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 coupled to the coupling member and causing the release operation member to be displaced via the coupling member; a control means that drives the electric actuator to cause the release operation member to be displaced and changes the clutch capacity of the clutch device; a first sensor that senses the operation amount of the electric actuator with respect to the coupling member; and a second sensor that senses the displacement amount of the release operation member. The control means generates, in advance, characteristic information pertaining to the clutch capacity and performs control for changing the clutch capacity on the basis of the generated characteristic information. The characteristic information is generated on the basis of the respective detection results of the first sensor and the second sensor when the electric actuator is driven and the displacement amount of the release operation member is changed.

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 that is disposed in a transmission path of a driving force output by a prime mover and controls a clutch device that connects and disconnects the transmission of the driving force, a connecting member connected to a release operating member of the clutch device; an electric actuator connected to the connecting member and displacing 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 generates characteristic information relating to the clutch capacity in advance, and performs control to change the clutch capacity based on the generated characteristic information, the characteristic information is generated based on detection results of the first sensor and the second sensor when the electric actuator is driven to change the displacement amount of the release operation member. 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] 11A and 11B are diagrams showing examples of test data and characteristic information; [Figure 6] 4 is a flowchart showing an example of processing executed by the control unit in FIG. 3; [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] 13A and 13B are diagrams showing another example configuration related to a connecting member. [Figure 10] 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] Here, the operation amount sensor 8, the displacement amount sensor 9, and the electric actuator 10 will be described with reference to Fig. 4 in addition to Fig. 3. Fig. 4 is an explanatory diagram of the clutch device 120 and related configurations.

[0023] 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 the main shaft 109a of the transmission 109. The main shaft 109a is coupled to a clutch center 123, and the clutch center 12 3 Between the clutch outer 121 and the clutch center 123, a plurality of disk-shaped clutch plates 125 are stacked in the direction of the rotation center line X1.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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 connecting member C1 via a holder 14. A return spring 129 that urges the release operating member 128 to the initial position is provided between the arm member 16 and the clutch cover 120a.

[0029] The connecting member C1 is an elastically deformable wire that connects the release operating member 128 and the electric actuator 10, and is, for example, a metal wire. The connecting member C1 in this embodiment is an inner cable of the cable C arranged between the release operating member 128 and the electric actuator 10, and the connecting member C1 may be called the inner cable C1. A cylindrical engagement portion C3 that engages with the holder 14 is fixed to each of both ends of the inner cable C1. The cable C includes an outer cable C2 through which the inner cable C1 is inserted. The outer cable C2 is a flexible tube that can be bent, and both ends of the outer cable C2 are held by catchers 15. The catcher 15 on the clutch device 120 side is fixed to, for example, the clutch cover 120a. The catcher 15 on the electric actuator 10 side is fixed to, for example, the vehicle body frame 101 near the electric actuator 10 via a bracket (not shown).

[0030] 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 C1 is connected to the rod 13 via a holder 14.

[0031] When the inner cable C1 is pulled by driving the electric actuator 10, the release operation member 128 is rotated, and the clutch capacity of the clutch device 120 can be reduced. Conversely, when the inner cable C1 is returned (sent out), the release operation member 128 is returned to its initial position by the bias of the clutch spring 126, and the clutch capacity increases. Therefore, the control unit 2 controls the drive source 11 to drive the electric actuator 10 to displace (rotate) the release operation member 128, and can change the clutch capacity of the clutch device 120.

[0032] In the present embodiment, an electric cylinder is exemplified as 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 connecting member C1.

[0033] In addition, in this embodiment, the clutch device 120 is basically connected and disconnected automatically by the electric actuator 10. However, the operator 113L is connected to the arm member 16 via a cable 113a, and the rider can also operate the operator 113L to connect and disconnect the clutch device 120.

