Clutch control device

Abstract

To properly control clutch capacity according to a road surface situation or the like, in a clutch control device controlling the connection / disconnection of a clutch device.SOLUTION: A clutch control device is equipped with a clutch device that connects / disconnects power transmission between an engine and a transmission, a clutch actuator that outputs driving force for actuating the clutch device, and an ECU that drive-controls the clutch actuator. The ECU performs clutch capacity control that changes clutch capacity Ca within a range from completely fastening to completely disconnecting, when detecting that a motorcycle is in a regulation traveling state with a vehicle body behavior M that is a predetermined threshold value d01 or more.SELECTED DRAWING: Figure 15

Description

[Technical Field]

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

[0002] In recent years, automatic clutch systems have been proposed for saddle-ride type vehicles, in which the clutch device is automatically connected and disconnected by electrical control. For example, Patent Document 1 describes a technology that prevents engine stalls by controlling the clutch connection amount based on the brake operation amount, vehicle speed, and engine speed. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 5-82643 Summary of the Invention [Problem to be solved by the invention]

[0004] For example, when a vehicle is traveling on rough roads, such as going over uneven road surfaces or crossing the boundary between paved and unpaved roads, the reaction force that the drive wheels receive from the road surface changes significantly, causing a large fluctuation in the input torque (clutch torque) to the clutch device. If the clutch capacity remains high at this time, the input from the road surface will cause a large shock to the power unit, etc. Conversely, if the clutch capacity remains low, it will affect direct controllability.

[0005] The present invention has been made in view of the above circumstances, and has an object to provide a clutch control device that controls the engagement and disengagement of a clutch device, capable of appropriately controlling the clutch capacity in accordance with road surface conditions, etc. [Means for solving the problem]

[0006] As a means for solving the above problem, the invention described in claim 1 includes a clutch device (26) that connects and disconnects power transmission between a prime mover (13) and an output target (21), a clutch actuator (50) that outputs a driving force for operating the clutch device (26), and a control unit (40) that drives and controls the clutch actuator (50), and the control unit (40) controls the clutch actuator (50) based on detection information from a vehicle body behavior sensor (43) that is an acceleration sensor or a suspension stroke sensor, or an external sensor (45) that can detect road conditions and objects around the vehicle. Caused by road conditions When it is detected that the vehicle behavior (M) is in a specified running state, which is equal to or greater than a predetermined threshold (d01), specified running state clutch capacity control is performed to vary the clutch capacity (Ca) within a range from full engagement to full disengagement, and the control unit (40) has an auto mode (M1) in which the clutch device (26) is automatically controlled by driving the clutch actuator (50), and a manual mode (M2) in which the clutch device (26) can be manually operated by inputting an operation to a clutch operator (4b), and in the auto mode (M1), when the vehicle is not in the specified running state, teeth, While the specified running state clutch capacity control is not performed, when the specified running state is fruit, The clutch capacity control is performed under the specified driving condition. This configuration has the following advantages when the vehicle equipped with the clutch control device is traveling on rough roads or in other traveling conditions that cause significant vehicle body movement: It is possible to vary (increase or decrease) the clutch capacity according to the traveling conditions of the vehicle, and to appropriately control the clutch capacity according to road surface conditions, etc. This reduces discomfort such as shocks caused by fluctuations in clutch torque and clutch slippage.

[0007] In the invention described in claim 2, the control unit (40) vehicle The system detects that the vehicle (1) is in the specified running state based on information detected by at least one of a vehicle body behavior sensor (43) and an external sensor (45) mounted on the vehicle (1). According to this configuration, by using the detection information from at least one of the vehicle body behavior sensor and the external sensor, it is possible to more accurately detect that the vehicle is in the specified driving state.

[0008] The invention described in claim 3 is characterized in that the clutch capacity (Ca) is a capacity that exceeds a basic clutch capacity (Ca0), Specified driving conditions The clutch capacity control is characterized in that the clutch capacity (Ca) is reduced within a range that does not fall below the basic clutch capacity (Ca0). According to this configuration, for example, by setting a basic clutch capacity so that clutch slip is less than a predetermined value, and reducing the clutch capacity within a range that exceeds this basic clutch capacity, excessive clutch slip can be suppressed.

[0009] The invention described in claim 4 is Specified driving conditions The reduced clutch capacity (Ca) in the clutch capacity control is calculated by multiplying the basic clutch capacity (Ca0) by a predetermined coefficient. According to this configuration, the fluctuation value of the clutch capacity is determined based on the basic clutch capacity, thereby simplifying the control.

[0010] In the invention described in claim 5, the clutch device (26) can be manually operated by a driver, and the control unit (40) controls the clutch device (26) when the manual operation is being performed or when the control unit (40) is in a mode in which the manual operation is prioritized. Specified driving conditions The clutch capacity control is not performed. According to this configuration, the driver's clutch operation (manual operation) Specified driving conditions By prioritizing clutch capacity control, the control does not intervene when the driver is intentionally operating the clutch. This allows the driver to accurately control the clutch capacity manually without feeling any discomfort when operating the clutch. [Effects of the Invention]

[0011] According to the present invention, in a clutch control device that controls the engagement and disengagement of a clutch device, it is possible to appropriately control the clutch capacity in accordance with road surface conditions and the like. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 2 is a right side view of the motorcycle according to the present embodiment. [Figure 2] 3 is a cross-sectional view of a transmission and a change mechanism of the motorcycle. FIG. [Figure 3] FIG. 2 is a block diagram of a transmission system of the motorcycle. [Figure 4] 5 is an explanatory diagram showing transitions of clutch control modes of the motorcycle. FIG. [Figure 5] 2 is a view taken along an arrow V in FIG. 1, showing the clutch actuator as viewed in the axial direction. [Figure 6] FIG. 2 is a developed cross-sectional view taken along the axial direction of the clutch actuator. [Figure 7] FIG. 2 is a perspective view of a release shaft that operates the clutch device. [Figure 8] FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 7. [Figure 9] 9A and 9B are cross-sectional views corresponding to FIG. 8, illustrating the operation of the release shaft in the half-clutch region, where (a) shows the state when driven by the clutch actuator, and (b) shows the state when manual intervention is performed. [Figure 10] 9A and 9B are cross-sectional views corresponding to FIG. 8, illustrating the operation of the release shaft at the standby position, where (a) shows the state when driven by the clutch actuator, and (b) shows the state when manual intervention is performed. [Figure 11] FIG. 7 is a cross-sectional view corresponding to FIG. 6 showing the clutch actuator attached to the right cover. [Figure 12] 1 is a graph showing the characteristics of clutch control, with the vertical axis representing the output value of the clutch actuator and the horizontal axis representing the amount of operation of the release mechanism. [Figure 13] 13 is a graph corresponding to FIG. 12, showing the operation of the embodiment. [Figure 14]FIG. 2 is a block diagram showing an outline of a clutch control device. [Figure 15] 4 is a time chart showing changes in parameters during clutch capacity control. [Figure 16] 4 is a flowchart showing a process for clutch capacity control. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, directions such as front, rear, left, and right are the same as directions in the vehicle described below unless otherwise specified. In addition, in the drawings used in the following description, an arrow FR indicating the front of the vehicle, an arrow LH indicating the left side of the vehicle, and an arrow UP indicating the top of the vehicle are shown in appropriate positions.

