Control system for fitting clutch

Abstract

A fitting clutch control system is provided with: rotational speed detection units (S2, S22) that detect a first rotational speed of a first engagement member (11) and a second rotational speed of a second engagement member (12); an arrival time prediction unit (S5, S24) that, on the basis of the first rotational speed, the second rotational speed, and the time variation characteristics of the rotational speed difference when rotational speed adjustment is performed such that the rotational speed difference between the first engagement member and the second engagement member becomes a predetermined prescribed value or less, predicts an arrival time during which the rotational speed difference during rotational speed adjustment becomes a prescribed value or less; and a phase correction unit (S10, S11, S10-1, S11-1, S29, S30) that performs phase correction on at least one of the first engagement member and the second engagement member at a time before the arrival period, the phase correction unit performing the phase correction so that the phase of the first engagement member and / or the second engagement member is more accurate than when the phase correction is not performed. The engagement-enabling period in which the first engagement member and the second engagement member can engage after the arrival period approaches the arrival period.

Description

[0001] Cross-reference to related applications

[0002] This application is based on Japanese Patent Application No. 2022-143714 filed on September 9, 2022, the contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a control system for a dog-type clutch. Background Art

[0004] The control device disclosed in Patent Document 1 detects the phase difference between the first engaging component and the second engaging component after the rotation speed difference between the first engaging component and the second engaging component becomes less than a predetermined value at which the two can engage. Thereafter, the control device adjusts the driving state of the motor that rotates the first engaging component to achieve a phase difference at which the first engaging component and the second engaging component can engage.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent No. 4029875 Summary of the invention

[0008] In the above-mentioned prior art, after the speed difference between the first engaging component and the second engaging component becomes below a specified value, the phase of the first engaging component is adjusted to become a phase difference that allows the first engaging component and the second engaging component to engage. Therefore, after the speed difference becomes below a specified value, it is necessary to put the engagement on standby until the phase difference becomes capable of engagement. Due to this standby period, the engagement of the engaged clutch is delayed. As a result, the responsiveness of the engaged clutch from receiving the engagement instruction to executing the engagement is low. The purpose of the present disclosure is to provide a clutch control system that can improve responsiveness.

[0009] According to one aspect of the present disclosure, a clutch control system includes:

[0010] A clutch having a first engaging member and a second engaging member, wherein the first engaging member rotates around an axis and has a plurality of first gear teeth formed on the entire circumference of the rotation direction when rotating around the axis; the second engaging member rotates around the axis in the same direction as the first engaging member and has a plurality of second gear teeth meshing with the plurality of first gear teeth formed on the entire circumference of the rotation direction;

[0011] an actuator that switches between an engaged state in which the first engaging member and the second engaging member are engaged by meshing the plurality of first gear teeth with the plurality of second gear teeth and a released state in which the first engaging member and the second engaging member are separated, by moving at least one of the first engaging member and the second engaging member in an axial direction parallel to the axis;

[0012] a rotation speed detection unit for detecting a first rotation speed of the first engaging member and a second rotation speed of the second engaging member;

[0013] an arrival time prediction unit that predicts an arrival time when the speed difference during the speed adjustment becomes less than a specified value based on the first speed and the second speed detected by the speed detection unit and a time change characteristic of the speed difference when the speed adjustment is performed so that the speed difference between the first engaging member and the second engaging member becomes less than a predetermined specified value; and

[0014] The phase correction unit performs phase correction on at least one of the first engaging member and the second engaging member at a time before the arrival period.

[0015] The phase correction unit performs phase correction to bring the engageable period at which the first engagement member and the second engagement member can engage after the reaching period closer to the reaching period than when the phase correction is not performed.

[0016] Accordingly, the phase correction unit performs phase correction at a time before the arrival period when the speed difference reaches a predetermined value or less. By this phase correction, the engagement period is brought closer to the arrival period compared to the case where the phase correction is not performed. Therefore, compared to the case where the phase correction is not performed, the time from when the speed difference reaches a predetermined value or less to when the engagement state is achieved can be shortened. Thus, the responsiveness can be improved.

[0017] In addition, the reference numerals in parentheses attached to each component etc. represent an example of the correspondence relationship between the component etc. and the specific component etc. described in the embodiment described later. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a diagram showing the configuration of a power transmission system in the first embodiment.

[0019] Figure 2 The diagram shows the relationship between the gear teeth and the detection range of the phase difference sensor when the first engagement member and the second engagement member rotate in the same rotation direction, have no rotation speed difference, and are in an engageable relative phase.

[0020] Figure 3 Yes means Figure 2 A diagram of timing data of a sensor signal of a phase difference sensor in the case of.

[0021] Figure 4 The diagram shows the relationship between the gear teeth and the detection range of the phase difference sensor when the first engagement member and the second engagement member rotate in the same rotation direction, have no rotation speed difference, and are in a non-engageable relative phase state.

[0022] Figure 5 Yes means Figure 4 A diagram of timing data of a sensor signal of a phase difference sensor in the case of.

[0023] Figure 6 This is a diagram showing the relationship between the gear teeth and the detection range of the phase difference sensor when the first engagement member and the second engagement member rotate in the same rotational direction and there is a rotational speed difference between the two.

[0024] Figure 7 Yes means Figure 6 A diagram of timing data of a sensor signal of a phase difference sensor in the case of.

[0025] Figure 8 This is a diagram showing time series data of a sensor signal based on a phase difference sensor, and showing that the timing of a future engageable state can be predicted based on the timings of a plurality of past engageable states.

[0026] Fig. 9 It is a diagram showing the relationship between the gear teeth and the detection range of the phase difference sensor when the first engagement member and the second engagement member are engaged.

[0027] Fig.10 Yes means Fig. 9 A diagram of timing data of a sensor signal of a phase difference sensor in the case of.

[0028] Fig.11 It is a diagram showing the timing of phase correction, target engagement time, and engageable state in the first embodiment.

[0029] Fig.12 This is a flowchart showing the processing executed by the calculation control device in the first embodiment.

