JP2009286356A - Driving device with meshing type engagement device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving device with a meshing type engagement device for acquiring desired release characteristics in the case of releasing the meshing type engagement device. <P>SOLUTION: In the case of switching a dog clutch 50 installed in a driving device 1 with a dog clutch as a driving device with a meshing type engagement device from an engagement state to a release state, the learning correction quantity of the changing speed of the torque of a first motor generator 20 is determined according to driving conditions of an engine 15 so that the changing speed of the torque is corrected. Thus, in the case of switching the dog clutch 50 to the release state, the torque of the first motor generator 20 can be transmitted to the dog clutch 50 at a changing speed suitable for the driving conditions of the engine 15. Thus, even if the torque of the engine 15 changes according to the driving conditions, it is possible to set the dog clutch 50 to a release state by making torque suitable for the release of the dog clutch 50 act. As a result, it is possible to obtain desired release characteristics in the case of releasing the dog clutch 50. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a drive device with a meshing engagement device. In particular, the present invention relates to a drive device with a meshing engagement device including a meshing engagement device in which teeth provided on a pair of engagement elements mesh with each other when engaged.

  In a conventional vehicle drive device, as a means for transmitting power or shutting off, for example, when shifting gears, engagement and disengagement of engagement elements such as frictional engagement devices and meshing engagement devices is performed. So-called clutches that can be used are frequently used. Among these, a meshing engagement device called a dog clutch is provided with a plurality of teeth on both of a pair of engagement elements. By engaging and separating these teeth, engagement and release are performed. It can be performed. However, such a meshing type engaging device always has the same rotational speed when the engaging elements are engaged, so when engaging the released engaging elements with each other, If there is a difference in the number of rotations, the number of rotations of the rotation element connected to the engagement element changes suddenly so that the number of rotations coincides in a short time during engagement. For this reason, a shock may occur due to a sudden change in the rotational speed of the rotating element.

  Therefore, some drive devices with a meshing engagement device, which is a drive device provided with a conventional meshing engagement device, attempt to reduce such a shock. For example, in the drive device described in Patent Document 1, a dog clutch that is a meshing engagement device is provided on an external tooth provided on a ring gear of a planetary gear mechanism and a sleeve positioned radially outward of the ring gear. It is configured to be able to transmit or shut off the torque of the motor generator by engaging or releasing the dog clutch. In this drive device, when the external teeth and internal teeth of the dog clutch are engaged, the phase of the external teeth is adjusted by adjusting the torque of the motor generator and rotating the sleeve to rotate the internal teeth provided on the sleeve. These phases are adjusted so that the phase of the internal teeth matches within a predetermined range. Thereby, the shock at the time of engagement can be reduced.

JP 2006-38136 A

  As described above, in the meshing engagement device, it is necessary to adjust the phase of the teeth provided on the engagement element at the time of engagement to mesh the teeth, but even at the time of releasing to release the meshed teeth, Need to be adjusted and released. That is, in the state where the meshing engagement device is engaged, torque is transmitted between the engagement elements by the meshed teeth, but when the torque is transmitted while the teeth are meshed, Surface pressure is generated on the teeth. For this reason, in a state where the phases are not matched at the time of release, it becomes difficult to release the teeth by this surface pressure.

  Here, as the power transmitted by the drive device with the meshing engagement device, the power of the engine which is an internal combustion engine is transmitted in addition to the power of the motor generator described above. Even when the engine power is transmitted by the drive device with the meshing engagement device, the phase of the teeth provided on the engagement element of the meshing engagement device by adjusting the torque in the same manner as when transmitting the power of the motor generator. However, since engine torque changes due to product variations and deterioration over time, it is necessary to correct learning when adjusting torque.

  However, the amount of change in engine torque may vary depending on operating conditions and environment. For example, the engine torque varies with the engine temperature due to product variations in the parts that make up the engine, such as bearings, and the type of oil that is filled, and the friction varies with the engine speed. May not be a uniform amount of change. In addition, due to variations in the fuel injection injectors provided in the engine, the discharge characteristics also vary, so the engine torque may not vary uniformly with the rotational speed and temperature, and changes in engine torque The amount also varies depending on the water temperature. As described above, the amount of change in engine torque may vary depending on operating conditions and the like, and even when learning correction is performed, it may not be possible to perform appropriate control with one learning value, and the meshing engagement device is released. In some cases, the desired release characteristics cannot be obtained, for example, hunting occurs.

  The present invention has been made in view of the above, and an object of the present invention is to provide a drive device with a meshing engagement device that can obtain a desired release characteristic when the meshing engagement device is released.

  In order to solve the above-described problems and achieve the object, the drive device with the meshing engagement device according to the present invention is provided with a plurality of tooth portions and at least one of which is rotatably provided. The first engaging element and the second engaging element have a first engaging element and a second engaging element, and both the tooth portions mesh with each other so that a torque which is a force in the rotational direction is generated. Between the first engagement element and the second engagement element because both of the tooth portions are separated from each other. A meshing engagement device that can be switched to a release state, an electric motor that can transmit the torque to the meshing engagement device, an engine that can transmit the torque to the meshing engagement device, and the meshing engagement Engaging the device An electric motor that changes the torque of the electric motor when switching from the state to the released state, and corrects the change speed by determining a correction value of the change speed of the torque of the electric motor according to an operating condition of the engine And a control means.

  In this invention, when the meshing engagement device is switched from the engaged state to the released state, the torque change rate is corrected by determining the correction value of the motor torque change rate according to the engine operating conditions. Therefore, when the meshing engagement device is switched to the released state, the torque of the electric motor can be transmitted to the meshing engagement device at a changing speed suitable for the operating condition of the engine. As a result, when the meshing engagement device is released, the torque suitable for the operating condition of the engine is released in a state of acting on the meshing engagement device, so that the engine torque changes depending on the operating condition. However, it is possible to cause the meshing engagement device to be released by applying a torque suitable for the release to the meshing engagement device. As a result, a desired release characteristic can be obtained when the meshing engagement device is released.

  In the drive device with a meshing engagement device according to the present invention as set forth in the invention described above, the motor control means switches from the first change speed to the second change speed when changing the torque of the motor. Thus, the change speed is changed, and the correction value is a value for correcting the switching point from the first change speed to the second change speed and the degree of change of the second change speed. And a value to be used.

  In the present invention, the first change speed and the second change speed are set as the torque change speed of the electric motor, and the value for correcting the switching point from the first change speed to the second change speed is set as the correction value. Therefore, the switching point from the first change speed to the second change speed can be set according to the engine operating conditions, and the motor torque changing speed can be set according to the engine operating conditions. Can be. Further, since a value for correcting the degree of change in the second change speed is also used as the correction value, the change speed of the torque of the electric motor can be more reliably set to a change speed suitable for the engine operating conditions. Thus, when the meshing engagement device is released, the meshing engagement device can be released by applying a torque suitable for release to the meshing engagement device according to the operating condition of the engine. it can. As a result, desired release characteristics can be obtained more reliably when the meshing engagement device is released.

  In the drive device with a meshing engagement device according to the present invention as set forth in the invention described above, the operating condition of the engine is at least one of the rotational speed of the engine and the torque of the engine, and the water temperature of the engine. And at least one of the oil temperature of the engine.

  In this invention, the engine output conditions such as the engine speed and torque and the engine water temperature and oil temperature are used as the engine operating conditions, so that the torque of the motor that acts on the meshing engagement device at the time of release is determined. The change speed can be more reliably set to a change speed suitable for the engine operating conditions. As a result, desired release characteristics can be obtained more reliably when the meshing engagement device is released.

  The drive device with the meshing engagement device according to the present invention has an effect that a desired release characteristic can be obtained when the meshing engagement device is released.

  Embodiments of a drive device with a meshing engagement device according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same.

  FIG. 1 is a schematic diagram of a drive device with a meshing engagement device according to an embodiment. A drive device 1 with a dog clutch, which is a drive device with a meshing engagement device shown in the figure, is mounted on a vehicle (not shown), and is an engine 15 that is an internal combustion engine mounted on the vehicle as power generation means during vehicle travel. As in the case of the engine 15, the transmission 10 is connected to a second motor generator 25 mounted on the vehicle as power generation means for traveling the vehicle. The transmission 10 to which the engine 15 and the second motor generator 25 are connected is provided so that the power generated by the engine 15 and the second motor generator 25 can be appropriately output according to the traveling state of the vehicle. The transmission 10 is connected to a first motor generator 20 that is a power distribution means for distributing the power of the engine 15 and the power of the second motor generator 25 when the power of the engine 15 is output. The first motor generator 20 and the second motor generator 25 are known motor generators having both functions of an electric motor and a generator.