[0014] <Entire vehicle> As shown in Fig. 1, this embodiment is applied to a motorcycle 1 as an example of a saddle-ride type vehicle. A front wheel 2 of the motorcycle 1 is supported at the lower ends of a pair of left and right front forks 3. Upper portions of the left and right front forks 3 are supported via a steering stem 4 to a head pipe 6 at the front end of a body frame 5. A bar-type steering handle 4a is attached to the top bridge of the steering stem 4.

[0015] The body frame 5 includes a head pipe 6, a main frame 7 extending downward and rearward from the head pipe 6 at the center in the vehicle width direction (left and right direction), a pivot frame 8 provided below the rear end of the main frame 7, and a seat frame 9 connected to the rear of the main frame 7 and the pivot frame 8. A front end of a swing arm 11 is pivotally supported on the pivot frame 8 so that it can swing. A rear wheel 12 of the motorcycle 1 is supported on the rear end of the swing arm 11.

[0016] A fuel tank 18 is supported above the left and right main frames 7. A front seat 19 and a rear seat 19a are supported behind the fuel tank 18 and above the seat frames 9. Knee grip portions 18a that are recessed inward in the vehicle width direction are formed on both left and right sides of the rear of the fuel tank 18. The left and right knee grip portions 18a are formed to fit into the inside of the left and right knees of a driver seated on the front seat 19. Steps 18b on which the driver places their ankles and feet are supported on both left and right sides below the front seat 19.

[0017] A power unit PU including a prime mover of the motorcycle 1 is suspended below the main frame 7. The power unit PU integrally includes an engine (internal combustion engine, prime mover) 13 located in front of it and a transmission 21 located in the rear. The engine 13 is, for example, a multiple-cylinder engine with the rotation axis of a crankshaft 14 aligned in the left-right direction (vehicle width direction).

[0018] The engine 13 has a cylinder 16 that stands upright above the front part of the crankcase 15. The rear part of the crankcase 15 forms a transmission case 17 that houses a transmission 21. A right cover 17a that spans the right side of the transmission case 17 is attached to the right side of the crankcase 15. The right cover 17a also serves as a clutch cover that covers the clutch device 26. The power unit PU is connected to the rear wheel 12 via, for example, a chain-type transmission mechanism (not shown).

[0019] <Transmission> 2, the transmission 21 is a stepped transmission that has a main shaft 22, a counter shaft 23, and a group of speed change gears 24 that straddles both shafts 22, 23. The counter shaft 23 constitutes the output shaft of the transmission 21 and, ultimately, the power unit PU. The left end of the counter shaft 23 protrudes to the left of the rear of the transmission case 17 and is connected to the rear wheel 12 via the chain transmission mechanism.

[0020] The main shaft 22 and countershaft 23 of the transmission 21 are disposed rearward of the crankshaft 14. A clutch device 26 is disposed coaxially on the right end of the main shaft 22. The clutch device 26 connects and disconnects the power transmission between the crankshaft 14 of the engine 13 and the main shaft 22 of the transmission 21. The clutch device 26 is connected and disconnected by at least one of the operation of a clutch operator by the rider and the operation of a clutch actuator 50, which will be described in detail later. For example, the clutch operator is the clutch lever 4b.

[0021] The clutch device 26 is, for example, a wet multi-plate clutch, a so-called normally closed clutch. The rotational power of the crankshaft 14 is transmitted to the main shaft 22 via the clutch device 26, and then transmitted from the main shaft 22 to the countershaft 23 via any gear pair of the transmission gear set 24. A drive sprocket 27 of the chain transmission mechanism is attached to the left end of the countershaft 23, which protrudes from the rear left side of the crankcase 15.

[0022] A change mechanism 25 that switches between gear pairs in the transmission gear group 24 is housed near the transmission 21 within the transmission case 17. The change mechanism 25 operates a plurality of shift forks 32a according to the pattern of lead grooves formed on the outer periphery of a hollow cylindrical shift drum 32 that is parallel to both shafts 22, 23, by rotation of the shift drum 32, thereby switching between gear pairs used for power transmission between both shafts 22, 23 in the transmission gear group 24.

[0023] Here, the motorcycle 1 employs a so-called semi-automatic transmission system (automatic clutch type transmission system) in which the driver only performs the gear shifting operation of the transmission 21 (operating the shift pedal (not shown) with his foot), and the clutch device 26 is automatically engaged and disengaged by electrical control in response to the operation of the shift pedal.

[0024] <Gear shifting system> As shown in FIG. 3, the transmission system 30 includes a clutch actuator 50, an ECU 40 (Electronic Control Unit), various sensors 41a to 41j, and various devices 47, 48, and 50. The ECU 40 controls the operation of an ignition device 47 and a fuel injection device 48, as well as the operation of a clutch actuator 50, based on information about various vehicle conditions detected by an acceleration sensor 41a that detects the behavior of the vehicle body, a gear position sensor 41b that detects the gear position from the rotation angle of the shift drum 32, a shift load sensor 41c (e.g., a torque sensor) that detects the operating torque input to the shift spindle 31 (see FIG. 2) of the change mechanism 25, a throttle opening sensor 41d that detects the throttle opening, a vehicle speed sensor 41e that detects the vehicle speed, an engine rotation speed sensor 41f that detects the engine rotation speed, an engine temperature sensor 41g that detects the oil temperature and water temperature of the engine 13, and a suspension stroke sensor 41h that detects the stroke of the front and rear suspensions. The vehicle speed sensor 41e may be a wheel speed sensor or a rotation speed sensor of the output shaft of the power unit PU.

[0025] 5 and 6, clutch actuator 50 controls the operating torque applied to release shaft 53 in order to connect and disconnect clutch device 26. Clutch actuator 50 includes an electric motor 52 (hereinafter simply referred to as motor 52) as a drive source, and a speed reduction mechanism 51 that transmits the drive force of motor 52 to release shaft 53. Speed ​​reduction mechanism 51 includes a first reduction shaft 57 and a second reduction shaft 58, and these shafts 57, 58 are provided with a first rotation angle sensor 57d and a second rotation angle sensor 58d that detect the rotation angle, respectively.

[0026] Based on a preset calculation program, the ECU 40 calculates the value of the current to be supplied to the motor 52 in order to connect or disconnect the clutch device 26. The current to be supplied to the motor 52 is determined based on the correlation with the torque to be output by the motor 52. The target torque of the motor 52 is proportional to the operating torque (release shaft torque, described later) applied to the release shaft 53. The value of the current to be supplied to the motor 52 is detected by a current sensor 40b included in the ECU 40. The operation of the clutch actuator 50 is controlled in accordance with changes in this detected value. The clutch actuator 50 will be described in detail later.

[0027] <Clutch device> 2 and 11, the clutch device 26 of this embodiment is a multi-plate clutch in which a plurality of clutch plates 35 are stacked in the axial direction, and is a wet clutch disposed in an oil chamber inside the right cover 17a. The clutch device 26 includes a clutch outer 33 that is constantly driven by rotational power transmitted from the crankshaft 14, a clutch center 34 that is disposed within the clutch outer 33 and supported by the main shaft 22 so as to be integrally rotatable, and a plurality of clutch plates 35 that are stacked between the clutch outer 33 and the clutch center 34 to frictionally engage them.

