control device

Abstract

The feedback control section (121) performs feedback control on the actuator (2) based on the target transmission torque. The gain setting section (122) sets an engagement gain and a release gain, which are gains used for the feedback control performed by the feedback control section (121), and the release gain is a gain smaller than the engagement gain. The duty ratio calculation section (123) is capable of calculating an engagement duty ratio based on the engagement gain and a release duty ratio based on the release gain. The duty ratio output section (124) is capable of switching the engagement duty ratio or the release duty ratio and outputting the same as an output duty ratio based on the mode determined by the mode determination section (112). The energization control section (125) controls the energization to the actuator (2) based on the output duty ratio output from the duty ratio output section (124).

Description

[0001] Cross-references to related applications

[0002] This application is based on Japanese Patent Application No. 2020-154939, filed on September 15, 2020, the contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to control devices. Background Technology

[0004] Conventionally, a torque transmission device is known, comprising an actuator that operates by energization and a torque transmission section that switches between a transmission state and a non-transmission state by the operation of the actuator. When the torque transmission section is in the transmission state, torque is transmitted between a first transmission section and a second transmission section. Additionally, a control device for controlling this torque transmission device is known.

[0005] For example, in the torque transmission device of Patent Document 1, the actuator has an electric motor, which converts the rotational motion of the electric motor into translational motion. Pressing the clutch, which serves as the torque transmission unit, switches the clutch's state to a transmission state or a non-transmission state. In the control device of Patent Document 1, feedback control is performed on the actuator. Here, regarding the control device, depending on the magnitude of the detected current of the electric motor, the current is small during the gap between the actuator and the clutch; therefore, the gain used for feedback control is increased. During the thrust control period after contact with the clutch, the current is large; therefore, the gain is decreased. Thus, a balance between responsiveness and controllability is achieved.

[0006] Existing technical documents

[0007] Patent documents

[0008] Patent Document 1: Japanese Patent Application Publication No. 2017-166522 Summary of the Invention

[0009] However, in a typical clutch system, the responsiveness during engagement (transmission state) differs from that during release (non-transmission state). Therefore, if the same control parameters, such as gain or gain correction, are used for both engagement and release, prioritizing responsiveness may increase overshoot or undershoot during either engagement or release. Furthermore, to eliminate overshoot or undershoot during both engagement and release, control parameters that suppress the responsiveness of both processes must be set.

[0010] For example, with control parameters specifically designed for the engagement response, while the engagement response can achieve the system's maximum performance, an excessively fast release may cause undershoot or oscillation. Conversely, with control parameters specifically designed for the release response, while the release response can achieve maximum performance, the engagement side may be slower. Furthermore, by eliminating the gain in the middle of the overshoot or undershoot during both engagement and release, the maximum response may not be achieved during either engagement or release.

[0011] The purpose of this disclosure is to provide a control device that can appropriately exert the transmission performance according to the operating mode of the torque transmission device.

[0012] This disclosure discloses a control device that controls a torque transmission device. The torque transmission device includes an actuator that operates by being energized and a torque transmission section that switches between a transmission state and a non-transmission state by the operation of the actuator. When the torque transmission section is in a transmission state, torque is transmitted between a first transmission section and a second transmission section. The control device includes a target calculation section, a mode determination section, and a control section.

[0013] The target calculation unit calculates the target transmission torque, which should be transmitted between the first and second transmission units. The mode determination unit determines that the system is in an engaged mode if the target transmission torque increases over time, in a released mode if the target transmission torque decreases over time, and in a stable mode if the target transmission torque remains unchanged even after time has elapsed. The control unit controls the actuator based on the mode determined by the mode determination unit.

[0014] The control unit includes a feedback control unit, a gain setting unit, a duty cycle calculation unit, a duty cycle output unit, and a power-on control unit. The feedback control unit performs feedback control on the actuator based on the target transmitted torque. The gain setting unit sets the engagement gain and release gain, which are the gains used for feedback control by the feedback control unit. The release gain is a gain smaller than the engagement gain.

[0015] The duty cycle calculation unit can calculate the engagement duty cycle based on the engagement gain and the release duty cycle based on the release gain. The duty cycle output unit can switch between the engagement and release duty cycles based on the mode determined by the mode determination unit and output them as the output duty cycle. The power-on control unit controls the power-on of the actuator based on the output duty cycle output from the duty cycle output unit.

[0016] In this disclosure, during engagement (engaged mode), feedback control of the actuator can be performed based on the engagement gain, and during release (release mode), feedback control of the actuator can be performed based on a release gain that is smaller than the engagement gain. Therefore, the responsiveness during engagement can be improved, while suppressing undershoot or oscillation during release. Thus, the transmission performance can be appropriately applied according to the operating mode of the torque transmission device. Attached Figure Description

[0017] Referring to the accompanying drawings, the above-mentioned and other objects, features, and advantages of this disclosure will be further clarified by the following detailed description. The accompanying drawings are as follows:

[0018] Figure 1 This is a schematic diagram showing the torque transmission device and control device according to the first embodiment;

[0019] Figure 2 This is a diagram showing the target transmitted torque changing over time in the torque transmission device of the first embodiment;

[0020] Figure 3 This is a block diagram showing the torque transmission device and control device according to the first embodiment;

[0021] Figure 4 This is a flowchart illustrating the processing related to the control of the actuator by the control device of the first embodiment;

[0022] Figure 5 This is a diagram illustrating an example of the operation of the control device according to the first embodiment;

[0023] Figure 6 This is a diagram illustrating an example of the operation of a control device for comparison methods;

[0024] Figure 7 This is a diagram illustrating an example of the operation of the control device according to the first embodiment;

[0025] Figure 8 This is a diagram illustrating an example of the operation of the control device according to the second embodiment;

[0026] Figure 9 This is a block diagram showing the torque transmission device and control device according to the third embodiment;

[0027] Figure 10 This is a block diagram showing the torque transmission device and control device according to the fourth embodiment;

[0028] Figure 11 This is a block diagram showing the torque transmission device and control device according to the fifth embodiment;

[0029] Figure 12 This is a block diagram showing the torque transmission device and control device according to the sixth embodiment;

[0030] Figure 13 This is a schematic diagram showing the torque transmission device and control device according to the sixth embodiment;

[0031] Figure 14 This is a schematic diagram showing the torque transmission device and control device according to the seventh embodiment;

[0032] Figure 15 This diagram is used to explain the operation of the torque transmission device and control device of the eighth embodiment, and it shows the relationship between clutch load and stroke. Detailed Implementation

[0033] Hereinafter, torque transmission devices and control devices according to various embodiments will be described based on the accompanying drawings. Furthermore, in the various embodiments, substantially identical components are labeled with the same reference numerals, and descriptions are omitted.

[0034] <First Implementation Method>

[0035] exist Figure 1 The diagram illustrates a torque transmission device and a control device according to a first embodiment. The torque transmission device 1, for example, is a clutch device, disposed between the internal combustion engine and the transmission of a vehicle, for allowing or discontinuing the transmission of torque between the internal combustion engine and the transmission. The control device 100 is used to control the torque transmission device 1.

[0036] The torque transmission device 1 includes an actuator 2 and a clutch 70 as a "torque transmission unit". The actuator 2 includes a housing 10, an electric motor 20, a reducer 30, a rotation and translation unit 60, and a pressing unit 81.