  The first motor generator 20 and the second motor generator 25 are connected to a motor generator ECU (Electronic Control Unit) 70 which is electric motor control means for controlling them. The engine 15 is connected to an engine ECU 100 that is an engine control means for controlling the engine 15. These motor generator ECU 70 and engine ECU 100 are connected to each other. Further, the vehicle includes an accelerator opening sensor 65 which is an accelerator opening detecting means for detecting an opening of an accelerator pedal (not shown) operated when driving the vehicle, and a crankshaft 16 which is an output shaft of the engine 15. A crank angle sensor 66 that is a crank angle detection means for detecting the rotation angle of the vehicle and a vehicle speed sensor 67 that is a vehicle speed detection means for detecting the vehicle speed when the vehicle is running are provided, both of which are connected to the engine ECU 100. Yes.

  A first motor generator 20, which is a known motor generator, includes a stator 21 that is a stationary component and a rotor 22 that is a rotational component, and is a first motor connected to the transmission 10. Of the generator 20, the rotor 22 is connected to the transmission 10. The stator 21 is fixed to the vehicle body (not shown). Similarly to the first motor generator 20, the second motor generator 25 also has a stator 26 that is a stationary component and a rotor 27 that is a rotational component, and the stator 26 is fixed to the vehicle body. The rotor 27 is connected to the transmission 10.

  The transmission 10 includes a first planetary gear mechanism 30, a second planetary gear mechanism 40, a dog clutch 50 that is a meshing engagement device, a rotor 27 of the second motor generator 25, and an output shaft 11 of the transmission 10. And a second motor / generator transmission 12 that connects the two. Among these, the first planetary gear mechanism 30 is provided so as to rotate integrally with the rotor 22 of the first motor generator 20, and a sun gear shaft 31, which is a hollow shaft through which the crankshaft 16 of the engine 15 passes, A sun gear 32 that rotates integrally with the sun gear shaft 31, a plurality of planetary gears (planetary gears) 33 that revolve around the sun gear 32 while meshing with the sun gear 32, and the outer side of the planetary gear 33 in the radial direction centered on the axis of the sun gear shaft 31 A ring gear 34 that meshes with the planetary gear 33 and a carrier 35 that rotatably supports the planetary gear 33 around the axis of the sun gear shaft 31 and rotates integrally with the crankshaft 16 of the engine 15.

  Further, the second planetary gear mechanism 40 is a hollow shaft that is provided so that a hub 51 provided as a meshing portion of the dog clutch 50 rotates integrally and through which the output shaft 11 provided coaxially with the crankshaft 16 passes. A certain sun gear shaft 41, a sun gear 42 that rotates integrally with the sun gear shaft 41, a plurality of planetary gears 43 that revolve around the sun gear 42, and a planetary gear 43 in the radial direction centered on the axis of the sun gear shaft 41. A ring gear 44 that is provided outside and meshes with the planetary gear 43, and a carrier 45 that supports the planetary gear 43 rotatably around the axis of the sun gear shaft 41 and rotates integrally with the ring gear 34 of the first planetary gear mechanism 30. And.

  Further, the planetary gear 33 of the first planetary gear mechanism 30 revolves around the sun gear 32 of the first planetary gear mechanism 30 in conjunction with the rotation of the ring gear 44 of the second planetary gear mechanism 40. The ring gear 44 of the second planetary gear mechanism 40 and the connecting member 46 are connected. The first planetary gear mechanism 30 and the second planetary gear mechanism 40 may have the same structure and operation as those provided in the known transmission 10, and thus detailed description thereof is omitted. Further, the torque of the first motor generator 20 and the torque of the engine 15 are provided to the dog clutch 50 through the first planetary gear mechanism 30 and the second planetary gear mechanism 40.

  FIG. 2 is a detailed view of the dog clutch shown in FIG. The dog clutch 50 includes a hub 51 that is a first engagement element, and a fixing portion 55 that is fixed to the vehicle body. Among these, the hub 51 is provided with a plurality of teeth 52 that are tooth portions over the entire outer circumference, and a tooth groove 53 is formed between the adjacent teeth 52 and the teeth 52. The fixing portion 55 is provided with a brake member 56 that is a second engaging element that is arranged coaxially with the hub 51 and includes a plurality of teeth 57 that are tooth portions on the outer periphery. Similarly, a tooth gap 58 is formed between adjacent teeth 57. The hub 51 and the brake member 56 are opposed to each other in the axial direction of the sun gear shaft 31 (see FIG. 1), and teeth 52 and 57 provided in each are arranged in directions facing each other. Further, the brake member 56 is provided so as to be able to reciprocate in the axial direction of the sun gear shaft 31 and to prevent rotation around the axial line.

  The dog clutch 50 drives the brake member 56 between an engagement position where the brake member 56 and the hub 51 are engaged and a release position where the brake member 56 and the hub 51 are separated from each other. The actuator 60, a gap sensor 61 that is a gap detection means for detecting the distance between the hub 51 and the brake member 56 by outputting a signal corresponding to the distance between the hub 51 and the brake member 56, and the hub 51 And a rotation speed sensor 62 which is a rotation speed detection means for detecting the rotation speed of the hub 51 by outputting a signal corresponding to the rotation speed of the hub 51. These actuator 60, gap sensor 61, and rotation speed sensor 62 are connected to motor generator ECU 70.

  The dog clutch 50 is provided so that the distance between the hub 51 and the brake member 56 can be changed by driving the brake member 56 with the actuator 60. For this reason, the dog clutch 50 can transmit torque between the hub 51 and the brake member 56 because the teeth 52 and 57 of the hub 51 and the brake member 56 mesh with each other. The engagement state, which is a simple state, and the disengagement state, in which the torque is not transmitted between the hub 51 and the brake member 56, are provided so as to be separated by separating both the teeth 52, 57.

  FIG. 3 is a detailed view of the engine ECU and the motor generator ECU shown in FIG. The motor generator ECU 70 connected to the first motor generator 20 and the second motor generator 25 is provided so as to be able to control the first motor generator 20 and the like, and the engine ECU 100 connected to the engine 15 is the engine 15. Is provided to be controllable. Of these ECUs, the motor generator ECU 70 will be described first. The motor generator ECU 70 is provided with a processing unit 71, a storage unit 90, and an input / output unit 91, which are connected to each other and can exchange signals with each other. It has become. The first motor generator 20, the second motor generator 25, the actuator 60, the gap sensor 61, the rotation speed sensor 62, and the engine ECU 100 connected to the motor generator ECU 70 are connected to the input / output unit 91. Unit 91 inputs and outputs signals to and from these first motor generator 20 and engine ECU 100. Further, the storage unit 90 stores a computer program for controlling the drive device 1 with a dog clutch according to the embodiment. The storage unit 90 is a hard disk device, a magneto-optical disk device, a nonvolatile memory such as a flash memory (a storage medium that can only be read such as a CD-ROM), or a RAM (Random Access Memory). A volatile memory or a combination thereof can be used.

  The processing unit 71 includes a memory and a CPU (Central Processing Unit), and includes a motor generator output control unit 72 that is an electric motor output control unit that controls torque of the first motor generator 20 and the second motor generator 25. The clutch control unit 73, which is an engagement device control means for controlling the engagement and release of the dog clutch 50, is stored in the storage unit 90 of the motor generator ECU 70, and is controlled by the first motor generator torque swing control. 1 has a counter control unit 74 that is a counter control means for controlling a counter that counts the number of times the torque of the motor generator 20 is shaken.

  The processing unit 71 is a dog clutch based on the driving condition acquisition unit 75 that is a driving condition acquisition unit that acquires the driving condition of the engine 15 and the driving condition of the vehicle, and the driving condition of the engine 15 acquired by the driving condition acquisition unit 75. And a correction amount acquisition unit 76 that is a correction value acquisition unit that acquires a learning correction amount that is a correction value when 50 release control is performed.