[0030] Fig.13 It is a diagram showing the timing of phase correction, target engagement time, and engageable state in the second embodiment.

[0031] Fig.14 It is a diagram showing phase correction in the third embodiment.

[0032] Fig.15 This is a flowchart showing the processing executed by the calculation control device in the third embodiment.

[0033] Fig.161 is a diagram showing the timing of phase correction, target engagement time, and engageable state in a comparative example.

[0034] Fig.17 It is a diagram showing the timing of phase correction, target engagement time, and engageable state in the fourth embodiment.

[0035] Fig.18 It is a diagram showing time series data of the sensor signal when the second engagement member rotates and the first engagement member stops.

[0036] Fig.19 It is a diagram showing time series data of the sensor signal when the second engagement member rotates and the first engagement member stops.

[0037] Fig. 20 The diagram shows a state in which the second engagement member rotates and the first engagement member stops, and a state in which the first gear teeth of the first engagement member on the stopped side are present within the detection range of the phase difference sensor.

[0038] Fig.21 The diagram shows a state in which the second engagement member rotates and the first engagement member stops, and a state in which the first gear teeth of the first engagement member on the stopped side do not exist within the detection range of the phase difference sensor.

[0039] Fig. 22 This is a flowchart showing the processing executed by the calculation control device in the fourth embodiment. DETAILED DESCRIPTION

[0040] Hereinafter, embodiments of the present disclosure will be described based on the drawings. In the following embodiments, the same or equivalent parts are denoted by the same reference numerals for description.

[0041] (First Embodiment)

[0042] The chimeric clutch control system disclosed in the present invention is applied to Figure 1 The power transmission system 1 is mounted on a vehicle and transmits or cuts off the power of a motor 30 to driving wheels. Specifically, the power transmission system 1 includes a dog clutch 10 , an actuator 20 , a motor 30 , a phase difference sensor 40 , and a calculation control device 50 .

[0043] The engaged clutch 10 has a first engaging member 11 and a second engaging member 12. The first engaging member 11 rotates around the axis AL1. The direction parallel to the axis AL1 is the axis direction DR1. At the end of the first engaging member 11 on the axis direction DR1, a plurality of first gear teeth 13 are formed over the entire circumference of the rotation direction when rotating around the axis AL1. The plurality of first gear teeth 13 are arranged in rows at intervals. Therefore, the plurality of first gear teeth 13 are also referred to as first gear tooth rows 13. A first gap portion 15 exists between the first gear teeth 13 and the first gear teeth 13 adjacent to each other in the rotation direction.

[0044] The second engaging member 12 rotates in the same direction as the first engaging member 11, with the same axis AL1 as the first engaging member 11 as the center. A plurality of second gear teeth 14 meshing with the plurality of first gear teeth 13 are formed over the entire circumference in the rotation direction at the end portion of the second engaging member 12 on the side of the first engaging member 11 in the axial direction DR1. The plurality of second gear teeth 14 are arranged in rows at intervals. Therefore, the plurality of second gear teeth 14 are also referred to as second gear tooth rows 14. A second gap portion 16 exists between the second gear teeth 14 and the second gear teeth 14 adjacent to each other in the rotation direction.

[0045] The second engagement member 12 is connected to the rotation axis (ie, axle) of the tire. The first gear teeth 13 mesh with the second gear teeth 14, so that the first engagement member 11 and the second engagement member 12 are engaged (ie, connected).

[0046] The actuator 20 moves the first engaging member 11 to one side and the other side of the axial direction DR1. By moving the first engaging member 11 along the axial direction DR1, it is possible to switch between an engaged state in which the first engaging member 11 and the second engaging member 12 are engaged by meshing the plurality of first gear teeth 13 and the plurality of second gear teeth 14, and a released state in which the first engaging member 11 and the second engaging member 12 are separated. When switching from the released state to the engaged state, the first engaging member 11 moves toward the second engaging member 12 along the axial direction D1. As the actuator 20, an electric motor or an electromagnetic solenoid is used.

[0047] The motor 30 is a driving source that applies a rotational force to the first engagement member 11 to rotate the first engagement member 11. That is, the motor 30 rotates the first engagement member 11.

[0048] The phase difference sensor 40 is used to detect the phase difference between the first engaging part 11 and the second engaging part 12, that is, to detect the relative phase. The phase difference is the difference between the phase of the first engaging part 11 and the phase of the second engaging part 12. The relative phase is the relationship between the phase of the first engaging part 11 and the phase of the second engaging part 12. Phase refers to the position of the gear teeth in the circumferential direction, which has the same meaning as the rotation angle. A state without phase difference refers to a state in which a plurality of first gear teeth 13 mesh with a plurality of second gear teeth 14 and the first engaging part 11 and the second engaging part 12 can engage. A state with phase difference refers to a state in which the first gear teeth 13 collide with the second gear teeth 14 and the first engaging part 11 and the second engaging part 12 cannot engage. The phase difference sensor 40 outputs a sensor signal corresponding to the phase difference as described below.

[0049] like Figure 2 As shown, the phase difference sensor 40 has a detection range 41. The phase difference sensor 40 is provided at a position where both the first gear tooth 13 and the second gear tooth 14 can enter the detection range. Figure 1 As shown, the phase difference sensor 40 is arranged on the outside of the radial direction DR2 centered on the axis AL1 with respect to both the plurality of first gear teeth 13 and the plurality of second gear teeth 14. The radial direction DR2 is the same as the direction orthogonal to the axis AL1. The outside of the radial direction DR2 is the side away from the center of the radial direction DR2. In this way, the phase difference sensor 40 is arranged at a position that does not hinder the engagement of the first engaging member 11 and the second engaging member 12. The phase difference sensor 40 outputs a sensor signal corresponding to the area of ​​the gear teeth of the first gear teeth 13 and the second gear teeth 14 within the detection range 41. As the phase difference sensor 40, for example, a Hall element or a distance sensor is used.