[0037] In addition, the torque transmission device 1 includes an input shaft 61 as a "first transmission unit" and an output shaft 62 as a "second transmission unit".

[0038] The control device 100 is, for example, an electronic control unit (ECU), which is a small computer having a CPU as a processing unit, ROM, RAM, etc. as storage units, and I / O units as input / output units. Based on information such as signals from various sensors installed in various parts of the vehicle, the control device 100 performs calculations according to a program stored in ROM, etc., to control the operation of various devices and equipment in the vehicle. In this way, the control device 100 executes a program stored in a non-transferable physical recording medium. By executing this program, the method corresponding to the program is performed.

[0039] The control device 100 can control the operation of an internal combustion engine, etc., based on information such as signals from various sensors. Furthermore, the control device 100 can control the operation of the electric motor 20, which will be described later.

[0040] The input shaft 61 is connected, for example, to the drive shaft of an internal combustion engine (not shown), and is capable of rotating with the drive shaft. That is, torque is input from the drive shaft to the input shaft 61.

[0041] A fixed flange 3 (see reference) is provided on vehicles equipped with internal combustion engines. Figure 1 The fixed flange 3 is formed in a cylindrical shape, for example, fixed to the engine compartment of a vehicle. The input shaft 61 is supported by the fixed flange 3 via bearings or the like.

[0042] A housing 10 is provided between the inner peripheral wall of the end of the fixed flange 3 and the outer peripheral wall of the input shaft 61. The housing 10 has an inner cylindrical portion 11, a plate portion 12, an outer cylindrical portion 13, etc.

[0043] The inner cylindrical portion 11 of the outer casing is formed into a generally cylindrical shape. The outer casing plate portion 12 is formed into an annular plate shape, extending radially outward from the end of the inner cylindrical portion 11. The outer cylindrical portion 13 of the outer casing is formed into a generally cylindrical shape, extending from the outer edge of the outer casing plate portion 12 to the same side as the inner cylindrical portion 11. Here, the inner cylindrical portion 11, the outer casing plate portion 12, and the outer cylindrical portion 13 are formed integrally, for example, by means of metal.

[0044] The outer casing 10 is fixed to the fixing flange 3 such that the outer walls of the outer casing plate portion 12 and the outer casing outer cylinder portion 13 abut against the wall surface of the fixing flange 3 (see reference). Figure 1 The housing 10 is fixed to the fixing flange 3 by bolts (not shown). Here, the housing 10 is coaxially arranged with respect to the fixing flange 3 and the input shaft 61.

[0045] An electric motor 20 is disposed, for example, between the inner cylinder portion 11, the outer shell plate portion 12, and the outer shell outer cylinder portion 13. The electric motor 20 has a stator and a rotor (not shown), and is capable of outputting torque from the rotor when energized.

[0046] The control device 100 controls the operation of the electric motor 20 by means of the power supplied to it.

[0047] In this embodiment, the torque transmission device 1 includes a rotation angle sensor 5. The rotation angle sensor 5 is, for example, disposed between the electric motor 20 and the housing plate 12. The rotation angle sensor 5 detects the rotation angle of the electric motor 20 and outputs a signal corresponding to the rotation angle to the control device 100. Therefore, the control device 100 can detect the rotation angle and speed of the electric motor 20 based on the signal from the rotation angle sensor 5.

[0048] The reducer 30 is disposed, for example, between the inner cylinder portion 11 and the outer cylinder portion 13 of the housing, on the side opposite to the housing plate portion 12 relative to the electric motor 20. The torque of the electric motor 20 is input to the reducer 30. The reducer 30 reduces the torque of the electric motor 20 and outputs it.

[0049] The rotation and translation section 60 includes a rotation section 40 and a translation section 50. The rotation section 40 is, for example, formed in an annular shape and disposed between the inner cylinder section 11 and the outer cylinder section 13 of the housing, opposite to the electric motor 20 relative to the reducer 30. The torque of the electric motor 20, which is reduced in speed by the reducer 30, is input to the rotation section 40. The rotation section 40 rotates relative to the housing 10 when torque is input from the reducer 30.

[0050] The translation section 50 is formed, for example, in a cylindrical shape, and is disposed on the radially outer side of the inner cylindrical section 11 of the housing, opposite to the rotating section 40. If the rotating section 40 rotates relative to the housing 10, the translation section 50 moves relative to the housing 10 in the axial direction.

[0051] In this embodiment, the torque transmission device 1 includes a return spring 55 and a C-ring 57. The return spring 55 is, for example, disposed on the radially outer side of the inner cylinder portion 11 of the housing, opposite to the translation portion 50 and opposite to the rotation portion 40. The C-ring 57 is, for example, disposed on the outer peripheral wall of the inner cylinder portion 11 of the housing, opposite to the translation portion 50 and opposite to the return spring 55. One end of the return spring 55 abuts against the translation portion 50, and the other end abuts against the C-ring 57. The return spring 55 applies force to the translation portion 50 toward the rotation portion 40.

[0052] The output shaft 62 has a shaft portion 621, a plate portion 622, a cylindrical portion 623, and a friction plate 624 (see reference). Figure 1 The shaft portion 621 is formed in a generally cylindrical shape. The plate portion 622 is integrally formed with the shaft portion 621 in a ring-shaped manner, extending radially outward from one end of the shaft portion 621. The cylindrical portion 623 is integrally formed with the plate portion 622 in a generally cylindrical manner, extending from the outer edge of the plate portion 622 towards the side opposite to the shaft portion 621. The friction plate 624 is formed in a generally annular plate shape and is disposed on the end face of the plate portion 622 on the cylindrical portion 623 side. Here, the friction plate 624 cannot rotate relative to the plate portion 622.

[0053] The end of the input shaft 61 passes inside the inner cylinder portion 11 of the housing and is located on the side opposite to the rotating portion 40 relative to the translation portion 50. The output shaft 62 is coaxially disposed with the input shaft 61 on the side opposite to the fixed flange 3 relative to the housing 10, that is, on the side opposite to the rotating portion 40 relative to the translation portion 50. The output shaft 62 is supported by the input shaft 61 via bearings or the like. The input shaft 61 and the output shaft 62 are rotatable relative to the housing 10.

[0054] The clutch 70 is disposed inside the cylindrical portion 623 between the input shaft 61 and the output shaft 62. The clutch 70 includes an inner friction plate 71, an outer friction plate 72, and a locking portion 701. Multiple inner friction plates 71 are formed into a generally annular plate shape and are arranged axially between the cylindrical portions 623 of the input shaft 61 and the output shaft 62. The inner friction plates 71 are splined to the outer peripheral wall of the input shaft 61 at their inner edges. Therefore, the inner friction plates 71 cannot rotate relative to the input shaft 61, but can move relative to it axially.

[0055] The outer friction plates 72 are formed into a generally annular plate shape, and multiple outer friction plates 72 are arranged axially between the cylindrical portions 623 of the input shaft 61 and the output shaft 62. Here, the inner friction plates 71 and outer friction plates 72 are alternately arranged axially along the input shaft 61. The outer friction plates 72 are splined to the inner peripheral wall of the cylindrical portion 623 of the output shaft 62 at their outer edges. Therefore, the outer friction plates 72 cannot rotate relative to the output shaft 62, but can move relative to it axially. The outer friction plate 72 closest to the friction plate 624 among the multiple outer friction plates 72 can contact the friction plate 624.

