Damping control device

Abstract

To provide a damping control device capable of appropriately performing damping during gear changing of a stepped variable transmission or after the gear changing.SOLUTION: This damping control device is for a vehicle provided with an engine, a stepped variable transmission connected to the engine, and a motor connected to the output shaft side of the stepped variable transmission, and comprises a processor configured to calculate a tire rotation number using an observer model containing an observer model constant and add damping torque obtained by adjusting a gain in accordance with a gain constant for a difference between the rotation number of the tire and a rotation number of the motor to torque of the motor. The processor is configured such that the observer model constant varied between during gear changing in which a clutch of the stepped variable transmission is separated and after the gear changing in which the clutch of the stepped variable transmission is connected is set in advance, and the observer model in which the observer model constant is switched between during the gear changing and after the gear changing is used.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a vibration control device.

Background Art

[0002] Patent Document 1 discloses a vibration control method in which an estimated load rotation speed of a load converted into a rotation speed of a motor shaft is estimated based on a control model determined in advance by an observer, a deviation between the motor rotation speed and the estimated load rotation speed is obtained, and a correction value obtained by multiplying this deviation by a gain is added to a speed command amount to suppress residual vibration.

[0003] As described in Patent Document 1, the control model used in the observer is represented by the natural frequency of the target vibration system.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In a vehicle in which a stepped transmission is connected to an engine and a motor is connected to the output shaft side of the stepped transmission, the resonance frequency (natural frequency) is different during and after shifting by the stepped transmission. Therefore, in this vehicle, if the same control model is used during shifting as after shifting, vibration may be amplified.

[0006] The present disclosure has been made in view of the above, and an object thereof is to provide a vibration control device that can appropriately control vibration during and after shifting by a stepped transmission.

Means for Solving the Problems

[0007] The vibration control device according to the present disclosure is a vibration control device for a vehicle including an engine, a stepped transmission connected to the engine, and a motor connected to the output shaft side of the stepped transmission. A processor configured to calculate the rotational speed of a tire using an observer model including observer model constants, and add a vibration control torque obtained by performing gain adjustment according to a gain constant to the difference between the rotational speed of the tire and the rotational speed of the motor to the torque of the motor, wherein different observer model constants are preset during shifting when the clutch of the stepped transmission is disengaged and after shifting when the clutch of the stepped transmission is engaged, and the processor is configured to use the observer model in which the observer model constants are switched during shifting and after shifting.

Effect of the Invention

[0008] According to the present disclosure, it is possible to realize a vibration control device that can appropriately control vibration during and after shifting by a stepped transmission.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Mode for Carrying Out the Invention

[0010] The vibration control device according to an embodiment of the present disclosure will be described with reference to the drawings. Note that the components in the following embodiments include those that can be replaced and are easy for those skilled in the art, or those that are substantially the same.

[0011] (Embodiment) 〔Configuration of Vehicle〕 FIG. 1 is a schematic configuration diagram of a vehicle including a vibration control device according to an embodiment. The vehicle 1 includes an engine 2, a torque converter 3, a stepped transmission 4, a motor 5, tires 6, and an ECU (Electronic Control Unit) 7.

[0012] The vehicle 1 is, for example, a towing vehicle capable of towing a trailer, but is not limited to a towing vehicle.

[0013] The engine 2 is an internal combustion engine such as a gasoline engine or a diesel engine, is driven by combustion of fuel, and outputs torque. The torque from the engine 2 is transmitted to the tires 6 via the torque converter 3 and the stepped transmission 4.

[0014] The torque converter 3 is connected to the engine 2, amplifies the torque from the engine 2, and transmits it to the stepped transmission 4.

[0015] The stepped transmission 4 is connected to the engine 2 via the torque converter 3, stepwise changes the ratio between the input rotational speed and the output rotational speed, and transmits the torque from the torque converter 3 to the tires 6. The stepped transmission 4 is an 8-speed AT (Automatic Transmission), but the number of speeds is not particularly limited.

[0016] The motor 5 is connected to the output shaft side of the stepped transmission 4, has a function as a generator (power generation function) that generates electricity by being driven by receiving the torque output by the engine 2, and also has a function as an electric motor (electric motor function) that is driven by being supplied with electric power and outputs torque. The motor 5 is a motor-generator and is configured by, for example, a permanent magnet synchronous motor or an induction motor.

[0017] The ECU 7 controls the vehicle 1. The ECU 7 is configured using a memory and a processor having hardware such as a CPU (Central Processing Unit).