[0050] The phase difference sensor 40 is connected to the input side of the operation control device 50. The sensor signal of the phase difference sensor 40 is input to the operation control device 50. The actuator 20 and the motor 30 are connected to the output side of the operation control device 50. The operation control device 50 is a control unit that controls the operation of the motor 30 and the operation of the actuator 20.

[0051] The calculation control device 50 is composed of a microcomputer including a processor and a memory and its peripheral circuits. The memory stores a control program and control data for controlling the operation of the motor 30 and the actuator 20. The processor executes the control program to perform various processes.

[0052] Next, the sensor signal of the phase difference sensor 40 will be described. The time series data of the sensor signal of the phase difference sensor 40 is a composite wave of two waveforms corresponding to the rotation speed and phase of each of the first engagement member 11 and the second engagement member 12 as described below.

[0053] Figure 2 The first engaging member 11 and the second engaging member 12 rotate in the same rotation direction DR3, there is no speed difference between the two, and the relative phase between the two is in an engageable state. The engageable state is a state in which the gear teeth of the first engaging member 11 and the second engaging member 12 do not collide with each other. Figure 2 , a plurality of relative positions of the detection range 41 relative to the first engagement member 11 and the second engagement member 12 when the first engagement member 11 and the second engagement member 12 rotate are shown. In this case, the area of ​​the gear teeth of the first gear teeth 13 and the second gear teeth 14 existing in the detection range 41 of the phase difference sensor 40 is constant at any position in the circumferential direction.

[0054] Therefore, if Figure 3 As shown, the value of the sensor signal becomes a constant value with respect to time. That is, in the time series data of the sensor signal, the amplitude is 0. In this state, if the actuator 20 is operated, the first engagement member 11 and the second engagement member 12 can be smoothly engaged without failure.

[0055] Figure 4 The figure shows a situation where the first engagement member 11 and the second engagement member 12 rotate in the same rotation direction DR3, there is no speed difference between the two, and the relative phase between the two is in a non-engageable state. The non-engageable state is a state where the gear teeth of the first engagement member 11 and the second engagement member 12 collide with each other. In this case, the first gear teeth 13 and the second gear teeth 14 rotate as one in a state where the first gear teeth 13 and the second gear teeth 14 are opposed to each other in the axial direction DR1.

[0056] Therefore, if Figure 5 As shown, the time series data of the sensor signal becomes a waveform with a rotation angle of one gear tooth as a period.

[0057] also, Figure 6 The first engaging member 11 and the second engaging member 12 rotate in the same rotation direction DR3, but there is a rotation speed difference between the two. Figure 6 In the embodiment, the rotation speed of the second engaging member 12 is greater than the rotation speed of the first engaging member. Figure 7 As shown, the timing data of the sensor signal becomes Figure 7 The waveform of the beat note shown in FIG. In this beat note waveform, Figure 3 The constant value of the engageable state, and Figure 5 The sine wave of the non-engageable state is repeated with a period in which the first gear tooth 13 and the second gear tooth 14 are offset by one. Figure 3 As shown, since the amplitude is minimum when there is no phase difference, Figure 7The node portion of the waveform of the beat sound shown is the timing Nd of the engageable state. Therefore, the time when the amplitude of the sensor signal is equal to or less than a predetermined value can be determined as the timing of the engageable state.

[0058] Even in the timing of the engageable state, when the speed difference between the first engaging member 11 and the second engaging member 12 is large, if the two are engaged, the impact after the engagement becomes large. Therefore, it is necessary to engage the two in an area where the speed difference is within a specified range. Therefore, in this embodiment, the speed adjustment is performed so that the rotation of the rotating shaft of the motor 30 (i.e., the motor shaft) is close to the axle rotating at a certain speed, and the control of engaging the two is performed in a state where the speed difference becomes less than a specified value.

[0059] The time variation of the rotation speed of the motor 30 during the speed adjustment is also referred to as a rotation speed profile or a time variation characteristic of the rotation speed of the motor 30. Here, the time variation of the rotation speed of the motor 30 during the speed adjustment (e.g., a speed increase) is performed instantaneously within 1 second, so the time variation of the rotation speed on the axle side can be ignored. Thus, the time variation of the speed difference between the first engaging member 11 and the second engaging member 12 depends on the time variation of the rotation speed of the motor 30. The time variation of the rotation speed of the motor 30 during the speed adjustment is determined by the control characteristics of the motor 30. Therefore, the time variation of the speed difference during the speed adjustment is determined by each product of the motor 30.

[0060] Therefore, the calculation control device 50 stores in advance the time variation of the speed of the motor 30 during the speed adjustment. The calculation control device 50 can predict the future speed difference based on the speed difference between the first engagement member 11 and the second engagement member 12 when the speed adjustment starts, and the time variation characteristic of the speed of the motor 30. Furthermore, the calculation control device 50 can predict the time when the future speed difference becomes a predetermined speed difference.

[0061] In addition, the timing of the engageable state arrives at a period corresponding to the time change of the speed difference during the speed adjustment. Therefore, the timing of the future engageable state can be calculated by the calculation control device 50 based on the timing data of the sensor signal and the time change of the speed of the motor 30 during the speed adjustment.

[0062] In addition, if Figure 8As shown, the operation control device 50 stores the timings Np of the multiple engageable states in the past. The time intervals between the timings of the engageable states in the multiple engageable states in the past change with the passage of time. By predicting this change after the current moment, the timing of the engageable state in the future can be predicted. Therefore, the operation control device 50 can also predict the timing Nf of the engageable state in the future based on the relationship between the timing of the engageable state and the elapsed time found from the timings of the multiple engageable states in the past.

[0063] When the difference between the future engageable state timing calculated as above and the current time is equal to the clutch operation delay amount, the calculation control device 50 instructs the actuator 20 to engage. Thus, the first engagement member 11 and the second engagement member 12 can be engaged without collision of gear teeth.

