Control device

Abstract

This control device comprises: a coupling member that is coupled to a release operation member of a clutch device; an electric actuator that displaces the release operation member via the coupling member; a control means that changes the clutch capacity of the clutch device by driving the electric actuator to displace the release operation member; a first sensor that detects an operation quantity of the electric actuator with respect to the coupling member; and a second sensor that detects a displacement quantity of the release operation member. On the basis of the detection results of the first sensor and the second sensor, the control means determines whether manual operation by an operator via a clutch operation element has intervened during automatic control of the clutch device using the electric actuator.

Description

[Technical field]

[0001] The present invention relates to a control technique for a clutch device. [Background technology]

[0002] Techniques have been proposed for automating the connection and disconnection of a clutch device. Patent Document 1 discloses a device capable of automatically controlling a clutch device that connects and disconnects the transmission of output from a prime mover (engine) of a saddle-type vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2006-170228 A Summary of the Invention [Problem to be solved by the invention]

[0004] Conventional devices have room for improvement in terms of the complexity of the structure, which increases costs.

[0005] An object of the present invention is to provide a control device that can realize automatic control of a clutch device with a relatively simple configuration. [Means for solving the problem]

[0006] According to the present invention, A control device capable of automatically controlling a clutch device that is disposed in a transmission path of a driving force output by a prime mover and that can connect and disconnect the transmission of the driving force in response to a manual operation of a clutch operator by an operator, comprising: a connecting member connected to a release operating member of the clutch device; an electric actuator that displaces the release operation member via the connecting member; a control means for driving the electric actuator to displace the release operation member and change the clutch capacity of the clutch device; a first sensor that detects an operation amount of the electric actuator relative to the connecting member; a second sensor that detects a displacement amount of the release operating member, The control means determining whether or not a manual operation by an operator has been performed via the clutch operator during automatic control of the clutch device by the electric actuator based on detection results of the first sensor and the second sensor; A control device is provided. Effect of the Invention

[0007] According to the present invention, it is possible to provide a control device that can realize automatic control of a clutch device with a relatively simple configuration. [Brief description of the drawings]

[0008] [Figure 1] FIG. [Diagram 2] FIG. 2 is a front view of the saddle-type vehicle of FIG. 1. [Diagram 3] FIG. [Figure 4] FIG. 2 is an explanatory diagram of a clutch device and related configurations. [Diagram 5] FIG. [Figure 6] 11A and 11B are diagrams showing examples of test data and characteristic information; [Figure 7] 4 is a flowchart showing an example of processing executed by the control unit in FIG. 3; [Figure 8] 4 is a flowchart showing an example of processing executed by the control unit in FIG. 3; [Figure 9] 4 is a flowchart showing an example of processing executed by the control unit in FIG. 3; [Figure 10] 4 is a flowchart showing an example of processing executed by the control unit in FIG. 3; [Figure 11] 13A and 13B are diagrams showing another example of the configuration of the release operation member and its surrounding structure. [Figure 12] FIG. 12 is an explanatory diagram of the configuration example of FIG. 11 . [Figure 13]FIG. [Figure 14] FIG. 13 is a diagram showing another example of the arrangement of electric actuators. [Figure 15] FIG. 11 is a diagram showing another example of characteristic information. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more features among the multiple features described in the embodiments may be arbitrarily combined. In addition, the same reference numbers are used for the same or similar configurations, and duplicated descriptions are omitted.

[0010] First Embodiment <Outline of saddle-type vehicle> 1 and 2 are a side view and a front view of a saddle-type vehicle (hereinafter simply referred to as a vehicle) 100. The vehicle 100 is a motorcycle equipped with one front wheel FW and one rear wheel RW. In the drawings, an arrow D1 indicates the front-rear direction of the vehicle 100, and an arrow D2 indicates the width direction (left-right direction). Fr indicates the front side, and Rr indicates the rear side. R indicates the right side when moving forward, and L indicates the left side when moving forward.

[0011] The vehicle 100 includes a body frame 101 that forms the framework of the vehicle. A front wheel steering unit 102 is supported at the front end of the body frame 101, and a swing arm 107 is supported at the rear end so as to be able to swing freely. The front wheel steering unit 102 includes a pair of left and right front forks 103 that support the front wheels FW, and a steering handlebar 104 attached to the upper portions of the pair of front forks 103.

[0012] The right grip 112R of the steering handle 104 is an operator (accelerator grip) with which the rider can instruct the acceleration of the vehicle 100. Adjacent to the right grip 112R, an operator (brake lever) 113R that receives the rider's braking operation on the front wheel FW is rotatably provided. Adjacent to the left grip 112L of the steering handle 104, an operator (clutch lever) 113L that receives the rider's operation to engage / disengage the clutch device 120 is rotatably provided.

[0013] The swing arm 107 has a front end supported by the body frame 101 so as to be able to swing freely, and a rear wheel RW is supported at its rear end. A prime mover 108 and a transmission 109 are supported by the body frame 101 in the area between the front wheel FW and the rear wheel RW. In this embodiment, the prime mover 108 is an internal combustion engine, and in particular, an in-line four-cylinder, four-stroke, DOHC, water-cooled engine. Exhaust gas from the prime mover 108 is discharged through an exhaust passage including an exhaust pipe 110 and a muffler 111.

[0014] A clutch device 120 is disposed in a transmission path of the driving force output by the prime mover 108. In the present embodiment, the clutch device 120 is disposed between the prime mover 108 and the transmission 109, and connects and disconnects the transmission of the driving force of the prime mover 108 to the transmission 109.

[0015] The driving force of the prime mover 108 is transmitted to the rear wheel RW via a transmission 109 and a chain transmission mechanism (not shown). A fuel tank 105 is disposed above the prime mover 108, and a seat 106 on which a rider sits is disposed behind the fuel tank 105.

[0016] The transmission 109 is a manual, constant-mesh transmission that changes the output of the prime mover 108. The transmission 109 can be switched between a plurality of gear ratios (for example, first to sixth gear ratios) or neutral, depending on the rider's shift operation using an operator 115L (gear change pedal). The operator 115L is provided adjacent to the left step 114L so as to be operable by the rider. The rider can place his or her left foot on the left step 114L and operate the operator 115L with his or her left foot.

[0017] The operator 115R is a brake pedal that is provided adjacent to the right step 114R so that the rider can operate it. The rider can brake the rear wheel RW by placing his / her right foot on the right step 114R and operating the operator 115R with his / her right foot. Steps 116R and 116L are steps for passengers.