[0034] The operation amount sensor 8 is a sensor that detects the operation amount of the electric actuator 10 relative to the connecting member C1, 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 relative to the connecting member C1. In other words, the operation amount L1 is the amount of movement of the end of the connecting member C1 on the electric actuator 10 side. In the example of FIG. 4, the amount of movement of the rod 13 in the direction of retracting it from the initial position (maximum protruding position) of the rod 13 is set as the operation amount L1.

[0035] The displacement amount sensor 9 is a sensor that detects the amount of displacement of the release operating member 128, and in this embodiment, the displacement amount sensor 9 is an angle sensor that detects the amount of rotation (operation angle) of the release operating member 128 about the rotation center line X2 as the amount of displacement of the release operating member 128. The displacement amount sensor 9 is supported by the clutch cover 120a via the bracket 17, and the upper end of the release operating member 128 is connected to the displacement amount sensor 9.

[0036] <Clutch capacity control> When the vehicle 100 starts moving or when the transmission 109 is shifted, the clutch capacity of the clutch device 120 is controlled to change the drive transmission from a disconnected state to a connected state. 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.

[0037] 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.

[0038] On the other hand, since the connecting member C1 is an elastic body, it stretches in proportion to the tensile load within its elastic range. 8 The torque around the rotation center line X2 of the connecting member C1, i.e., the clutch capacity, is correlated with the torque around the rotation center line X2 of the connecting member C1. If the extension amount of the connecting member C1 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 C1 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.

[0039] 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. Figure 5 shows an example of the test data EXP obtained by the learning operation and the characteristic information SI obtained from the test data EXP.

[0040] 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. 5 is obtained.

[0041] The test data EXP has the rotation amount L2 (equivalent to the tensile load of the connecting member C1) 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 C1 is being pulled and the solid line showing the data at the stage when the tension is being released.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] <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.

[0047] In this embodiment, processing is performed to generate and update characteristic information SI when the control system of vehicle 100 is started (when power is ON, typically when ignition is ON). FIG. 6 is a flow chart showing an example of processing performed by processing unit 21 of control unit 2 when power is ON. Initial processing is performed in S1. Here, the operation of control device 1 is checked, and movable parts are moved to their initial positions. In this initial processing, processing to generate and update characteristic information SI, which will be described later with reference to FIG. 7, is also performed. If the operation check is normally completed in the initial processing in S1, the process proceeds to S2, and permission to start prime mover 108 is set. When the rider operates a starter button (not shown), the starter button (not shown) is pressed to start prime mover 108. 8 will begin.

[0048] With reference to Fig. 7, 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. 5 are performed. In S11, the driving source 11 starts to be driven. 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.

[0049] 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.

[0050] In S15, 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 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 normal range 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.

[0051] 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.

[0052] 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.

[0053] 8 is a flowchart showing an example of control of the clutch capacity of the clutch device 120 using the characteristic information SI, 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] As described above, in this embodiment, the release operation member 128 is operated by the electric actuator 10 via the connecting member C1, 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 amount of extension of the connecting member C1, 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 at a distance via the connecting member C1, the degree of freedom in arrangement of the electric actuator 10 can be improved. If the connecting member C1 is configured to have flexibility that allows it to be bent, 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.

[0058] Second Embodiment When the connecting member C1 is short or is a shaft-shaped member with high rigidity, it may be difficult to obtain a significant amount of elongation L3. Therefore, the configuration example shown in FIG.

[0059] 9 is an example in which a connecting member (inner cable) C1 is connected to a release operation member 128 via an elastic member 18. In the illustrated example, the elastic member 18 is a coil spring, and has a smaller elastic modulus than the connecting member (inner cable) C1. When a tensile load acts on the connecting member C1, the elastic member 18 also stretches. Therefore, the apparent amount of stretch of the connecting member (inner cable) C1 obtained from the detection results of the sensors 8 and 9 becomes larger than the actual amount of stretch of the connecting member C1, and a significant amount of stretch L3 is obtained.

