JP2010089575A - Vehicle drive controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To appropriately estimate torque working on a dog section, thereby reducing a variation in the time of disengagement. <P>SOLUTION: The vehicle drive controller includes a meshing mechanism for causing the stroke movement of the dog teeth of at least either an engaging element or an engaged element each provided with the plurality of dog teeth, thereby making the dog teeth engaged with each other or disengaged from each other. During the engaging movement or the disengaging movement of the meshing mechanism, a torque estimation means calculates a time required for disengagement on the basis of a change in the stroke of the dog teeth, and estimates torque working on the dog teeth on the basis of the calculated time required for disengagement. In this way, the torque working on the dog teeth can be accurately estimated. Thus, control for disengaging the meshing mechanism is performed based on the torque which is thus estimated, whereby it is possible to reduce a variation in the time of disengagement. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a drive control device suitable for a hybrid vehicle.

  Hybrid vehicles that include a power source such as an electric motor or a motor generator in addition to an engine are known. In a hybrid vehicle, an engine is operated in a highly efficient state as much as possible, while an excess or deficiency in driving force or engine braking force is compensated by an electric motor or a motor generator.

  In the hybrid vehicle as described above, Patent Document 1 proposes an example of a speed change mechanism configured to be able to operate by switching between a continuously variable transmission mode and a fixed speed ratio mode. Specifically, a power distribution mechanism having four rotating elements is configured by combining two planetary gear mechanisms, and the four rotating elements are connected to the engine, the first motor generator, the output shaft, and the brake, respectively. In a state where the brake is released, the engine speed is continuously changed by continuously changing the rotation speed of the first motor generator, and the operation in the continuously variable transmission mode is executed. On the other hand, in a state where the brake is fixed, the gear ratio is fixed by preventing one rotation of the rotating element, and the operation in the fixed gear ratio mode is executed. In addition, the speed change mechanism for switching between the continuously variable transmission mode and the fixed speed ratio mode is not a conventional wet multi-plate clutch, but uses a meshing mechanism that meshes the teeth of the engaging element and the teeth of the engaged element. Are known.

JP 2004-345527 A

  However, in the technique described in Patent Document 1 described above, when a meshing mechanism such as a dog clutch provided with dog teeth is used, the dog teeth in the meshing mechanism are used when shifting from the fixed gear ratio mode to the continuously variable transmission mode. It has been difficult to properly estimate the reaction force (hereinafter referred to as “dog portion acting torque”). One of the reasons is that the engine torque could not be accurately estimated because the engine reaction force is supported not by the first motor generator but by the dog teeth of the meshing mechanism. As described above, when the dog portion operating torque cannot be properly estimated, there is a possibility that the shift time (the time required for releasing the meshing mechanism or the time required for engaging) may vary.

  The present invention has been made to solve the above-described problems, and provides a vehicle drive control device capable of reducing variation in release time by appropriately estimating the dog portion operation torque. For the purpose.

  In one aspect of the present invention, an engagement element having a plurality of dog teeth and an engaged element are provided, and at least one of the engagement elements and the engaged element is stroked. A vehicle drive control device having a meshing mechanism that performs engagement / release calculates a time required for the release from an amount of stroke change in the dog teeth during the engagement operation and the release operation of the meshing mechanism. And torque estimation means for estimating a torque acting on the dog teeth from the time required for the release.

  The drive control apparatus for a vehicle includes a meshing mechanism that engages / releases by stroke-operating at least one of the engagement elements provided with a plurality of dog teeth and the engaged elements. The torque estimation means obtains the time required for the release from the stroke change amount in the dog teeth during the engagement operation and the release operation of the meshing mechanism, and estimates the torque acting on the dog teeth from the obtained time required for the release. . Thereby, the torque which acts on a dog tooth can be estimated accurately. Therefore, by performing control to release the meshing mechanism based on the torque estimated in this way, it is possible to reduce variation in release time.

  In one aspect of the vehicle drive control apparatus, the torque estimation means estimates the torque after reducing the force applied in the stroke direction more than before estimating the torque.