[0018] In this embodiment, the clutch device 120 is a wet multi-plate coil spring type clutch, and its engagement and disengagement are automated by the electric actuator 10. The electric actuator 10 is disposed behind the front wheel steering unit 102 at the front of the vehicle 100. A control unit 2 is disposed below the seat 106. The control unit 2 controls the electric actuator 10 and the like.

[0019] <Control device> FIG. 3 is a block diagram of the control device 1 that controls the clutch device 120. The control device 1 includes a control unit 2. The control unit 2 includes a processing unit 21, a storage unit 22, and an interface unit 23. The processing unit 21 is a processor represented by a CPU, and executes a program stored in the storage unit 22. The storage unit 22 is a storage device such as a semiconductor memory, and stores the program executed by the processing unit 21 and data used in the processing. The interface unit 23 inputs and outputs data between the processing unit 21 and a device external to the control unit 2. The processing unit 21 drives the electric actuator 10 based on the detection results of various sensors 3 to 9, as will be described later, and executes control to change the clutch capacity of the clutch device 120.

[0020] The throttle opening sensor 3 is a sensor that detects the opening of a throttle valve that adjusts the amount of air flowing into each combustion chamber of the prime mover 108, and is, for example, a rotary encoder that detects the amount of rotation of a throttle shaft. The engine speed sensor 4 is a sensor that detects the rotation speed of the prime mover 108, and is, for example, a magnetic crank angle sensor that detects the crank angle of the prime mover 108.

[0021] The shift position sensor 5 is a sensor that detects the state of the transmission 109 (for example, any of first to sixth gears, or neutral), and is, for example, a sensor that detects the rotation angle of a shift drum (not shown) of the transmission 109. The vehicle speed sensor 6 is a sensor that detects the speed of the vehicle 100, and is, for example, a sensor that detects the amount of rotation of the front wheel FW. The shift operation sensor 7 is a sensor that detects the rider's shift operation on the operating element 115L, and is, for example, a torque sensor that detects the load acting on the rotation center shaft of the operating element 115L.

[0022] The input unit 40 is a device that accepts input from the rider, and is, for example, a switch, a touch panel, etc. The rider can input various setting selections, etc. from the input unit 40, and the processing unit 21 of the control unit 2 recognizes the rider's selections, etc. The display unit 41 is a device that displays information to the rider, and is, for example, an indicator such as an LED, a liquid crystal display device, etc. The input unit 40 and the display unit 41 can be mounted on the handlebars 104, for example.

[0023] Here, the operation amount sensor 8, the displacement amount sensor 9, the electric actuator 10 and the transmission mechanism 18 will be described with reference to Fig. 4 and Fig. 5 in addition to Fig. 3. Fig. 4 is an explanatory diagram of the clutch device 120 and related configurations. Fig. 5 is an explanatory diagram of the operation of the transmission mechanism 18.

[0024] The clutch device 120 includes an input gear 122 to which the driving force of the prime mover 108 is input from a crankshaft (not shown) of the prime mover 108. The clutch outer 121 rotates integrally with the input gear 122 around a rotation center line X1. The rotation center line X1 is the rotation center line (axis line) of a main shaft 109a of the transmission 109. The main shaft 109a is coupled to a clutch center 123 and rotates integrally with the clutch center 123. A plurality of disc-shaped clutch plates 125 are stacked between the clutch outer 121 and the clutch center 123 in the direction of the rotation center line X1.

[0025] The multiple clutch plates 125 are arranged alternately in the stacking direction, with clutch plates that rotate integrally with the clutch outer 121 and clutch plates that rotate integrally with the clutch center 123. Frictional engagement of these multiple clutch plates 125 transmits drive between the clutch outer 121 and the clutch center 123, i.e., transmits the drive force of the prime mover 108 to the transmission 109.

[0026] The clutch plates 125 are pressed in the stacking direction by the biasing force of the clutch spring 126 via the pressure plate 124, and are frictionally engaged. The clutch springs 126 are arranged around the rotation center line X1.

[0027] The clutch device 120 includes, as a release mechanism, a lifter shaft 127 and a release operation member 128. The lifter shaft 127 has an end inserted into the cylindrical main shaft 109a, and is provided so as to be capable of reciprocating together with the pressure plate 124 in the direction D3, which is the direction of the rotation center line X1. The release operation member 128 is an axial member extending in a direction perpendicular to the axial direction (direction D3) of the lifter shaft 127, and is a member for interrupting the drive transmission of the clutch device 120 by an external input.

[0028] The release operating member 128 is supported by the clutch cover 120a so as to be rotatable about its axis (around the rotation center line X2), and its upper end is exposed to the outside of the clutch cover 120a. The release operating member 128 has an eccentric cam portion 128a. The eccentric cam portion 128a engages with an engagement portion 127a at the end of the lifter shaft 127 inside the clutch cover 120a. When the release operating member 128 is rotated in a predetermined direction, the engagement between the eccentric cam portion 128a and the engagement portion 127a moves the lifter shaft 127 in the frictional engagement release direction of the plurality of clutch plates 125 (to the right in the direction D3 in FIG. 4). The rotation amount (operation angle) of the release operating member 128 is proportional to the movement amount of the lifter shaft 127 in the direction D3. By rotating the release operation member 128, the frictional engagement force of the plurality of clutch plates 125 can be changed to change the clutch capacity of the clutch device 120, and the drive transmission can be interrupted.

[0029] An arm member 16 is fixed to the upper end of the release operating member 128. The arm member 16 is a lever member that protrudes in the radial direction of the release operating member 128, with one end fixed to the release operating member 128 and the other end connected to the inner cable 30a of the cable 30 via the holder 14. A return spring 129 that urges the release operating member 128 to its initial position is provided between the arm member 16 and the clutch cover 120a.

[0030] The inner cable 30a is connected to the operator 113L and the electric actuator 10 via the transmission mechanism 18. In this embodiment, the release operation member 128 can be operated both by manual operation of the operator 113L by the rider and automatically by the electric actuator 10. In other words, in the vehicle 100, the drive transmission via the clutch device 120 can be connected and disconnected in response to manual operation of the operator 113L by the rider, and can also be automatically controlled using the electric actuator 10.

[0031] In this embodiment, the electric actuator 10 is an electric cylinder in which a rod 13 reciprocates in the direction D4. The electric actuator 10 includes a drive source 11, which is an electric motor, and a conversion mechanism 12 that converts the rotational motion of an output shaft of the drive source 11 into linear motion of the rod 13. The conversion mechanism 12 incorporates a conversion mechanism such as a ball screw mechanism or a feed screw mechanism. An inner cable 31a is connected to the rod 13 via a holder 14.