  Further, the processing unit 71 is an equilibrium that is a torque of the first motor generator 20, the second motor generator 25, and the engine 15 that can make the torque acting between the hub 51 of the dog clutch 50 and the brake member 56 substantially zero. When the torque output command is given to the balanced torque calculation unit 77 that calculates the torque, and to the first motor generator 20, the second motor generator 25, and the engine 15, the command is sent to the first motor generator 20, the second motor generator 25, and the engine 15. A command torque calculator 78 that is a command torque calculator that calculates a command torque that is a torque to be transmitted, and a torque that is a torque request value calculator that calculates a torque request value that is a torque that the driver of the vehicle requests the vehicle A torque that can be output when the required value calculation unit 79 and the dog clutch 50 are engaged. Has a maximum output torque calculating unit 80 is the maximum output torque calculating means for calculating the maximum output torque is the maximum value of the click, the.

  Further, the processing unit 71 corresponds to a torque estimation unit 81 that is a torque estimation unit that estimates the actual torque output by the first motor generator 20 during operation, and the state of the dog clutch 50 during the release control of the dog clutch 50. The correction amount setting unit 82 is a correction value setting unit that corrects the learning correction amount acquired by the correction amount acquisition unit 76 and is newly set.

  The processing unit 71 is a torque determination unit that compares the torque with an engagement state determination unit 83 that is an engagement state determination unit that determines whether or not the dog clutch 50 is engaged. Torque determination unit 84, release determination unit 85 that is a release determination unit that determines whether or not dog clutch 50 is released, and engagement device abnormality processing that performs clutch abnormality processing that is processing when abnormality occurs in dog clutch 50 And an abnormality processing unit 86 as means.

  Further, the basic configuration of engine ECU 100 is the same as that of motor generator ECU 70, and engine ECU 100 includes processing unit 101, storage unit 107, and input / output unit 108, similar to motor generator ECU 70. The processing unit 101, the storage unit 107, and the input / output unit 108 are connected to each other and can exchange signals with each other. The engine 15, accelerator opening sensor 65, crank angle sensor 66, vehicle speed sensor 67, and motor generator ECU 70 connected to the engine ECU 100 are connected to the input / output unit 108. Signals are input to and output from the engine 15 and the motor generator ECU 70. The storage unit 107 stores a computer program for controlling the dog clutch-equipped drive device 1 according to the embodiment, similarly to the storage unit 90 of the motor generator ECU 70. The processing unit 101 includes a memory and a CPU, and includes an engine output control unit 102 that is an engine output control unit that performs output control of the engine 15.

  The control of the first motor generator 20 and the like controlled by the motor generator ECU 70 and the engine ECU 100 is performed by, for example, the processing unit 71 of the motor generator ECU 70 using the computer program as a processing unit based on an output signal from a rotational speed sensor or the like. Control is performed by operating the first motor generator 20 or the actuator 60 in accordance with the result of the calculation by reading it into the incorporated memory. At this time, the processing units 71 and 101 of the motor generator ECU 70 and the engine ECU 100 appropriately store numerical values in the middle of the calculation in the respective storage units 90 and 107, and take out the stored numerical values and execute the calculation. When controlling the first motor generator 20 and the like in this way, it may be controlled by dedicated hardware different from the motor generator ECU 70 and the engine ECU 100 instead of the computer program.

  The drive device 1 with a dog clutch according to this embodiment is configured as described above, and the operation thereof will be described below. In the vehicle provided with the dog clutch-equipped drive device 1 according to the embodiment, the output of the engine 15 is controlled by the engine ECU 100 according to the opening degree of an accelerator pedal provided in the vehicle interior during driving. That is, based on the detection results by various sensors such as the accelerator opening detected by the accelerator opening sensor 65 and the rotational speed of the engine 15 detected by detecting the angular speed of the crankshaft 16 by the crank angle sensor 66, The ECU 100 controls the rotation speed and torque of the engine 15 by controlling the opening of a throttle valve (not shown) provided in the engine 15 and the amount of fuel injected by a fuel injector (not shown).

  The detection results of various sensors such as the detection results of the accelerator opening sensor 65 and the crank angle sensor 66 acquired by the engine ECU 100 are transmitted to the motor generator ECU 70 via the engine ECU 100 or directly from the various sensors. The motor generator ECU 70 controls the first motor generator 20 and the second motor generator 25 based on the detection results of these sensors.

  Among these, the first motor generator 20 operates the first planetary gear mechanism 30 and the second planetary gear mechanism 40 to change the gear ratio when the power generated in the engine 15 is output from the output shaft 11 of the transmission 10. Adjustment is made, and power distribution when the power of the engine 15 and the power of the second motor generator 25 are output from the output shaft 11 is adjusted. Further, the second motor generator 25 generates power used for traveling of the vehicle based on detection results of various sensors such as the accelerator opening sensor 65.

  Further, the motor generator ECU 70 functions as the generator based on the state of charge of a battery (not shown) connected to the first motor generator 20 or the second motor generator 25. Control is also performed.

  Further, the motor generator ECU 70 controls the engagement and release of the dog clutch 50 by controlling the actuator 60 that can drive the brake member 56 of the dog clutch 50. That is, the brake member 56 is driven by the actuator 60 according to the running state of the vehicle obtained from various sensors, and the brake member 56 is set to the engagement position or the release position.

  When the brake member 56 is driven to the engaged position by the actuator 60, the teeth 52 of the hub 51 and the teeth 57 of the brake member 56 are engaged with each other, whereby the brake member 56 and the hub 51 are engaged, and the dog clutch 50 is engaged. Switch to engaged state. In this way, when the dog clutch 50 is switched to the engaged state, the transmission 10 is a so-called overdrive (O / O) in which the rotational speed of the engine 15, that is, the rotational speed of the crankshaft 16 is smaller than the rotational speed of the output shaft 11. Switch to the state of D). On the other hand, when the brake member 56 is driven to the release position by the actuator 60, the teeth 52 of the hub 51 and the teeth 57 of the brake member 56 are separated to be in a released state, whereby the dog clutch 50 is switched to the released state. In this case, the overdrive state of the transmission 10 is released.

  The motor generator ECU 70 determines whether the dog clutch 50 is to be operated in the engaged state or the released state according to the output requested by the vehicle from the driver, the traveling condition of the vehicle, and the like, and the state needs to be switched. In this case, the operation of the actuator 60 is controlled so as to switch to the state to be operated. For example, when the condition for switching the dog clutch 50 from the disengaged state to the engaged state is satisfied, the motor generator ECU 70 controls the rotational speed and torque of the first motor generator 20 to control the tooth 52 of the hub 51 and the tooth groove of the brake member 56. Then, the operation of the actuator 60 is controlled so that the teeth 52 of the hub 51 and the teeth 57 of the brake member 56 are engaged with each other. Similarly, when the condition for switching the dog clutch 50 from the engaged state to the released state is satisfied, the motor generator ECU 70 controls the rotational speed and torque of the first motor generator 20 to control the teeth 52 of the hub 51 and the brake member. The torque acting between the 56 teeth 57 is adjusted to substantially zero, and then the operation of the actuator 60 is controlled so that the hub 51 and the brake member 56 are separated.

  Here, the relationship between the rotational speeds of the respective parts when the dog clutch 50 is engaged will be described. FIG. 4 is a collinear diagram when the dog clutch is in an engaged state. In addition, the vertical axis | shaft of FIG. 4 has shown the rotation speed. 4 indicate the sun gear 32, the carrier 35, and the ring gear 34 of the first planetary gear mechanism 30 respectively, and the symbols S ′, C ′, and R ′ indicate the second planetary gear mechanism 40, respectively. The sun gear 42, the carrier 45, and the ring gear 44 are shown. As shown in FIG. 4, when the dog clutch 50 is in the engaged state, the sun gear 42 of the second planetary gear mechanism 40 is fixed so as not to rotate and is locked so that the engine 15 and the first motor generator are centered on that portion. 20 and the rotation speed of the second motor generator 25 change.

  FIG. 5 is a flowchart illustrating a processing procedure of the drive device with the dog clutch according to the embodiment. Next, the control method of the drive device 1 with a dog clutch according to the embodiment, that is, the processing procedure of the drive device 1 with a dog clutch will be described. In the following description, a processing procedure for performing clutch release control that is control when releasing the engaged dog clutch 50 will be described.

