Method for operating a transmission device of a motor vehicle, in particular a motor car

Abstract

The invention relates to a method for operating a transmission unit (10) of a motor vehicle, in which the transmission unit (10) includes a control unit (12). The transmission unit (10) has a claw shift element (14) comprising a first claw half (16) and a corresponding second claw half (18). A first engagement process for the claw shift element (14) is carried out, in which a first differential rotational speed between the first claw half (16) and the second claw half (18) of the claw shift element (14) is established by rotating the first claw half (16) in a first direction of rotation by means of a rotary drive.Depending on initial information from a position sensor (30), which detects the axial position of the claw halves (16, 18) relative to each other, a tooth collision is detected, and after a detected tooth collision, the first claw half (16) is rotated further in the first direction of rotation, and then, when a second piece of information from the position sensor detects an inserted position, a raw angle value (R) is stored.

Description

[0001] The invention relates to a method for operating a transmission device of a motor vehicle, in particular a motor car.

[0002] DE 10 2021 001 425 A1 discloses a switching device for a motor vehicle transmission as known, comprising at least one unsynchronized claw switching element, which includes two switching parts rotatable relative to each other about a rotational axis, which are also referred to as claw halves.

[0003] The object of the present invention is to provide a method for operating a transmission device of a motor vehicle in such a way that a particularly advantageous operation can be achieved.

[0004] This problem is solved by a method with the features of claim 1. Advantageous embodiments with expedient further developments of the invention are specified in the remaining claims.

[0005] The invention relates to a method for operating a transmission unit of a motor vehicle, also referred to simply as a vehicle, which is preferably a motor car, in particular a passenger car. This means that the motor vehicle, in its fully manufactured state, includes the transmission unit. For example, the motor vehicle, in its fully manufactured state, has a drive motor by means of which the motor vehicle can be driven or is driven via the transmission unit. For example, the drive motor is or comprises at least or exactly one electric motor and / or one internal combustion engine. In the method, the transmission unit includes a control unit, which is an electronic computing device.In this method, the transmission device includes a claw coupling element, also referred to as a claw coupling or designed as a claw coupling, which has at least or exactly two claw halves, namely a first claw half and a second claw half. In particular, the claw coupling element is an unsynchronized claw coupling element, such as that already disclosed, for example, in DE 10 2021 001 425 A1, the teaching and disclosure of which are to be considered in their entirety as part of the present disclosure. Thus, for example, the first claw half and the second claw half are the switching parts of the claw coupling element mentioned in DE 10 2021 001 425 A1. The claw halves are rotatable relative to each other about an axis of rotation of the claw coupling element, the axial direction of which coincides with the axis of rotation, in particular such that the first claw half is rotatable about the axis of rotation relative to the second claw half.The claw switching element, for example, has a housing in which the claw halves can each be at least partially arranged. For instance, the first claw half is rotatable about the axis of rotation relative to the second claw half and relative to the housing, with the second claw half being fixed to the housing against rotation. The claw switching element also has a radial direction, which is perpendicular to the axial direction of the claw switching element and thus perpendicular to the axis of rotation. When the axial direction is mentioned before and after, this refers, unless otherwise specified, to the axial direction of the claw switching element.When the radial direction is mentioned before and below, unless otherwise specified, this refers to the radial direction of the claw switching element, whose circumferential direction runs around the axial direction and thus around the axis of rotation, and extends in an imaginary plane that is perpendicular to the axial direction and thus perpendicular to the axis of rotation. Therefore, the claw halves are rotatable relative to each other in the circumferential direction of the claw switching element. When the circumferential direction is mentioned before and below, unless otherwise specified, this refers to the circumferential direction of the claw switching element. "Axial" means the axial direction, and "radial" means the radial direction.

[0006] The claw halves are movable in the axial direction and thus along the axis of rotation relative to each other, in particular translationally, and therefore displaceable. This is realized in particular such that, for example, the second claw half is movable in the axial direction relative to the first claw half, in particular translationally, i.e., displaceable. For example, the second claw half is movable axially relative to the housing and relative to the first claw half, i.e., displaceable, while, for example, the first claw half is axially immovable relative to the housing.