[0056] The locking part 701 is formed in a generally annular shape and is provided such that its outer edge fits into the inner peripheral wall of the cylindrical part 623 of the output shaft 62. The locking part 701 can lock the outer edge of the outer friction plate 72 closest to the translation part 50 among the plurality of outer friction plates 72. Therefore, it suppresses the detachment of the plurality of outer friction plates 72 and the plurality of inner friction plates 71 from the inside of the cylindrical part 623. In addition, the distance between the locking part 701 and the friction plate 624 is greater than the sum of the thicknesses of the plurality of outer friction plates 72 and the plurality of inner friction plates 71.

[0057] The state in which the multiple inner friction plates 71 and the multiple outer friction plates 72 are in contact with each other, i.e., engaged, is called the engaged state. In the engaged state, frictional force is generated between the inner friction plates 71 and the outer friction plates 72, and the relative rotation of the inner friction plates 71 and the outer friction plates 72 is restricted according to the magnitude of this frictional force. On the other hand, the state in which the multiple inner friction plates 71 and the multiple outer friction plates 72 are separated from each other, i.e., not engaged, is called the non-engaged state. In the non-engaged state, no frictional force is generated between the inner friction plates 71 and the outer friction plates 72, and the relative rotation of the inner friction plates 71 and the outer friction plates 72 is not restricted. Here, "engaged state" corresponds to "transmission state," and "non-engaged state" corresponds to "non-transmission state."

[0058] When the clutch 70 is engaged, the torque input to the input shaft 61 is transmitted to the output shaft 62 via the clutch 70. On the other hand, when the clutch 70 is disengaged, the torque input to the input shaft 61 is not transmitted to the output shaft 62.

[0059] Thus, the clutch 70, acting as a "torque transmission unit," transmits torque between the input shaft 61 and the output shaft 62. When the clutch 70 is in the engaged state, it allows the transmission of torque between the input shaft 61 and the output shaft 62; when it is in the disengaged state, it cuts off the transmission of torque between the input shaft 61 and the output shaft 62.

[0060] In this embodiment, the torque transmission device 1 is a normally open type torque transmission device, that is, a device that is in a non-engaged state when the electric motor 20 is not energized.

[0061] The pressing part 81 has two disc springs. The two disc springs are arranged in an axially overlapping state, with their inner edges located on the outer peripheral wall of the end formed on the clutch 70 side of the translation part 50. The pressing part 81 can elastically deform in the axial direction.

[0062] When the electric motor 20 is not energized, the distance between the rotating part 40 and the translating part 50 is small, and a gap is formed between the outer edge of the pressing part 81 and the clutch 70 (see reference). Figure 1 Therefore, clutch 70 is in a disengaged state, and the transmission of torque between input shaft 61 and output shaft 62 is cut off.

[0063] Here, if power is supplied to the electric motor 20 under the control of the control device 100, the electric motor 20 rotates, outputting torque from the reducer 30, and the rotating part 40 rotates relative to the housing 10. As a result, the translation part 50 moves axially relative to the housing 10 while compressing the return spring 55, that is, it moves toward the clutch 70 side. As a result, the pressing part 81 moves toward the clutch 70 side.

[0064] If the pressing part 81 moves towards the clutch 70 due to the axial movement of the translation part 50, the gap between the pressing part 81 and the clutch 70 decreases, and the outer edge of the pressing part 81 contacts the outer friction plate 72 of the clutch 70. If the translation part 50 moves further axially after the pressing part 81 contacts the clutch 70, the pressing part 81 elastically deforms along the axial direction while pressing the outer friction plate 72 towards the friction plate 624. As a result, the multiple inner friction plates 71 and the multiple outer friction plates 72 engage with each other, and the clutch 70 is engaged. Therefore, torque transmission between the input shaft 61 and the output shaft 62 is permitted.

[0065] If the torque transmitted by the clutch reaches the clutch's requested torque capacity, the control device 100 stops the rotation of the electric motor 20. As a result, the clutch 70 enters an engaged state, maintaining the clutch's transmitted torque at the clutch's requested torque capacity. Thus, the pressing part 81 can move axially by the torque of the electric motor 20, pressing the clutch 70 and switching the state of the clutch 70 to either engaged or disengaged.

[0066] Regarding the output shaft 62, the end of the shaft portion 621 opposite to the plate portion 622 is connected to the input shaft of a transmission (not shown), and can rotate together with the input shaft. That is, the torque output from the output shaft 62 is input to the input shaft of the transmission. The torque input to the transmission is then shifted by the transmission and output as driving torque to the drive wheels of the vehicle. Thus, the vehicle moves.

[0067] In this embodiment, the torque transmission device 1 includes a temperature sensor 6. The temperature sensor 6 is, for example, installed in the cylindrical portion 623 of the output shaft 62. The temperature sensor 6 detects the temperature of the clutch 70 and the lubricating oil in the clutch 70, and outputs a temperature-corresponding signal to the control device 100. Therefore, the control device 100 can detect the temperature of the clutch 70 and the lubricating oil based on the signal from the temperature sensor 6.

[0068] like Figure 1 As shown, this embodiment is a control device 100 that controls a torque transmission device 1. This torque transmission device 1 includes an actuator 2 that operates by energization and a clutch 70, which serves as a "torque transmission unit," switching between a transmission state and a non-transmission state based on the operation of the actuator 2. When the clutch 70 is in the transmission state, torque is transmitted between the input shaft 61 and the output shaft 62. As a conceptual functional unit, the control device 100 includes a target calculation unit 111, a mode determination unit 112, and a control unit 113.

[0069] The target calculation unit 111 calculates the torque that should be transmitted between the input shaft 61 and the output shaft 62, i.e., the target transmission torque. The mode determination unit 112 determines that it is in the engagement mode when the target transmission torque increases due to the passage of time, determines that it is in the release mode when the target transmission torque decreases due to the passage of time, and determines that it is in the stable mode even if the target transmission torque does not change even after the passage of time (see reference). Figure 2 The control unit 113 controls the actuator 2 based on the mode determined by the mode determination unit 112.

[0070] Here, the term "engaged mode" refers to the mode in which the clutch 70 is engaged when the actuator 2 moves the pressing part 81 towards the clutch 70. The term "release mode" refers to the mode in which the actuator 2 moves the pressing part 81 to the opposite side of the clutch 70, disengaging the clutch 70. The term "stable mode" refers to the mode in which the pressing part 81 is held in a predetermined position, maintaining the clutch 70 in either an engaged or disengaged state.

[0071] The control unit 113 includes a feedback control unit 121, a gain setting unit 122, a duty cycle calculation unit 123, a duty cycle output unit 124, and a power-on control unit 125. The feedback control unit 121 performs feedback control on the actuator 2 based on the target transmitted torque. The gain setting unit 122 sets the engagement gain and release gain, which are the gains used for feedback control by the feedback control unit 121. The release gain is a gain smaller than the engagement gain.