[0064] Moreover, if Fig. 9 As shown in FIG. 1 , when the first engaging member 11 and the second engaging member 12 are engaged, the first engaging member 11 and the second engaging member 12 rotate at the same speed, and since the first gear teeth 13 and the second gear teeth 14 are meshed, the gap between the two becomes the smallest. Fig.10 As shown in FIG. 1 , the time series data of the sensor signal of the phase difference sensor 40 becomes the maximum constant value. Therefore, whether or not the engagement is performed can also be determined based on the time series data of the sensor signal of the phase difference sensor 40 .

[0065] However, even if the speed difference between the axle and the motor shaft is less than the specified value and becomes a speed difference that allows the first gear teeth 13 and the second gear teeth 14 to mesh, if the relative phase is calculated to be in an unengageable state, it is necessary to wait for the engagement until the relative phase becomes an engageable state. During this waiting period, the engagement of the clutch 10 is delayed. Therefore, the responsiveness of the clutch 10 is low.

[0066] Therefore, if Fig.11 As shown, in the present embodiment, the operation control device 50 applies correction to the rotation speed of the motor shaft so that the timing of the engageable state and the timing when the rotation speed difference between the two shafts becomes less than the specified value are matched. Specifically, after the operation control device 50 starts the rotation speed adjustment to make the rotation speed of the first engaging component 11 close to the rotation speed of the second engaging component 12, before the rotation speed difference between the two becomes less than the specified value, the phase correction control is performed. In this phase correction control, the operation control device 50 predicts the target engagement period (i.e., the target moment of engagement) when the rotation speed difference becomes less than the specified value, and predicts the timing of the engageable state after the target engagement period. The target engagement period and the target moment of engagement correspond to the period when the rotation speed difference reaches less than the specified value when the rotation speed adjustment is performed. The timing of the engageable state after the target engagement period corresponds to the engageable period after the arrival period.

[0067] Furthermore, the calculation control device 50 performs phase correction on the rotating first engagement member 11 so that the timing of the predicted engageable state coincides with the target engagement period. Fig.11 As shown in the area A1 in FIG. 1 , the operation control device 50 changes the speed of the motor 30 by changing the time of the speed adjustment without phase correction relative to the speed adjustment shown by the dotted line, thereby changing the phase of the first engaging member 11. This phase correction is performed only during a portion of the speed adjustment period. By this phase correction, the relative phase of the gear teeth can be changed, and the timing of the engageable state can be controlled. Fig.11 As shown in FIG. 1 , by this phase correction, the timing tcf of the engageable state coincides with the target time tt of engagement when the rotation speed of the two shafts becomes less than a predetermined value. Fig.11 When the speed difference becomes less than the specified value ωs, an engageable speed difference flag Fg indicating that the speed difference is engageable is set. At the timing of the node in the timing data of the sensor signal of the phase difference sensor 40, an engageable period flag indicating the timing of the engageable state is set. The timing of setting the engageable period flag is consistent with the timing of setting the engageable speed difference flag Fg.

[0068] According to the present embodiment, the two shafts can be engaged at a timing when the rotation speeds of the two shafts become below a predetermined value. After the rotation speeds of the two shafts become below a predetermined value, there is no need to wait for the engagement. Therefore, the responsiveness can be significantly improved. In the phase correction, the operation control device 50 is not limited to the correction of reducing the rotation speed, and can also perform the correction of increasing the rotation speed.

[0069] Next, the calculation control of this embodiment executed by the calculation control device 50 will be specifically described. When the calculation control device 50 receives the engagement instruction, Fig.12 The steps shown in the figure correspond to the functional parts that realize various functions. This is the same in other figures.

[0070] In step S1 , the calculation control device 50 stores the instruction time t1 when the engagement instruction is received.

[0071] Next, in step S2, the calculation control device 50 detects the first rotation speed ω1 of the first engagement member 11 and the second rotation speed ω2 of the second engagement member 12. The first rotation speed ω1 is detected using a resolver built into the motor 30. The second rotation speed ω2 is detected using a wheel speed sensor.

[0072] Next, in step S3, the calculation control device 50 calculates the torque Tω of the motor 30 required to make the speed difference between the first engagement member 11 and the second engagement member 12 equal to or less than the predetermined value ωs. The predetermined value ωs is 0 or a value greater than 0. The calculation of the torque Tω uses the first speed ω1 and the second speed ω2 detected in step S3, and the time variation characteristics of the speed of the motor 30 stored in advance.

[0073] Next, in step S4, the calculation control device 50 outputs the torque Tω to the electric motor 30. As a result, the first rotation speed ω1 of the first engagement member 11 connected to the electric motor 30 starts to change.

[0074] Next, in step S5, the calculation control device 50 predicts the future speed difference Δω and predicts the target time tt of engagement when the future speed difference Δω becomes less than the predetermined value ωs. The prediction of the future speed difference Δω and the target time tt of engagement is performed based on the first speed ω1 and the second speed ω2 detected in step S2, and the time variation characteristics of the speed of the motor 30.

[0075] Next, in step S6 , the calculation control device 50 detects and stores a plurality of timings tc of the engageable state at a time before the target engagement time tt based on the time series data of the sensor signal of the phase difference sensor 40 .

[0076] Next, in step S7, the operation control device 50 determines whether the current time tn has passed the start time t2 of the phase control. The start time t2 of the phase control is set to an arbitrary time after the clutch delay time, the torque control necessary time, and other prescribed time are removed from the target time tt of engagement. In the case of an affirmative (YES) determination, the operation control device 50 proceeds to step S8 and starts the phase correction control. In the case of a negative (NO) determination, the operation control device 50 returns to step S6.

[0077] In step S8, the calculation control device 50 predicts the timing tcf of the engageable state after one or more engagement target time tt based on the relationship between the timing of the engageable state and the elapsed time found from the plurality of timings tc of the engageable state stored in step S6. In addition, as described above, the timing of the engageable state arrives at a cycle corresponding to the time change of the rotation speed of the motor 30 during the rotation speed adjustment. Figure 7The node portion of the waveform of the beat sound shown is the timing of the engageable state. Accordingly, in step S8, the calculation control device 50 can also predict the timing tcf of the engageable state after the target time tt of engagement based on the time series data of the sensor signal of the phase difference sensor 40 when the speed adjustment is performed and the time variation characteristics of the speed of the motor 30 when the speed adjustment is performed. The time variation characteristics of the speed of the motor 30 correspond to the time variation characteristics of the speed difference.