[0032] When the inner cable 31a is pulled by driving the electric actuator 10, the operational input is transmitted to the release operation member 128 via the transmission mechanism, causing the release operation member 128 to rotate and thereby decreasing the clutch capacity of the clutch device 120. Conversely, when the inner cable 31a is returned (sent out), the release operation member 128 returns to its initial position due to the bias of the clutch spring 126, thereby increasing the clutch capacity. Therefore, the control unit 2 controls the drive source 11 to drive the electric actuator 10 and displace (rotate) the release operation member 128, thereby making it possible to change the clutch capacity of the clutch device 120.

[0033] In the present embodiment, an electric cylinder is used as an example of the electric actuator 10, but the present invention is not limited to this. For example, the electric actuator 10 may be an electric drum equipped with a drum capable of winding and unwinding the inner cable 31a.

[0034] The transmission mechanism 18 is a mechanism that transmits the operational input of the operator 113L and the electric actuator 10 to the release operating member 128, and also serves as a cancellation mechanism that cancels overlapping operations between the manual operation of the release operating member 128 via the operator 113L and the operation by the electric actuator 10. The structure of the transmission mechanism 18 and its surroundings will be described below.

[0035] A cable 30 is disposed between the transmission mechanism 18 and the release operation member 128, a cable 31 is disposed between the transmission mechanism 18 and the electric actuator 10, and a cable 32 is disposed between the transmission mechanism 18 and the operator 113L. Each of the cables 30-32 has flexibility that allows it to be bent as a whole, and includes inner cables 30a-32a and outer cables 30b-32b through which the inner cables 30a-32a are inserted.

[0036] The inner cables 30a to 32a are elastically deformable wires, such as metal wires. Cylindrical engagement portions 30c to 32c are fixed to both ends of the inner cables 30a to 32a, respectively. One of the engagement portions 30c, 31c of the inner cables 30a, 31a engages with the holder 14. The outer cables 30b to 32b are flexible tubes that can be bent, and the ends of the outer cables 30b, 31b are held by the corresponding catchers 15, respectively.

[0037] The transmission mechanism 18 includes a mover 181 and a cylindrical support 180 that supports the mover 181 so that the mover 181 can reciprocate. The support 180 is a case member that forms an outer wall of the transmission mechanism 18. The inner cables 31a and 32a are inserted through one end (input side end) 180a of the support 180 in the longitudinal direction and introduced into the support 180, and the inner cable 30a is inserted through the other end (output side end) 180b of the support 180 in the longitudinal direction and introduced into the support 180.

[0038] Mover 18 1 The release operation member 128 can move back and forth between the D5 direction and the D6 direction opposite to the D5 direction. The D5 direction is the rotation direction of the release operation member 128, which corresponds to the direction in which the torque capacity of the clutch device 120 is reduced, and the D6 direction is the rotation direction of the release operation member 128 which corresponds to the direction in which the torque capacity of the clutch device 120 is increased. Increase It corresponds to the direction in which the

[0039] Mover 18 1Engagement grooves 181a and 181b are formed at the end of the other end 180b side of the inner cable 31a. The engagement grooves 181a and 181b are grooves having a depth in the reciprocating direction of the mover 181. The inner cable 31a passes through the mover 181, and its engagement portion 31c engages with the engagement groove 181a in the D5 direction but does not engage in the D6 direction. The inner cable 32a passes through the mover 181, and its engagement portion 32c engages with the engagement groove 181b in the D5 direction but does not engage in the D6 direction. The engagement groove 181b is deeper than the engagement groove 181a, and an elastic member 182 is loaded between the bottom of the groove and the engagement portion 32c. In this embodiment, the elastic member 182 is a coil spring.

[0040] Mover 18 1 An engagement groove 181c is also formed at the end on the one end 180a side of the inner cable 30a. The engagement groove 181c is a groove having a depth in the reciprocating direction of the mover 181. The inner cable 30a is inserted through the mover 181, and the engagement portion 30c engages with the engagement groove 181c in the D6 direction but does not engage with it in the D5 direction.

[0041] The operation of the transmission mechanism 18 configured as above will be described with reference to Fig. 5. State ST1 in Fig. 5 shows the initial state. The mover 181 is located on the side of the other end 180b of the support 180. In this state, the release operation member 128 is located in the initial position, and the clutch device 120 is in a connected state. In this state, the electric actuator 10 is not pulling the inner cable 31a, and there is no operational input to the operation element 113L.

[0042] When the electric actuator 10 is driven from this state, as shown in state ST2, the inner cable 31a and the support 18 0 The inner cable 30a serves as a connecting member C that connects the electric actuator 10 and the release operation member 128, and rotates the release operation member 128 from the initial position. In the illustrated example, the mover 181 moves by a distance L11.

[0043] Since there is no operational input to the operating element 113L, the engaging portion 32c of the inner cable 32a remains in the position of state ST1 and is out of the engaging groove 181b. Particularly in this embodiment, the engaging portion 32c is biased to the position of state ST1 by the elastic member 182. This maintains the tension of the inner cable 32a and biases the operating element 113L to a position where there is no operational input (initial position), thereby preventing the operating element 113L from rattling.

[0044] In state ST2, even if the operating element 113L is operated, the operation is invalid because the movable element 181 does not move within the range in which the engagement portion 32c moves the distance L11. In other words, in state ST2, the amount of displacement of the release operating member 128 corresponding to the distance L11 has already occurred by the operation of the electric actuator 10, and the operation of the operating element 113L that overlaps this has been canceled.

[0045] State ST3 illustrates a case where the rider inputs an operation to the operator 113L from state ST2. In the illustrated example, the movable element 181 further moves by the distance L12, and the release operation member 128 is displaced by this movement amount. Since there is no operation input to the electric actuator 10, the engagement portion 31c of the inner cable 31a remains in the position of state ST2 and is released from the engagement groove 181a. In state ST3, even if the electric actuator 10 is driven, the movable element 181 does not move within the range where the engagement portion 31c moves the distance L12, so the operation is invalid. In other words, in state ST3, the displacement amount of the release operation member 128 corresponding to the distance L12 has already occurred by the operation to the operator 113L, and the operation to the electric actuator 10 that overlaps this has been canceled.

[0046] By providing such a cancellation mechanism, the operational input to the operation element 113L and the operational input by the electric actuator 10 are not added together, and it is possible to prevent the displacement amount of the release operation member 128 from doubling.

[0047] Next, the operation amount sensor 8 is a sensor that detects the operation amount of the electric actuator 10 with respect to the connecting member C (more specifically, the inner cable 31a), and in this embodiment, it is a rotary encoder that detects the amount of rotation of the drive source 11. In this embodiment, the detection result of the operation amount sensor 8 is converted into the amount of movement of the rod 13 in the D4 direction, and this is set as the operation amount L1 of the electric actuator 10 with respect to the connecting member C. In other words, the operation amount L1 is the amount of movement of the end of the connecting member C on the electric actuator 10 side. In the example of FIG. 4, the amount of movement of the rod 13 in the direction retracting it from the initial position (maximum protruding position) of the rod 13 is set as the operation amount L1.