[0028] A pressure plate 36 having approximately the same diameter as the clutch plates 35 is disposed to the right (outside in the vehicle width direction) of the stacked clutch plates 35. The pressure plate 36 is biased leftward by the elastic load of a clutch spring 37, causing the stacked clutch plates 35 to press together (frictionally engage) with each other. This places the clutch device 26 in a connected state that allows power transmission. The clutch device 26 is a normally closed clutch that is normally in a connected state when there is no external input.

[0029] The pressure contact (frictional engagement) is released by actuation of a release mechanism 38 inside the right cover 17a. The actuation of the release mechanism 38 is effected by at least one of the operation of the clutch lever 4b by the occupant and the application of torque by the clutch actuator 50.

[0030] <Release mechanism> As shown in FIGS. 2 and 11, the release mechanism 38 includes a lifter shaft 39 held within the right side of the main shaft 22 so as to be able to reciprocate in the axial direction, and a release shaft 53 disposed perpendicular to the axial direction of the lifter shaft 39 and held outside the right cover 17a so as to be able to rotate about its axis. Line C3 in the figure indicates the central axis of the release shaft 53, which extends vertically. The release shaft 53 is tilted rearward in its axial direction so that its upper end is positioned more rearward than the vertical direction when viewed in the axial direction of the main shaft 22 (as viewed from the side of the vehicle) (see FIG. 1). The upper portion of the release shaft 53 protrudes outside the right cover 17a, and a driven clutch lever 54 is attached to the upper portion of the release shaft 53 so as to be able to rotate integrally with the release shaft 53. The driven clutch lever 54 is connected to the clutch lever 4b via an operating cable 54c.

[0031] An eccentric cam portion 38a is provided on the lower portion of the release shaft 53, located inside the right cover 17a. The eccentric cam portion 38a engages with the right end portion of the lifter shaft 39. When the release shaft 53 rotates about its axis, the eccentric cam portion 38a acts to move the lifter shaft 39 to the right. The lifter shaft 39 is configured to be able to reciprocate integrally with the pressure plate 36 of the clutch device 26. Therefore, when the lifter shaft 39 moves to the right, the pressure plate 36 moves (lifts) to the right against the biasing force of the clutch spring 37, releasing the frictional engagement between the stacked clutch plates 35. This causes the normally closed clutch device 26 to enter a disengaged state in which power cannot be transmitted.

[0032] The release mechanism 38 is not limited to an eccentric cam mechanism, but may be one that includes a rack and pinion, a feed screw, etc. The mechanism that connects the clutch lever 4b and the driven clutch lever 54 is not limited to the operation cable 54c, but may be one that includes a rod, a link, etc.

[0033] <Clutch control mode> As shown in Fig. 4, the clutch control device 40A of this embodiment has three clutch control modes. The clutch control mode transitions appropriately between three modes: an auto mode M1 for automatic control, a manual mode M2 ​​for manual operation, and a manual intervention mode M3 for temporary manual operation, in response to the operation of the clutch control mode changeover switch 49 and the clutch lever 4b (see Fig. 3 for both). The manual mode M2 ​​and the manual intervention mode M3 are collectively referred to as a manual system M2A.

[0034] Auto mode M1 is a mode in which automatic start / shift control calculates a clutch capacity appropriate for the driving conditions and controls the clutch device 26. Manual mode M2 ​​is a mode in which the clutch capacity is calculated in response to a clutch operation instruction from the occupant and the clutch device 26 is controlled. Manual intervention mode M3 is a temporary manual operation mode in which a clutch operation instruction from the occupant is received during auto mode M1, and the clutch capacity is calculated from the clutch operation instruction to control the clutch device 26. Note that manual intervention mode M3 may be set to return to auto mode M1 if, for example, the occupant stops operating the clutch lever 4b (completely released state) for a specified time.

[0035] For example, when the system is started, the clutch control device 40A starts control from the clutch-on state (connected state) in the auto mode M1. Also, when the engine 13 is stopped (when the system is off), the clutch control device 40A is set to return to the clutch-on state in the auto mode M1. In the normally closed clutch device 26, when the clutch is on, there is no need to supply power to the motor 52 of the clutch actuator 50. On the other hand, when the clutch device 26 is in the clutch-off state (disconnected state), the power supply to the motor 52 is maintained.

[0036] Auto mode M1 is basically a mode in which clutch control is performed automatically, allowing the motorcycle 1 to be driven without lever operation. In auto mode M1, clutch capacity is controlled based on the throttle opening, engine RPM, vehicle speed, shift sensor output, etc. This allows the motorcycle 1 to start without stalling (meaning the engine stopping or stalling) by operating the throttle alone, and gears can be changed by operating the shift alone. Also, in auto mode M1, the rider can switch to manual intervention mode M3 by gripping the clutch lever 4b, allowing the clutch device 26 to be disengaged as desired.

[0037] On the other hand, in manual mode M2, the clutch capacity can be controlled by the rider operating a lever (i.e., the clutch device 26 can be engaged and disengaged). Switching between auto mode M1 and manual mode M2 ​​is possible by operating the clutch control mode changeover switch 49 (see FIG. 3), for example, while the motorcycle 1 is stopped and the transmission 21 is in neutral. Note that the clutch control device 40A may be provided with an indicator that shows that the clutch is in the manual state when transitioning to the manual system M2A (manual mode M2 ​​or manual intervention mode M3).

[0038] In manual mode M2, clutch control is basically performed manually, and the clutch capacity can be controlled according to the operating angle of the clutch lever 4b (and therefore the operating angle of the release shaft 53). This allows the driver to control the engagement and disengagement of the clutch device 26 at will. Note that even in manual mode M2, clutch control can intervene automatically when a shift operation is performed without clutch operation. Hereinafter, the operating angle of the release shaft 53 will be referred to as the release shaft operating angle.

[0039] In auto mode M1, the clutch actuator 50 automatically engages and disengages the clutch device 26, but manual clutch operation can be performed on the clutch lever 4b to temporarily intervene manually in the automatic control of the clutch device 26 (manual intervention mode M3).

[0040] 2, clutch lever 4b is connected via an operating cable 54c to a driven clutch lever 54 attached to a release shaft 53 of clutch device 26. Driven clutch lever 54 is attached to an upper end of release shaft 53 that protrudes above right cover 17a so as to be rotatable integrally therewith.

[0041] In addition, for example, a handle switch attached to the steering handle 4a is provided with the clutch control mode changeover switch 49 (see FIG. 3), which allows the occupant to easily change the clutch control mode during normal driving.

[0042] <Clutch actuator> As shown in FIG. 1, a clutch actuator 50 is attached to the upper rear part of the right cover 17a on the right side of the crankcase 15. 5 and 6, the clutch actuator 50 includes a motor 52 and a speed reduction mechanism 51 that transmits the driving force of the motor 52 to a release shaft 53. Motor 52 is, for example, a DC motor, and is arranged, for example, with its axial direction parallel to release shaft 53. Motor 52 is arranged so that drive shaft 55 protrudes upward.