  When clutch release control is performed by the dog clutch-equipped drive device 1 according to the embodiment, it is first determined whether or not the dog clutch 50 is engaged (step ST101). This determination is made by an engagement state determination unit 83 included in the processing unit 71 of the motor generator ECU 70. The engagement state determination unit 83 determines whether or not the dog clutch 50 is engaged based on the detection result of the gap sensor 61 that detects the distance between the hub 51 of the dog clutch 50 and the brake member 56. That is, the engagement state determination unit 83 determines that the dog clutch 50 is engaged when the distance between the hub 51 and the brake member 56 is equal to or less than a predetermined value based on the detection result of the gap sensor 61. If the distance between the hub 51 and the brake member 56 is greater than a predetermined value from the detection result of the sensor 61, it is determined that the dog clutch 50 is not engaged. If it is determined by this determination that the dog clutch 50 is not engaged, the processing procedure is exited.

  If it is determined by the determination in the engagement state determination unit 83 (step ST101) that the dog clutch 50 is engaged, next, engine operating conditions and vehicle travel conditions are acquired (step ST102). These acquisitions are acquired by the operating condition acquisition unit 75 included in the processing unit 71 of the motor generator ECU 70. The driving condition acquisition unit 75 acquires the driving conditions of the engine 15 and the vehicle driving conditions via the engine ECU 100. As the operating condition of the engine 15, for example, the accelerator opening detected by the accelerator opening sensor 65, the rotation speed of the crankshaft 16 detected by the crank angle sensor 66, and the like are acquired. Further, the vehicle speed detected by the vehicle speed sensor 67 is acquired as the vehicle running condition.

  Next, a torque request value Td required by the vehicle driver for the vehicle is calculated (step ST103). This acquisition is calculated by a torque request value calculation unit 79 included in the processing unit 71 of the motor generator ECU 70. The torque request value calculation unit 79 calculates a torque request value Td that the driver requests the vehicle by a known calculation method that calculates based on the accelerator opening acquired by the driving condition acquisition unit 75.

  Next, the maximum output torque Todmax during O / D lock is calculated based on the vehicle speed (step ST104). This calculation is performed by a maximum output torque calculation unit 80 included in the processing unit 71 of the motor generator ECU 70. The maximum output torque calculator 80 calculates a maximum output torque Todmax that is the maximum value of torque that can be output in a state where the transmission 10 is locked in the overdrive state. When the maximum output torque Todmax is calculated by the maximum output torque calculation unit 80, the maximum output torque Todmax is calculated based on the engine speed obtained from the vehicle speed and the gear ratio acquired by the driving condition acquisition unit 75 and the engine torque characteristics. The maximum output torque Todmax is calculated based on the portion to output the torque request value Td. That is, when the torque request value Td is a request value of torque output from the output shaft 11 of the transmission 10, the maximum output torque Todmax is also calculated as the maximum value of torque output from the output shaft 11 of the transmission 10. To do.

  Next, it is determined whether the torque request value Td is larger than the maximum output torque Todmax (step ST105). This determination is performed by a torque determination unit 84 included in the processing unit 71 of the motor generator ECU 70. The torque determination unit 84 compares the torque request value Td calculated by the torque request value calculation unit 79 with the maximum output torque Todmax calculated by the maximum output torque calculation unit 80, and whether the torque request value Td is greater than the maximum output torque Todmax. Determine whether or not. If it is determined by this determination that the torque request value Td is not greater than the maximum output torque Todmax, the processing procedure is exited.

  If it is determined by torque determination unit 84 that torque request value Td is greater than maximum output torque Todmax, motor generator ECU 70 executes an O / D lock release control routine (step ST106). Thereafter, this clutch release control is terminated.

  FIG. 6 is a flowchart showing a processing procedure of O / D lock release control. FIGS. 7-1 and FIGS. 7-2 are explanatory diagrams showing the setting states of the learning correction amounts α and β for the engine speed region and the engine water temperature region at the start of shifting. In the O / D lock release control, first, α and β to be quoted are read from the engine speed region and the engine water temperature region at the start of shifting and the learning correction amount storage map (step ST201). This reading is read by the correction amount acquisition unit 76 included in the processing unit 71 of the motor generator ECU 70. The correction amount acquisition unit 76 acquires learning correction amounts α and β when performing the release control of the dog clutch 50 based on the operation condition of the engine 15 acquired by the operation condition acquisition unit 75. These α and β are set for each of the engine speed region and the engine water temperature region at the start of the release control of the dog clutch 50, that is, at the start of the shift of the transmission 10, respectively. It is stored in the storage unit 90 of the ECU 70.

  For example, the engine speed region at the start of shifting is set to a range of N0 to N4 for each range of a predetermined speed N, and the engine water temperature region at the start of shifting is set to T0 to T0 for each range of a predetermined water temperature T. Set the area of T4. As shown in FIGS. 7A and 7B, learning correction values α00 to α44 and β00 to β44 are provided for each of the engine speed regions N0 to N4 at the start of gear shifting and the engine water temperature regions T0 to T4 at the time of gear shifting start, respectively. Set. That is, the engine speed region at the start of shifting and the engine water temperature region at the start of shifting are divided so as to hit each region, and α and β are set for each of the divided regions. As a result, α00 to α44 and β00 to β44 are set, and a map is created. This map is stored in the storage unit 90 of the motor generator ECU 70 as a learning correction amount storage map that is a map in which learning correction amounts are stored for each engine speed region at the start of shifting and for each engine water temperature region at the start of shifting.

  When the correction amount acquisition unit 76 acquires α and β, the learning correction amount stored in the storage unit 90 of the motor generator ECU 70 from the engine speed and the engine water temperature at the start of shifting acquired by the operating condition acquisition unit 75. In the storage map, the learning correction amounts α and β in the corresponding engine speed region and engine water temperature region are read and acquired. That is, when the dog generator 50 is switched from the engaged state to the released state by the clutch release control, the motor generator ECU 70 acquires the learning correction amounts α and β by the operating condition acquisition unit 75 according to the operating condition of the engine 15. Thus, the learning correction amounts α and β are determined.

  Next, constant control of the vehicle speed and torque is executed (step ST202). In this control, the motor generator output control unit 72 included in the processing unit 71 of the motor generator ECU 70 controls the torque of the first motor generator 20 and the second motor generator 25, and the engine output control unit included in the processing unit 101 of the engine ECU 100. This is performed by controlling the torque of the engine 15 at 102. Thereby, the torque of the output shaft 11 of the transmission 10 and the vehicle speed are made constant.

  Next, an equilibrium torque is calculated (step ST203). This calculation is performed by an equilibrium torque calculation unit 77 included in the processing unit 71 of the motor generator ECU 70. The equilibrium torque calculator 77 can adjust the torque of the first motor generator 20 that can be adjusted so that the torque acting between the teeth 52 of the hub 51 of the dog clutch 50 and the teeth 57 of the brake member 56 becomes substantially zero. 2 The torque of the motor generator 25 and the torque of the engine 15 are calculated as the equilibrium torque of each part. These equilibrium torques are calculated by, for example, a well-known calculation method that calculates based on the respective gear ratios of the first planetary gear mechanism 30 and the second planetary gear mechanism 40.

  Next, command torques to be output to the first motor generator 20, the second motor generator 25, and the engine 15 are calculated (step ST204). This calculation is performed by a command torque calculation unit 78 included in the processing unit 71 of the motor generator ECU 70. Of these command torques, the second motor generator command torque, which is the command torque output to the second motor generator 25, is the second motor generator command torque obtained by calculating the balance torque of the second motor generator 25 calculated by the balance torque calculator 77. Calculate as Further, the engine command torque that is the command torque output to the engine 15 is calculated by using the balance torque of the engine 15 calculated by the balance torque calculation unit 77 as the engine command torque.

  Further, the first motor generator command torque that is the command torque output to the first motor generator 20 is calculated by adding the offset value A to the balance torque Tb of the first motor generator 20 calculated by the balance torque calculation unit 77. To do.

  FIG. 8 is an explanatory diagram of the offset value. The equilibrium torque that is calculated by the equilibrium torque calculator 77 and can be adjusted so that the torque acting between the teeth 52 of the hub 51 of the dog clutch 50 and the teeth 57 of the brake member 56 becomes substantially zero. As shown in FIG. 8, the torque acting in the rotational direction when viewed from the dog clutch 50 is a torque that balances at the position of the dog clutch 50. Specifically, the equilibrium torque of the engine 15 is a positive torque with respect to the rotation direction, and the equilibrium torque of the first motor generator 20 and the second motor generator 25 is opposite to the rotation direction. Torque. Further, the offset value A is a torque obtained by offsetting the torque of the first motor generator 20 in the direction opposite to the rotation direction. That is, the offset value A is a torque value in a direction in which the torque of the first motor generator 20 is reduced.