[0072] The duty cycle calculation unit 123 can calculate the engagement duty cycle based on the engagement gain and the release duty cycle based on the release gain. The duty cycle output unit 124 can switch between the engagement and release duty cycles as the output duty cycle based on the mode determined by the mode determination unit 112. The power-on control unit 125 controls the power supply to the actuator 2 based on the output duty cycle output from the duty cycle output unit 124. In this specification, the term "duty cycle" refers to the value obtained by dividing the pulse width of the signal by the pulse period (cycle).

[0073] like Figure 3 As shown, the PID controller includes a feedback control unit 121, a gain setting unit 122, a duty cycle calculation unit 123, and a duty cycle output unit 124. In this embodiment, the feedback control unit 121 performs PID control on the electric motor 20 of the actuator 2 based on the target transmitted torque and the rotation angle of the electric motor 20 detected by the rotation angle sensor 5. In this embodiment, the feedback circuit is constructed using software.

[0074] Specifically, based on the target transmitted torque, the load to be transmitted by the clutch 70, i.e., the target clutch transmitted load, is calculated. Additionally, based on the target clutch transmitted load, the target axial movement of the pressing part 81, i.e., the target stroke, is calculated. Furthermore, based on the target stroke, the target rotation angle of the electric motor 20 is calculated, and the deviation between the target rotation angle and the rotation angle of the electric motor 20 detected by the rotation angle sensor 5, i.e., the rotation angle deviation, is input to the feedback control unit 121. Finally, based on the target rotation angle, the target rotational angular velocity, i.e., the target rotational speed, is calculated and input to the feedback control unit 121.

[0075] The gain setting unit 122 sets the engagement gain and release gain. The engagement gain is a specified value, and the release gain is a specified value that is less than the engagement gain.

[0076] Here, the gain setting unit 122 can also set the engagement gain and release gain based on the target clutch transmission load and load diagram. As a load diagram, for example, the following settings can be considered: when the target clutch transmission load is 0 to 100 N, the gain is set to α (engagement gain, release gain); when the target clutch transmission load is 1000 to 5000 N, the gain is set to β (engagement gain, release gain); and when the target clutch transmission load is 5000 to 10000 N, the gain is set to γ ​​(engagement gain, release gain).

[0077] Furthermore, the gain setting unit 122 can also set the engagement gain and release gain based on the temperature of the clutch 70 and a temperature graph. For example, the temperature graph could be set as follows: gain setting A (engagement gain, release gain) when the temperature of the clutch 70 is -40°C, gain setting B (engagement gain, release gain) when the temperature of the clutch 70 is 80°C, and gain setting C (engagement gain, release gain) when the temperature of the clutch 70 is 140°C. Additionally, the engagement gain and release gain could be calculated and set by interpolation when the temperature of the clutch 70 is lower than -40°C, between -40°C and 80°C, between 80°C and 140°C, or higher than 140°C.

[0078] The duty cycle calculation unit 123 calculates the engagement duty cycle based on the engagement gain set by the gain setting unit 122, and calculates the release duty cycle based on the release gain set by the gain setting unit 122.

[0079] The duty cycle output unit 124 switches between engaging and disengaging duty cycles based on the mode determined by the mode determination unit 112, and outputs these as the output duty cycle. Specifically, in engaging mode, when the target rotational angular velocity (i.e., the target rotational speed) is greater than 0, the engaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In disengaging mode, when the target rotational angular velocity is less than 0, the disengaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In stable mode, the previously used duty cycle (engaged or disengaged duty cycle) is output as the output duty cycle to the power-on control unit 125.

[0080] exist Figure 4 The diagram illustrates a series of processes related to the control of the actuator 2 by the control device 100.

[0081] Figure 4 The series of processes S100 shown begins, for example, when the vehicle's ignition key is turned on.

[0082] In S101, the control device 100 uses the engagement gain and release gain to calculate the engagement duty cycle and release duty cycle, respectively. After S101, the processing proceeds to S102.

[0083] In S102, the control device 100 determines whether the target rotation angle has been updated. Specifically, the control device 100 determines the current value θref of the target rotation angle. n and the previous value θref n－1 Is the difference not 0 (≠0)? If it is determined that the target rotation angle has been updated (S102: Yes), the process proceeds to S103. On the other hand, if it is determined that the target rotation angle has not been updated (S102: No), the process proceeds to S121.

[0084] In S103, the control device 100 determines whether the target rotation angle is changing towards the increasing side. Specifically, the control device 100 determines the current value θref of the target rotation angle. n Is it greater than the previous value θref? n－1 If the target rotation angle is determined to be changing in a positive direction (S103: Yes), the process proceeds to S104. On the other hand, if the target rotation angle is determined not to be changing in a positive direction (S103: No), the process proceeds to S111.

[0085] In S104, the control device 100 outputs an engagement command, which is used to set the clutch 70 to an engaged state, that is, to engage it. After S104, the process proceeds to S105.

[0086] In S105, the control device 100 uses the engagement duty cycle to control the actuator 2. After S105, the process exits a series of processes S100.

[0087] In S111, the control device 100 outputs a release command, which is used to set the clutch 70 to a disengaged state, i.e., to release it. After S111, the process proceeds to S112.

[0088] In S112, the control device 100 uses the release duty cycle to control the actuator 2. After S112, the process exits a series of processes S100.

[0089] In S121, the control device 100 uses the duty cycle (the engagement duty cycle of S105 or the release duty cycle of S112) used in the previous instruction in S100 (S104 or S111) to control the actuator 2. After S121, the process exits a series of processes S100.

[0090] If a series of processes S100 exits after S105, S112, and S121, then a new series of processes S100 begins. In this way, a series of processes S100 is repeatedly executed during the ignition key energization period.

[0091] exist Figure 5 The operation of the control device 100 is shown in the figure.

[0092] After time t0, the duty cycle calculation unit 123 of the control device 100 calculates the engagement duty cycle based on the engagement gain and the release duty cycle based on the release gain.

[0093] If the target clutch transmission load is changed at time t1, the operating mode of the torque transmission device 1 is determined at time t2. In this example, at time t2, because the target transmission torque, i.e. the target clutch transmission load, increases due to the passage of time, the mode determination unit 112 determines that it is in the "engaged mode".

[0094] Furthermore, times t1, t3, t5, t7, t9, t11, t13, and t15 are the timing for changing the target. Additionally, times t2, t4, t6, t8, t10, t12, t14, and t16 are the timings for determining the engagement / release / stabilization mode and updating it with a feedback cycle; these times correspond to the operation cycle of the feedback control unit 121.

[0095] Because it is determined to be in "locked mode" at time t2, the duty cycle output unit 124 outputs the locked duty cycle as the output duty cycle after time t2.

[0096] If the target clutch transmission load changes at time t3, then at time t4, the target transmission torque, i.e. the target clutch transmission load, decreases due to the passage of time. Therefore, the mode determination unit 112 determines that it is in "release mode".

[0097] Because it is determined to be in "release mode" at time t4, the duty cycle output unit 124 will output the release duty cycle as the output duty cycle after time t4.

[0098] If the target clutch transmission load changes at time t5, the target transmission torque, i.e. the target clutch transmission load, increases due to the passage of time at time t6. Therefore, the mode determination unit 112 determines that it is in "engaged mode".

[0099] Because it is determined to be in "locked mode" at time t6, the duty cycle output unit 124 will output the locked duty cycle as the output duty cycle after time t6.