[0043] In this embodiment, a single clutch actuator 50 is provided with multiple (two) motors 52. Hereinafter, the motor 52 located on the vehicle front side of the clutch actuator 50 will be referred to as a first motor 521, and the motor 52 located on the vehicle rear side and inside the first motor 521 in the vehicle width direction will be referred to as a second motor 522. Lines C01 and C02 in the drawings indicate the central axes (drive axes) of the motors 521 and 522, respectively. For convenience of explanation, both motors 521 and 522 may be collectively referred to as motors 52. Furthermore, both axes C01 and C02 may be collectively referred to as axis C0.

[0044] The speed reduction mechanism 51 reduces the speed of the rotational power output from the motor 52 and transmits the reduced power to the release shaft 53. The speed reduction mechanism 51 includes, for example, a gear train whose axial direction is parallel to that of the release shaft 53. The speed reduction mechanism 51 includes: a drive gear 55a integrally provided on the drive shaft 55 of each of the motors 521, 522; a first reduction gear 57a that meshes with the drive gear 55a; a first small-diameter gear 57b coaxial with the first reduction gear 57a; a second reduction gear 58a that meshes with the first small-diameter gear 57b; a second small-diameter gear 58b coaxial with the second reduction gear 58a; a driven gear 63a that meshes with the second small-diameter gear 58b; and a gear case 59 that houses the gears.

[0045] The first reduction gear 57a and the first small-diameter gear 57b are supported by a first support shaft 57c so as to be rotatable together, and together they constitute the first reduction shaft 57. The second reduction gear 58a and the second small-diameter gear 58b are supported by a second support shaft 58c so as to be rotatable together, and together they constitute the second reduction shaft 58. The first support shaft 57c and the second support shaft 58c are each rotatably supported by a gear case 59. The second reduction gear 58a is a sector-shaped gear centered on the second support shaft 58c, and is provided so as to extend forward of the second support shaft 58c and outward in the vehicle width direction. In the drawing, line C1 indicates the central axis of the first reduction shaft 57, and line C2 indicates the central axis of the second reduction shaft 58.

[0046] Driven gear 63a is provided to be rotatable integrally with release shaft 53. Driven gear 63a is a sector gear centered on release shaft 53 and is provided to extend forward of release shaft 53. The gear on the downstream side in speed reduction mechanism 51 has a small rotation angle, and second reduction gear 58a and driven gear 63a can be sector gears with small rotation angles.

[0047] As a result, it is possible to reduce the size of the reduction mechanism 51 and, in turn, the clutch actuator 50. In other words, even when a large-diameter reduction gear is provided to increase the reduction ratio, by cutting out the area outside the meshing range of this reduction gear to form a sector shape, it is possible to reduce the outward protrusion of the reduction mechanism 51 in particular in the vehicle width direction and also to reduce the weight of the reduction mechanism 51.

[0048] With this configuration, the motor 52 and the release shaft 53 can be constantly linked via the speed reducing mechanism 51. This forms a system in which the clutch actuator 50 directly connects and disconnects the clutch device 26.

[0049] Each gear is a flat spur gear with a reduced axial thickness, and gear case 59 is also formed flat with a reduced axial thickness, making reduction mechanism 51 less noticeable when viewed from the side of the vehicle. A first rotation angle sensor 57d and a second rotation angle sensor 58d are provided on the upper surface of gear case 59 and are connected to one end of first reduction shaft 57 and one end of second reduction shaft 58, respectively, to detect the rotation angles thereof.

[0050] The motor 52 is disposed so as to protrude downward from the front of the gear case 59. This allows the motor 52 to be disposed in front of the bulging portion 17b of the right cover 17a that covers the clutch device 26, and prevents the clutch actuator 50 from protruding outward in the vehicle width direction.

[0051] 1 and 11, right cover 17a has a bulge 17b that bulges outward in the vehicle width direction within a circular area coaxial with clutch device 26 in a side view of the vehicle. A cover recess 17c is formed in a rearward and upward facing portion of bulge 17b, the outer surface of which is angled inward in the vehicle width direction relative to the remaining portion. A lower end of cover recess 17c is formed as a step 17d that changes the outer surface of bulge 17b in a stepped manner. An upper portion of release shaft 53 protrudes obliquely upward and rearward from step 17d.

[0052] The driving force of motor 52 is decelerated between drive gear 55a and first reduction gear 57a, then between first small-diameter gear 57b and second reduction gear 58a, and further between second small-diameter gear 58b and driven gear 63a, and then transmitted to release shaft 53.

[0053] <Release shaft> As shown in FIGS. 6 to 8, the release shaft 53 is divided into a plurality of elements so that it can rotate in response to inputs from the clutch actuator 50 and inputs from the operation of the occupant separately. The release shaft 53 comprises an upper release shaft 61 that forms the upper part, a lower release shaft 62 that forms the lower part, and an intermediate release shaft 63 that is arranged across the lower end of the upper release shaft 61 and the upper end of the lower release shaft 62.

[0054] The upper release shaft 61 is cylindrical and rotatably supported by an upper boss portion 59b of the gear case 59. The upper end portion of the upper release shaft 61 protrudes outside the gear case 59, and the driven clutch lever 54 is supported at this upper end portion so as to be rotatable integrally with the shaft. A return spring 54s is attached to the driven clutch lever 54, which applies a biasing force to the driven clutch lever 54 in the direction opposite to the rotation (rotation in the clutch disengagement direction) caused by operation of the clutch lever 4b.

[0055] The lower release shaft 62 is cylindrical, and its lower portion is rotatably supported inside the right cover 17a. An eccentric cam portion 38a of the release mechanism 38 is formed on the lower portion of the lower release shaft 62 facing the inside of the gear case 59. A lower return spring 62s is attached to the lower end of the lower release shaft 62, and applies a biasing force to the lower release shaft 62 in the direction opposite to the rotation in the clutch disengagement direction.

[0056] A manual operation side cam 61b having a sector-shaped cross section and extending in the axial direction is provided at the lower end of the upper release shaft 61. A clutch-side cam 62b is provided at the upper end of the lower release shaft 62, extending axially with a sector-shaped cross section in a range that avoids the manual operation-side cam 61b in the circumferential or axial direction.

[0057] The lower end portion (manual operation side cam 61b) of the upper release shaft 61 and the upper end portion (clutch side cam 62b) of the lower release shaft 62 overlap in the axial direction while avoiding each other in the circumferential direction (or they overlap in the circumferential direction while avoiding each other in the axial direction). This allows one circumferential side surface 61b1 of the manual operation side cam 61b to press the other circumferential side surface 62b2 of the clutch side cam 62b, thereby rotating the lower release shaft 62 (see Figures 9(b) and 10(b)).

[0058] The other circumferential side surface 61b2 of the manual operation side cam 61b and the one circumferential side surface 62b1 of the clutch side cam 62b are spaced apart from each other in the circumferential direction or the axial direction, so that when an input is applied to the clutch side cam 62b from the clutch actuator 50, the lower release shaft 62 can rotate independently of the upper release shaft 61 (see Figures 9(a) and 10(a)).

[0059] The intermediate release shaft 63 has a cylindrical shape that can be inserted through the engagement portion (upper and lower shaft engagement portion) between the lower end of the upper release shaft 61 and the upper end of the lower release shaft 62. A driven gear 63a is supported on the intermediate release shaft 63 so as to be rotatable integrally therewith. The intermediate release shaft 63 is provided with a control operation side cam 63b that has a sector-shaped cross section and extends in the axial direction.

