side, wherein the second drivetrain (114) is torque-transmittingly coupled to the second actuator (130) on the drive side, and wherein the first actuator (120) is configured to couple a first input torque (M1) into the first drivetrain (112), and the second actuator (130) is configured to couple a second input torque (M2) into the second drivetrain (114), and wherein the method (400) includes the following steps: Read in (420) request signal (105), the request signal representing the requested value of the output torque (M3); Using the request signal (105), a first control signal (150) for manipulating the first actuator (120) and a second control signal (160) for manipulating the second actuator (130) are determined (440), wherein when the request signal (105) represents a requested value of the output torque (M3) within a first value range (502), the control signals (150, 160) cause an input torque (M1, M2) on the output shaft (118). The control signals (150, 160) induce input torques (M1, M2) on the output shaft (118) on the output side, which have different signs and different absolute values ​​that are not equal to zero. When the request signal (105) represents a requested value of the output torque (M3) within a second value range (504) different from the first value range (502), the control signals (150, 160) induce input torques (M1, M2) that induce torques on the output shaft (118) on the output side with the same sign and the same absolute value that are not equal to zero. The first control signal (150) is output (460) to the first actuator (120) and the second control signal (160) is output to the second actuator (130) to generate the first input torque (M1) and the second input torque (M2). In the determining step (440), a threshold comparison is performed on the requested value of the output torque (M3) and at least one predetermined threshold for the absolute value of the output torque (M3) so that the requested value is assigned to the first value range (502) when the requested value of the output torque (M3) is lower than the threshold and is assigned to the second value range (504) when the requested value of the output torque exceeds the threshold.

2. The method (400) according to claim 1, characterized in that, In the determining step (440), when the request signal (105) represents a request value of zero for the output torque (M3), the control signal (150, 160) causes an input torque (M1, M2) on the output side of the output shaft (118) that has the same absolute value with different signs.

3. The method (400) according to claim 1 or 2, characterized in that, In the determining step (440), the control signals (150, 160) cause input torques (M1, M2) such that the input torques, taking into account their signs and the effective action coefficient of the transmission unit, are added together to form the output torque (M3).

4. A controller (140) configured to implement and / or manipulate the steps of the method (400) according to any one of the preceding claims in the respective units (142, 144, 146).

5. Transmission device (100), wherein, The transmission device (100) has the following features: The controller (140) according to claim 4; A transmission unit (110) having the output shaft (118), the first transmission system (112), and the second transmission system (114); and The first actuator (120) and the second actuator (130) are connected to the first actuator (120) and the second actuator (130) in a signal-transmitting manner.

6. The transmission device (100) according to claim 5, characterized in that, The first actuator (120) and the second actuator (130) are electric motors, and / or the transmission unit (110) is implemented as a speed reduction transmission device.

7. The transmission device (100) according to claim 5 or 6, characterized in that, The first transmission system (112) and the second transmission system (114) are implemented identically to each other.

8. The transmission device (100) according to claim 5 or 6, characterized in that, The first transmission system (112) and the second transmission system (114) are coupled to the output shaft (118) directly or through a common transmission stage (116) on the output side.

9. The transmission device (100) according to claim 8, characterized in that, The first transmission system (112) has a first planetary gear transmission (313), and the second transmission system (114) has a second planetary gear transmission, wherein the common transmission stage (116) has a sector gear shaft (317), wherein the first transmission system (112) and the second transmission system (114) function as a first transmission stage, and wherein the common transmission stage (115) functions as a second transmission stage.

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