[0007] The claw switching element can be switched between an inserted state and an extended state, for example, by moving the claw halves translationally along the axis of rotation relative to each other. In the inserted state, the claw halves interact positively, particularly in the circumferential direction, thus preventing rotation between them. In the extended state, the positive interaction between the claw halves ceases, so that, for example, in the extended state of the claw switching element, the claw halves can rotate relative to each other about the axis of rotation. Moving or switching the claw switching element from the extended state to the inserted state is also referred to as insertion or the insertion process of the claw switching element.Moving, bringing or switching the claw switching element from the inserted state to the deployed state is also referred to as deployment or deployment process of the claw switching element.

[0008] For example, an actuator, also referred to as an actuator, is provided by means of which, for example, the second claw switching element can be moved axially relative to the first claw switching element, thereby allowing the claw switching element to be switched between the inserted state and the extended state. For example, the actuator can be controlled and operated by means of the control unit, whereby, for example, by controlling the actuator, the second claw switching element can be moved axially relative to the first claw switching element, or the claw switching elements can be moved axially relative to each other, in particular to switch the claw switching element between the inserted state and the extended state.

[0009] In the method, a first insertion operation is carried out for inserting the claw switching element. During this first insertion operation, a first differential speed between the first claw half and the second claw half of the claw switching element is set, in particular at a predefinable or predetermined speed value, by means of a rotary drive, in particular of the motor vehicle, rotating the first claw half in a first direction of rotation, in particular around the axis of rotation, relative to the second claw half. The rotary drive is or comprises, for example, an electric machine by means of which, for example, the motor vehicle, in particular, is driven or powered.Preferably, the electric machine is a high-voltage component whose electrical voltage, in particular its operating or nominal voltage, is preferably greater than 50 volts, particularly greater than 60 volts, and most preferably several hundred volts. For example, the control unit controls the rotary drive in order to set the first differential speed between the claw halves by means of the rotary drive. A change of direction of rotation means that, in particular after the first claw half has been rotated around the axis of rotation in the first direction of rotation relative to the second claw half by means of the rotary drive, the first claw half is rotated around the axis of rotation relative to the second claw half in a second direction of rotation that runs around the axis of rotation and is opposite to the first direction of rotation.

[0010] During the initial insertion process, a tooth collision is detected, particularly by the control unit, based on initial information from a position sensor that detects the axial position of the claw halves relative to each other. This means that the position sensor detects the axial position of the claw halves relative to each other, and this position can be varied by moving the claw halves axially and relative to each other, thus allowing different axial position values ​​to be set. In other words, by moving the claw halves along the axis of rotation and relative to each other, as effected by the actuator, the axial position of the claw halves, as detected by the position sensor, can be varied, thus allowing different axial position values ​​to be set.The position sensor can provide a sensor signal, particularly an electrical one, that characterizes the axial position of the claw halves relative to each other, as detected by the position sensor. Thus, the sensor signal includes, for example, the first piece of information. For instance, the first piece of information is or includes an initial actual value of the axial position, at which point the aforementioned tooth collision occurs or has occurred. Thus, the first piece of information characterizes the aforementioned tooth collision. Tooth collision refers specifically to the following: Each claw half, for example, has a specific tooth profile.Each tooth arrangement has, for example, teeth and tooth gaps, whereby the teeth and tooth gaps of each claw half are arranged sequentially in the circumferential direction such that the tooth gaps and teeth of each tooth arrangement of each claw half alternately in the circumferential direction. In the inserted state, the teeth of the first claw half engage in the tooth gaps of the second claw half, and the teeth of the second claw half engage in the tooth gaps of the first claw half. Thus, to insert the claw switching element, the teeth of the first claw half are moved into the tooth gaps of the second claw half, and the teeth of the second claw half into the tooth gaps of the first claw half, in an axial direction.This is possible, and in particular only possible, if the teeth of the first claw half are axially overlapped by the tooth gaps of the second claw half, and vice versa. However, tooth collision results in a so-called tooth-on-tooth position. This means the following: If, for the insertion of the initially deployed claw switching element, the claw halves are moved axially towards each other, and if, for example, at least one of the teeth of the first claw half comes into axial, and in particular direct, contact with one of the teeth of the second claw half, then the tooth-on-tooth position exists, which, in particular temporarily, prevents the teeth of the first claw half from moving axially into the tooth gaps of the second claw half and the teeth of the second claw half from moving axially into the tooth gaps of the first claw half.If the first claw half then rotates around its axis relative to the second claw half in such a way that the teeth of the first claw half overlap axially with the tooth spaces of the second claw half, and vice versa, then the tooth-on-tooth position is eliminated, and the teeth of the first claw half can move axially into the tooth spaces of the second claw half, and vice versa. Tooth collision is thus the movement of at least one tooth of the first claw half into direct and axial support with the aforementioned tooth of the second claw half. In this process, the teeth collide axially.