  The command torque calculation unit 78 calculates the first motor generator command torque by adding the offset value A to the balance torque Tb of the first motor generator 20 calculated by the balance torque calculation unit 77. The offset value A is stored in advance in the storage unit 90 of the motor generator ECU 70.

  Next, torque control of the first motor generator 20, the second motor generator 25, and the engine 15 is executed (step ST205). This control is performed by a motor generator output control unit 72 included in the processing unit 71 of the motor generator ECU 70 and an engine output control unit 102 included in the processing unit 101 of the engine ECU 100. The motor generator output control unit 72 is configured so that the torques of the first motor generator 20 and the second motor generator 25 become the first motor generator command torque and the second motor generator command torque calculated by the command torque calculation unit 78. Control for adjusting the torque of the motor generator 20 and the second motor generator 25 is performed. Further, the engine output control unit 102 performs control for adjusting the torque of the engine 15 so that the torque of the engine 15 becomes the engine command torque calculated by the command torque calculation unit 78.

  Next, it is determined whether each torque of the first motor generator 20, the second motor generator 25, and the engine 15 has been adjusted to the command torque (step ST206). That is, it is determined whether or not the torques of the first motor generator 20, the second motor generator 25, and the engine 15−the command torques ≦ the specified values. This determination is performed by a torque determination unit 84 included in the processing unit 71 of the motor generator ECU 70. The torque determination unit 84 determines that the difference between the actual torques of the first motor generator 20, the second motor generator 25, and the engine 15 and the command torques calculated by the command torque calculation unit 78 is that the actual torque becomes the command torque. It is determined whether or not it is equal to or less than a specified value that is a reference for determining whether or not the adjustment has been made.

  That is, when the difference between each actual torque and each command torque is equal to or less than the reference value, the torque determination unit 84 instructs each torque to be the torque of the first motor generator 20, the second motor generator 25, and the engine 15. It is determined that the torque is within an allowable range when adjusting the torque. The prescribed value used for this determination is stored in advance in storage unit 90 of motor generator ECU 70 as a predetermined value that does not affect when dog clutch 50 is released.

  As a result of the determination by the torque determination unit 84, the difference between the actual torques of the first motor generator 20, the second motor generator 25, and the engine 15 and the command torques calculated by the command torque calculation unit is not less than the specified value. If it is determined, feedback correction is executed (step ST207). When this feedback correction is performed, the torque feedback correction of the first motor generator 20 and the second motor generator 25 is performed by the motor generator output control unit 72, and the torque feedback correction of the engine 15 is performed by the engine output control unit 102. .

  After performing the feedback correction, the process returns to step ST205 until the torque determination unit 84 determines in step ST206 that the difference between each actual torque of the first motor generator 20 and the like and each command torque is equal to or less than a specified value. Steps ST205 to ST207 are repeated. That is, the motor generator ECU 70 changes the torques of the first motor generator 20 and the second motor generator 25 in this way by the engine output control unit 102 when the dog clutch 50 is switched from the engaged state to the released state by the clutch release control. Let

  The difference between the actual torques of the first motor generator 20, the second motor generator 25, and the engine 15 and the command torques calculated by the command torque calculation unit 78 is less than or equal to a specified value, as determined by the torque determination unit 84. If it is determined that there is, then a dog clutch release command is output (step ST208). This dog clutch release command is output by a clutch control unit 73 included in the processing unit 71 of the motor generator ECU 70 and is output to each unit necessary for controlling the release of the dog clutch 50. When the clutch control unit 73 outputs a dog clutch release designation, first, the current supplied to the actuator 60 is turned off. That is, by turning off the current supplied to the actuator 60, the operation of the actuator 60 is controlled so that the brake member 56 moves to the release position.

  Next, a first motor generator torque fluctuation control routine is executed (step ST209). Thereafter, this O / D lock release control is terminated.

  FIGS. 9A and 9B are flowcharts showing the processing procedure of the first motor generator torque fluctuation control. In the first motor generator torque swing control, first, the counter C that counts the number of times the torque of the first motor generator 20 is shaken is reset (step ST301). The counter C is controlled by a counter control unit 74 included in the processing unit 71 of the motor generator ECU 70, and the counter C is also reset by the counter control unit 74. This counter is stored in the storage unit 90 of the motor generator ECU 70.

  Next, it is determined whether the counter C is 0 or an even number (step ST302). This determination is performed by the counter control unit. If it is determined by this determination that the counter C is 0 or an even number, a torque reduction command is issued to the first motor generator 20 at the change speed K1 (step ST303). This torque reduction command is issued by the motor generator output control unit 72. The change speed K1 is set in advance as a constant indicating the change in the torque value of the first motor generator 20 per unit time and stored in the storage unit 90 of the motor generator ECU 70. The motor generator output control unit 72 The torque of first motor generator 20 is reduced at this change speed K1. That is, the direction of reducing the torque of the first motor generator 20 that is the torque in the opposite direction to the rotation direction, that is, the direction toward the rotation direction relative to the current torque direction (FIG. 8). , Arrow D), the torque of the first motor generator 20 is adjusted.

  On the other hand, if it is determined by the counter control unit 74 (step ST302) that the counter C is not 0 or even, that is, it is determined that the counter C is an odd number, the first motor generator 20 is changed in speed. A torque increase command is issued at K1 (step ST304). This torque increase command is performed by the motor generator output control unit 72 in the same manner as the torque reduction command, and the torque of the first motor generator 20 that is the torque in the opposite direction to the rotation direction is increased at the change speed K1. .

  As described above, by increasing or decreasing the torque of the first motor generator 20 depending on whether the counter C is an even number or an odd number, the hub 51 of the dog clutch 50 to which the torque of the first motor generator 20 is transmitted swings. Since the change speed K1 is the change speed of the torque that is changed to swing the hub 51 in this way, the change speed K1 is set to a value that can swing the hub 51 at an appropriate speed. . Further, this value may be set as appropriate according to the size of the dog clutch 50 and the like.

  After the motor generator output control unit 72 issues a torque reduction command to the first motor generator 20 (step ST303) or a torque increase command (step ST304), the torque Tmg1 of the first motor generator 20 is then set. Estimation is performed (step ST305). This estimation is performed by a torque estimation unit 81 included in the processing unit 71 of the motor generator ECU 70. The torque estimation unit 81 estimates by a known estimation method performed based on a change in voltage or current applied to the first motor generator 20, and estimates the estimated torque Tmg1 of the first motor generator 20.

  Next, it is determined whether or not | estimated torque Tmg1−equilibrium torque Tb | ≦ learning correction amount α (step ST306). That is, the balance torque Tb of the first motor generator 20 calculated by the balance torque calculation unit 77 is subtracted from the estimated torque Tmg1 estimated by the torque estimation unit 81, and the absolute value of the calculated value is acquired by the correction amount acquisition unit 76. It is determined whether or not it is less than or equal to the learning correction amount α. This determination is performed by a torque determination unit 84 included in the processing unit 71 of the motor generator ECU 70.

  If it is determined by this determination that the absolute value of the value obtained by subtracting the equilibrium torque Tb of the first motor generator 20 from the estimated torque Tmg1 is not less than the learning correction amount α, that is, the equilibrium torque Tb is subtracted from the estimated torque Tmg1. When it is determined that the absolute value of the obtained value is larger than the learning correction amount α, the process returns to step ST302, and it is determined whether the counter C is 0 or an even number. That is, the motor generator output control unit 72 determines the torque of the first motor generator 20 according to the result of comparing the absolute value of the value obtained by subtracting the equilibrium torque Tb from the estimated torque Tmg1 in the torque determination unit 84 and the learning correction amount α. By switching the control, the torque change rate of the first motor generator 20 is corrected with the learning correction amount α.

  If the absolute value of the value obtained by subtracting the equilibrium torque Tb of the first motor generator 20 from the estimated torque Tmg1 is determined by the determination by the torque determination unit 84 (step ST306) to be equal to or less than the learning correction amount α, In addition, a torque command is issued to the first motor generator 20 at the change speed β (step ST307). This torque command is given by the motor generator output control unit 72. This change rate β is the learning correction amount β acquired by the correction amount acquisition unit 76. That is, the motor generator output control unit 72 issues a torque command to the first motor generator 20 so that the torque is changed at a change speed at which the change speed becomes the learning correction amount β acquired by the correction amount acquisition unit 76. . At that time, β has the same sign as the current change rate K1.