[0078] Next, in step S9 , the calculation control device 50 calculates a time difference Δt between the timing tcf of the engageable state and the target time tt of engagement.

[0079] Next, in step S10, the calculation control device 50 calculates the correction torque Tθ1 of the motor 30 corresponding to the time difference Δt calculated in step S9. The correction torque Tθ1 of the motor 30 corresponding to the time difference Δt is the torque of the motor 30 for making the time difference Δt equal to 0. The correction torque Tθ1 is calculated based on the relationship between the input torque and the change in the timing of the engageable state that is grasped in advance.

[0080] Next, in step S11, the calculation control device 50 outputs the correction torque Tθ to the motor 30. That is, the calculation control device 50 outputs a control signal for making the torque of the motor 30 become the correction torque Tθ1. Fig.11 As shown in area A1 in FIG. 1 , the rotation speed of the motor shaft decreases relative to the time change of the rotation speed of the motor 30 during the rotation speed adjustment without phase correction. As a result, Fig.11 As shown in FIG. 1 , the timing tcf of the engageable state after phase correction is consistent with the target time tt of engagement. Fig.11 As shown, the phase correction is performed within a range where the engagement target time tt does not change.

[0081] Next, in step S12, the operation control device 50 determines whether the current time tn has reached the start time t3 of the clutch action before the target time tt of engagement. The start time t3 of the clutch action is the time after the target time tt is removed from the delay of the clutch action and the safety margin. In the case of an affirmative determination, the operation control device 50 proceeds to step S13. In the case of a negative determination, the operation control device 50 returns to step S12 after a predetermined time has passed.

[0082] In step S13, the calculation control device 50 operates the dog clutch 10. That is, the calculation control device 50 operates the actuator 20 to engage the dog clutch 10. As a result, Fig.12 The shown processing ends.

[0083] exist Fig.12In the process shown, step S2 corresponds to a rotation speed detection unit that detects a first rotation speed of the first engaging member and a second rotation speed of the second engaging member. Step S5 corresponds to an arrival time prediction unit that predicts an arrival time when the rotation speed difference during rotation speed adjustment reaches a predetermined value or less. Step S8 corresponds to an engagement time prediction unit that predicts an engagement time when the first engaging member and the second engaging member can engage after the arrival time predicted by the arrival time prediction unit. Steps S10 and S11 correspond to a phase correction unit that performs phase correction on at least one of the first engaging member and the second engaging member.

[0084] In the present embodiment, the rotation speed adjustment of the first engagement member 11 is started in a state where the first engagement member 11 is rotating. However, the rotation speed adjustment of the first engagement member 11 may be started in a state where the first engagement member 11 is stopped.

[0085] (Second Embodiment)

[0086] In this embodiment, if Fig.13 As shown in the area A2 in FIG. 1 , the operation control device 50 performs phase correction during the entire speed adjustment period. The phase correction is performed in the same manner as in the first embodiment. The other configurations of this embodiment are the same as in the first embodiment. According to this embodiment, the same effect as in the first embodiment can also be obtained. This embodiment becomes effective when the inertia of the rotating part such as a large motor is large and it is difficult to perform phase correction in a short time.

[0087] (Third Embodiment)

[0088] In the first embodiment, phase correction is performed based on the difference between the predicted engagement-enabled timing tcf and the target engagement period (that is, the engagement target time tt). Fig.14 As shown, the phase difference at the target engagement timing is predicted, and phase correction is performed based on the predicted phase difference.

[0089] Fig.14 The time change of the phase difference between the first engaging member 11 and the second engaging member 12 when the rotation speed adjustment is performed to make the rotation speed difference between the first engaging member 11 and the second engaging member 12 equal to or less than a predetermined value is shown. The timing of the engageable state is the moment when the phase difference is 0 degrees and 360 degrees. The phase difference changes between 0 degrees and 360 degrees as time passes.

[0090] The phase difference at the target engagement time can be obtained based on the timing of a plurality of engageable states before the target engagement time and the rotation speeds of the first engagement member 11 and the second engagement member 12. Figure 7In the beat waveform shown, the phase difference is 0 degrees when the amplitude is minimum, and the phase difference is 180 degrees when the amplitude is maximum. Therefore, the phase difference in the target engagement period can also be obtained based on the timing data of the sensor signal and the time change of the speed difference when the speed adjustment is performed. In addition, the phase difference in the target engagement period can also be obtained by linearly complementing the timing of the engageable state immediately before the target engagement period and the timing of the engageable state immediately after the target engagement period.

[0091] Therefore, the operation control device 50 is as follows Fig.14 As shown in the solid line of FIG. , the target engagement period is predicted, and the phase difference Xa between the first engagement component 11 and the second engagement component 12 during the target engagement period is predicted. The operation control device 50 corrects the rotation speed of the motor 30, that is, the torque of the motor 30, so that the phase difference during the predicted target engagement period becomes 0 degrees. The corrected torque at this time is determined based on a mapping representing the relationship between the input torque amount, the torque input time, and the phase difference change amount. Through this phase correction, the phase difference is as follows: Fig.14 The phase difference at the target engagement timing changes toward 0 degrees as shown by the arrow Xc, as shown by the dotted line Xb in FIG. Fig.14 The torque input tx in is phase correction. According to the present embodiment, the timing of the engageable state also coincides with the target engagement period. Therefore, the same effect as the first embodiment can be obtained.

[0092] Next, the calculation control of this embodiment executed by the calculation control device 50 will be specifically described. When the calculation control device 50 receives the engagement instruction, Fig.15 The process shown is performed to engage the dog clutch 10 .

[0093] exist Fig.15 In the flowchart, relative to Fig.12 , steps S9, S10, and S11 are changed to steps S9-1, S10-1, and S11-1, respectively. Fig.15 The other steps are Fig.12 same.