[0011] Tooth collision can be determined, for example, as follows: At least one or exactly one of the axial position values ​​characterizes, for example, the engaged state of the claw switching element and is referred to as the engagement value or insertion value. This means that when the position sensor detects, i.e., measures, the engagement value of the axial position, then the engaged state of the claw switching element can be determined, i.e., the engaged state can be deduced. In other words, if the axial position exhibits the engagement value, then the engaged state of the claw switching element can be determined, i.e., the engaged state can be deduced.However, if, for example, the axial position detected by the position sensor exhibits a value different from the insertion value, particularly during a predefined or predetermined time period and / or continuously, i.e., without interruption, then the tooth collision can be detected. This is because, especially since the initial insertion process began, the axial position should not have a value different from the insertion value, or it should have remained at that value for a shorter period. Therefore, if, for example, the axial position unexpectedly and / or for an excessively long time remains at a value different from the insertion value, the tooth collision can be detected and thus determined.

[0012] During the insertion process, the first claw half is rotated further in the first direction, particularly by means of the rotary drive, specifically by rotating the first claw half around its axis of rotation relative to the second claw half. During the first insertion process, when the insertion of the claw halves, and thus the claw switching element, is detected based on a second piece of information from the position sensor, a raw angle value is determined, particularly by means of the control unit. For example, the sensor signal includes this second piece of information, which characterizes, for example, the raw angle value.While a first rotational position is characterized by the tooth collision occurring in this initial position, in a second rotational position, characterized by the raw angle value, the claw halves, and in particular the first claw half relative to the second claw half, assume the engaged state. This engagement of the claw halves thus represents the achievement of the engaged state by the claw switching element. In other words, once the claw switching element reaches the engaged state through the first engagement process, this is detected by the position sensor, specifically by the position sensor measuring the engagement value of the axial position.

[0013] The raw angle value is, or characterizes, the second rotational position in which the claw halves are located relative to each other in the inserted state of the claw switching element. Thus, the raw angle value is assigned to the successful insertion of the claw switching element, i.e., its inserted state. During the first insertion process, a differential value characterizing the angle difference between the raw angle value and a reference angle value can be determined, particularly by means of the control unit. This differential value is stored in the control unit, i.e., for example, in an electronic or electrical data storage device. This reference angle value is then assigned to a reference position and depends on the radial position of a magnet applied to a sensor element. Therefore, it is possible to normalize the raw angle value of the inserted position.Normalization allows for advantageous statistical comparisons between the determined angle values, independent of the positioning of the encoder element.

[0014] Within the context of the present disclosure, ordinal numbers such as "first", "first", "first", "second", "second", "second", etc., also referred to as ordinal words, are not necessarily used to indicate or imply a number of elements to which the ordinal numbers refer, but fundamentally only to be able to refer unambiguously and without contradiction to elements to which the ordinal numbers refer.

[0015] The first insertion process mentioned does not necessarily have to be understood as the insertion process that is carried out for the very first time in relation to a lifetime, i.e., an existence of the claw switching element.