  In other words, when the counter control unit 74 determines that the counter C is 0 or an even number (step ST302), and the torque reduction command is issued to the first motor generator 20 at the change speed K1 (step ST303). The motor generator output control unit 72 issues a torque reduction command at the change speed β. On the contrary, when the counter control unit 74 determines that the counter C is not 0 or an even number (step ST302), when the torque increase command is issued to the first motor generator 20 at the change speed K1 ( In step ST304, the motor generator output control unit 72 issues a torque increase command at the change speed β.

  As described above, the motor generator output control unit 72 uses the first motor generator 20 with the direction of the torque to be changed being the same direction as the change rate K1 and the learning correction amount β acquired by the correction amount acquisition unit 76 as the change rate β. Torque command to In other words, the motor generator output control unit 72 corrects the torque change speed of the first motor generator 20 by the learning correction amount β. The change rate β is smaller than the change rate K1.

  Next, it is determined whether or not estimated torque Tmg1 ≦ equilibrium torque Tb−offset value B (step ST308). This determination is performed by the torque determination unit 84. The torque determination unit 84 determines whether or not the estimated torque Tmg1 estimated by the torque estimation unit 81 is equal to or less than a value obtained by subtracting the offset value B from the equilibrium torque Tb of the first motor generator 20 calculated by the equilibrium torque calculation unit 77. judge. It should be noted that this offset value B indicates whether or not the estimated torque Tmg1 has changed to a value near the equilibrium torque Tb that is expected to disengage the teeth 52 of the hub 51 of the dog clutch 50 and the teeth 57 of the brake member 56. Is set as a predetermined value for determining whether or not the motor generator ECU 70 is stored in advance. The offset value B is appropriately set according to the size of the hub 51 and the brake member 56 and the like.

  As a result of determination by the torque determination unit 84 (step ST308), the estimated torque Tmg1 is not less than or equal to the value obtained by subtracting the offset value B from the equilibrium torque Tb. That is, the estimated torque Tmg1 is obtained by subtracting the offset value B from the equilibrium torque Tb. If it is determined that the distance is greater than the value, it is determined whether or not the distance between the hub 51 of the dog clutch 50 and the brake member 56 is greater than a predetermined distance (step ST309). This determination is a first release determination when determining whether or not the dog clutch 50 is released, and the determination is performed by the release determination unit 85 included in the processing unit 71 of the motor generator ECU 70. The release determination unit 85 acquires the detection result of the gap sensor 61 that detects the distance between the hub 51 and the brake member 56, and the acquired distance between the hub 51 and the brake member 56 is greater than a predetermined distance. It is determined whether or not.

  The predetermined distance is stored in advance in the storage unit 90 of the motor generator ECU 70 as a determination distance from which it can be determined that the distance between the hub 51 and the brake member 56 is reliably separated. Further, the detection of the distance between the hub 51 and the brake member 56 may be other than the detection by the gap sensor 61. For example, the detection is based on the stroke amount of the actuator 60, or when the actuator 60 is an electric type, the actuator 60 may be detected based on a change in current when the brake member 56 is moved in the direction opposite to the hub 51.

  When it is determined by the release determination unit 85 that the distance between the hub 51 and the brake member 56 is not greater than a predetermined distance, that is, when it is determined that the dog clutch 50 is in the engaged state. In step ST308, the torque determination unit 84 determines (step ST308) that the estimated torque Tmg1 is less than or equal to the value obtained by subtracting the offset value B from the equilibrium torque Tb, or the release determination unit 85 In step ST309, steps ST308 to ST309 are repeated until it is determined that the distance between the hub 51 and the brake member 56 is greater than the predetermined distance.

  On the other hand, it is determined that the estimated torque Tmg1 is equal to or less than the value obtained by subtracting the offset value B from the equilibrium torque Tb by the determination at the torque determination unit 84 (step ST308), or the determination at the release determination unit 85 (step If it is determined in ST309) that the distance between the hub 51 and the brake member 56 is greater than the predetermined distance, it is determined whether or not the rotational speed of the hub 51 of the dog clutch 50 is equal to or higher than the predetermined rotational speed. (Step ST310). This determination is a second release determination when determining whether or not the dog clutch 50 is released, and the determination is performed by the release determination unit 85 included in the processing unit 71 of the motor generator ECU 70. The release determination unit 85 acquires the detection result of the rotation speed sensor 62 that detects the rotation speed of the hub 51, and determines whether or not the acquired rotation speed of the hub 51 is equal to or higher than a predetermined rotation speed.

  This predetermined rotation speed is stored in advance in storage unit 90 of motor generator ECU 70 as a determination rotation speed at which it can be determined that the distance between hub 51 and brake member 56 has been reliably separated. That is, since the dog clutch 50 is provided so that the brake member 56 does not rotate, when the rotation speed of the hub 51 is equal to or higher than a predetermined rotation speed, the hub 51 and the brake member 56 are separated from each other. It can be determined that the state has been switched to the released state. The number of rotations of the hub 51 stored in the storage unit 90 of the motor generator ECU 70 and used for the determination by the release determination unit 85 is a number of rotations that can determine whether or not the dog clutch 50 has been switched in this way.

  If it is determined by the release determination unit 85 (step ST310) that the rotation speed of the hub 51 is not equal to or higher than the predetermined rotation speed, that is, if it is determined that the dog clutch 50 is in the engaged state, Next, the counter control unit 74 determines whether or not the counter C is greater than 0 (step ST311). If it is determined by the counter control unit 74 that the counter C is not greater than 0, that is, the counter C is 0, the torque change speed is then reduced (step ST312). The torque change speed is reduced by a correction amount setting unit 82 included in the processing unit 71 of the motor generator ECU 70. Specifically, the correction amount setting unit 82 subtracts a predetermined value σ from the learning correction amount β acquired by the correction amount acquisition unit 76, that is, the change rate β, and sets the obtained value as a new change rate β. . That is, the correction amount setting unit 82 calculates β = β−σ and sets a new change rate β. The predetermined value σ is stored in the storage unit 90 as a value that can gradually decrease the change rate β.

  Next, the value of the counter C is incremented by 1 (step ST313). That is, the counter control unit 74 calculates counter C = C + 1 and increments the value of counter C by one. After the counter C is incremented, the process returns to step ST302.

  On the other hand, if it is determined by the counter control unit 74 (step ST311) that the counter C is greater than 0, the counter control unit 74 then determines whether or not counter C> Max. Determination is made (step ST314). That is, the counter control unit 74 determines whether or not the counter C is greater than the upper limit value Max set in advance as the upper limit value of the counter C. The upper limit value Max is stored in advance in the storage unit 90 of the motor generator ECU 70 as a determination value that can determine whether or not the dog clutch 50 has an abnormality. That is, when the dog clutch 50 is disengaged, it can be determined that there is an abnormality in the dog clutch 50 if the disengagement does not occur even if the torque of the first motor generator 20 is repeatedly increased and decreased. For this reason, the upper limit value Max of the counter C that is increased by repeatedly increasing and decreasing the torque of the first motor generator 20 is not released even if the torque of the first motor generator 20 is repeatedly increased and decreased. It is set as a determination value of the counter C that can determine that the dog clutch 50 is abnormal.

  If it is determined by the counter control unit 74 (step ST314) that the counter C is not larger than the upper limit value Max, that is, the counter C is less than or equal to the upper limit value Max, then the torque change speed change is performed. The area is enlarged (step ST315). The expansion of the torque change rate changing region is performed by the correction amount setting unit 82 of the motor generator ECU 70. Specifically, the correction amount setting unit 82 adds a predetermined value γ to the learning correction amount α acquired by the correction amount acquisition unit 76, and sets the obtained value as a new learning correction amount α. That is, the correction amount setting unit 82 calculates α = α + γ and sets a new learning correction amount α.