[0060] The control operation side cam 63b of the intermediate release shaft 63 and the clutch side cam 62b of the lower release shaft 62 overlap in the axial direction while avoiding each other in the circumferential direction (or they overlap in the circumferential direction while avoiding each other in the axial direction). This allows one circumferential side surface 63b1 of the control operation side cam 63b to press the other circumferential side surface 62b2 of the clutch side cam 62b, causing the lower release shaft 62 to rotate.

[0061] Furthermore, the control operation side cam 63b is disposed so as to avoid the manual operation side cam 61b of the upper release shaft 61 in the axial or radial direction. This allows the lower release shaft 62 to rotate independently of the upper release shaft 61 when transmitting input from the clutch actuator 50 to the clutch side cam 62b. Furthermore, when manual operation is performed, the upper release shaft 61 can rotate independently of the control side intermediate release shaft 63.

[0062] The other circumferential side surface 63b2 of the control operation side cam 63b and the one circumferential side surface 62b1 of the clutch side cam 62b are spaced apart from each other in the circumferential direction, so that when an input is applied to the clutch side cam 62b from the manual operation side cam 63b, the lower release shaft 62 can rotate independently of the intermediate release shaft 63.

[0063] 11, clutch actuator 50 has upper release shaft 61 and intermediate release shaft 63 rotatably held by gear case 59. Clutch actuator 50 includes upper release shaft 61 and intermediate release shaft 63 to form an integrated actuator unit 50A.

[0064] The lower release shaft 62 is rotatably held by the right cover 17a. An opening 17e through which the upper end of the lower release shaft 62 protrudes is provided in a stepped portion 17d of the cover recess 17c of the right cover 17a, and a fastening portion 17f of the gear case 59 is provided. An opening 59c through which the upper end of the lower release shaft 62 faces the inside of the gear case 59 is provided in a portion of the gear case 59 facing the stepped portion 17d of the cover recess 17c.

[0065] In this configuration, when the actuator unit 50A is attached to the right cover 17a, the upper release shaft 61, the intermediate release shaft 63 and the lower release shaft 62 are interconnected to form the linear release shaft 53.

[0066] The power unit PU of the embodiment can be configured by replacing the right cover 17a and the release shaft 53 and retrofitting the actuator unit 50A to a manual clutch power unit in which the clutch device 26 is engaged and disengaged by the driver rather than electrically controlled. Therefore, the actuator unit 50A can be attached to power units of different models, and the actuator unit 50A can be shared among multiple models to easily configure a semi-automatic transmission system (automatic clutch transmission system).

[0067] <Clutch control> Next, clutch control in this embodiment will be described with reference to the graph in Figure 12. The graph in Figure 12 illustrates clutch characteristics in auto mode M1. In the graph in Figure 12, the vertical axis represents torque (Nm) applied to release shaft 53 and clutch capacity (%), and the horizontal axis represents the operating angle (deg) of release shaft 53.

[0068] The torque generated in release shaft 53 corresponds to a torque value calculated by multiplying the torque value obtained based on the current supplied to motor 52 by the reduction ratio of speed reduction mechanism 51, based on the correlation between the current supplied to motor 52 and the torque generated by motor 52. Hereinafter, the torque of release shaft 53 will be referred to as release shaft torque. The correlation between the release shaft operating angle and release shaft torque is shown by line L11 in the graph. The correlation between the release shaft operating angle and clutch capacity is shown by line L12 in the graph. Line L11 also shows the output value (reference output value) of clutch actuator 50 when clutch device 26 is engaged or disengaged without manual operation.

[0069] In auto mode M1 of the normally closed clutch, when the release shaft torque (motor output) is "0", there is no operation input (input to the disengagement side) to the clutch device 26, and the clutch capacity is 100%. In other words, the clutch device 26 maintains the engaged state. This state corresponds to area A on the horizontal axis in Figure 12. Area A is the play area of ​​the driven clutch lever 54. In area A, there is no motor output, and the release shaft torque remains at "0". In area A, the clutch device 26 is not operating, and the clutch capacity remains at 100%.

[0070] 8, in region A, one circumferential side surface 61b1 of the manual operation-side cam 61b of the release shaft 53 does not press against the other circumferential side surface 62b2 of the clutch-side cam 62b, and is separated from the clutch-side cam 62b by the biasing force of the return spring 54s (shown by the chain line in FIG. 8). In region A, the driven clutch lever 54 is in a state of play where the manual operation-side cam 61b can approach or separate from the clutch-side cam 62b by an angle A1 in the figure. For example, in region A, one circumferential side surface 63b1 of the control operation-side cam 63b is in contact with the other circumferential side surface 62b2 of the clutch-side cam 62b.

[0071] Referring to FIG. 12, when the release shaft operating angle increases and passes through play region A, the release shaft operating angle transitions to half-clutch region B.

[0072] Referring also to FIG. 9(a), in the partial clutch region B, the control operation side cam 63b presses the clutch side cam 62b to rotate the lower release shaft 62. When the release shaft torque increases, the release mechanism 38 lifts the clutch device 26, reducing the clutch capacity. In other words, the clutch device 26 enters a partial clutch state in which partial power transmission is possible. The symbol SP in FIG. 12 indicates the start position (operation start position) of operation for switching from the play region A to the partial clutch region B. When manual operation intervenes in the partial clutch region B, the manual operation side cam 61b abuts against the clutch side cam 62b and rotates the lower release shaft 62 in cooperation with the control operation side cam 63b (see FIG. 9(b)).

[0073] When the release shaft operating angle passes touch point TP, which is the end point of half-clutch region B, the increase in release shaft torque becomes more gradual than in region B. The region of the release shaft operating angle after touch point TP is, for example, clutch disengagement region C, where the clutch capacity remains equivalent to "0." Clutch disengagement region C is, for example, an operating margin region where the release shaft 53, etc., can operate up to the mechanical operating limit position. In clutch disengagement region C, the release shaft torque increases slightly. This increase corresponds to the increase in clutch spring load associated with the movement of the lift components of the clutch device 26. Symbol EP in Figure 12 indicates the full lift position, which is the end point of clutch disengagement region C.

[0074] For example, a standby position DP is set in the middle of the clutch disengagement region C. At the standby position DP, a release shaft torque slightly higher than that at the touch point TP at which the clutch device 26 begins to engage is applied. At the touch point TP, some torque transmission may occur due to an operational error, but by applying the release shaft torque up to the standby position DP, the torque transmission of the clutch device 26 is completely cut off. Also, at the standby position DP, a release shaft torque slightly lower than that at the full lift position EP is applied, which makes it possible to eliminate the dead zone of the clutch device 26. In other words, at the standby position DP, it is possible to cancel out play and operational reaction forces in various parts of the clutch device 26, thereby improving the operational responsiveness of the clutch device 26 when it is engaged.

[0075] When the clutch device 26 operates from the connected state to the disconnected side, the point at which the release shaft torque rises (the start point of the half-clutch region B) is the operation start position SP, and the point at which the clutch device 26 is completely disengaged (the end point of the half-clutch region B) is the touch point TP. Conversely, when the clutch device 26 operates from the disengaged state to the engaged side, the point at which the clutch device 26 begins to engage is the touch point TP, and the point at which the clutch device 26 is completely engaged is the operation start position SP.