  In this aspect, the torque estimation means estimates the torque acting on the dog teeth after reducing the stroke change by weakening the force acting in the stroke direction. By doing so, it is possible to improve the estimation accuracy of the torque.

  In another aspect of the vehicle drive control device described above, a motor generator is connected to at least one of the engaging element and the engaged element, and the dog teeth are provided by applying torque from the motor generator. Torque code for executing a first torque code determination method for determining whether the torque acting on the dog teeth estimated by the torque estimating means is positive or negative based on the amount of change in the stroke when the torque acting on the torque is changed A determination unit is further provided.

  In this aspect, since the torque acting on the dog teeth estimated as described above is obtained as an absolute value, the torque sign determination means determines whether the torque is positive or negative by executing the first torque sign determination method. To do. Specifically, the torque sign determination means determines whether the torque acting on the dog teeth is positive or negative from the stroke change amount (gradient) when the torque acting on the dog teeth is changed by applying torque from the motor generator. judge. Thereby, it is possible to accurately determine whether the torque acting on the dog teeth is positive or negative.

  Preferably, in the vehicle drive control device, the torque code determination means includes the first torque code determination method according to the magnitude of the torque acting on the dog teeth estimated by the torque estimation means. And switching to a second torque sign determination method for determining whether the torque acting on the dog teeth is positive or negative based on a phase change amount equivalent to backlash in the dog teeth, and acting on the dog teeth estimated by the torque estimating means. Determine whether the torque is positive or negative. Thereby, the reliability in the code | symbol determination of a dog part action torque can be improved.

  In another aspect of the drive control apparatus for a vehicle described above, in the stroke direction, the shock at the time of release is within an allowable range when the torque estimation unit cannot detect the change amount of the stroke. A means for reducing the applied force is further provided.

  According to this aspect, it is possible to appropriately prevent the release when there is a torque error of a predetermined value or more. Moreover, even if released, the occurrence of shock at the time of release can be suppressed.

  In another aspect of the vehicle drive control apparatus, a motor generator is connected to at least one of the engaging element and the engaged element, and torque is applied from the motor generator to the dog teeth. Friction coefficient calculation means is further provided for calculating the friction coefficient of the sliding portion during the stroke by stroking the dog teeth while applying a predetermined torque.

  According to this aspect, it is possible to appropriately cope with a change with time in the friction coefficient of the sliding portion. Specifically, even when the friction coefficient of the sliding portion changes, the release time variation can be appropriately reduced.

  Preferably, the vehicle drive control device includes an internal combustion engine, a first motor generator, a power distribution mechanism to which the internal combustion engine and the first motor generator are connected, and the meshing mechanism is connected. , A second motor generator connected to the drive shaft, and a shift mode switching between a continuously variable transmission mode and a fixed transmission ratio mode by releasing / engaging the meshing mechanism Applies to vehicles.

  The vehicle drive control device according to the present invention includes a meshing mechanism that performs engagement / release by stroke-operating at least one of the engagement elements provided with a plurality of dog teeth and the engaged elements. The torque estimation means obtains the time required for the release from the stroke change amount in the dog teeth during the engagement operation and the release operation of the meshing mechanism, and estimates the torque acting on the dog teeth from the obtained time required for the release. . Thereby, the torque which acts on a dog tooth can be estimated accurately. Therefore, by performing control to release the meshing mechanism based on the torque estimated in this way, it is possible to reduce variation in release time.

  Preferred embodiments of the present invention will be described below with reference to the drawings.

[Device configuration]
FIG. 1 shows a schematic configuration of a hybrid vehicle to which the present invention is applied. The example of FIG. 1 is a hybrid vehicle called a mechanical distribution type two-motor type, and includes an engine (internal combustion engine) 1, a first motor generator MG 1, a second motor generator MG 2, and a power distribution mechanism 20. An engine 1 corresponding to a power source and a first motor generator MG1 corresponding to a rotation speed control mechanism are connected to a power distribution mechanism 20. The output shaft 3 of the power distribution mechanism 20 is connected to a second motor generator MG2 that is a sub power source for assisting drive torque or braking force. Second motor generator MG2 and output shaft 3 are connected via MG2 speed change unit 6. Further, the output shaft 3 is connected to the left and right drive wheels 9 via a final reduction gear 8. The first motor generator MG1 and the second motor generator MG2 are electrically connected via a battery, an inverter, or an appropriate controller (see FIG. 2) or directly, and the first motor generator MG1 The second motor generator MG2 is driven by the generated electric power.