  The learning correction amount α is compared with the difference between the estimated torque Tmg1 and the equilibrium torque Tb of the first motor generator 20 (step ST306), thereby determining whether or not the torque of the first motor generator 20 is continuously changed at the change speed K1. In other words, the learning correction amount α is a reference value for determining whether or not to change the torque of the first motor generator 20 from the change speed K1. For this reason, when learning correction amount (alpha) is enlarged, the area | region which changes the change speed of the torque of the 1st motor generator 20 from K1 becomes large. That is, the correction amount setting unit 82 calculates α = α + γ and sets a new learning correction amount α, thereby expanding the torque change speed changing region of the first motor generator 20. The predetermined value γ is stored in the storage unit 90 as a value that can gradually expand the torque change speed change region. After enlarging the torque change speed changing region in the correction amount setting unit 82, the process proceeds to step ST313, the counter C is incremented by 1, and the process returns to step ST302.

  On the other hand, if it is determined by the counter control unit 74 (step ST314) that the counter C is larger than the upper limit value Max, then a clutch abnormality process is executed (step ST316). This clutch abnormality process is performed by an abnormality processing unit 86 included in the processing unit 71 of the motor generator ECU 70. For example, the abnormality processing unit 86 turns on an abnormality lamp provided in an instrument panel (not shown) provided near the driver's seat of the vehicle so as to notify the driver that the dog clutch 50 is abnormal. Thereafter, the control returns to the clutch release control (FIG. 5), and the clutch release control is terminated.

  On the other hand, when it is determined by the determination in the release determination unit 85 (step ST310) that the rotational speed of the hub 51 is equal to or higher than the predetermined rotational speed, that is, when it is determined that the dog clutch 50 is in the released state. Next, the control routine at the end of O / D lock release control is executed (step ST317).

  FIG. 10 is a flowchart showing a processing procedure of control at the time of termination of O / D lock release control. In the control at the end of the O / D lock release control, α and β are written to the corresponding learning correction amount storage map from the engine speed region and the engine water temperature region at the start of the shift (step ST401). This writing is performed by the correction amount setting unit 82 of the processing unit 71 of the motor generator ECU 70. The correction amount setting unit 82 stores the α newly set in step ST315 and the β newly set in step ST312 based on the operating condition of the engine 15 acquired by the operating condition acquiring unit 75. The learning correction amount storage map stored in 90 is written. That is, the correction amount setting unit 82 corresponds to the engine rotation speed region and the engine water temperature region acquired by the operating condition acquisition unit 75 at the start of shifting in the learning correction amount storage map stored in the storage unit 90 of the motor generator ECU 70. The α and β of the portion to be changed are rewritten to α and β newly set by the correction amount setting unit 82.

  Next, the counter control unit 74 resets the counter C (step ST402). After resetting the counter C, the control at the end of the O / D lock release control is terminated and the control returns to the first motor generator torque swing control (FIGS. 9-1 and 9-2). The swing control is terminated and the process returns to the O / D lock release control (FIG. 6). Further, the O / D lock release control is exited to return to the clutch release control (FIG. 5), and the clutch release control is terminated. After completing the clutch release control, normal shift control is performed.

  FIG. 11 is a collinear diagram when the dog clutch is in a released state. When the dog clutch 50 is switched to the released state, the rotation directions of the engine 15, the first motor generator 20, and the second motor generator 25 are the same. That is, the rotation direction of the first motor generator 20 is reversed before and after the dog clutch 50 is switched to the released state. Therefore, the direction of the torque of the first motor generator 20 is also reversed before and after the dog clutch 50 is switched to the released state. In FIG. 11, the direction of the torque of the first motor generator 20 is the same as that before the dog clutch 50 is switched to the released state (FIG. 8), but the rotation direction of the first motor generator 20 is reversed. Therefore, this torque is a torque acting in the opposite direction to that before switching to the dog clutch release state.

  FIG. 12 is an explanatory diagram showing changes in the current of the actuator, the relative rotational speed between the hub and the brake member, and the torque of the first motor generator over time during the dog clutch release control. When the release control of the dog clutch 50 is performed, the dog clutch 50 is released while changing the torque change speed of the first motor generator 20 as described above. That is, when the dog clutch 50 is engaged and the dog clutch release command is output, the current of the actuator 60 that drives the brake member 56 is turned off (step ST208). At this stage, since the dog clutch 50 remains engaged, the relative rotational speed between the hub 51 and the brake member 56 is zero. In this state, when the motor generator output control unit 72 issues a torque reduction command (step ST303) or a torque increase command (step ST304) to the first motor generator 20 at the change speed K1, the first motor generator 20 The torque changes. The change speed K1 is the first change speed when the torque of the first motor generator 20 changes.

  When it is determined that the absolute value of the calculated value is equal to or less than the learning correction amount α by subtracting the equilibrium torque Tb from the estimated torque Tmg1 of the first motor generator 20 (step ST306), the motor generator output control unit At 72, a torque command is issued to the first motor generator 20 at a change speed β (step ST307). As a result, the torque of the first motor generator 20 changes. This change rate β is the second change rate when the torque of the first motor generator 20 changes.

  That is, the switching point from the change speed first to the change speed second when changing the torque of the first motor generator 20 is the equilibrium torque Tb + the learning correction amount α, and the first change is made at the change speed first. When the estimated torque Tmg1 of the motor generator 20 becomes smaller than the equilibrium torque Tb + the learning correction amount α, the torque change speed is switched from the change speed first to the change speed second. Thus, when changing the torque of the first motor generator 20, the motor generator ECU 70 changes the change speed by switching from the change speed first to the change speed second. Further, the motor generator ECU 70 has a learning correction amount α, which is a value for correcting the switching point from the first change speed to the second change speed, as a correction value when changing the torque of the first motor generator 20, and the change speed. A learning correction amount β that is a value for correcting the degree of the second change is used.

  Further, since the change rate β is smaller than the change rate K1, the change rate second that is the change rate β is smaller than the change rate first that is the change rate K1. That is, the change speed second is smaller than the change speed first, and the degree of torque change is smaller than the change speed first.

  When the torque of the first motor generator 20 is changed in this way while the current of the actuator 60 is turned off to bring the torque close to the equilibrium torque Tb, the hub 51 and the brake member 56 are released. When the hub 51 and the brake member 56 are released, the hub 51 rotates, so that the relative rotational speed between the hub 51 and the brake member 56 starts to increase.

  Therefore, in the second release determination (step ST310) in which it is determined whether or not the dog clutch 50 has been released by determining whether or not the rotation speed of the hub 51 of the dog clutch 50 is a predetermined rotation speed, the first motor The release determination is performed in a state where the torque of the generator 20 continues to change at the change speed second. In the second release determination, when the rotation speed of the hub 51 becomes equal to or higher than the predetermined rotation speed, that is, when the relative rotation speed between the hub 51 and the brake member 56 becomes equal to or higher than the predetermined rotation speed, the release is performed. judge. When it is determined that the dog clutch 50 has been released, the first motor generator 20 controls the torque by normal shift control.

  When the dog clutch 50 is switched from the engaged state to the released state, the drive device 1 with the dog clutch determines the learning correction amounts α and β of the change rate of the torque of the first motor generator 20 according to the operating condition of the engine 15. Therefore, when the dog clutch 50 is switched to the released state, the torque of the first motor generator 20 is transmitted to the dog clutch 50 at a change speed suitable for the operating condition of the engine 15. Can do. As a result, when the dog clutch 50 is brought into the released state, the torque suitable for the operating condition of the engine 15 is released in a state where it is applied to the dog clutch 50. Therefore, even when the torque of the engine 15 changes depending on the operating condition. Torque suitable for releasing can be made to act on the dog clutch 50 to be in the released state. As a result, a desired release characteristic can be obtained when the dog clutch 50 is released.

  Further, a change speed first and a change speed second are set as the torque change speed of the first motor generator 20, and a value used when correcting the switching point from the change speed first to the change speed second as a correction value. Therefore, the switching point from the first change speed to the second change speed can be set according to the operating conditions of the engine 15, and the torque change speed of the first motor generator 20 can be set. The speed of change according to the operating conditions of the engine 15 can be achieved. Further, although the correction value is a value for correcting the degree of change of the second change speed, since the learning correction amount β is also used, the change speed of the torque of the first motor generator 20 can be more reliably adapted to the operating conditions of the engine 15. Change speed. As a result, when the dog clutch 50 is released, the dog clutch 50 can be released by applying a torque suitable for the release to the dog clutch 50 according to the operating condition of the engine 15. As a result, a desired release characteristic can be obtained more reliably when the dog clutch 50 is released.