[0100] If the target clutch transmission load changes at time t7, then at time t8, the target transmission torque, i.e. the target clutch transmission load, decreases due to the passage of time. Therefore, the mode determination unit 112 determines that it is in the "release mode".

[0101] Because it is determined to be in "release mode" at time t8, the duty cycle output unit 124 will output the release duty cycle as the output duty cycle after time t8.

[0102] If the target clutch transmission load changes at time t9, the target transmission torque, i.e. the target clutch transmission load, increases due to the passage of time at time t10. Therefore, the mode determination unit 112 determines that it is in "engaged mode".

[0103] Because it is determined to be in "locked mode" at time t10, the duty cycle output unit 124 outputs the locked duty cycle as the output duty cycle after time t10.

[0104] If the target clutch transmission load changes at time t11, the target transmission torque, i.e. the target clutch transmission load, decreases due to the passage of time at time t12. Therefore, the mode determination unit 112 determines that it is in the "release mode".

[0105] Because it is determined to be in "release mode" at time t12, the duty cycle output unit 124 will output the release duty cycle as the output duty cycle after time t12.

[0106] If the target clutch transmission load changes at time t13, the target transmission torque, i.e. the target clutch transmission load, will not change at time t14, even if time has passed. Therefore, the mode determination unit 112 determines that it is in "stable mode".

[0107] Because it is determined to be in "stable mode" at time t14, the duty cycle output unit 124 outputs the duty cycle (release duty cycle) output from the previous time (times t12 to t14) as the output duty cycle after time t14.

[0108] If the target clutch transmission load changes at time t15, the target transmission torque, i.e. the target clutch transmission load, increases due to the passage of time at time t16. Therefore, the mode determination unit 112 determines that it is in "engaged mode".

[0109] Because it is determined to be in "locked mode" at time t16, the duty cycle output unit 124 outputs the locked duty cycle as the output duty cycle after time t16.

[0110] exist Figure 6The diagram shows an example of the operation of a control device using a comparison method.

[0111] The dashed line represents an example of clutch load transmission in a comparative operation where only the engagement gain and the engagement duty cycle are used for feedback control of actuator 2, independent of engagement and release. In this example, there is no overshoot and a high response during engagement (engagement mode). However, during release (release mode), there is a large undershoot and slower convergence.

[0112] The double-dotted line represents an example of a clutch-transmitting operation where the actuator 2 is controlled by feedback using only the release gain and the release duty cycle, regardless of engagement or release. In this example, there is no overshoot during engagement, but the target load is reached more slowly. On the other hand, there is no undershoot during release, and convergence is faster.

[0113] exist Figure 7 An example of the operation of the control device 100 of this embodiment is shown.

[0114] In this embodiment, as described above, during engagement, the engagement gain is used to output the engagement duty cycle for feedback control of the actuator 2, and during release, the release gain is used to output the release duty cycle for feedback control of the actuator 2.

[0115] Therefore, as Figure 7 As shown, there is no overshoot during engagement, resulting in a high response. Furthermore, there is no undershoot during release, and convergence is also faster. Thus, in this embodiment, the problems of the aforementioned comparison method are resolved.

[0116] As explained above, in this embodiment, the duty cycle calculation unit 123 can calculate the engagement duty cycle based on the engagement gain and the release duty cycle based on the release gain. The duty cycle output unit 124 can switch between the engagement and release duty cycles based on the mode determined by the mode determination unit 112 and output them as the output duty cycle. The power-on control unit 125 controls the power-on of the actuator 2 based on the output duty cycle output from the duty cycle output unit 124.

[0117] In this embodiment, during engagement (engaged), the actuator 2 can be feedback controlled based on the engagement gain, and during release (release), the actuator 2 can be feedback controlled based on a release gain that is less than the engagement gain. Therefore, the responsiveness during engagement can be improved, while suppressing undershoot or oscillation during release. Thus, the transmission performance can be appropriately applied according to the operating mode of the torque transmission device 1.

[0118] However, in the control device of Patent Document 1 (Japanese Patent Application Publication No. 2017-166522), if a malfunction occurs in the current detection of the electric motor, it may be impossible to achieve both responsiveness and controllability of the torque transmission device.

[0119] On the other hand, in this embodiment, regardless of the current detection of the electric motor 20, as described above, the actuator 2 can be appropriately controlled according to the operating mode of the torque transmission device 1, and the transmission performance can be appropriately exerted in the torque transmission device 1.

[0120] Furthermore, the duty cycle calculation unit 123 can calculate the engagement duty cycle based on the engagement gain and the release duty cycle based on the release gain. Therefore, the engagement or release duty cycle can be smoothly switched by the duty cycle output unit 124 and output as the output duty cycle.

[0121] Furthermore, in this embodiment, the duty cycle output is updated at the timing of the feedback control cycle. That is, in this embodiment, the duty cycle output unit 124 outputs the output duty cycle at the same time as the operation cycle of the feedback control unit 121. Therefore, the duty cycle switching timing can be accelerated, and the responsiveness can be improved.

[0122] Furthermore, in this embodiment, the gain setting unit 122 can set the engagement gain and release gain based on the target transmission torque or the temperature of the clutch 70. Therefore, optimal transmission performance, such as responsiveness or stability, can be achieved according to the load or temperature.

[0123] In addition, in this embodiment, the actuator 2 has an electric motor 20 and a pressing part 81. The electric motor 20 outputs torque, and the pressing part 81 can move axially by the torque of the electric motor 20 to press the clutch 70 and switch the state of the clutch 70 to a transmission state or a non-transmission state.

[0124] The feedback control unit 121 performs feedback control on the actuator 2 based on the target transmitted torque and the rotation angle of the electric motor 20. Therefore, it can handle various controls regardless of the controlled object.

[0125] In addition, in this embodiment, the torque transmission unit is a clutch 70 that is switched to an engaged or disengaged state by the pressing force output from the actuator 2.

[0126] Furthermore, in this embodiment, the clutch 70 is a type that transmits power by engaging or disengaging an input shaft 61 and an output shaft 62 that rotate relative to each other with respect to a fixed flange 3 or other components. Here, the clutch 70 is a friction type that can be engaged by friction between friction plates (inner friction plate 71, outer friction plate 72).

[0127] In addition, in this embodiment, the clutch 70 is a wet clutch that can be lubricated by lubricating oil such as ATF.

[0128] In addition, in this embodiment, the clutch 70 is a multi-plate clutch having multiple friction plates (inner friction plate 71, outer friction plate 72).

[0129] <Second Implementation Method>

[0130] based on Figure 8 The control device of the second embodiment will be described. In the second embodiment, the method by which the control device 100 controls the actuator 2 is different from that of the first embodiment.

[0131] exist Figure 8 The middle layer (B) shows an example of the operation of the control device 100. Figure 8 The upper layer (A) shows the change of the clutch-transmitted load over time. Figure 8 The middle layer (B) shows how the duty cycle of the actual output changes over time when interrupt updates are performed at a timer faster than the feedback cycle. Figure 8 The lower layer (C) shows how the duty cycle of the actual output changes over time when updated with feedback cycles.

[0132] After time t0, the duty cycle calculation unit 123 of the control device 100 calculates the engagement duty cycle based on the engagement gain and the release duty cycle based on the release gain.