[0016] In a second insertion process, which follows the first insertion process and is intended for inserting the claw switching element, an angular trajectory is specified for the first claw half, particularly by the control unit. The target value of this trajectory is also referred to as the trajectory target value. Specifically, it is provided that during the second insertion process, the first claw half is rotated around its axis of rotation relative to the second claw half, particularly in the first direction of rotation, by means of the rotary drive, depending on the angular trajectory. Thus, the second insertion process is preferably carried out depending on the angular trajectory. The angular trajectory describes or defines an angle of the first claw half per unit of time. In other words, the angular trajectory specifies, for example, an angle of the first claw half per unit of time.The target value means, for example, that when the first claw half is in a rotational position corresponding to or characterized by the target value, the claw halves are moved axially relative to each other, or an axial relative movement to the claw halves is initiated, in order to, for example, insert the initially deployed claw switching element without tooth collision, or to minimize the probability of tooth collision during the second insertion process. In the first variant, the target value corresponds to the raw angle value. In the second variant, the target value corresponds to the raw angle value plus one cycle value or half a cycle value of the claw teeth.

[0017] The achievement of the engaged state by the claw switching element is an event also referred to as "engaged." The goal is for the "engaged" event, at which the raw angle value of the first claw half is, for example, 46.5°, to have already occurred at the time of tooth collision, at which the reference angle value is, for example, 45°. Therefore, the target value of the angular trajectory of the second engagement process for the event or goal "engaged" is chosen to be the raw angle value of 46.5° – a sum of the reference angle value and a difference of the raw angle value and the reference angle value of 45°. This applies not only to the raw angle value of 46.5°, but also to values ​​such as (46.5° + 12°), (46.5° + 12° + 12°), etc.The value 0 of a standardized range is assigned to all angles at 12° intervals, or at 5 pulse intervals, or at the interval from canine tooth to canine tooth, or at half an interval of 6°, or from canine tooth to locking tooth. For example, a circumferential distance between two adjacent teeth of the respective gear set is 12°, where, for example, the number of teeth in each gear set is 60. It is conceivable that the first teeth of each gear set are canines and the second teeth are locking teeth, with, for example, the locking teeth and canines of each gear set being arranged alternately in the circumferential direction.For example, the canine teeth have a first length extending in an axial direction, while the locking teeth, for example, have a second length extending in an axial direction and a second length that is shorter than the first.

[0018] The method according to the invention makes it possible to determine the first rotational position in which the tooth collision occurred and the second rotational position in which the claw switching element is reached in the inserted state, and subsequently to carry out the second insertion process depending on the first and second rotational positions, and, for example, to correct, adapt, or compensate for the second insertion process, in particular the actuation of the actuator, in such a way that the claw halves are moved axially relative to each other by means of the actuator during the second insertion process in such a way that the probability of a tooth collision occurring again during the second insertion process can be kept particularly low. Thus, the claw switching element can be inserted particularly advantageously.

[0019] In order to resolve a tooth collision, i.e., a tooth-on-tooth position, advantageously and especially quickly, it is provided in an advantageous embodiment of the invention that, in further insertion processes of the claw switching element following the second insertion process and intended for the insertion of the claw switching element with occurring tooth collision, an angle to be traversed, in particular by the first claw half, until the respective tooth collision is resolved, is carried out when changing the direction of rotation. This angle is smaller than the angle to be traversed when the respective tooth collision is resolved while maintaining the direction of rotation.

[0020] A further embodiment of the invention is characterized in that, during subsequent insertion processes of the claw switching element, particularly those following the second insertion process and intended for insertion of the claw switching element, a distinction is made between a tooth collision with a locking tooth of the first claw half and a tooth collision with a catch tooth of the first claw half. This allows, for example, the determination of the total gap width, i.e., the total circumferential width of the respective tooth gap, and thus the reversal clearance of the respective toothing, thereby enabling particularly advantageous operation.

[0021] Finally, it has proven particularly advantageous for realizing a particularly beneficial operation if several second angle values, in particular ten second angle values ​​each, are stored and averaged depending on a distinction according to collision type and resolution rotation direction.

[0022] The method according to the invention makes it possible to insert the claw switching element particularly quickly and thereby keep the probability of a tooth collision particularly low. This prevents excessive wear and excessive, unwanted noise, and allows the claw switching element to be inserted particularly conveniently.

[0023] Further advantages, features, and details of the invention will become apparent from the following description of a preferred embodiment and from the drawing. The features and combinations of features mentioned above in the description, as well as those mentioned below in the figure description and / or shown in the figures alone, can be used not only in the combinations specified, but also in other combinations or individually, without departing from the scope of the invention.