[0060] Next, in the configuration example EX2 of FIG. 9, the end of the outer cable C2 on the release operation member 128 side is supported by the catcher 15 via the elastic member 19. In the illustrated example, the elastic member 19 is a coil spring. The total length of the outer cable C2 and the elastic member 19 can vary between the catcher 15 on the release operation member 128 side and the catcher 15 on the electric actuator 10 side. When the tensile load on the connecting member C1 is large, the elastic member 19 contracts, shortening the total length of the outer cable C2 and the elastic member 19. Therefore, the apparent extension amount of the connecting member (inner cable) C1 obtained from the detection results of the sensors 8 and 9 becomes larger than the actual extension amount of the connecting member C1, and a significant extension amount L3 can be obtained.

[0061] Next, configuration example EX3 in Fig. 9 is an example in which a connecting member C1' is configured by connecting an inner cable C1 and an elastic member 20. While configuration example EX1 is an example in which an elastic member is provided separately from the connecting member, configuration example EX3 has a connecting member itself having a portion with a relatively small elastic modulus (elastic member 20) and a portion with a large elastic modulus (inner cable C1). In the illustrated example, elastic member 20 is a coil spring. In this configuration example as well, even if a significant elongation amount L3 cannot be obtained in the inner cable C1, a significant elongation amount L3 can be obtained by elastic deformation of the elastic member 20.

[0062] <Third embodiment> The characteristic information SI in Fig. 5 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. 10 shows an example of the test data EXP and the characteristic information SI in this embodiment.

[0063] 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 of FIG. 10 is obtained.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 8 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.

[0070] 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.

[0071] 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.

[0072] <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.

[0073] In the above embodiment, the electric actuator 10 is disposed at the front of the vehicle 100 (rear of the front wheel steering unit 102), but the location of the electric actuator 10 is not limited to this and it may be disposed at the rear of the vehicle 100 (for example, below the seat 106) or on the side of the vehicle 100 (near the fuel tank 105, inside the body frame 101, etc.).

[0074] <Summary of the embodiment> The above embodiment discloses at least the following control device.

[0075] 1. The control device (1) of the above embodiment is A control device for controlling a clutch device (120) that is disposed in a transmission path of a driving force output by a prime mover (108) and that connects and disconnects the transmission of the driving force, a connecting member (C1) connected to a release operating member (128) of the clutch device (120); an electric actuator (10) connected to the connecting member (C1) and displacing the release operation member (128) via the connecting member (C1); The electric actuator (10) is driven to displace the release operation member (128) and the clutch device (12 0 A control means (2) for changing the clutch capacity of the a first sensor (8) that detects an operation amount (L1) of the electric actuator (10) relative to the connecting member (C1); a second sensor (9) that detects the amount of displacement (L2) of the release operating member (128); The control means (2) generates characteristic information (SI) relating to the clutch capacity in advance, and performs control to change the clutch capacity based on the generated characteristic information (SI) (FIG. 8). The characteristic information (SI) is generated based on the detection results of the first sensor (8) and the second sensor (9) when the electric actuator (10) is driven to change the displacement amount of the release operating member (128) (FIG. 7).

[0076] According to this embodiment, it is possible to provide a control device capable of realizing automatic control of the clutch device with a relatively simple configuration. The clutch capacity can be controlled based on the extension amount of the connecting member.

[0077] 2. In the above embodiment, The connecting member (C1) is connected to the release operation member (128) via an elastic member (18) having an elastic modulus smaller than that of the connecting member (C1).

[0078] According to this embodiment, even if the amount of elongation of the connecting member is small, it is possible to increase the apparent amount of elongation based on the detection results of the first sensor and the second sensor.

[0079] 3. In the above embodiment, a cable (C) having an outer cable (C2) and an inner cable (C1) through which the outer cable (C2) is inserted is provided between the release operation member (128) and the electric actuator (10); The inner cable (C1) is the connecting member, The end of the outer cable (C2) on the side of the release operation member (128) is supported by a catcher (15) through an elastic member (19).