[0133] If the target clutch transmission load changes at time t1, the operating mode of the torque transmission device 1 is determined at time t2. In this example, at time t2, because the target transmission torque, i.e. the target clutch transmission load, decreases due to the passage of time, the mode determination unit 112 determines that it is in the "release mode".

[0134] Furthermore, time t1 is the timing for changing the target. Additionally, times t2, t3, t4, t6, t7, and t8 are times corresponding to periods shorter than the operation cycle of the feedback control unit 121. Furthermore, times t5 and t9 are times corresponding to the operation cycle of the feedback control unit 121.

[0135] Because it is determined to be in "release mode" at time t2, the duty cycle output unit 124 will output the release duty cycle as the output duty cycle after time t2.

[0136] like Figure 8 As shown in the upper section (A), in this embodiment, the actual load can quickly follow the target clutch to transmit the load.

[0137] exist Figure 8The following section (C) shows an example of operation when the duty cycle of the feedback control unit 121 is calculated and output.

[0138] If the target clutch transmission load changes at time t1, the operating mode of the torque transmission device 1 is determined at time t5. In this example, at time t5, because the target transmission torque, i.e. the target clutch transmission load, decreases due to the passage of time, the mode determination unit 112 determines that it is in the "release mode".

[0139] Because it is determined to be in "release mode" at time t5, the duty cycle output unit 124 will output the release duty cycle as the output duty cycle after time t5.

[0140] like Figure 8 As shown in the upper section (A), when the duty cycle is calculated and output using the operation cycle of the feedback control unit 121, the actual load follows the target clutch load transmission delay compared to this embodiment.

[0141] As explained above, in this embodiment, the duty cycle switching timing during operation mode changes is faster than the feedback control cycle. That is, in this embodiment, during a predetermined period after the mode determination unit 112 determines the mode, the duty cycle output unit 124 outputs the output duty cycle at a period shorter than the operation cycle of the feedback control unit 121. Therefore, the invalid time during target updates, i.e., operation mode updates, can be shortened, improving responsiveness. Furthermore, "a period shorter than the operation cycle of the feedback control unit 121" could, for example, correspond to interrupt handling or AD detection cycles.

[0142] <Third Implementation Method>

[0143] based on Figure 9 The control device of the third embodiment will be described. In the third embodiment, the structure of the control device 100 and the method by which the control device 100 controls the actuator 2 are different from those of the first embodiment.

[0144] In this embodiment, the control device 100 includes a stroke sensor 7. The stroke sensor 7 is provided, for example, near the pressing part 81. The stroke sensor 7 detects the axial relative position of the pressing part 81 relative to the housing 10 and outputs a signal corresponding to the relative position to the control device 100. Thus, the control device 100 can detect the axial relative position and amount of movement of the pressing part 81 relative to the housing 10 based on the signal from the stroke sensor 7.

[0145] In this embodiment, based on the target transmitted torque, the load to be transmitted by the clutch 70, i.e., the target clutch transmitted load, is calculated. Furthermore, based on the target clutch transmitted load, the target axial movement of the pressing part 81, i.e., the target stroke, is calculated, and a stroke deviation is input to the feedback control unit 121. This stroke deviation is the deviation between the target stroke and the axial movement of the pressing part 81 detected by the stroke sensor 7, i.e., the stroke. Additionally, based on the target stroke, the target stroke speed is calculated and input to the feedback control unit 121.

[0146] The duty cycle output unit 124 switches between engaging and disengaging duty cycles based on the mode determined by the mode determination unit 112, and outputs these as the output duty cycle. Specifically, in engaging mode, i.e., when the target stroke speed is greater than 0, the engaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In disengaging mode, i.e., when the target stroke speed is less than 0, the disengaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In stable mode, the previously used duty cycle (engaging or disengaging duty cycle) is output as the output duty cycle to the power-on control unit 125.

[0147] As explained above, in this embodiment, the feedback control unit 121 performs feedback control on the actuator 2 based on the target transmitted torque and the axial movement of the pressing part 81. Therefore, it can handle various controls regardless of the controlled object.

[0148] <Fourth Implementation Method>

[0149] based on Figure 10 The control device of the fourth embodiment will be described. In the fourth embodiment, the method by which the control device 100 controls the actuator 2 differs from that of the first embodiment.

[0150] In this embodiment, based on the target transmitted torque, the load to be transmitted by the clutch 70, i.e., the target clutch transmitted load, is calculated. Additionally, based on the target clutch transmitted load, the target axial movement of the pressing part 81, i.e., the target stroke, is calculated. Furthermore, based on the target stroke, the target rotation angle of the electric motor 20 is calculated. Furthermore, based on the target rotation angle, the target rotational speed is calculated, and a speed deviation, which is the deviation between the target rotational speed and the rotational speed of the electric motor 20 detected by the rotational angle sensor 5, is input to the feedback control unit 121. Additionally, based on the target rotational speed, the target angular acceleration is calculated and input to the feedback control unit 121.

[0151] The duty cycle output unit 124 switches between engaging and disengaging duty cycles based on the mode determined by the mode determination unit 112, and outputs these as the output duty cycle. Specifically, in engaging mode, i.e., when the target rotational angular acceleration is greater than 0, the engaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In disengaging mode, i.e., when the target rotational angular acceleration is less than 0, the disengaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In stable mode, the previously used duty cycle (engaging or disengaging duty cycle) is output as the output duty cycle to the power-on control unit 125.

[0152] As explained above, in this embodiment, the feedback control unit 121 performs feedback control on the actuator 2 based on the target transmitted torque and the rotational speed of the electric motor 20. Therefore, it can handle various controls regardless of the controlled object.

[0153] <Fifth Implementation Method>

[0154] based on Figure 11 The control device of the fifth embodiment will be described. In the fifth embodiment, the structure of the control device 100 and the method by which the control device 100 controls the actuator 2 are different from those of the first embodiment.

[0155] In this embodiment, the control device 100 includes a load sensor 8. The load sensor 8 is, for example, disposed between the plate portion 622 of the output shaft 62 and the friction plate 624. The load sensor 8 detects the axial load acting on the clutch 70 from the pressing portion 81 and outputs a signal corresponding to the load to the control device 100. Thus, the control device 100 can detect the load acting on the clutch 70 from the pressing portion 81 based on the signal from the load sensor 8.

[0156] In this embodiment, based on the target transmitted torque, the load to be transmitted by the clutch 70, i.e., the target clutch transmitted load, is calculated, and a load deviation is input to the feedback control unit 121. This load deviation is the deviation between the target clutch transmitted load and the load acting on the clutch 70 from the pressing part 81 detected by the load sensor 8. Furthermore, based on the target clutch transmitted load, a target load speed is calculated and input to the feedback control unit 121.

[0157] The duty cycle output unit 124 switches between engaging and disengaging duty cycles based on the mode determined by the mode determination unit 112, and outputs these as the output duty cycle. Specifically, in engaging mode, i.e., when the target load speed is greater than 0, the engaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In disengaging mode, i.e., when the target load speed is less than 0, the disengaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In stable mode, the previously used duty cycle (engaging or disengaging duty cycle) is output as the output duty cycle to the power-on control unit 125.