[0024] The drawing shows in: Fig. 1. A partial schematic representation of a transmission system of a motor vehicle; and Fig. 2. Partially a schematic side view of one claw half of the gear mechanism.

[0025] In the figures, identical or functionally equivalent elements are provided with the same reference symbols.

[0026] Fig. Figure 1 shows a partial schematic representation of a transmission unit 10 of a motor vehicle, also referred to simply as a vehicle. Based on Fig. 1 and Fig. Section 2 below describes a method for operating the transmission device 10. The transmission device has a Fig. Figure 1 shows a control unit 12, shown in a particularly schematic way, and a claw switching element 14, which has a first claw half 16 and a second claw half 18. The claw halves 16 and 18 are rotatable relative to each other about an axis of rotation 20 of the claw switching element 14, the axial direction of which coincides with the axis of rotation 20, such that the claw half 16 is rotatable about the axis of rotation 20 relative to the claw half 18. The axial direction of the claw switching element 14 is illustrated by a double arrow 22. When the axial direction is mentioned before and in the following, unless otherwise specified, this refers to the axial direction of the claw switching element 14, whose circumferential direction runs around the axial direction and thus around the axis of rotation 20 and extends in an imaginary plane that is perpendicular to the axial direction."Axial" refers to the axial direction of the claw switching element 14, whose radial direction is perpendicular to the axial direction and thus perpendicular to the axis of rotation 20. "Radial" refers to the radial direction. When the circumferential direction is mentioned before and after, this refers, unless otherwise specified, to the circumferential direction of the claw switching element 14. For example, the claw switching element 14 has a housing 24 in which, for example, at least one of the claw halves 16 and 18 is at least partially arranged. It is evident, and illustrated by a double arrow 26, that the claw half 16 is rotatable about the axis of rotation 20 relative to the housing 24 and relative to the claw half 18, with, for example, the claw half 18 being rotationally fixed to the housing 24 about the axis of rotation 20, i.e., held in a rotationally fixed position against the housing 24.As illustrated by a double arrow 28, the claw half 18 is axially movable, i.e., displaceable, along the axis of rotation 20 relative to the housing 24 and relative to the claw half 16. The claw half 18 can be axially displaced between at least one engaged position and at least one extended position relative to the housing 24 and relative to the claw half 16, wherein in . Fig. Figure 1 illustrates the extended position. In the engaged position, the claw halves 16 and 18 interact positively, at least in the circumferential direction, thus preventing rotation between them, at least with respect to the circumferential direction. Therefore, in the engaged position, the claw switching element 14 is in an engaged state. In the extended position, the claw switching element 14 is in an extended state. In the extended state, there is no positive engagement between the claw halves 16 and 18. Therefore, the extended state is in Fig. 1 shown.

[0027] The gear unit 10 includes a position sensor 30, by means of which, as illustrated by arrow 32, the axial position of the claw half 18 relative to the claw half 16 can be detected. The axial position can be varied by moving the claw half 18 axially relative to the claw half 16, so that different values ​​of the axial position, also referred to as position values, can be set, i.e., effected, by moving the claw half 18 axially relative to the claw half 16. The position values ​​can be detected by means of the position sensor 30. The position sensor 30 can provide a sensor signal, in particular an electrical signal, which includes or characterizes the axial position and thus the position values. For example, the control unit 12 can receive the sensor signal.

[0028] The transmission device 10 also includes a speed sensor 34, by means of which the rotational speed of the claw half 16 can be detected. The claw half 16 rotates, or can rotate, around the axis of rotation 20 relative to the claw half 18 at the speed detected by the speed sensor 34. The speed sensor 34 can provide a speed signal, in particular an electrical signal, which characterizes the detected rotational speed of the claw half 16. Depending on the speed signal, the rotational position of the claw half 16 relative to the claw half 18 can be determined, in particular calculated, for example, by integrating the speed signal, particularly over time. This integration of the speed signal can be performed, for example, by the control unit 12, which can, for example, receive the speed signal.By rotating claw half 16 around the axis of rotation 20 and relative to claw half 18, the rotational position can be varied; thus, different values ​​of the rotational position, also referred to as rotational position values, can be set, i.e., effected. Therefore, the rotational position values ​​can be determined, and in particular calculated, as a function of the rotational speed signal.