  The engine 1 is a heat engine that generates power by burning fuel, and examples thereof include a gasoline engine and a diesel engine. The first motor generator MG1 generates power mainly by receiving torque from the engine 1 and rotating, and a reaction force of torque accompanying power generation acts. By controlling the rotational speed of first motor generator MG1, the rotational speed of engine 1 changes continuously. Such a speed change mode is called a continuously variable speed change mode. The continuously variable transmission mode is realized by a differential action of a power distribution mechanism 20 described later.

  The second motor generator MG2 is a device that assists the driving torque or the braking force. When assisting the drive torque, the second motor generator MG2 receives power supply and functions as an electric motor. On the other hand, when assisting the braking force, the second motor generator MG2 functions as a generator that is rotated by the torque transmitted from the drive wheels 9 to generate electric power.

  FIG. 2 shows the configuration of the first motor generator MG1, the second motor generator MG2 and the power distribution mechanism 20 shown in FIG.

  The power distribution mechanism 20 is a mechanism that distributes the output torque of the engine 1 to the first motor generator MG1 and the output shaft 3, and is configured to generate a differential action. Specifically, the engine 1 is connected to the first rotating element among the four rotating elements that are provided with a plurality of sets of differential mechanisms and have a differential action, and the first motor generator MG1 is connected to the second rotating element. Are connected, and the output shaft 3 is connected to the third rotating element. The fourth rotating element can be fixed by the dog brake portion 7.

  The dog brake unit 7 is configured as a meshing mechanism including an engagement element (not shown) provided with a plurality of dog teeth and an engaged element (not shown) provided with a plurality of dog teeth. Controlled by the unit 5. Specifically, in the dog brake portion 7, the engaged element is configured to be rotatable, and the engaging element is configured to be non-rotatable. That is, the engaged element corresponds to a rotating element, and the engaging element corresponds to a fixed element. Further, the engaging element is configured to be capable of stroke in the axial direction. Hereinafter, the dog brake part 7 is also simply referred to as “dog part”.

  In a state where the dog brake unit 7 does not fix the fourth rotation element, the rotation speed of the engine 1 is continuously changed by continuously changing the rotation speed of the first motor generator MG1, and the continuously variable transmission mode Is realized. On the other hand, when the dog brake unit 7 is fixing the fourth rotating element, the transmission gear ratio determined by the power distribution mechanism 20 is fixed to the overdrive state (that is, the engine speed is smaller than the output speed). Thus, the fixed gear ratio mode is realized.

  In the present embodiment, as shown in FIG. 2, the power distribution mechanism 20 is configured by combining two planetary gear mechanisms. The first planetary gear mechanism includes a ring gear 21, a carrier 22, and a sun gear 23. The second planetary gear mechanism is a double pinion type and includes a ring gear 25, a carrier 26, and a sun gear 27.

  The output shaft 2 of the engine 1 is connected to the carrier 22 of the first planetary gear mechanism, and the carrier 22 is connected to the ring gear 25 of the second planetary gear mechanism. These constitute the first rotating element. The rotor 11 of the first motor generator MG1 is connected to the sun gear 23 of the first planetary gear mechanism, and these constitute a second rotating element.

  The ring gear 21 of the first planetary gear mechanism and the carrier 26 of the second planetary gear mechanism are connected to each other and to the output shaft 3. These constitute the third rotating element. Further, the sun gear 27 of the second planetary gear mechanism is connected to the rotation shaft 29 and constitutes a fourth rotation element together with the rotation shaft 29. The rotating shaft 29 can be fixed by the dog brake unit 7.