[0076] Referring to FIG. 13, in the half-clutch region B, the driving of the motor 52 is controlled based on the lift load. In this control, first, the clutch spring load is set in advance based on the elastic force of the clutch spring 37. Next, the lift load (operation load resisting the clutch spring load) acting on the clutch device 26 is estimated according to the release shaft torque. The load obtained by subtracting the lift load from the clutch spring load is then used as the clutch pressing load that actually acts on the clutch device 26.

[0077] Clutch capacity is calculated by dividing the clutch pressing load by the clutch spring load. The power supplied to motor 52 is controlled to adjust the clutch capacity to a target value, thereby controlling the release shaft torque and therefore the lift load. The motor current value and lever operating angle at each of the actuation start position SP and touch point TP are set to preset values ​​or, as will be described later, are set by learning control when the motorcycle 1 is powered on or off.

[0078] As an example of a sensing configuration, a current sensor 40b is provided in the motor control device (ECU 40), and the detected value is converted into motor torque, which is then converted into release shaft torque (clutch operating torque).

[0079] 13, when the clutch lever 4b is operated (manually) in the half-clutch region B, the actual measured value of the release shaft torque decreases with respect to the preset correlation line L11 of the release shaft torque (see part F in the figure). At this time, if the amount of decrease in the release shaft torque exceeds a predetermined threshold value d1, it is determined that manual operation has occurred, and the system transitions to predetermined manual operation intervention control.

[0080] In manual operation intervention control, for example, the motor 52 is feedback-controlled to maintain torque d2 after the release shaft torque has decreased by threshold d1 until the increment in the release shaft operating angle reaches a predetermined angle after manual operation intervention is detected. During current control, a current limit is set according to the angle after touch point TP, and the motor output becomes nearly zero midway. Since the load at this time is sufficiently low, it is determined that manual intervention has occurred. This prevents the uncomfortable feeling caused by a sudden loss of torque from the motor 52 after operating the clutch lever 4b. After the increment in the release shaft operating angle reaches a predetermined angle, the release shaft torque is gradually reduced (see section G in the figure), thereby reducing the uncomfortable feeling and reducing power consumption caused by continuing to drive the motor 52.

[0081] In the clutch disengagement region C, the driving of the motor 52 is controlled based on the lever position (angle). As described above, in the clutch disengagement region C, the increase in release shaft torque associated with the lift of the clutch device 26 is small. For this reason, in the clutch disengagement region C, the power supplied to the motor 52 is controlled based on the release shaft operating angle. This makes it possible to more precisely control the amount of disengagement of the clutch device 26 after the touch point TP at which the clutch device 26 begins to engage.

[0082] One example of a sensing configuration is to provide a first rotation angle sensor 57d and a second rotation angle sensor 58d on the first reduction shaft 57 and the second reduction shaft 58, respectively, and convert the detected values ​​into a release shaft operating angle (clutch operating angle). Although a pair of the first rotation angle sensor 57d and the second rotation angle sensor 58d is provided for failure detection, only one of them may be used.

[0083] As shown in FIG. 13, when the clutch lever 4b is operated (manually) in the clutch disengagement region C, the actual measured value of the release shaft torque decreases with respect to the preset correlation line L11 of the release shaft torque (see part H in the figure).

[0084] 10(a), for example, in auto mode M1, the torque applied by the control operation-side cam 63b to the clutch-side cam 62b is limited to the torque required to reach the standby position DP. The torque required for the clutch-side cam 62b to pass beyond the standby position DP and reach the full lift position EP occurs when a manual operation of squeezing the clutch lever 4b intervenes and a torque sufficient to exceed the standby position DP is applied from the manual operation-side cam 61b to the clutch-side cam 62b (see FIG. 10(b)). At this time, the control operation-side cam 63b separates from the clutch-side cam 62b, and the motor output becomes substantially zero.

[0085] Even before reaching standby position DP, if the release shaft operating angle is in clutch disengagement region C beyond touch point TP, manual intervention will cause the actual measured value of the release shaft torque to become substantially 0. Therefore, if the actual measured value of the release shaft torque changes to a range in which it becomes substantially 0 in clutch disengagement region C, it is determined that manual intervention has occurred, and the system transitions to predetermined manual operation intervention control.

[0086] In manual operation intervention control, for example, motor output is maintained so that the release shaft operating angle maintains the touch point TP, which is the effective clutch disengagement position, until the increase in the release shaft operating angle reaches a predetermined angle after manual operation intervention is detected. This prevents the engine from stalling even if the clutch lever 4b is suddenly released after manual operation intervention.

[0087] In this way, by selectively using load (current) control and position (angle) control depending on the state of the clutch device 26, it is possible to perform more precise clutch control (optimal control according to the state and characteristics of the clutch device 26). In the embodiment, the release shaft operating angle (the rotation angle of the gear shaft of the reduction mechanism 51) is detected, and in the region up to a pre-set (or learned) touch point TP (half-clutch region B), the current value is weighted more, and in the region after the touch point TP (clutch disengagement region C), the operating angle is weighted more. In this embodiment, the change in the current value (converted to a torque value) of the motor 52 relative to the release shaft operating angle is learned (updated) at predetermined timing, and a target value is set according to the state of the clutch device 26. Based on this target value and the detection value of the current sensor 40b of the ECU 40, the drive of the motor 52 is feedback-controlled.

[0088] <Clutch capacity control> Next, the main part of the clutch control of the embodiment will be described. FIG. 14 is a block diagram showing an outline of the clutch control device 40A. The ECU 40 is configured as a single electronic control unit or multiple electronic control units, and at least a part of the ECU 40 may be realized by a combination of software and hardware.

[0089] The ECU 40 includes a clutch capacity control determination unit 40c1, a basic clutch capacity calculation unit 40c2, a clutch capacity correction unit 40c3, and a motor control unit 40d. The clutch capacity control determination unit 40c1 receives information about the current clutch control mode as well as detection information from the vehicle body behavior sensor 43 and the external sensor 45, which will be described later. The clutch capacity control determination unit 40c1 determines whether the vehicle is in a specified driving state accompanied by vehicle body behavior exceeding a predetermined threshold based on the detection information from at least one of the vehicle body behavior sensor 43 and the external sensor 45. For example, when driving on a rough road, significant fluctuations may occur in the transmission torque (clutch torque) of the clutch device. In such cases, appropriate control of the clutch capacity according to the road surface conditions, etc., can reduce discomfort such as shocks caused by clutch torque fluctuations and clutch slippage.

[0090] The basic clutch capacity calculation unit 40c2 sets (calculates) a basic clutch capacity that serves as a base value for clutch capacity control, for example, so that slip (clutch slip) of the clutch device 26 is less than a predetermined value. The basic clutch capacity is calculated from a map (see, for example, FIG. 7 of JP 2009-243630 A) that uses the engine speed, throttle opening, and engine torque estimate value. The clutch capacity correcting section 40c3 corrects the target value of the clutch capacity based on the basic clutch capacity set by the basic clutch capacity calculating section 40c2. The motor control unit 40d drives the motor 52 of the clutch actuator 50 to control the clutch capacity based on the target value corrected by the clutch capacity correction unit 40c3.