[0018] 〔Torsional resonance frequency of vehicle〕 FIG. 1 shows the state in which the clutch of the stepped transmission 4 is engaged. After shifting, the clutch of the stepped transmission 4 is engaged, and the drive train that transmits torque from the engine 2, which is indicated by a thick line, to the torque converter 3, the stepped transmission 4, and the tire 6, and the drive train that transmits torque from the motor 5, which is indicated by a dashed-dotted line, to the tire 6 are each connected. At this time, the resonance frequency of the torsional resonance of the vehicle 1 is calculated for the resonance system including the engine 2, the torque converter 3, the stepped transmission 4, the motor 5, and the tire 6, and the resonance frequency of the vehicle 1 is, for example, about 5 Hz.

[0019] FIG. 2 is a diagram showing the state in which the clutch of the stepped transmission is disengaged. During shifting, the clutch of the stepped transmission 4 is disengaged, and only the drive train that transmits torque from the motor 5, which is indicated by a dashed-dotted line, to the tire 6 is connected. At this time, the resonance frequency of the torsional resonance of the vehicle 1 is calculated for the resonance system including the motor 5 and the tire 6, and the resonance frequency of the vehicle 1 is, for example, about 8 Hz.

[0020] As described above, the resonance frequency of the torsional resonance of the vehicle 1 is different between after shifting and during shifting.

[0021] 〔Processing in ECU〕 FIG. 3 is a schematic diagram showing the processing in the ECU. As shown in FIG. 3, the ECU 7 obtains the torque T of the motor 5 m and the rotational speed ω of the motor 5 m and calculates the rotational speed ω of the tire using an observer model including observer model constants. tire Furthermore, the ECU 7 calculates a vibration damping torque obtained by performing gain adjustment according to a gain constant on the difference between the calculated rotational speed ω of the tire tire and the rotational speed ω of the motor 5 m And the ECU 7 adds the calculated vibration damping torque to the torque T of the motor 5 m and inputs it to a control system that controls the drive of the motor 5, thereby executing vibration damping control of the vehicle 1.

[0022] Here, the observer model calculates the rotational speed ω of the tire using the observer model constant calculated according to the resonance frequency of the vehicle 1. tire Therefore, the ECU 7 has observer model constants that are different during gear shifting and after gear shifting preset, and uses an observer model in which the observer model constant is switched during gear shifting and after gear shifting. As a result, according to the embodiment, appropriate vibration damping can be performed during and after gear shifting by the stepped transmission 4.

[0023] When the vehicle 1 is a tractor, the resonance frequency of the hitch member resonance is about 8 Hz, which is about the same as the resonance frequency of the vehicle 1 during gear shifting. Therefore, if the same observer model with the observer model constant is used during and after gear shifting, the torsional resonance of the vehicle 1 at 8 Hz cannot be suppressed, so the torsional resonance of the vehicle 1 at 8 Hz and the hitch member resonance amplify each other's vibrations. On the other hand, according to the embodiment, since the torsional resonance of the vehicle 1 during gear shifting can be suppressed, such resonance can be suppressed.

[0024] Also, the ECU 7 performs gain adjustment according to the gain constant calculated according to the resonance frequency of the vehicle 1. Therefore, the ECU 7 has gain constants that are different during gear shifting and after gear shifting preset, and performs gain adjustment in which the gain constant is switched during gear shifting and after gear shifting. As a result, according to the embodiment, appropriate vibration damping can be performed during and after gear shifting by the stepped transmission 4.

[0025] Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the specific details and representative embodiments represented and described as above. Accordingly, various changes can be made without departing from the spirit or scope of the general inventive concept defined by the appended claims and their equivalents.

Description of Signs

[0026] 1 Vehicle 2 Engine 3 Torque Converter 4 Step-variable transmission 5 Motor 6 Tire 7 ECU

Claims

1. An engine, A stepped transmission connected to the engine, A motor connected to the output shaft side of the stepped transmission, A vibration damping control device for a vehicle comprising: A processor configured to calculate the rotational speed of a tire using an observer model including an observer model constant, and add a damping torque obtained by performing gain adjustment according to a gain constant to the difference between the rotational speed of the tire and the rotational speed of the motor to the torque of the motor, The observer model constants are preset to be different during gear shifting when the clutch of the stepped transmission is disengaged and after gear shifting when the clutch of the stepped transmission is engaged, and the vibration damping control device includes a processor configured to use the observer model in which the observer model constants are switched during gear shifting and after gear shifting.

2. The vibration damping control device according to claim 1, wherein the processor is preset with different gain constants during gear shifting and after gear shifting, and performs the gain adjustment in which the gain constants are switched during gear shifting and after gear shifting.

3. The vibration damping control device according to claim 2, wherein the observer model constant and the gain constant are calculated according to the resonance frequency of the vehicle.

4. The vibration damping control device according to claim 1, wherein the vehicle is a towing vehicle capable of towing a trailer.

Images