[0094] In step S9-1, the calculation control device 50 calculates the phase difference θtt at the engagement target time tt. The phase difference θtt is calculated according to the above-mentioned method.

[0095] Next, in step S10 - 1 , the calculation control device 50 calculates a correction torque Tθ2 corresponding to the phase difference θtt at the engagement target time tt. The correction torque Tθ2 is determined based on the above-mentioned map so as to change the phase difference θtt to 0 degrees.

[0096] Next, in step S11-1, the calculation control device 50 outputs the correction torque Tθ2 to the motor 30. As a result, the rotation speed of the motor 30 changes. Fig.14 As shown in FIG. 2 , the phase difference θtt after the phase correction at the engagement target time tt becomes 0 degrees.

[0097] exist Fig.15 In the process shown, step S9-1 corresponds to a phase difference prediction unit that predicts the phase difference between the first engagement member and the second engagement member at the arrival time predicted by the arrival time prediction unit. Steps S10-1 and S11-1 correspond to a phase correction unit that corrects the phase of at least one of the first engagement member and the second engagement member.

[0098] (Fourth Embodiment)

[0099] Fig.16 The figure shows that the rotation of the first engaging member 11 starts at a time ty, from the state where the second engaging member 12 on the axle side rotates and the first engaging member 11 on the motor shaft side stops, and the rotation speed of the first engaging member 11 is adjusted to the same rotation speed as the second engaging member 12. Fig.16 In the embodiment, after the speed difference becomes the target engagement period (i.e., the target engagement time tt) that is smaller than the specified value, the timing tcf of the engageable state is generated. In this case, even if the speed difference becomes the engageable speed difference, it is necessary to wait for the engagement until the relative phase becomes the engageable state. Therefore, the responsiveness of the dovetail clutch 10 is low.

[0100] If the rotation start time of the first engagement member 11 is changed, the timing tcf of the engageable state can be changed. Fig.17 As shown, in this embodiment, the calculation control device 50 adjusts the rotation start time ty of the first engagement member 11 so that the timing of the engageable state coincides with the target time tt of engagement that becomes the engageable rotation speed difference. Fig.17 In FIG. 1 , the rotation start time of the first engagement member 11 is changed from the time indicated by the dotted line to the time indicated by the solid line. Fig.17 In the embodiment, the time when the engageable period flag is set is the timing of the engageable state. According to this, the timing of the engageable state is consistent with the target time tt of engagement, so that the same effect as the first embodiment can be obtained.

[0101] In the present embodiment, the operation control device 50 predicts the timing tcf of the engageable state after the target engagement time tt based on the time change of the phase of the second engagement member 12 on the rotating side, the phase of the first engagement member 11 on the stopped side, and the time change characteristics of the rotation speed of the motor 30. In this way, the timing tcf of the engageable state can be predicted. At this time, the operation control device 50 detects the phase of the first engagement member 11 and the phase of the second engagement member 12 as described below.

[0102] When the second engaging member 12 rotates and the first engaging member 11 stops, Fig.18 as well as Fig.19 As shown, in the waveform representing the timing data of the sensor signal, the offset amount changes depending on whether the first gear tooth 13 of the first engagement member 11 on the stopped side is present in the detection range 41 of the phase difference sensor 40. Fig. 20 When the first gear teeth 13 of the first engaging member 11 on the stop side are present in the detection range 41 of the phase difference sensor 40, Fig.18 The waveform of the sensor signal is shown in Fig.21 When the first gear teeth 13 of the first engagement member 11 on the stopped side does not exist within the detection range 41 of the phase difference sensor 40, Fig.19 The waveform of the sensor signal is shown.

[0103] Compare Fig.18 and Fig.19 It can be seen that the DC component of the timing data of the sensor signal when the first gear tooth 13 of the first engaging member 11 on the stopped side exists in the detection range 41 is larger than the case where it does not exist in the detection range 41. In this way, there is a predetermined relationship between the DC component of the timing data of the sensor signal and the phase of the first gear tooth 13 of the first engaging member 11 on the stopped side. Therefore, the operation control device 50 can obtain the DC component by using a low-pass filter, time averaging, etc., and detect the phase of the first gear tooth 13 of the first engaging member 11 on the stopped side based on the obtained DC component.

[0104] on the other hand, Fig.18 as well as Fig.19 The sinusoidal AC component of the time series data of the sensor signal shown corresponds to the phase change of the second gear teeth 14 of the rotating second engagement member 12. Therefore, the calculation control device 50 can detect the phase of the rotating second engagement member 12 based on the AC component.

[0105] Next, the calculation control of this embodiment executed by the calculation control device 50 will be specifically described. When the calculation control device 50 receives the engagement instruction, Fig. 22The process shown is performed to engage the dog clutch 10 .

[0106] In step S21, the calculation control device 50 and Fig.12 The same as step S1, the instruction time t1 when the engagement instruction is received is saved.

[0107] Next, in step S22, Fig.12 Similar to step S2, the calculation control device 50 detects the first rotation speed ω1 of the first engagement member 11 and the second rotation speed ω2 of the second engagement member 12. Since the second engagement member 12 is rotating and the first engagement member 11 is stopped, the first rotation speed ω1 is zero.

[0108] Next, in step S23, Fig.12 Similar to step S3 , the calculation control device 50 calculates the torque Tω of the electric motor 30 required to make the rotation speed difference between the first engagement member 11 and the second engagement member 12 equal to or less than the predetermined value ωs.

[0109] Next, in step S24, the calculation control device 50 predicts the target time tt of engagement at which the speed difference Δω becomes less than the predetermined value ωs. The prediction of the target time tt is performed based on the first speed ω1 and the second speed ω2 detected in step S22, and the time variation characteristics of the speed of the motor 30. Here, the rotation start time of the first engagement member 11 is set as a temporary time.

[0110] Next, in step S25, the calculation control device 50 detects the stop phase θ1 of the stopped first engagement member 11. At this time, the stop phase θ1 is detected based on the DC component of the time series data of the sensor signal of the phase difference sensor 40 as described above.