[0091] The vehicle state sensors 42 include, for example, an acceleration sensor 41a, a gear position sensor 41b, a shift load sensor 41c, a throttle opening sensor 41d, a vehicle speed sensor 41e, an engine rotation speed sensor 41f, an engine temperature sensor 41g, and a suspension stroke sensor 41h. Of these, the acceleration sensor 41a and the suspension stroke sensor 41h are sometimes referred to as vehicle body behavior sensors 43.

[0092] The acceleration sensor 41a is a 5-axis or 6-axis IMU (Inertial Measurement Unit) that detects the angular velocity and acceleration of the three axes (roll axis, pitch axis, and yaw axis) of the vehicle body, and further detects the angles of the three axes of the vehicle body from the results. The suspension stroke sensor 41h detects the amount of movement of the front and rear suspensions (stroke amounts of the front and rear wheels). The information detected by the suspension stroke sensor 41h may be used for active control of the front and rear suspensions, for example.

[0093] The external sensor 45 detects the conditions around the vehicle and is, for example, a digital camera using a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera repeatedly captures images of the area ahead of the vehicle at a predetermined control period, enabling detection of road conditions and objects ahead of the vehicle. The camera may capture not only visible light but also invisible light such as infrared light. The external sensor 45 may be an optical sensor such as a camera, or a radio wave sensor such as a radar using infrared light or microwaves such as millimeter waves, or may be configured to use both a camera and radar. Information detected by the external sensor 45 may be used for driving assistance control and automatic driving control of the vehicle.

[0094] In the clutch capacity control of the embodiment, when a large fluctuation in clutch torque is predicted, the clutch capacity is reduced. That is, when a fluctuation of a predetermined magnitude or more is predicted to occur in the clutch torque, such as when the motorcycle 1 is traveling on a rough road, slippage (clutch slippage) can be caused in the clutch device 26. The clutch slippage corresponds to the rotational difference between the input and output of the clutch device 26 (clutch differential rotation).

[0095] The occurrence of clutch slippage can absorb shocks to the driver and power unit caused by load input from the road surface to the drive wheels (rear wheels), and can also suppress the occurrence of abnormal vehicle behavior. Furthermore, by releasing the back torque acting on the clutch device 26 and suppressing engine braking, it is possible to prevent a decrease in road contact of the rear wheels 12 (rear wheel road contact). This control makes it possible to cause clutch slippage with a smaller amount of back torque than with a mechanical back torque limiter. This allows the rear wheels to improve road contact even when the rear wheel road contact load is low or the road surface is slippery.

[0096] Here, if the release mechanism is configured to be able to push and pull the lifter shaft and the clutch capacity can be increased by driving the clutch actuator, it is possible to control the clutch capacity to increase in response to road conditions, etc. Also, if the clutch device is a normally open clutch and the clutch capacity is increased by driving the clutch actuator, it is possible to control the clutch capacity to increase in the same way as above. Alternatively, if there is control to decrease the clutch capacity, it is possible to control the amount of decrease to limit it. In this way, when the clutch capacity is increased (or the amount of reduction is limited), clutch slippage can be suppressed and direct controllability can be ensured, which contributes to improved vehicle maneuverability when correcting the vehicle's position by operating the accelerator or when sliding the rear wheels.

[0097] The above-described control allows the clutch capacity to be appropriately controlled in accordance with road conditions, etc., and reduces shocks caused by fluctuations in clutch torque and discomfort caused by clutch slippage. The above-described control can be implemented not only when a change in clutch torque is detected due to road conditions, but also when a change in clutch torque is detected due to, for example, accelerator operation or gear shift operation.

[0098] 15 is a time chart showing changes in vehicle behavior, control signal, motor current, and clutch capacity during clutch capacity control. The first line in the chart shows the actual or predicted values ​​of vehicle behavior M measured by the control determination sensor, the second line in the chart shows the ON / OFF state of control signal P, the third line in the chart shows the time change in motor current Ma, and the fourth line in the chart shows the time change in clutch capacity Ca.

[0099] The ECU 40 does not perform clutch capacity control when the clutch control mode is in the manual system M2A (manual mode M2 ​​or manual intervention mode M3). The ECU 40 performs clutch capacity control only when the clutch control mode is in the auto mode M1.

[0100] 14, the clutch capacity control determination unit 40c1 of the ECU 40 repeatedly performs the following control at a predetermined control period: That is, whether clutch capacity control is necessary is determined based on whether the current clutch control mode is the manual system M2A and whether the motorcycle 1 is in a predetermined specified running state. If the result of this determination is "necessary," clutch capacity control is started (timing t1). Clutch capacity control continues until the result of the above determination becomes "no" (timing t2). In other words, the period between timings t1 and t2 is the range in which clutch capacity control is performed, and the control signal is turned ON within this range.

[0101] To determine whether clutch capacity control is necessary, acceleration sensor 41a, suspension stroke sensor 41h, external sensor 45, and the like are used as control determination sensors. Clutch capacity control determination unit 40c1 performs clutch capacity control to reduce the clutch capacity when it detects, based on detection information from the control determination sensors, that motorcycle 1 is in a specified driving state accompanied by vehicle behavior (including actual measurements and predictions) greater than or equal to a specified level. Clutch capacity control determination unit 40c1 starts clutch capacity control when the magnitude of the detection value from the control determination sensor becomes equal to or greater than threshold value d01 (timing t1). Clutch capacity control determination unit 40c1 ends clutch capacity control when the magnitude of the detection value from the control determination sensor becomes less than threshold value d01 (timing t2), for example, after a specified waiting time has elapsed.

[0102] In clutch capacity control, a basic clutch capacity calculation unit 40c2 of the ECU 40 calculates the basic clutch capacity based on information detected by the vehicle condition sensor 42, such as engine speed, throttle opening, vehicle speed, oil temperature, and water temperature.

[0103] Referring to Figure 15, the basic clutch capacity Ca0 is a value lower than the maximum clutch capacity (100%). The basic clutch capacity Ca0 increases or decreases as appropriate in response to parameter fluctuations. The basic clutch capacity Ca0 may be calculated continuously before and after clutch capacity control. 14, in clutch capacity control, the clutch capacity corrector 40c3 of the ECU 40 calculates a corrected clutch capacity Ca1. The corrected clutch capacity Ca1 is calculated, for example, by multiplying the basic clutch capacity Ca0 by a predetermined coefficient (ratio). The slope of the graph at times t1 and t2 is a slope that occurs due to the mechanical movement time from when an actual drive command is issued until power transmission starts, and can be changed appropriately by the drive mechanism and control.

[0104] The motor control unit 40d of the ECU 40 controls the motor current of the clutch actuator 50 based on the corrected clutch capacity Ca0. The motor current Ma1 during clutch capacity control increases and decreases symmetrically with the increase and decrease in the corrected clutch capacity Ca1. The motor current Ma1 during clutch capacity control is set between the motor current when the clutch capacity is 100% (0 for a normally closed clutch) and the motor current Ma0 when the clutch capacity is 0%.