[0048] The displacement sensor 9 is a sensor that detects the amount of displacement of the release operation member 128, and in this embodiment, the displacement sensor 9 is an angle sensor that detects the amount of rotation (operation angle) of the release operation member 128 about the rotation center line X2 as the amount of displacement of the release operation member 128. The displacement sensor 9 is supported by the clutch cover 120a via a bracket 17, and the upper end of the release operation member 128 is connected to the displacement sensor 9. In this embodiment, the transmission mechanism 18 is also supported by the clutch cover 120a via the bracket 17. Supporting the displacement sensor 9 and the transmission mechanism 18 by a single bracket 17 can reduce the number of parts.

[0049] <Automatic clutch capacity control> In this embodiment, regarding the connection and disconnection of the clutch device 120, the rider can select between a manual operation mode (manual operation mode) by the rider using the operation element 113L and an automatic control mode (automatic control mode) using the electric actuator 10. The selection of these modes can be performed by the rider performing a selection operation on the input unit 40.

[0050] In the automatic control mode, the clutch capacity of the clutch device 120 is controlled to change the drive transmission from a disconnected state to a connected state when the vehicle 100 starts moving or when the transmission 109 is shifted. The control of the clutch capacity (clutch pressing load / clutch spring load) of the clutch device 120 using the electric actuator 10 will be described.

[0051] In the clutch device 120 of this embodiment, under normal conditions, the clutch spring 126 is biased to bring the clutch device 120 into an engaged state (clutch capacity is 100%), and the rotation of the release operating member 128 causes the lifter shaft 127 to move, thereby enabling the clutch capacity to be reduced (half-clutch state) and the clutch to be disengaged (clutch capacity is 0%). 8 It is correlated with the torque (or amount of rotation) around the rotation center line X2.

[0052] On the other hand, the connecting member C, particularly the inner cables 30a and 31a, are elastic and therefore stretch in proportion to the tensile load within the elastic range. 8 The torque around the rotation center line X2 of the connecting member C, i.e., the clutch capacity, is correlated with the torque around the rotation center line X2 of the connecting member C. If the extension amount of the connecting member C is L3, it is obtained by L3 = operation amount L1 - coefficient x rotation amount L2. The coefficient is a coefficient for converting the rotation amount L2 into the movement amount of the end of the connecting member C on the side of the release operating member 128. For example, 8 The amount of operation L1 and the amount of rotation L2 are set based on the length of the arm member 16 in the radial direction from the input shaft 11. The amount of operation L1 and the amount of rotation L2 can be detected by the operation amount sensor 8 and the displacement amount sensor 9. Therefore, based on the detection results of the operation amount sensor 8 and the displacement amount sensor 9, it is possible to control the change in the clutch capacity of the clutch device 120.

[0053] The characteristic information indicating the correlation between the extension amount L3 and the clutch capacity, which is used for controlling the electric actuator 10, can be obtained by a prior learning operation. Fig. 6 shows an example of the test data EXP obtained by the learning operation and the characteristic information SI obtained from the test data EXP.

[0054] In the learning operation, the electric actuator 10 is driven at least within a range equivalent to the range of clutch capacity change (0 to 100%). For example, when the torque capacity of the clutch device 120 is 100% (it is sufficient that the release operation member 128 is free), the rod 13 is moved to a full stroke in the retracting direction from its initial position and then returned to the initial position, thereby driving the electric actuator 10 so that the clutch capacity includes the range of 0% to 100%. The extension amount L3 is calculated from the detection results of the operation amount sensor 8 and the displacement amount sensor 9 while the electric actuator 10 is being driven, and the test data EXP in FIG. 6 is obtained.

[0055] The test data EXP has the rotation amount L2 (equivalent to the tensile load of the connecting member C) on the horizontal axis and the extension amount L3 on the vertical axis, with the dashed line showing the data at the stage when the connecting member C is being pulled and the solid line showing the data at the stage when the tension is being released.

[0056] From this data, the operation start point SP and the touch point TC are specified. The operation start point SP is the point at which the clutch device 120 transitions from an engaged state to a half-clutch state. The operation start point varies depending on the play of the mechanism, etc. The touch point TC is the point at which the clutch device 120 Blocking This is the point at which the clutch state changes from the half-clutch state to the fully-clutched state, and varies depending on wear of the clutch plate 125, etc.

[0057] The actuation start point SP and the touch point TC are both identified from an inflection point where the slope changes in the test data EXP. For example, at the touch point TC, the change in the extension amount L3 becomes slower with respect to the rotation amount L2.

[0058] The characteristic information SI indicates the correlation between the actuation start point SP, the touch point TC, and the rotation amount L2 and clutch capacity between these points. The characteristic information SI is stored in the storage unit 22, for example.

[0059] In controlling the clutch capacity to be changed based on the above characteristic information SI, feedback control of the drive source 11 can be performed while monitoring the detection results of the displacement sensor 9 so as to realize the rotation amount L2 corresponding to the target clutch capacity.

[0060] <Control unit processing example> An example of processing by the control unit 2 regarding control of the clutch device 120 will be described. First, updating of the characteristic information SI will be described. The correlation between the extension amount L3 and the clutch capacity may vary due to wear of the mechanism caused by use of the vehicle 100. Therefore, it is desirable that the characteristic information SI is not only set by the manufacturer when the vehicle 100 is shipped, but is also automatically updated as needed according to the rider's use.

[0061] In this embodiment, a process for generating and updating characteristic information SI is executed when the control system of the vehicle 100 is started (when the power is turned on, typically by turning on the ignition). FIG. 7 is a flow chart showing an example of a process executed by the processing unit 21 of the control unit 2 when the power is turned on. In S1, an initial process is executed. Here, the operation of the control device 1 is checked, and movable parts are moved to their initial positions. In this initial process, FIG. 8 When the operation check and the like are normally completed in the initial process of S1, the process proceeds to S2, where permission to start the prime mover 108 is set. When the rider operates a starter button (not shown), the starter 10 8 will begin.

[0062] With reference to Fig. 8, the generation and update process of characteristic information SI, which is included in the initial process of S1, will be described. In S11 to S14, processes related to the learning operation for obtaining test data EXP illustrated in Fig. 6 are performed. In S11, the driving source 11 starts to drive. Here, as described above, the rod 13 of the electric actuator 10 is caused to make a full stroke in the retracting direction from its initial position so that the clutch capacity includes the range of 0% to 100%, and then the operation of returning it to the initial position starts. In S12, the detection results of the operation amount sensor 8 and the displacement amount sensor 9 are obtained.