[0111] Next, in step S26, the calculation control device 50 detects the rotation phase θ2 of the rotating second engagement member 12. At this time, the rotation phase θ2 is detected based on the AC component of the time series data of the sensor signal of the phase difference sensor 40 as described above.

[0112] Next, in step S27 , the calculation control device 50 calculates the timing tcf of the engageable state after the engagement target time tt based on the time variation characteristics of the rotation speed of the motor 30 and the stop phase θ1 and the rotation phase θ2 detected in steps S25 and S26 .

[0113] Next, in step S28 , the calculation control device 50 calculates a time difference Δt between the timing tcf of the engageable state and the target time tt of engagement.

[0114] Next, in step S29, the calculation control device 50 determines whether the time difference Δt is less than or equal to the threshold value t4. When the timing tcf of the engageable state is made to coincide with the target time tt, the threshold value t4 is set to 0. If a negative determination is made in step S29, the process returns to step S24 after a predetermined time has passed. In step S24, the target time tt is predicted again. If a positive determination is made in step S29, the process proceeds to step S30.

[0115] In step S30, the calculation control device 50 outputs the torque Tω to the motor 30 at the rotation start time of the first engagement member 11 corresponding to the target time tt. As a result, the rotation of the first engagement member 11 starts. Fig.17 As shown, the timing tcf of the engageable state coincides with the target time tt of engagement.

[0116] Next, the calculation control device 50 performs steps S31 and S32. Steps S31 and S32 are Fig.12 Steps S12 and S13 are the same. Thus, the dog-type clutch 10 is engaged. Fig. 22 The shown processing ends.

[0117] exist Fig. 22 In the process shown, step S22 corresponds to a rotation speed detection unit that detects a first rotation speed of the first engaging member and a second rotation speed of the second engaging member. Step S24 corresponds to an arrival time prediction unit that predicts an arrival time when the rotation speed difference reaches a predetermined value or less when the rotation speed is adjusted. Step S26 corresponds to a rotation side detection unit that detects a time change in the phase of the rotating engagement member of the first engaging member and the second engaging member based on the AC component of the time series data of the sensor signal of the phase difference sensor. Step S25 corresponds to a stop side detection unit that detects the phase of the other engagement member of the first engaging member and the second engaging member that is stopped based on the DC component of the time series data of the sensor signal of the phase difference sensor. Step S27 corresponds to an engagement time prediction unit that predicts an engagement time at which the first engaging member and the second engaging member can engage after the arrival time predicted by the arrival time prediction unit. Steps S29 and S30 correspond to a phase correction unit that performs phase correction on at least one of the first engaging member and the second engaging member at a time before the arrival time.

[0118] In addition, in the present embodiment, when the second engaging member 12 rotates and the first engaging member 11 stops, the operation control device 50 adjusts the rotation start time of the first engaging member 11 as the timing of inputting torque to the first engaging member 11. Not limited to this case, when both are rotating, the start time of the rotation speed adjustment of the first engaging member 11 as the timing of inputting torque to the first engaging member 11 may be adjusted. In this case, the same effect as that of the present embodiment can also be obtained.

[0119] (Other embodiments)

[0120] (1) In each of the above-mentioned embodiments, the operation control device 50 performs phase correction on the first engagement member 11 so that the timing of the engageable state coincides with the target period. However, the present invention is not limited thereto, and the operation control device 50 may perform phase correction on the first engagement member 11 so that the timing of the engageable state is closer to the target period than when the phase correction is not performed. Thus, the responsiveness can be improved compared to when the phase correction is not performed.

[0121] Specifically, in the first embodiment, in steps S10 and S11, the calculation control device 50 performs phase correction on the first engagement member 11 so that the time difference Δt calculated in step S9 becomes 0. Without being limited to this, the calculation control device 50 may perform phase correction on the first engagement member 11 so that the time difference Δt calculated in step S9 becomes closer to 0 than when no phase correction is performed.

[0122] In addition, in the third embodiment, in steps S10-1 and S11-1, the operation control device 50 performs phase correction on the first engagement member 11 based on the phase difference θtt of the engagement target time tt predicted in step S9-1, so that the phase difference of the engagement target time tt becomes the phase difference of the engagement state. Without being limited to this, the operation control device 50 may also perform phase correction on the first engagement member 11 based on the phase difference θtt of the engagement target time tt predicted in step S9-1, so that the phase difference of the engagement target time tt is close to the phase difference of the engagement state.

[0123] Furthermore, in the fourth embodiment, in steps S10 and S11, as phase correction, the calculation control device 50 adjusts the rotation start timing of the first engagement member 11 so that the time difference Δt calculated in step S28 becomes 0. Without being limited to this, the calculation control device 50 may also adjust the rotation start timing of the first engagement member 11 so that the time difference Δt calculated in step S28 becomes closer to 0 than when the phase correction is not performed.

[0124] (2) The power transmission system 1 of each embodiment described above is mounted on a vehicle and is used to transmit or cut off the power of the motor 30 to the drive wheel, but it can also be used for other purposes. In addition, in the power transmission system 1 of each embodiment described above, the first engaging component 11 moves along the axial direction DR1. However, depending on the purpose, the second engaging component 12 can also move along the axial direction DR1. It is also possible that both the first engaging component 11 and the second engaging component 12 move along the axial direction DR1. That is, at least one of the first engaging component 11 and the second engaging component 12 can be moved along the axial direction DR1 by an actuator.

[0125] In addition, in each of the above-mentioned embodiments, the phase of the first engaging member 11 is corrected by adjusting the rotation speed of the first engaging member 11. However, depending on the application, the phase of the second engaging member 12 may be corrected by adjusting the rotation speed of the second engaging member 12. The phases of the first engaging member 11 and the second engaging member 12 may also be corrected by adjusting the rotation speeds of both the first engaging member 11 and the second engaging member 12.