[0080] According to this embodiment, even if the amount of elongation of the connecting member is small, it is possible to increase the apparent amount of elongation based on the detection results of the first sensor and the second sensor.

[0081] 4. 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 control means (2) executes a process for generating the characteristic information (SI) when the power supply of the saddle riding type vehicle (100) is turned on (FIGS. 6 and 7).

[0082] According to this embodiment, the clutch device can be automatically controlled in response to aging of the saddle riding type vehicle.

[0083] 5. In the above embodiment, When generating the characteristic information (SI), the control means (2) drives the electric actuator (10) at least within a range corresponding to a range of change in the clutch capacity.

[0084] According to this embodiment, information between disengagement and engagement of the clutch device can be obtained as the characteristic information.

[0085] 6. In the above embodiment, The characteristic information (SI) is information indicating the relationship between the clutch capacity and the difference between the operation amount and the displacement amount (FIG. 10).

[0086] According to this embodiment, the clutch capacity can be controlled by monitoring the amount of extension of the connecting member.

[0087] 7. In the above embodiment, The characteristic information (SI) is information that indicates the relationship between the clutch capacity and the displacement amount (FIG. 5).

[0088] According to this embodiment, Release The displacement of the operating member is monitored to control the clutch capacity.

[0089] 8. In the above embodiment, When generating the characteristic information, the control means (2) calculates a difference (L3) between the operation amount (L1) detected by the first sensor (8) and the displacement amount (L2) detected by the second sensor (9) when the electric actuator (10) is driven to change the displacement amount of the release operating member (128), and identifies a change in the clutch capacity from the change in the difference.

[0090] According to this embodiment, the correlation between the clutch capacity and the amount of extension of the connecting member can be relatively easily determined.

[0091] 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 that is disposed in a transmission path of a driving force output by a prime mover and controls a clutch device that connects and disconnects the transmission of the driving force, a connecting member connected to a release operating member of the clutch device; an electric actuator connected to the connecting member and displacing 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 generates characteristic information relating to the clutch capacity in advance, and performs control to change the clutch capacity based on the generated characteristic information, the characteristic information is generated based on detection results of the first sensor and the second sensor when the electric actuator is driven to change the displacement amount of the release operation member, the connecting member is connected to the release operation member via an elastic member having an elastic modulus smaller than that of the connecting member; A control device comprising:

2. A control device that is disposed in a transmission path of a driving force output by a prime mover and controls a clutch device that connects and disconnects the transmission of the driving force, a connecting member connected to a release operating member of the clutch device; an electric actuator connected to the connecting member and displacing 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 generates characteristic information relating to the clutch capacity in advance, and performs control to change the clutch capacity based on the generated characteristic information, the characteristic information is generated based on detection results of the first sensor and the second sensor when the electric actuator is driven to change the displacement amount of the release operation member, a cable including an outer cable and an inner cable inserted through the outer cable is provided between the release operation member and the electric actuator; the inner cable is the connecting member, The end of the outer cable on the side of the release operation member is supported by a catcher via an elastic member. A control device comprising:

3. The control device according to claim 1 or 2, 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 control means executes a process for generating the characteristic information when a power source of the saddle riding type vehicle is turned on. A control device comprising:

4. The control device according to claim 1 or 2, The control means drives the electric actuator at least within a range corresponding to a range of change in the clutch capacity when generating the characteristic information. A control device comprising:

5. The control device according to claim 1 or 2, The characteristic information is information indicating a relationship between the clutch capacity and a difference between the operation amount and the displacement amount. A control device comprising:

6. The control device according to claim 1 or 2, The characteristic information is information indicating a relationship between the clutch capacity and the displacement amount. A control device comprising:

7. The control device according to claim 1 or 2, the control means, when generating the characteristic information, calculates a difference between the operation amount detected by the first sensor and the displacement amount detected by the second sensor when the electric actuator is driven to change the displacement amount of the release operation member, and identifies a change in the clutch capacity from a change in the difference. A control device comprising:

8. (delete)

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