[0063] In S13, it is determined whether the reciprocation of the rod 13 of the electric actuator 10 has finished (whether it has returned to the initial position), and if it has not finished, the process returns to S12 to continue obtaining the detection results of the operation amount sensor 8 and the displacement amount sensor 9 and moving the rod 13. If the reciprocation of the rod 13 has finished, the process proceeds to S14 to end the drive of the drive source 11 and the acquisition of the detection results of the operation amount sensor 8 and the displacement amount sensor 9.

[0064] In S15, the characteristic information SI is generated from the detection results of the operation amount sensor 8 and the displacement amount sensor 9. Here, for example, if there is a foreign object that hinders or resists the movement of the rod 13 or the rotation of the release operation member 128 during the learning operation, the accuracy of the characteristic information SI decreases. In addition, if the operator 113L is operated during the learning operation, the accuracy of the characteristic information SI also decreases. In order to eliminate the update of the characteristic information SI with low accuracy, in S16, the characteristic information SI generated in S15 is compared with reference data to determine whether the characteristic information SI is normal or not. The reference data is, for example, data that can specify the range of normal values ​​of the extension amount L3 relative to the clutch capacity, and may be data dedicated to comparison, or may be the current characteristic information SI (characteristic information SI before update) stored in the storage unit 22. When the learning operation is performed, a guide display may be displayed on the display unit 41 to prompt the rider not to operate the operator 113L.

[0065] In S17, if the result of the comparison in S16 is normal, the process proceeds to S18, and if the result is abnormal, the process proceeds to S19. In S18, the current characteristic information SI stored in the storage unit 22 is updated with the characteristic information SI generated this time in S15. In S19, no update is performed.

[0066] This completes the process of generating and updating the characteristic information SI. Note that the process of S11 to S14 may be performed multiple times, and the characteristic information SI may be generated using an average value of the detection results of the operation amount sensor 8 and the displacement amount sensor 9.

[0067] 9 is a flowchart showing an example of automatic control of the clutch capacity of the clutch device 120 using the characteristic information SI in the automatic control mode, and shows an example of processing executed by the processing unit 21 of the control unit 2. The illustrated processing shows an example of processing executed when the clutch device 120 is in an engaged state.

[0068] In S21, the detection result of the shift operation sensor 7 is obtained. In S22, based on the detection result obtained in S21, it is determined whether or not the rider has performed a shift operation on the operator 115L, and if it is determined that a shift operation has been performed, the process proceeds to S23. In S23, the electric actuator 10 is driven so that the clutch device 120 is disengaged. Here, the characteristic information SI is read from the storage unit 22, and the electric actuator 10 is driven until the rotation amount L2 based on the detection result of the displacement amount sensor 9 becomes larger than the rotation amount L2 corresponding to the touch point TC, thereby reliably transitioning the clutch device 120 to the disengaged state.

[0069] S24 to S25 relate to a process for transitioning the clutch device 120 to an engaged state after a shift operation. In S24, the driving state of the vehicle 100 is detected. Here, the detection results of the throttle opening sensor 3, the engine speed sensor 4, the shift position sensor 5, and the vehicle speed sensor 6 are acquired. In S25, a target value of the clutch capacity of the clutch device 120 is set based on the detection results acquired in S24. In S26, the driving control of the electric actuator 10 (driving source 11) is performed so as to achieve the target value of the clutch capacity set in S25. Here, the characteristic information SI is read from the storage unit 22, and the detection result of the displacement amount sensor 9 is monitored, and feedback control of the driving source 11 is performed so that the rotation amount L2 becomes the rotation amount L2 corresponding to the target value of the clutch capacity set in S25.

[0070] In S27, it is determined whether the clutch device 120 has been switched to the connected state (clutch capacity is 100%), and if it has not been switched, the process returns to S24 and the same process is repeated. If it has been switched, the process ends. Through the above process, the connection and disconnection of the clutch device 120 can be automatically controlled when the rider changes gears, and a semi-automatic gear change system can be realized.

[0071] 10 shows an example of processing related to the intervention of the rider's manual operation in the automatic control mode, which is repeatedly executed in parallel during the drive control of the electric actuator 10 in S26, for example. If the rider's manual operation via the operator 113L intervenes during the automatic control of the clutch device 120, the automatic control mode is terminated and switched to the manual operation mode in this embodiment. When the rider's manual operation intervenes, the rotation amount L2 of the release operating member 128 becomes larger than usual relative to the operation amount L1 of the electric actuator 10. Therefore, the intervention of the rider's manual operation can be determined from the detection results of the operation amount sensor 8 and the displacement amount sensor 9.

[0072] In S31, the detection results of the operation amount sensor 8 and the displacement amount sensor 9 are acquired. In S32, the extension amount L3 is calculated from the detection results acquired in S31. In S33, it is determined whether the rotation amount L2 detected by the displacement amount sensor 9 matches the extension amount L3 calculated in S32. This determination can be made, for example, using the test data EXP of FIG. 6, and the test data EXP may be stored in the storage unit 22 for this determination. Then, for example, when the difference between the rotation amount L2 corresponding to the extension amount L3 calculated in S32 and the rotation amount L2 detected in S31 exceeds a threshold value in the test data EXP, it can be determined that the rider has manually intervened.

[0073] If it is determined in the judgment of S33 that there is a match, it is determined that there has been no manual operation by the rider and the process is terminated, and if it is determined that there is an inconsistency, it is determined that there has been manual operation by the rider and the process proceeds to S34. In S34, the automatic control mode is stopped, and control is performed to switch the control mode of the clutch device 120 from the automatic control mode to the manual operation mode.

[0074] When the automatic control mode is suddenly switched to the manual operation mode, the burden of operating the operator 113L increases suddenly, which may cause the rider to feel uncomfortable. In the switching control, for example, the electric actuator 10 is driven so that the operation amount L1 gradually decreases. In addition, the control mode switching may be notified to the rider by displaying the control mode on the display unit 41.