[0029] The gear unit 10 has a sensor element 36, in this case designed as a sensor wheel, which is non-rotatably connected to the claw half 16. Thus, the sensor element 36 can rotate with the claw half 16 about the axis of rotation 20 relative to the claw half 18. The sensor element 36 has, for example, magnets, in particular permanent magnets, on its circumference, wherein, for example, and in particular precisely, two of the magnets form a pole pair. It is conceivable that the sensor element 36 has at least one defect, in particular on its circumference. Based on this defect, for example, and in particular precisely, one of the values ​​of the rotational position and / or a complete revolution of the claw half 16 can be detected. The sensor element 36, in particular the magnets, can be detected by means of the speed sensor 34, whereby the rotational speed can be detected, i.e., measured.In particular, the magnets generate pulses that can be detected, i.e., measured, by means of the speed sensor 34, thus enabling the speed to be determined.

[0030] The gear unit 10 has an actuator 38 by means of which the claw half 18 can be driven and thereby axially displaceable relative to the housing 24 and relative to the claw half 16, i.e., translationally movable. In this case, the actuator is a hydraulic actuator comprising an actuator housing 40 and a piston 42. The piston 42 is arranged in the actuator housing 40 and divides a working space 41 of the actuator housing 40 into two working chambers 44 and 46. The piston 42 is displaceable relative to the actuator housing 40 along a direction of movement illustrated by a double arrow 48, with the piston 42 being arranged between the working chambers 44 and 46 along this direction of movement. A reduction in the volume of one of the working chambers 44 and 46 is accompanied, in particular to the same extent, by an increase in the volume of the other working chamber 46, 44, and vice versa.The actuator 38 has a pump 49 by means of which hydraulic fluid can be pumped. Furthermore, the actuator 38 has a valve 50 by means of which the hydraulic fluid pumped by the pump 49 can be selectively introduced into either the working chamber 44 or the working chamber 46. Introducing the hydraulic fluid into the working chamber 46 causes an increase in the volume of the working chamber 46 and, to the same extent, a decrease in the volume of the working chamber 44. For example, by introducing the hydraulic fluid into the working chamber 46, the initially deployed, and thus initially in its deployed state, claw switching element 14 can be engaged, i.e., brought into its engaged state.For example, by introducing the hydraulic fluid into the working chamber 44, the initially inserted, i.e., the initially inserted claw switching element 14 can be deployed, i.e., moved or transferred in the deployed state.

[0031] Each claw half 16, 18 has a respective toothing 52, 54. The respective toothing 52, 54 has respective teeth 56 and respective tooth gaps 58. The respective teeth 56 of the respective toothing 52, 54 and the respective tooth gaps 58 of the respective toothing 52, 54 are arranged alternately in the circumferential direction of the claw switching element 14.

[0032] In Fig. Figure 2 shows a section of claw half 16, enlarged. The preceding and following explanations regarding claw half 16 can readily be applied to claw half 18 and vice versa. This is evident from... Fig. 2. The first teeth 56 of the respective gear teeth 52, 54 are fang teeth. The second teeth 56 of the respective gear teeth 52, 54 are locking teeth. The fang teeth are designated F, and the locking teeth are designated S. It can be seen that each fang tooth F has a first length extending in the axial direction, and each locking tooth S has a second length extending in the axial direction. It can be seen that the second length is shorter than the first length. For example, the respective fang teeth F of the respective gear teeth 52, 54 and the respective locking teeth S of the respective gear teeth 52, 54 are arranged alternately in the circumferential direction.

[0033] A circumferential distance, also referred to as tooth spacing, between two circumferentially successive teeth 56 of the respective gearing 52, 54, has, for example, a spacing value of 12°. The teeth 56 exhibiting this tooth spacing are, for example, two circumferentially adjacent and thus immediately successive teeth 56, between which no other tooth is arranged. However, it is conceivable that the teeth 56 exhibiting this tooth spacing, viewed circumferentially, are two circumferentially successive canine teeth F, between which exactly one locking tooth S and two tooth gaps 58 are arranged.