[0158] As explained above, in this embodiment, the feedback control unit 121 performs feedback control on the actuator 2 based on the target transmitted torque and the load acting on the clutch 70 from the pressing part 81. Therefore, it can handle various controls regardless of the controlled object.

[0159] <Sixth Implementation Method>

[0160] based on Figure 12 , Figure 13 The control device of the sixth embodiment will be described. In the sixth embodiment, the structure of the control device 100 and the method by which the control device 100 controls the actuator 2 are different from those of the first embodiment.

[0161] In this embodiment, the control device 100 includes a current sensor 9. The current sensor 9 detects the current flowing in the electric motor 20 and outputs a signal corresponding to the current to the control device 100. Thus, the control device 100 can detect the current flowing in the electric motor 20 based on the signal from the current sensor 9.

[0162] In this embodiment, based on the target transmitted torque, the load to be transmitted by the clutch 70, i.e., the target clutch transmitted load, is calculated. Additionally, based on the target clutch transmitted load, the target axial movement of the pressing part 81, i.e., the target stroke, is calculated. Furthermore, based on the target stroke, the target current to flow in the electric motor 20, i.e., the target current, is calculated, and a current deviation, which is the deviation between the target current and the current flowing in the electric motor 20 detected by the current sensor 9, is input to the feedback control unit 121. Furthermore, based on the target current, the target current speed is calculated and input to the feedback control unit 121.

[0163] The duty cycle output unit 124 switches between engaging and disengaging duty cycles based on the mode determined by the mode determination unit 112, and outputs these as the output duty cycle. Specifically, in engaging mode, i.e., when the target current velocity is greater than 0, the engaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In disengaging mode, i.e., when the target current velocity is less than 0, the disengaging duty cycle is used and output as the output duty cycle to the power-on control unit 125. In stable mode, the previously used duty cycle (engaged or disengaged duty cycle) is output as the output duty cycle to the power-on control unit 125.

[0164] like Figure 13 As shown, the control device 100 includes an electronic controller 150 and a driver 160. The electronic controller 150 includes a target calculation unit 111, a mode determination unit 112, and a control unit 113. As described above, the control unit 113 includes a feedback control unit 121, a gain setting unit 122, a duty cycle calculation unit 123, a duty cycle output unit 124, and a power-on control unit 125.

[0165] In this embodiment, the feedback control unit 121 is a software-based circuit, i.e., a software feedback circuit, which performs feedback control on the actuator 2 based on the target transmitted torque and the current flowing in the electric motor 20.

[0166] The driver 160 includes switching elements 171 and 172 and a current sensor 9. Switching element 171 is connected to the electronic controller 150, actuator 2, and the positive terminal of the vehicle's battery. Switching element 172 is connected to the electronic controller 150, actuator 2, and current sensor 9. Current sensor 9 is connected to switching element 172 and the vehicle's ground wire.

[0167] The power control unit 125 can control the power supply to the electric motor 20 of the actuator 2 by controlling the operation of the switching elements 171 and 172.

[0168] When current flows through the electric motor 20, a potential difference is generated between one end and the other end of the current sensor 9. As a result, the feedback control unit 121 of the control unit 113 can detect the current flowing through the electric motor 20.

[0169] In this embodiment, the target transmission torque is calculated by the target calculation unit 111 of the electronic controller 150, and the duty cycle calculation unit 123 and the duty cycle output unit 124 of the control unit 113 of the electronic controller 150 calculate and output the duty cycle.

[0170] As explained above, in this embodiment, the feedback control unit 121 performs feedback control on the actuator 2 based on the target transmitted torque and the current flowing in the electric motor 20. Therefore, it can handle various controls regardless of the controlled object.

[0171] <Seventh Implementation Method>

[0172] based on Figure 14 The control device of the seventh embodiment will be described. In the seventh embodiment, the structure of the control device 100 differs from that of the sixth embodiment.

[0173] In this embodiment, the electronic controller 150 differs from the sixth embodiment in that it lacks a control unit 113. The driver 160, however, also includes a control unit 113. That is, the control unit 113 is integrally disposed in the driver 160 along with the switching elements 171 and 172 and the current sensor 9. Here, the control unit 113 is, for example, a circuit constructed using hardware such as an IC. The control unit 113 includes a feedback control unit 121, a gain setting unit 122, a duty cycle calculation unit 123, a duty cycle output unit 124, and a power-on control unit 125.

[0174] In this embodiment, the feedback control unit 121 is a hardware-based circuit, i.e., a hardware feedback circuit, which performs feedback control on the actuator 2 based on the target transmitted torque and the current flowing in the electric motor 20.

[0175] The control unit 113 is connected to the electronic controller 150, switching elements 171 and 172 and current sensor 9.

[0176] The power control unit 125 of the control unit 113 can control the power supply to the electric motor 20 of the actuator 2 by controlling the operation of the switching elements 171 and 172.

[0177] The feedback control unit 121 of the control unit 113 is capable of detecting the current flowing in the electric motor 20.

[0178] In this embodiment, the target transmission torque is calculated by the target calculation unit 111 of the electronic controller 150, and the duty cycle calculation unit 123 and the duty cycle output unit 124 of the control unit 113 calculate and output the duty cycle.

[0179] As explained above, in this embodiment, the feedback control unit 121 is a hardware-based circuit that performs feedback control on the actuator 2 based on the target transmitted torque and the current flowing in the electric motor 20. Therefore, a low-cost driver IC can be selected when configuring the control unit 113, thereby reducing costs.

[0180] <Eighth Implementation Method>

[0181] based on Figure 15 The control device of the eighth embodiment will be described. In the eighth embodiment, the method by which the control device 100 controls the actuator 2 differs from that of the first embodiment.

[0182] exist Figure 15 The diagram shows the relationship between the axial position of the pressing part 81 relative to the housing 10, i.e., the stroke of the pressing part 81, and the actual transmitted load of the clutch 70, i.e., the clutch load.

[0183] In this embodiment, the duty cycle output unit 124 switches the engagement duty cycle or releases the duty cycle and outputs it as the output duty cycle only when the reaction force from the clutch 70 relative to the actuator 2 is greater than 0.

[0184] like Figure 15 As shown, specifically, during the period when the pressing part 81 approaches the clutch 70 and the gap between the pressing part 81 and the clutch 70 decreases, i.e. during the gap filling period, that is, when the reaction force from the clutch 70 relative to the actuator 2 is 0 or less, the duty cycle output part 124 does not switch between engaging and releasing the duty cycle, but outputs one of the engaging or releasing duty cycles as the output duty cycle.

[0185] Furthermore, after the contact point where the pressing part 81 contacts the clutch 70, during the thrust control period when the pressing part 81 presses the clutch 70 and the clutch load is greater than 0, that is, when the reaction force from the clutch 70 relative to the actuator 2 is greater than 0, the duty cycle output part 124 switches between engaging and releasing the duty cycle based on the mode determined by the mode determination part 112, and outputs it as the output duty cycle.

[0186] As explained above, in this embodiment, the duty cycle output unit 124 switches the engagement or release of the duty cycle and outputs it as the output duty cycle only when the reaction force from the clutch 70 relative to the actuator 2 is greater than 0. During the gap filling period, since there is no load on the clutch 70, the processing load can be suppressed without performing the above-mentioned switching process.