[0075] As described above, in this embodiment, the release operation member 128 is operated by the electric actuator 10 via the connecting member C, so that the conventional manual clutch device 120 can be used almost as is, and the control device can be realized by adding the electric actuator 10 and the sensors 8 and 9 outside the clutch device 120. 1 Therefore, automatic control of the clutch device 120 can be realized with a relatively simple configuration. Since the clutch capacity can be estimated from the extension amount of the connecting member C, the control of the clutch capacity can also be realized with a relatively simple configuration. Since the clutch device 120 and the electric actuator 10 can be arranged separately via the connecting member C, the degree of freedom in arrangement of the electric actuator 10 can be improved. In the case where the connecting member C is configured to have flexibility that allows bending, the degree of freedom in arrangement of the electric actuator 10 can be further improved. By generating the characteristic information SI, automatic control corresponding to individual differences of the clutch device 120, etc. is possible, and further, by appropriately updating the characteristic information SI, automatic control of the clutch device 120 corresponding to aging deterioration of the vehicle 100 is also possible. In the automatic control mode, the detection results of the sensors 8 and 9 can be utilized to determine the intervention of manual operation by the rider, so that clutch control according to the rider's intention is possible.

[0076] Second Embodiment In the first embodiment, the release operating member 128 is operated by operation input of the electric actuator 10 and manual operation input of the rider to the operating element 113L using a transmission mechanism 18 having a cancellation mechanism, but other configurations can also be adopted.

[0077] FIG. 11 is an explanatory diagram showing a release operation member 128' that replaces the release operation member 128 and the structure around it, and a cross-sectional view taken along line AA of the same explanatory diagram.

[0078] The release operation member 128' is a single shaft member that is integrated by vertically connecting a lower member 128b and an upper member 128c. The basic structure of the release operation member 128' is the same as that of the release operation member 128, and is supported rotatably on the clutch cover 120a. The lower member 128b has an eccentric cam portion 128 similar to that of the release operation member 128. a In addition, a displacement amount sensor 9 detects the displacement amount (rotation amount) of the release operation member 128'.

[0079] An arm member 16A, which replaces the arm member 16, is fixed to the upper member 128c, and the arm member 16A and the electric actuator 10 are connected via a connecting member 31a'. The operator 113L is not connected to the arm member 16A. The arm member 16A protrudes radially from the release operation member 128'. The connecting member 31a' is, for example, a metal wire. By driving the electric actuator 10, the release operation member 128' can be rotated via the connecting member 31a' and the arm member 16A.

[0080] An arm member 16B is attached to the release operation member 128' in place of the arm member 16. That is, in this embodiment, an arm member 16A for the electric actuator 10 and an arm member 16B for manual operation via the operator 113L are separately provided. The arm member 16B is connected to the operator 113L via a cable 32a', and the cable 32a' is, for example, a metal wire. The arm member 16B protrudes radially from the release operation member 128', but protrudes in a different direction from the arm member 16A in the circumferential direction of the release operation member 128'. The rider can rotate the release operation member 128' via the operator 113L, the connecting member 32a', and the arm member 16B.

[0081] The arm member 16B has a hollow mounting portion 20. As shown in the cross-sectional view, the inside of the mounting portion 20 has a through hole 20a having a substantially semicircular cross section, and an engagement portion 20b that defines the side surface of the through hole 20a. An engagement portion 128d of the upper member 128c is inserted into the through hole 20a. The engagement portion 128d is a rod-shaped portion having a sector-shaped cross section.

[0082] The arm member 16B is attached to the release operation member 128' at the attachment portion 20 so as to be relatively rotatable about the same axis as the release operation member 128' (about the rotation center line X2) within the range of the radial gap between the through hole 20a and the engagement portion 128d. With this configuration, a cancel mechanism on the manual operation side is formed. FIG. 12 is an explanatory diagram thereof.

[0083] When the rider operates the operation element 113L, the arm member 16B rotates to reach the state ST11 in Fig. 12, with the state ST10 in Fig. 11 being the initial position. Because the engagement portion 20b and the engagement portion 128d are in an engaged state, the release operation member 128' also rotates in conjunction with the rotation of the arm member 16B.

[0084] On the other hand, when the electric actuator 10 is driven with the state ST10 in FIG. 11 as the initial position, the release operation member 128' rotates together with the arm member 16A, leading to state ST12 in FIG. 12. In state ST12, the engagement portion 20b and the engagement portion 128d are not engaged with each other, so even if the rider subsequently operates the operation element 113L to rotate the arm member 16B, the release operation member 128' does not rotate. In other words, the manual operation by the rider is canceled. In this way, the manual operation via the operation element 113L that overlaps with the operation by the electric actuator 10 can be canceled.

[0085] 13 shows an example of a mechanism for canceling an operation on the electric actuator 10 side. A transmission mechanism 19 is provided between the rod 13 and a connecting member 31a'. The transmission mechanism 19 has an engagement portion 31c at the end of the connecting member 31a' and an elastic member 19c built into an internal space 19b of a cylindrical case 19a. The elastic member 19c is a coil spring in the illustrated example, which is loaded between the engagement portion 31c and the inner wall surface of the case 19a and generates a biasing force in a direction that pulls the connecting member 31a' toward the electric actuator 10.

[0086] State ST20 in FIG. 13 shows an initial state corresponding to the initial position of state ST10 in FIG. 11. In this state, when the rider operates the control element 113L to reach state ST11 in FIG. 12, the connecting member 31a' moves toward the electric actuator 10 as shown in state ST21 in FIG. 13 on the electric actuator 10 side. The elastic member 19c generates a biasing force in a direction that pulls the connecting member 31a' toward the electric actuator 10, which contributes to reducing the operating force of the rider operating the control element 113L. In addition, since the engaging portion 31c is separated from the inner wall surface of the case 19a, even if the electric actuator 10 is driven in this state, the connecting member 31a' is hardly moved in the pulling direction, and the operation of the electric actuator 10 is canceled. In this way, the operation by the electric actuator 10 that overlaps with the operation by the manual operation via the control element 113L can be canceled.

[0087] State ST22 in FIG. 13 shows an example in which the electric actuator 10 is driven from state ST20 to move the connecting member 31a' in the pulling direction, and the state reaches state ST12 in FIG. 12 on the release operation member 128' side.

[0088] As described above, even in the configuration of this embodiment, the release operating member 128' can be operated by the operation input of the electric actuator 10 and the rider's manual operation input to the operating element 113L, while the overlapping operation (operation corresponding to the displacement amount of the release operating member 128') can be canceled.

[0089] In this embodiment, the arm members 16A and 16B protrude in different directions around the circumferential direction of the release operation member 128', which improves the degree of freedom in routing the connecting member 31a' and the cable 32a', and as a result, improves the degree of freedom in arranging the electric actuator 10. FIG. 14 shows one example. In the illustrated example, the electric actuator 10 is arranged at the rear of the vehicle 100 (below the rear of the seat 106). In this way, a layout in which the operator 113L (not shown in FIG. 14) and the electric actuator 10 are arranged on opposite sides of each other in the D1 direction with respect to the release operation member 128' can also be adopted.