[0034] In this method, a first insertion operation is performed, which is intended for inserting the claw switching element 14, that is, for transferring the initially deployed claw switching element 14 into the inserted state. During the first insertion operation, a first differential rotational speed between the first claw half 16 and the second claw half 18 is established by means of a rotary drive, which rotates the first claw half 16 in a first direction of rotation around the axis of rotation 20 relative to the second claw half 18, in particular actively. Specifically, the rotary drive is an electric machine.During the first insertion process, if a tooth collision between the claw halves 16 and 18 is detected based on initial information from the position sensor 30, the first claw half 16 is rotated further in the first direction of rotation relative to the claw half 18, particularly by means of the rotary drive. During the first insertion process, if, based on a second piece of information from the position sensor 30, the claw halves 16 and 18 have been inserted, i.e., the claw switching element 14 has reached the inserted state, a raw angle value is determined. The raw angle value is a specific value of the rotational position. Thus, the rotational position exhibits the raw angle value at the time when the claw switching element 14 determines that the inserted state has been reached.During the first insertion process, a difference value characterizing the angle difference between the raw angle value and the reference angle value can also be determined and stored in control unit 12. The reference angle value is in . Fig. 2 is labelled R0. The determined raw angle value is also referred to as the insertion value and is in Fig. 2, denoted by R. The difference value, also called the offset value, is in Fig. 2, labeled D. In Fig. 2 is denoted by T as a clock value which corresponds to a sum of the insertion value (raw angle value R) and the previously mentioned distance value.

[0035] In a second insertion process, which follows the first insertion process and is intended for inserting the claw switching element 14, an angular trajectory is specified for the first claw half 16, the target value of which is also referred to as the trajectory target value. For example, it is provided that the second insertion process is carried out depending on the angular trajectory, in particular such that during the second insertion process the claw half 16 is rotated about the axis of rotation 20 relative to the claw half 18 depending on the angular trajectory, in particular by means of the rotary drive and / or in the first direction of rotation.Alternatively or additionally, for example, the second insertion process is carried out such that, depending on the angular trajectory, the claw half 18 is displaced axially and relative to the claw half 16, particularly by means of the actuator 38, depending on the angular trajectory, and especially depending on the target value. For example, during the second insertion process, the claw half is displaced axially relative to the claw half 16, depending on the angular trajectory, and especially depending on the target value, such that this axial displacement of the claw half 18 relative to the claw half 16 begins depending on the target value.In other words, for example, during the second insertion process, the beginning of a displacement of the claw half 18, intended for the insertion of the claw switching element 14 and occurring axially relative to the claw half 18, is set depending on the angular trajectory, in particular depending on the target value. In a first variant, the target value corresponds to the raw angle value R when the differential rotational speed between the claw halves 16 and 18 is zero, that is, when the differential rotational speed is zero and thus the claw halves 16 and 18 no longer rotate about the axis of rotation relative to each other.

[0036] In a second variant, the target value at zero differential rotational speed between claw halves 16 and 18 corresponds to the cycle value T associated with the reference angle value R0, plus the reference angle value R0 and the differential value D. Thus, in the second variant, for example, the target value corresponds to the sum of the insertion value (raw angle value R) and the cycle value T. The second insertion process can therefore be carried out quickly and conveniently, while keeping the probability of a tooth collision between claw halves 16 and 18 during the second insertion process particularly low.

[0037] During subsequent insertion processes, further normalized angle values ​​are stored, depending on the type of collision and the direction of resolution; specifically, up to 10 values. These normalized values ​​each describe the reference angle values ​​plus the difference between the raw angle value and the reference angle value. Using multiple values ​​allows for a more precise determination of the gap position, and the insertion processes become increasingly efficient. Reference symbol list 10 Gearbox unit 12 Control unit 14 Claw switching element 16 first half of the claw 18 second half of the claw 20 Rotary axis 22 Double Arrow 24 cases 26 Double Arrow 28 Double Arrow 30 Position sensor 32 Arrow 34 Speed ​​sensor 36 Sensor element 38 Actuator 40 actuator housings 41 Workroom 42 pistons 44 Chamber of Labour 46 Chamber of Labour 48 Double Arrow 49 pump 50 valve 52 gear teeth 54 gear teeth 56 teeth 58 tooth gap D difference value F fang R0 Reference angle value R Raw angle value S locking tooth T clock value

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