  The power supply unit 30 includes an inverter 31, a converter 32, an HV battery 33, and a converter 34. The first motor generator MG1 is connected to the inverter 31 by a power line 37, and the second motor generator MG2 is connected to the inverter 31 by a power line 38. The inverter 31 is connected to the converter 32, and the converter 32 is connected to the HV battery 33. Further, the HV battery 33 is connected to the auxiliary battery 35 via the converter 34.

  Inverter 31 exchanges power with motor generators MG1 and MG2. During regeneration of the motor generator, the inverter 31 converts the electric power generated by the motor generators MG1 and MG2 into the direct current and supplies the direct current to the converter 32. Converter 32 converts the electric power supplied from inverter 31 to charge HV battery 33. On the other hand, when the motor generator is powered, the DC power output from the HV battery 33 is boosted by the converter 32 and supplied to the motor generator MG1 or MG2 via the power line 37 or 38.

  The electric power of the HV battery 33 is converted into a voltage by the converter 34 and supplied to the auxiliary battery 35, and used for driving various auxiliary machines.

  The operation of the inverter 31, the converter 32, the HV battery 33, and the converter 34 is controlled by the ECU 4. The ECU 4 controls the operation of each element in the power supply unit 30 by transmitting a control signal S4. A necessary signal indicating the state of each element in the power supply unit 30 is supplied to the ECU 4 as a control signal S4. Specifically, an SOC (State Of Charge) indicating the state of the HV battery 33, an input / output limit value of the battery, and the like are supplied to the ECU 4 as a control signal S4.

  Further, the dog brake unit 7 is provided with a stroke amount sensor 40 that detects a stroke amount of the engagement element, and a rotation sensor 41 that can detect a phase change between the engagement element and the engaged element. The stroke amount sensor 41 supplies a detection signal S40 corresponding to the detected stroke amount to the ECU 4, and the rotation sensor 41 supplies a detection signal S41 corresponding to the detected phase change to the ECU 4. The rotation sensor 41 does not need to be provided near the dog brake unit 7.

  The ECU 4 controls the control signals S1 to S3 by transmitting and receiving them to and from the engine 1, the first motor generator MG1, and the second motor generator MG2. Further, the ECU 4 supplies a brake operation instruction signal S5 to the brake operation unit 5. The brake operation unit 5 performs control to engage (fix) / release the dog brake unit 7 in accordance with the brake operation instruction signal S5. Specifically, the brake operation unit 5 performs control to stroke the engagement element of the dog brake unit 7. Although details will be described later, the ECU 4 corresponds to torque estimation means, torque code determination means, and friction coefficient calculation means in the present invention.

  FIG. 3 shows an alignment chart in the fixed speed ratio mode of the power distribution mechanism 20. In the fixed gear ratio mode, as indicated by black circles in FIG. 3, the dog brake portion 7 is fixed by engaging the dog teeth of the engaging element and the dog teeth of the engaged element. Hereinafter, the dog teeth of the engaging element are referred to as “engagement side dog teeth”, and the dog teeth of the engaged elements are referred to as “engaged side dog teeth”.

  In the continuously variable transmission mode, as indicated by an arrow 90, the reaction force of the engine torque is supported by the first motor generator MG1. FIG. 3 shows a collinear diagram in the fixed gear ratio mode. For convenience of explanation, the continuously variable transmission mode is described with reference to FIG. On the other hand, in the fixed gear ratio mode, the reaction force of the engine torque is mechanically supported by the dog brake unit 7 as indicated by an arrow 91.

  FIG. 4 schematically shows the configuration of the dog brake unit 7. As illustrated, the dog brake portion 7 includes an engaged element 71 provided with a plurality of engaged side dog teeth 71a and an engaging element 72 provided with a plurality of engaged dog teeth 72a. Composed. FIG. 4 shows a diagram when the engaged element 71 and the engaging element 72 are in an engaged state. For the convenience of explanation, the engaged element 71 is hatched.