[0126] (3) In each of the above-mentioned embodiments, the first rotational speed ω1 of the first engaging member 11 is detected using a resolver built into the motor 30. The second rotational speed ω2 of the second engaging member 12 is detected using a wheel speed sensor. However, the first rotational speed ω1 and the second rotational speed ω2 may be detected using the phase difference sensor 40. The timing data of the sensor signal of the phase difference sensor 40 includes information on the first rotational speed ω1, the second rotational speed ω2, and the difference between the two. Therefore, the first rotational speed ω1 and the second rotational speed ω2 can be detected based on the timing data of the sensor signal of the phase difference sensor 40.

[0127] (4) The present disclosure is not limited to the above-mentioned embodiments, and can be appropriately modified, and also includes various modified examples and modifications within the scope of equivalents. In addition, the above-mentioned embodiments are not independent of each other, and can be appropriately combined except for cases where they are obviously not combined. In addition, in the above-mentioned embodiments, the elements constituting the embodiments are of course not necessarily required items except for cases where they are specifically stated to be required and cases where they are obviously considered to be required in principle.

[0128] (5) The control unit and method described in the present application may also be implemented using a dedicated computer provided by constituting the following processor and memory, wherein the processor is programmed to execute one or more functions embodied by a computer program. Alternatively, the control unit and method described in the present disclosure may also be implemented using a dedicated computer provided by constituting a processor composed of one or more dedicated hardware logic circuits. Alternatively, the control unit and method described in the present disclosure may also be implemented by one or more dedicated computers composed of the following combination, wherein the combination is a combination of a processor and memory programmed to execute one or more functions, and a processor composed of one or more hardware logic circuits. In addition, the computer program may also be stored in a computer-readable non-transient tangible recording medium as instructions executed by a computer.

Claims

1. A chimeric clutch control system, have: A clutch (10) having a first engaging member (11) and a second engaging member (12), wherein the first engaging member (11) rotates around an axis (AL1) and has a plurality of first gear teeth (13) formed on the entire circumference of the rotation direction when rotating around the axis, and the second engaging member (12) rotates around the axis in the same direction as the first engaging member and has a plurality of second gear teeth (14) meshing with the plurality of first gear teeth formed on the entire circumference of the rotation direction; an actuator (20) for switching between an engaged state in which the plurality of first gear teeth are meshed with the plurality of second gear teeth and the first engaging part is engaged with the second engaging part, and a released state in which the first engaging part is separated from the second engaging part, by moving at least one of the first engaging part and the second engaging part in an axial direction parallel to the axis; a rotation speed detection unit (S2, S22) for detecting a first rotation speed of the first engaging member and a second rotation speed of the second engaging member; an arrival time prediction unit (S5, S24) for predicting an arrival time when the speed difference becomes less than the specified value when the speed adjustment is performed, based on the first speed and the second speed detected by the speed detection unit and a time variation characteristic of the speed difference when the speed adjustment is performed so that the speed difference between the first engaging member and the second engaging member becomes less than a predetermined specified value; as well as a phase correction unit (S10, S11, S10-1, S11-1, S29, S30) that performs phase correction on at least one of the first engaging member and the second engaging member at a time before the arrival period, The phase correction unit performs the phase correction to bring the engageable timing at which the first engaging member and the second engaging member can engage after the reaching timing closer to the reaching timing, compared to a case where the phase correction is not performed.

2. The clutch control system according to claim 1, An engagement time prediction unit (S8) is provided, the engagement time prediction unit predicting the engageable time after the arrival time predicted by the arrival time prediction unit, The phase correction unit (S10, S11) performs the phase correction when the rotation speed is adjusted, and performs the phase correction so that the engageable timing after the phase correction is closer to the reaching timing than the engageable timing predicted by the engagement timing prediction unit.

3. The clutch control system according to claim 2, A phase difference sensor (40) is provided, the phase difference sensor outputting a sensor signal corresponding to the phase difference between the first engaging member and the second engaging member, The engagement timing prediction unit predicts the engageable timing after the reaching timing based on the time variation characteristics of the rotation speed difference when the rotation speed adjustment is performed and time series data of the sensor signal of the phase difference sensor when the rotation speed adjustment is performed.

4. The clutch control system according to claim 2, The engagement timing prediction unit predicts the engageable timing after the arrival timing based on a relationship between the engageable timing and an elapsed time found from timings of a plurality of engageable states before the arrival timing when the rotation speed adjustment is performed.

5. The clutch control system according to claim 1, A phase difference prediction unit (S9-1) is provided, which predicts the phase difference between the first engaging member and the second engaging member at the arrival time predicted by the arrival time prediction unit, The phase correction unit (S10-1, S11-1) performs the phase correction when performing the rotational speed adjustment, and performs the phase correction based on the phase difference predicted by the phase difference prediction unit so that the phase difference at the arrival time is close to the phase difference in the state in which the first engaging component and the second engaging component can be engaged.

6. The clutch control system according to claim 1, An engagement time prediction unit (S27) is provided, the engagement time prediction unit predicting the engageable time after the arrival time predicted by the arrival time prediction unit, As the phase correction, the phase correction unit (S29, S30) adjusts the start timing of the rotation speed adjustment so that the engageable timing after the phase correction is closer to the reaching timing than the engageable timing predicted by the engagement timing prediction unit.

7. The clutch control system according to claim 6, have: A phase difference sensor (40) outputting a sensor signal corresponding to the phase difference between the first engaging component and the second engaging component; a rotating side detection unit (S26) for detecting a time change in phase of the rotating one of the first engaging member and the second engaging member based on an AC component of the time series data of the sensor signal of the phase difference sensor; and a stopped side detection unit (S25) for detecting the phase of the other stopped engagement component of the first engagement component and the second engagement component based on the DC component of the time series data of the sensor signal of the phase difference sensor, The engagement timing prediction unit predicts the engageable timing after the arrival timing based on the time variation of the phase of the one engagement component detected by the rotating side detection unit, the phase of the other engagement component detected by the stopped side detection unit, and the time variation characteristics of the rotation speed difference when the rotation speed adjustment is performed.

Images