[0090] <Third embodiment> The characteristic information SI in Fig. 6 is information showing the correlation between the clutch capacity and the rotation amount L2, but the characteristic information SI may be information showing the correlation between the clutch capacity and the extension amount L3. Also, the hysteresis characteristic of the connecting member C1 may be taken into consideration. Fig. 15 shows an example of the test data EXP and the characteristic information SI in this embodiment.

[0091] When the connecting member C1 is a metal wire, the amount of extension has a hysteresis characteristic when it is extended and when it is restored. In the learning operation, as in the first embodiment, the electric actuator 10 is driven at least within a range equivalent to the range of change in the clutch capacity (0 to 100%). For example, when the torque capacity of the clutch device 120 is 100% (the release operation member 128 is free), the rod 13 is moved to a full stroke in the retracting direction from its initial position and then returned to the initial position, thereby driving the electric actuator 10 so that the clutch capacity includes the range of 0% to 100%. The amount of extension L3 is calculated from the detection results of the operation amount sensor 8 and the displacement amount sensor 9 while the electric actuator 10 is being driven, and the test data EXP in FIG. 15 is obtained.

[0092] The test data EXP has the rotation amount L2 (equivalent to the tensile load of the connecting member C1) on the vertical axis and the extension amount L3 on the horizontal axis, with the dashed line showing the data at the stage when the connecting member C1 is being pulled and the solid line showing the data at the stage when the tension is being released.

[0093] From this data, characteristic information SI is obtained. From the inflection point of the slope of each data, the actuation start point and the touch point are identified.

[0094] The characteristic information SI includes characteristic information SI1 and characteristic information SI2. The characteristic information SI2 is ,nine This is control information used when the latch device 120 is shifted from a connected state to a disconnected state, and is control information used when the connecting member C1 is pulled by the electric actuator 10. The characteristic information SI2 has a correlation between the actuation start point SP2 and the touch point TC2, and the extension amount L3 between these points and the clutch capacity.

[0095] The characteristic information SI1 is control information used when the clutch device 120 is shifted from a disengaged state to a connected state, and is control information used when the connecting member C1 pulled by the electric actuator 10 is sent out and returned to its original length. The characteristic information SI1 has a correlation between the actuation start point SP1, the touch point TC1, and the extension amount L3 between these points and the clutch capacity. The characteristic information SI is stored in the storage unit 22, for example.

[0096] In controlling the clutch capacity to be changed based on the above characteristic information SI, feedback control of the drive source 11 can be performed while monitoring the detection results of the operation amount sensor 8 and the displacement amount sensor 9 so as to realize the extension amount L3 corresponding to the target clutch capacity.

[0097] 9 when the characteristic information SI is configured as in this embodiment, differences from the first embodiment will be described below. In S23, of the two types of characteristic information SI1 and SI2, the characteristic information SI2 is read from the storage unit 22. Then, by driving the electric actuator 10 until the extension amount L3 of the connecting member C1 based on the detection results of the operation amount sensor 8 and the displacement amount sensor 9 becomes longer than the extension amount L3 corresponding to the touch point TC2, the clutch device 120 can be reliably shifted to the disengaged state.

[0098] In S26, the characteristic information SI1 is read from the memory unit 22, and the detection results of the operation amount sensor 8 and the displacement amount sensor 9 are monitored to perform feedback control of the driving source 11 so that the extension amount L3 of the connecting member C1 becomes the extension amount L3 corresponding to the target value of the clutch capacity set in S25.

[0099] The same applies to the consistency judgment in S33 in Fig. 10. In the consistency judgment, for example, the test data EXP in Fig. 15 may be used, and the solid and dashed lines of the test data may be used separately for when the connecting member C1 is being pulled and when it is being released.

[0100] In this way, the characteristic information SI may be configured as information indicating the correlation between the clutch capacity and the amount of extension L3, and the hysteresis characteristic of the extension of the connecting member C1 may also be taken into consideration.

[0101] <Other embodiments> In the clutch device 120 of the above embodiment, the release operating member 128 is configured to change the clutch capacity by its rotational movement, but the release operating member 128 may be configured to move the lifter shaft 127 in the D3 direction by its translational movement in the D3 direction, thereby changing the clutch capacity.

[0102] <Summary of the embodiment> The above embodiment discloses at least the following control device.

[0103] 1. The control device (1) of the above embodiment is A control device capable of automatically controlling a clutch device (120) that is disposed in a transmission path of a driving force output by a prime mover (108) and that can connect and disconnect the transmission of the driving force in response to a manual operation of a clutch operator (113L) by an operator, The clutch device (12 0 a connecting member (C) connected to the release operation member (128) of the an electric actuator (10) that displaces the release operation member (128) via the connecting member (C); a control means (2) for driving the electric actuator (10) to displace the release operation member (128) and change the clutch capacity of the clutch device (120); a first sensor (8) that detects an operation amount (L1) of the electric actuator (10) relative to the connecting member (C); a second sensor (9) that detects the amount of displacement (L2) of the release operating member (128); The control means (2) Based on the detection results of the first sensor (8) and the second sensor (9), it is determined whether or not a manual operation by an operator via the clutch operator (113L) has been performed during automatic control of the clutch device (120) by the electric actuator (10) (S31-S33).

[0104] According to this embodiment, it is possible to provide a control device that can realize automatic control of the clutch device with a relatively simple configuration. By determining whether an operator has manually intervened during automatic control, it is possible to control the clutch in accordance with the operator's intention.

[0105] 2. The control device of the above embodiment is A cancel mechanism is provided that cancels the overlapping displacement amounts of the manual operation and the operation by the electric actuator (10) for the release operation member (128, 128') (FIGS. 5, 11 to 13).

[0106] According to this embodiment, it is possible to prevent the manual operation and the operation by the electric actuator from being added together.

[0107] 3. The control device of the above embodiment is A first cable (30a); A second cable (31a); a transmission mechanism (18) between the first cable and the second cable, The transmission mechanism (18) is a mover (181) engaged with the first cable (30a) and the second cable (31a); A support (180) that movably supports the movable element (181), The first cable (30a) is connected to the release operating member (128), The second cable (31a) is connected to the electric actuator (10), the connecting member (C) includes the first cable (30a), the second cable (31a), and the mover (181), A third cable (32a) connected to the clutch operator (113L) is engaged with the movable member (181), The release operation member (128) is The driving force of the electric actuator (10) is transmitted through the first cable (30a), the movable element (181), and the second cable (31a) to cause displacement, An operating force applied to the clutch operating element (113L) is transmitted through the first cable (30a), the movable element (181), and the third cable (32a) to cause displacement.