  The engaged element 71 is connected to the sun gear 27 of the second planetary gear mechanism shown in FIG. 2, and rotates according to the rotation of the sun gear 27 as the fourth rotating element, as indicated by an arrow A3. Specifically, the engaged element 71 is rotated by being applied with a dog portion operating torque. This dog portion acting torque corresponds to a combined torque (specifically, a gear ratio converted torque) of a torque such as main power (engine torque or the like) or vehicle running resistance and a torque of the first motor generator MG1 or the like. Torques such as main power and vehicle running resistance correspond to unknown amounts of torque in the sense that it is difficult to accurately grasp. Further, torque from first motor generator MG1 (hereinafter, also simply referred to as “MG torque”) corresponds to a known amount of torque in the sense that it can be accurately grasped.

  Further, the dog portion acting torque becomes a resistance force against the stroke of the engaging element 72 directly or indirectly. Specifically, the dog portion acting torque is a frictional force (indicated by reference symbol A1) at a sliding portion at the time of a stroke such as between the engaged side dog teeth 71a and the engaging side dog teeth 72a. Affects.

  The engaging element 72 is configured to be non-rotatable and configured to be capable of stroke in the direction indicated by the arrow A2 (axial direction). Specifically, the engagement element 72 is stroked by applying a force (hereinafter referred to as “stroke force”) in the direction indicated by the arrow A2. For example, a spring force, an electromagnetic force, a fluid pressure, or the like is used as the stroke force.

  Here, the frictional force acting between the engaged dog teeth 71a and the engaging dog teeth 72a as indicated by reference numeral A1 acts in a direction that inhibits the stroke when the engaging element 72 operates in the stroke direction. To do. In this case, when the frictional force indicated by the reference symbol A1 is smaller than the stroke force applied to the engagement element 72, the engagement element 72 strokes in the direction of the arrow A2. Thereby, the engagement between the engaged element 71 and the engaging element 72 is released. That is, the transmission is shifted from the fixed gear ratio mode to the continuously variable transmission mode. The stroke amount sensor 40 detects the stroke amount when the engagement element 72 has stroked as indicated by the white arrow A5.

  Note that the stroke force applied to the engagement element 72 described above may be fixed or changed. That is, a component that applies a constant stroke force may be used, or a component that is configured so that the stroke force can be changed. In the control described below, when the stroke force is controlled, it is necessary to use a component configured so that the stroke force can be changed. When the stroke force is changed in this way, the ECU 4 can control the stroke force.

[Control method]
Next, a control method according to the present embodiment will be described. In the present embodiment, when the dog brake unit 7 is released, in other words, when shifting from the fixed gear ratio mode to the continuously variable transmission mode, the time required for the dog brake unit 7 to change from the engaged state to the released state (hereinafter, referred to as the following) , Referred to as “release time” or “release stroke time”), and control for reducing shock (shift shock) at the time of release is performed. Specifically, in the present embodiment, the variation in release time is reduced by performing the above-described process of accurately estimating the dog portion operating torque.

  The reason for this is as follows. The release of the dog brake unit 7 performed when shifting from the fixed gear ratio mode to the continuously variable transmission mode tends to shorten the release time when the absolute value of the dog unit operating torque is small (for example, 0). When the absolute value of the dog portion operating torque is large, the release time tends to be long. In the fixed gear ratio mode, since the engine reaction force is received not by the first motor generator MG1 but by the dog brake unit 7, the engine torque is estimated based on the MG torque from the first motor generator MG1. Compared with the shift mode, the estimation accuracy of the engine torque tends to decrease. Furthermore, when the stroke force applied to the engagement element 72 is increased with the aim of shortening the release time, the shift shock tends to increase, and when the stroke force is reduced with the aim of reducing the shift shock, the release time tends to increase. It is in. For this reason, it can be said that it is difficult to achieve both reduction in release time and reduction in shift shock.

  Therefore, in the present embodiment, when the dog brake unit 7 is released, a process for accurately estimating the dog unit operating torque is performed in order to reduce the variation in release time and reduce the shift shock.

  Below, with reference to FIG. 5 thru | or FIG. 13, the control method which ECU4 performs in this embodiment is demonstrated concretely.