  In addition, when the change speed first and the change speed second are compared, the change speed first is larger than the change speed second, or the change speed second changes more than the change speed first. Since the speed is reduced, the desired release characteristics can be obtained more reliably. That is, since the change speed of the torque of the first motor generator 20 is large, the change speed 1 is released when the actual torque of the first motor generator 20 is brought close to the equilibrium torque Tb during the release control of the dog clutch 50. After starting the control, the actual torque can be brought close to the equilibrium torque Tb as soon as possible. In addition, since the change speed of the torque of the first motor generator 20 is small in the change speed second, when the actual torque of the first motor generator 20 approaches the equilibrium torque Tb, The torque can be adjusted with high accuracy and the dog clutch 50 can be released. As a result, a desired release characteristic can be obtained more reliably when the dog clutch 50 is released.

  Further, since the two correction values of the learning correction amount α and the learning correction amount β are used as correction values for correcting the torque change speed of the first motor generator 20 during the release control of the dog clutch 50, the first motor generator 20 is used. When the torque change speed is corrected, the change speed according to the operating condition of the engine can be set in any region. That is, by using two correction values as correction values for correcting the torque change speed of the first motor generator 20, both the change speeds of the first change speed and the second change speed are determined according to the engine operating conditions. Change speed. As a result, a desired release characteristic can be obtained more reliably when the dog clutch 50 is released.

  Further, the learning correction amounts α and β are set according to the operating conditions of the engine 15, and when the dog clutch 50 is released from the engaged state during the release control of the dog clutch 50, Since the learning correction amounts α and β are updated, the learning correction amounts α and β can be more reliably set to correction values suitable for the operating conditions of the engine 15. As a result, a desired release characteristic can be obtained more reliably when the dog clutch 50 is released.

  Further, since the rotation speed of the engine 15 at the start of the shift and the water temperature of the engine 15 at the start of the shift are used as the operating conditions of the engine 15, the torque of the first motor generator 20 that acts on the dog clutch 50 when the dog clutch 50 is released. The change rate can be changed to a change rate suitable for the operating conditions of the engine 15 more reliably. As a result, a desired release characteristic can be obtained more reliably when the dog clutch 50 is released.

  In the drive device 1 with a dog clutch according to the embodiment, the dog clutch 50 is provided such that one of the set of engaging elements is a rotatable hub 51 and the other is prevented from rotating. However, both of the dog clutches 50 may be rotatably provided. That is, the dog clutch 50 may be provided such that both the first engagement element and the second engagement element are rotatable. Even when both the first engagement element and the second engagement element are rotatably provided, the first motor capable of transmitting torque to the dog clutch 50 when the dog clutch 50 is switched from the engaged state to the released state. It is suitable for release by changing the torque of the electric motor which is the generator 20, determining a correction value of the change speed of the torque of the electric motor according to the operating condition of the engine 15, and correcting the change speed with the determined correction value. Torque can be applied to the dog clutch 50 to release the dog clutch 50. As a result, a desired release characteristic can be obtained when the dog clutch 50 is released.

  Further, in the drive device 1 with the dog clutch according to the embodiment, as the operating condition of the engine 15 for determining the change speed of the torque of the first motor generator 20 during the release control of the dog clutch 50, the rotation speed of the engine 15 at the start of shifting, Although the water temperature of the engine 15 at the start of shifting is used, other operating conditions of the engine 15 may be used. As operating conditions of the engine 15, for example, the torque of the engine 15 may be used instead of the rotational speed of the engine 15, and the oil temperature of the engine 15 may be used instead of the water temperature of the engine 15. The operating condition of the engine 15 that determines the speed of change of the torque of the first motor generator 20 is thus at least one of the rotational speed of the engine 15 and the torque of the engine 15, the water temperature of the engine 15, and the engine 15. It is preferable to use at least one of the oil temperatures.

  A first motor that acts on the dog clutch 50 when the dog clutch 50 is released by using the output of the engine 15 such as the rotational speed and torque of the engine 15 and the temperature such as the water temperature and oil temperature of the engine 15 as operating conditions of the engine 15. The change speed of the torque of the generator 20 can be more reliably set to a change speed suitable for the operating conditions of the engine 15. As a result, a desired release characteristic can be obtained more reliably when the dog clutch 50 is released. Note that the rotational speed of the engine 15 can be determined when the engine is operating, whereas the torque of the engine 15 varies depending on the accelerator opening or the like even when the rotational speed is the same. For this reason, when the engine speed is used as the operating condition of the engine 15, the engine speed at the time of the shift output is used, and when the torque of the engine 15 is used, the average value of the engine torque at the time of the gear shift output. It is desirable to use

  As described above, the drive device with the meshing engagement device according to the present invention is useful for the drive device with the meshing engagement device capable of adjusting the torque acting on the meshing engagement device by the electric motor. When the engagement device is changed from the engagement state to the release state, it is suitable for a drive device with a meshing engagement device in which the torque of the engine affects the control at the time of release.

It is the schematic of the drive device with a meshing engagement device concerning an example. FIG. 2 is a detailed view of a dog clutch shown in FIG. 1. FIG. 2 is a detailed view of an engine ECU and a motor generator ECU shown in FIG. 1. It is an alignment chart in case a dog clutch is an engagement state. It is a flowchart which shows the process sequence of the drive device with a dog clutch which concerns on an Example. It is a flowchart which shows the process sequence of O / D lock release control. It is explanatory drawing which shows the setting state of learning correction amount (alpha) with respect to the engine speed area | region and engine water temperature area | region at the time of the shift start. It is explanatory drawing which shows the setting state of learning correction amount (beta) with respect to the engine speed area | region and engine water temperature area | region at the time of the shift start. It is explanatory drawing of an offset value. It is a flowchart which shows the process sequence of 1st motor generator torque fluctuation control. It is a flowchart which shows the process sequence of 1st motor generator torque fluctuation control. It is a flowchart which shows the process sequence of O / D lock release control end control. It is an alignment chart in case a dog clutch is a releasing state. It is explanatory drawing which shows the change of the electric current of the actuator with respect to progress of time at the time of the release control of a dog clutch, the relative rotation speed of a hub and a brake member, and the torque of a 1st motor generator.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Drive apparatus with a dog clutch 10 Transmission 11 Output shaft 12 2nd motor generator transmission part 15 Engine 16 Crankshaft 20 1st motor generator 25 2nd motor generator 30 1st planetary gear mechanism 40 2nd planetary gear mechanism 50 Dog clutch 51 Hub 52 , 57 teeth 53, 58 tooth gap 55 fixed portion 56 brake member 60 actuator 61 gap sensor 62 rotation speed sensor 70 motor generator ECU
71, 101 Processing unit 72 Motor generator output control unit 73 Clutch control unit 74 Counter control unit 75 Operating condition acquisition unit 76 Correction amount acquisition unit 77 Equilibrium torque calculation unit 78 Command torque calculation unit 79 Torque required value calculation unit 80 Maximum output torque calculation Unit 81 Torque estimation unit 82 Correction amount setting unit 83 Engagement state determination unit 84 Torque determination unit 85 Release determination unit 86 Abnormal processing unit 90, 107 Storage unit 91, 108 Input / output unit 100 Engine ECU
102 Engine output control unit

Claims (3)

Each has a plurality of tooth portions and at least one of them has a first engagement element and a second engagement element rotatably provided, and both the tooth portions mesh with each other. The torque, which is a force in the rotational direction, is in an engagement state where the torque can be transmitted between the first engagement element and the second engagement element, and the torque is reduced by separating both the tooth portions. A meshing engagement device that is switchable to a release state in which the first engagement element is not transmitted between the first engagement element and the second engagement element;
An electric motor capable of transmitting the torque to the meshing engagement device;
An engine capable of transmitting the torque to the meshing engagement device;
When the meshing engagement device is switched from the engaged state to the released state, the torque of the electric motor is changed, and a correction value for the change speed of the torque of the electric motor is determined according to the operating condition of the engine. Motor control means for correcting the change speed by
A drive device with a meshing engagement device characterized by comprising:   When changing the torque of the motor, the electric motor control means changes the changing speed by switching from the first changing speed to the second changing speed, and the correction value includes the first change. The meshing engagement according to claim 1, wherein a value for correcting a switching point from a speed to the second change speed and a value for correcting a degree of change of the second change speed are used. Drive unit with device.   The engine operating condition uses at least one of the engine speed and the engine torque, and at least one of the engine water temperature and the engine oil temperature. The drive device with a meshing engagement device according to claim 1 or 2.

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