[0108] According to this embodiment, two input systems can be integrated into one output system with a relatively simple structure, and both manual and automatic operations can be achieved.

[0109] 4. In the above embodiment, The transmission mechanism (18) is fixed to a clutch cover (120a) of the clutch device (120).

[0110] According to this embodiment, the transmission mechanism can be arranged relatively compactly.

[0111] 5. In the above embodiment, The release operation member (128') is a shaft member supported so as to be rotatable. the connecting member (31a') connects a first arm member (16A) protruding from the release operating member (128') in a radial direction of the release operating member (128') to the electric actuator (10); The clutch operation element (113L) includes a second arm member (16B) protruding from the release operation member (128') in the radial direction of the release operation member (128') and a cable (32a ' ), The release operation member (128') is The driving force of the electric actuator (10) is ') and the first arm member (16A) to rotate, and The operating force for the clutch operator (113L) is applied to the cable (32a ' ) and the second arm member (16B) to rotate.

[0112] According to this embodiment, the release operation member can be operated by two input systems with a relatively simple structure, making it possible to achieve both manual operation and automatic operation, and improving the degree of freedom in the arrangement of the electric actuator.

[0113] 6. In the above embodiment, The first arm member (16A) is fixed to the release operation member (128'), The second arm member (16B) is rotatably supported by the release member (128') coaxially with the release operation member (128'). operation Attached to member (128'), When the first engagement portion (20b) of the second arm member (16B) and the second engagement portion (128d) of the release operating member (128') are in an engaged state, the second arm member (16B) and the release operating member (128') rotate in conjunction with each other.

[0114] According to this embodiment, it is possible to prevent the manual operation and the operation by the electric actuator from being added together.

[0115] 7. In the above embodiment, The clutch device (120) is disposed between an internal combustion engine (108) and a transmission (109) of a saddle riding type vehicle (100), and connects and disconnects the transmission of the driving force of the internal combustion engine (108) to the transmission (109); The clutch operation element (113L) and the electric actuator (10) are disposed on opposite sides of each other in the front-rear direction (D1) of the saddle riding type vehicle (100) with respect to the release operation member (128').

[0116] According to this embodiment, it is possible to utilize a space having a relatively small number of components as a location for arranging the electric actuator.

[0117] 8. In the above embodiment, When the control means (2) determines that the manual operation has intervened during the automatic control, it stops the automatic control (S34).

[0118] According to this embodiment, the clutch can be controlled in accordance with the operator's intention.

[0119] 9. In the above embodiment, During the automatic control, the control means (2) controls the electric actuator based on information (SI) indicating the relationship between the clutch capacity and the difference between the operation amount and the displacement amount, and on the detection results of the first sensor (8) and the second sensor (9).

[0120] According to this embodiment, the clutch capacity can be controlled by monitoring the amount of extension of the connecting member.

[0121] 10. In the above embodiment, During the automatic control, the control means (2) controls the electric actuator (10) based on information (SI) indicating the relationship between the clutch capacity and the displacement amount of the release operating member (128) and the detection result of the second sensor.

[0122] According to this embodiment, Release The displacement of the operating member is monitored to control the clutch capacity.

[0123] Although the embodiment of the invention has been described above, the invention is not limited to the above embodiment, and various modifications and variations are possible within the scope of the gist of the invention.

Claims

1. A control device capable of automatically controlling a clutch device that is disposed in a transmission path of a driving force output by a prime mover and that can connect and disconnect the transmission of the driving force in response to a manual operation of a clutch operator by an operator, comprising: a connecting member connected to a release operating member of the clutch device; an electric actuator that displaces the release operation member via the connecting member; a control means for driving the electric actuator to displace the release operation member and change the clutch capacity of the clutch device; a first sensor that detects an operation amount of the electric actuator relative to the connecting member; a second sensor that detects a displacement amount of the release operating member, The control means determining whether or not a manual operation by an operator has been performed via the clutch operator during automatic control of the clutch device by the electric actuator based on detection results of the first sensor and the second sensor; A control device comprising:

2. The control device according to claim 1 , a canceling mechanism that cancels an overlapping operation of the manual operation and the operation of the electric actuator with respect to the release operating member by the displacement amount, A control device comprising:

3. The control device according to claim 1 , A first cable; A second cable; a transmission mechanism between the first cable and the second cable, The transmission mechanism includes: a mover that engages with the first cable and the second cable; A support body that movably supports the movable element, the first cable is connected to the release operating member, the second cable is connected to the electric actuator; the connecting member includes the first cable, the second cable, and the mover, a third cable connected to the clutch operator is engaged with the movable member; The release operation member is A driving force of the electric actuator is transmitted through the first cable, the movable element, and the second cable to cause a displacement, An operating force applied to the clutch operator is transmitted through the first cable, the movable member, and the third cable to cause displacement. A control device comprising:

4. The control device according to claim 3, The transmission mechanism is fixed to a clutch cover of the clutch device. A control device comprising:

5. The control device according to claim 1 , the release operation member is a shaft member supported so as to be freely rotatable, the connecting member connects a first arm member protruding from the release operation member in a radial direction of the release operation member to the electric actuator, the clutch operator is connected via a cable to a second arm member that protrudes from the release operating member in a radial direction of the release operating member, The release operation member is The driving force of the electric actuator is transmitted via the connecting member and the first arm member to rotate the arm, An operating force applied to the clutch operator is transmitted via the cable and the second arm member to rotate the clutch operator. A control device comprising:

6. The control device according to claim 5, the first arm member is fixed to the release operation member, the second arm member is attached to the release operation member so as to be rotatable coaxially with the release operation member, when a first engagement portion of the second arm member and a second engagement portion of the release operation member are in an engaged state, the second arm member and the release operation member rotate in conjunction with each other; A control device comprising:

7. The control device according to claim 6, the clutch device is disposed between an internal combustion engine and a transmission of a saddle-ride type vehicle, and connects and disconnects transmission of a driving force of the internal combustion engine to the transmission; the clutch operator and the electric actuator are disposed on opposite sides of each other with respect to the release operation member in the front-rear direction of the saddle riding type vehicle. A control device comprising:

8. The control device according to claim 1 , When the control means determines that the manual operation has intervened during the automatic control, the control means stops the automatic control. A control device comprising:

9. The control device according to claim 1 , the control means controls the electric actuator based on information indicating a relationship between the clutch capacity and a difference between the operation amount and the displacement amount, and on detection results of the first sensor and the second sensor during the automatic control. A control device comprising:

10. The control device according to claim 1 , the control means controls the electric actuator based on information indicating a relationship between the clutch capacity and a displacement amount of the release operation member and a detection result of the second sensor during the automatic control. A control device comprising:

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