[0187] <Other Implementation Methods>

[0188] In the above embodiment, an example is shown where the duty cycle output unit 124 outputs the previously used duty cycle (engaged duty cycle or released duty cycle) as the output duty cycle when the mode determination unit 112 determines that it is in a stable mode (see reference). Figures 3-5 In contrast, in other embodiments, when the mode determination unit 112 determines that the mode is in a stable mode, the duty cycle output unit 124 is fixed to either engage or disengage the duty cycle, and outputs that as the output duty cycle. Therefore, fault detection can be easily performed.

[0189] Furthermore, in the above embodiment, an example is shown where the duty cycle calculation unit 123 calculates the engagement duty cycle based on the engagement gain and the release duty cycle based on the release gain (see reference). Figure 4 , Figure 5 In contrast, in other embodiments, the duty cycle calculation unit 123 may calculate the engagement duty cycle based on the engagement gain or the release duty cycle based on the release gain according to the mode determined by the mode determination unit 112, and the duty cycle output unit 124 may output the engagement duty cycle or the release duty cycle calculated by the duty cycle calculation unit 123 as the output duty cycle. In this way, by switching between calculating the engagement duty cycle and the release duty cycle by the duty cycle calculation unit 123, the engagement duty cycle and the release duty cycle can be switched between being output as the output duty cycle from the duty cycle output unit 124.

[0190] Alternatively, in other embodiments, torque may be input from the second transmission unit and output from the first transmission unit via a clutch. Furthermore, for example, if one of the first or second transmission units is fixed in a non-rotating position, rotation of the other transmission unit can be stopped by engaging the clutch. In this case, the clutch is of the type that engages or disengages the first and second transmission units, one of which is fixed relative to another component and the other rotates relative to another component, to reduce or stop the transmitted power. Here, the clutch can function as a brake.

[0191] Alternatively, in other embodiments, the clutch may be a dry clutch.

[0192] Alternatively, in other embodiments, the clutch may be a single-plate clutch.

[0193] In other embodiments, the torque transmission unit is not limited to a clutch, and can be any structure, as long as it is switched to a transmission state or a non-transmission state by the action of the actuator.

[0194] Thus, this disclosure is not limited to the above-described embodiments and can be implemented in various ways without departing from its spirit.

[0195] The control unit and method described in this disclosure can also be implemented by a special-purpose computer comprising a processor and memory programmed to perform one or more functions embodied in a computer program. Alternatively, the control unit and method described in this disclosure can also be implemented by a special-purpose computer comprising a processor composed of one or more special-purpose hardware logic circuits. Alternatively, the control unit and method described in this disclosure can also be implemented by one or more special-purpose computers comprising a combination of a processor and memory programmed to perform one or more functions and a processor containing one or more hardware logic circuits. Furthermore, the computer program can also be stored as instructions executable by a computer on a computer-readable non-transitional tangible recording medium.

[0196] This disclosure is based on embodiments. However, this disclosure is not limited to these embodiments and structures. This disclosure also includes various modifications and equivalent variations. In addition, various combinations and methods, as well as other combinations and methods that include only one element, more elements, or fewer elements, are also within the scope and spirit of this disclosure.

Claims

1. A control device for controlling a torque transmission device, the torque transmission device comprising an actuator actuated by energization and a torque transmission section switched between a transmission state and a non-transmission state by the actuation of the actuator, wherein torque is transmitted between a first transmission section and a second transmission section when the torque transmission section is in a transmission state, the control device being characterized in that it comprises: The target calculation unit calculates the torque that should be transmitted between the first transmission unit and the second transmission unit, i.e., the target transmission torque. The mode determination unit determines that it is in the engagement mode when the target transmission torque increases due to the passage of time, in the release mode when the target transmission torque decreases due to the passage of time, and in the stable mode when the target transmission torque does not change even after the passage of time. as well as The control unit controls the actuator based on the mode determined by the mode determination unit; The control unit includes: A feedback control unit that performs feedback control on the actuator based on the target transmitted torque; The gain setting unit sets the engagement gain and the release gain, wherein the engagement gain and the release gain are the gains used for feedback control performed by the feedback control unit, and the release gain is a gain smaller than the engagement gain; The duty cycle calculation unit is capable of calculating the engagement duty cycle based on the engagement gain and the release duty cycle based on the release gain. The duty cycle output unit is capable of switching the engagement duty cycle or the release duty cycle based on the mode determined by the mode determination unit and outputting it as the output duty cycle. as well as The power-on control unit controls the power supply to the actuator based on the output duty cycle output from the duty cycle output unit.

2. The control device according to claim 1, characterized in that, The duty cycle output unit outputs the output duty cycle at the same period as the operation cycle of the feedback control unit.

3. The control device according to claim 1, characterized in that, The duty cycle output unit outputs the output duty cycle at a period shorter than the operation cycle of the feedback control unit.

4. The control device according to any one of claims 1 to 3, characterized in that, The duty cycle output unit switches the engagement duty cycle or the release duty cycle and outputs it as the output duty cycle only when the reaction force from the torque transmission unit relative to the actuator is greater than 0.

5. The control device according to any one of claims 1 to 3, characterized in that, When the mode determination unit determines that the duty cycle output unit is in a stable mode, the duty cycle output unit is fixed to either the engagement duty cycle or the release duty cycle, and outputs the duty cycle as the output duty cycle.

6. The control device according to any one of claims 1 to 3, characterized in that, The duty cycle calculation unit calculates the engagement duty cycle based on the engagement gain or the release duty cycle based on the release gain, according to the mode determined by the mode determination unit. The duty cycle output unit outputs the engagement duty cycle or release duty cycle calculated by the duty cycle calculation unit as the output duty cycle.

7. The control device according to any one of claims 1 to 3, characterized in that, The gain setting unit can set the engagement gain and the release gain based on the target transmitted torque or the temperature of the torque transmission unit.

8. The control device according to any one of claims 1 to 3, characterized in that, The actuator has an electric motor and a pressing part. The electric motor outputs torque, and the pressing part can move axially by the torque of the electric motor to press the torque transmission part, switching the state of the torque transmission part to a transmission state or a non-transmission state. The feedback control unit performs feedback control on the actuator based on the target transmitted torque, the rotation angle of the electric motor, the movement amount of the pressing part, the rotational speed of the electric motor, the load acting on the torque transmission part from the pressing part, or the current flowing in the electric motor.

9. The control device according to claim 8, characterized in that, The feedback control unit is a hardware-based circuit that performs feedback control on the actuator based on the target transmitted torque and the current flowing in the electric motor.

10. The control device according to any one of claims 1 to 3, characterized in that, The torque transmission unit is a clutch that switches between engaged and disengaged states by the pressing force output from the actuator.

11. The control device according to claim 10, characterized in that, The clutch is of the type that engages or disengages a first transmission part and a second transmission part, one of which rotates relative to other components, to transmit power, or engages or disengages a first transmission part and a second transmission part, one of which is fixed relative to other components and the other rotates relative to those other components, to reduce or stop the transmitted power.

12. The control device according to claim 10, characterized in that, The clutch is either a dry clutch or a wet clutch.

13. The control device according to claim 10, characterized in that, The clutch is a single-plate clutch or a multi-plate clutch.

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