[0105] The process including the clutch capacity control will now be described with reference to the flowchart of Figure 16. This process is repeatedly executed at a predetermined cycle while the power is ON (the main switch of the motorcycle 1 is ON). First, in step S1, it is determined whether the current clutch control mode is the manual system M2A (manual mode M2 ​​or manual intervention mode M3). In other words, it is determined whether the mode is one in which manual operation is prioritized, or whether manual operation is being performed. If the answer is NO in step S1 (not the manual system), the process proceeds to step S2. If the answer is YES in step S1 (the manual system), the process is temporarily terminated.

[0106] In step S2, it is determined whether the motorcycle 1 is in a predetermined specified traveling state, for example, based on the detection information of the vehicle body behavior sensor 43. This determination is made by determining whether the detection value of the vehicle body behavior sensor 43 is greater than a predetermined threshold. If the answer is YES in step S2 (greater than or equal to the threshold), the process proceeds to step S3. If the answer is NO in step S2 (less than the threshold), the process is temporarily terminated.

[0107] In step S3, a basic clutch capacity Ca0 is calculated. Next, in step S4, a corrected clutch capacity Ca1 is calculated, for example, by multiplying the basic clutch capacity Ca0 by 1.2. The coefficient by which the basic clutch capacity Ca0 is multiplied may be a constant in the range of approximately 1.2 to 1.5, but it may also be a variable. Then, in step S5, the motor current Ma1 during clutch capacity control is controlled based on the corrected clutch capacity Ca1.

[0108] As described above, the clutch control device 40A in the above embodiment comprises the clutch device 26 that connects and disconnects the power transmission between the engine 13 and the transmission 21, the clutch actuator 50 that outputs driving force to operate the clutch device 26, and the ECU 40 that drives and controls the clutch actuator 50, and when the ECU 40 detects that the motorcycle 1 is in a specified driving state accompanied by a vehicle behavior M that is equal to or greater than a predetermined threshold value d01, it performs clutch capacity control that varies the clutch capacity Ca. This configuration has the following advantages when the motorcycle 1 equipped with the clutch control device 40A is traveling on a rough road or in other traveling conditions that cause significant vehicle body movement: It is possible to vary (increase or decrease) the clutch capacity Ca according to the traveling conditions of the motorcycle 1, and it is possible to appropriately control the clutch capacity Ca according to road conditions, etc. This reduces discomfort such as shock due to fluctuations in clutch torque and clutch slippage.

[0109] In addition, in the clutch control device 40A, the ECU 40 detects that the motorcycle 1 is in the specified driving state based on detection information from at least one of a vehicle behavior sensor 43 and an external sensor 45 mounted on the motorcycle 1. According to this configuration, by using the detection information of at least one of the vehicle body behavior sensor 43 and the external sensor 45, it is possible to more accurately detect that the motorcycle 1 is in the specified traveling state.

[0110] In the clutch control device 40A, the clutch capacity control reduces the clutch capacity Ca, and is set so that the clutch capacity Ca exceeds a predetermined basic clutch capacity Ca0. According to this configuration, in the control for reducing the clutch capacity Ca, for example, a basic clutch capacity Ca0 is set so that the clutch slip is less than a predetermined value, and the clutch capacity Ca is reduced within a range exceeding this basic clutch capacity Ca0, thereby suppressing the occurrence of excessive clutch slip.

[0111] Furthermore, in the clutch control device 40A, the clutch device 26 can be manually operated by the driver, and the ECU 40 does not perform the clutch capacity control when the manual operation is being performed or when the ECU 40 is in a mode that prioritizes the manual operation. With this configuration, the driver's clutch operation (manual operation) takes priority over clutch capacity control, so that control does not intervene when the driver is intentionally operating the clutch. This makes it possible to accurately control the clutch capacity Ca through manual operation without giving the driver any discomfort when operating the clutch.

[0112] The present invention is not limited to the above-described embodiment. For example, the clutch operator is not limited to the clutch lever 4b but may be a clutch pedal or other various operators. The clutch device is not limited to one disposed between the engine and the transmission but may be one disposed between the prime mover and any output target other than the transmission. The prime mover is not limited to an internal combustion engine but may be an electric motor. The present invention is not limited to application to saddle-ride vehicles in which clutch operation is automated as in the above embodiment, but can also be applied to saddle-ride vehicles equipped with a so-called clutch-operation-less transmission that is based on manual clutch operation but allows gear changes by adjusting the driving force without manual clutch operation under specified conditions. Furthermore, the saddle-type vehicle includes all vehicles on which the driver straddles the body, and includes not only motorcycles (including motorized bicycles and scooter-type vehicles), but also three-wheeled (including vehicles with one front wheel and two rear wheels, as well as vehicles with two front wheels and one rear wheel) or four-wheeled vehicles, and also vehicles that use an electric motor as their prime mover. The configuration of the above embodiment is an example of the present invention, and various modifications are possible without departing from the gist of the invention. [Explanation of symbols]

[0113] 1. Motorcycles (saddle-type vehicles) 4b Clutch lever (clutch operator) 13 Engine (prime mover) 21 Transmission (output target) 26 Clutch device 40 ECU (control unit) 40A clutch control device 43 Vehicle behavior sensor 45 External Sensor 50 Clutch actuator 52 Motor (drive source) Ca Clutch capacity Ca0 Basic clutch capacity M Body behavior d01 threshold

Claims

1. a clutch device (26) that connects and disconnects power transmission between the prime mover (13) and the output target (21); a clutch actuator (50) that outputs a driving force for operating the clutch device (26); a control unit (40) that controls the driving of the clutch actuator (50), When the control unit (40) detects that the vehicle behavior (M) caused by the road surface condition based on the detection information of the vehicle behavior sensor (43) which is an acceleration sensor or a suspension stroke sensor or the external sensor (45) which can detect the road surface condition and the object around the vehicle is in the specified running state which is equal to or greater than a predetermined threshold value (d01), the control unit (40) performs specified running state clutch capacity control which varies the clutch capacity (Ca) within the range from full engagement to full disengagement, The control unit (40) has an auto mode (M1) in which the clutch device (26) is automatically controlled by driving the clutch actuator (50), and a manual mode (M2) in which the clutch device (26) can be manually operated by inputting an operation to a clutch operator (4 b), A clutch control device characterized in that, in the auto mode (M1), when the vehicle is not in the specified driving state, the specified driving state clutch capacity control is not performed, while the specified driving state clutch capacity control is performed only when the vehicle is in the specified driving state.

2. The control unit (40) detects that the vehicle (1) is in the specified driving state based on detection information from at least one of a vehicle body behavior sensor (43) and an external sensor (45) mounted on the vehicle (1). The clutch control device according to claim 1.

3. The clutch capacity (Ca) is a capacity greater than the basic clutch capacity (Ca0), 3. The clutch control device according to claim 1, wherein the specified running state clutch capacity control reduces the clutch capacity (Ca) within a range in which the clutch capacity (Ca) does not fall below the basic clutch capacity (Ca0).

4. 4. The clutch control device according to claim 3, wherein the reduced clutch capacity (Ca) in the specified driving state clutch capacity control is calculated by multiplying the basic clutch capacity (Ca0) by a predetermined coefficient.

5. The clutch device (26) can be manually operated by a driver, 5. The clutch control device according to claim 1, wherein the control unit (40) does not execute the specified driving state clutch capacity control when the manual operation is being performed or when the mode is one in which the manual operation is prioritized.

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