(Dog part acting torque estimation method)
In the present embodiment, as described above, the ECU 4 estimates the dog portion operating torque in order to reduce the variation in release time. Specifically, the ECU 4 obtains the release stroke time from the amount of change in the stroke of the engagement element 72 during the release operation of the dog brake unit 7, and estimates the dog portion operation torque based on the obtained release stroke time. Do. Then, the ECU 4 performs control to release the dog brake unit 7 from the engaged state based on the estimated dog unit operating torque and the like.

  FIG. 5 is a diagram for specifically explaining a method of estimating the dog portion operation torque. FIG. 5 shows an example of the relationship between the dog portion acting torque (horizontal axis) and the release stroke time (vertical axis). From this, it can be seen that the release stroke time tends to be longer as the absolute value of the dog portion acting torque is larger, and the release stroke time tends to be shorter as the absolute value of the dog portion acting torque is smaller. This is because the frictional force that inhibits the stroke operation of the engagement element 72 increases as the absolute value of the dog portion acting torque increases, and the stroke operation of the engagement element 72 inhibits as the absolute value of the dog portion acting torque decreases. This is because the frictional force to be reduced is small.

  Note that the torques STr11 and STr12 (the torques STr11 and STr12 are equal in absolute value) indicated by broken lines in FIG. 5 are torques in which the frictional force and the stroke force are approximately balanced, and are larger than the torque STr11 or the torque STr12. However, when a small torque is applied to the dog brake portion 7, it cannot be released. Hereinafter, such torques STr11 and STr12 are referred to as “stick torque”. The stick torque changes according to the stroke force.

  In this embodiment, ECU4 calculates | requires a dog part action torque using a relationship as shown in FIG. Specifically, first, the ECU 4 detects the stroke change amount of the engagement element 72 using the stroke amount sensor 40, and obtains the release stroke time from the stroke change amount. Since the stroke amount necessary to completely release from the engaged state is known, the release stroke time can be obtained from the detected stroke change amount based on this stroke amount.

  Then, the ECU 4 obtains the dog portion operating torque corresponding to the obtained release stroke time based on the relationship as shown in FIG. For example, when “T1” is obtained as the release stroke time, “Tr11” and “Tr12” are obtained as the dog portion operating torque. “Tr11” is a positive torque, “Tr12” is a negative torque, and “Tr11” and “Tr12” have the same absolute value.

  By estimating the dog portion operation torque as described above, by releasing the dog brake portion 7 using the estimated dog portion operation torque, the reliability of the release of the dog brake portion 7 can be improved. At the same time, the variation in release time (shift time) can be reduced.

  The relationship between the dog portion acting torque and the release stroke time as shown in FIG. 5 may be obtained in advance and stored as a map, or may be obtained by calculation. For example, when a spring force is used as the stroke force, the relationship as shown in FIG. 5 can be easily obtained from the spring constant or the like. FIG. 5 shows a characteristic that the release stroke time is the same when the absolute value of the dog portion acting torque is the same, but such a characteristic is not always obtained. Depending on the shape of the dog tooth, even if the absolute value of the dog portion acting torque is the same, there may be a characteristic that the release stroke time varies depending on the sign.

  Next, with reference to FIG. 6, the control performed in order to improve the precision of estimation of dog part action torque is demonstrated. In the present embodiment, the ECU 4 improves the estimation accuracy of the dog portion operating torque, reduces the stroke force applied to the engaging element 72, and then estimates the dog portion operating torque by the method described above. Do.

  FIG. 6 is a diagram for explaining the reason why the torque estimation accuracy is improved when the stroke force is reduced. FIGS. 6A and 6B show an example of the relationship between the dog portion operating torque (horizontal axis) and the release stroke time (vertical axis), respectively. Specifically, FIG. 6A shows a graph B1 when the stroke force is relatively large, and FIG. 6B shows a graph B2 when the stroke force is relatively small. As shown in FIG. 6A, it can be seen that when the stroke force is large, the gradient of the release stroke time with respect to the dog portion acting torque is relatively small. In contrast, as shown in FIG. 6B, it can be seen that when the stroke force is small, the gradient of the release stroke time with respect to the dog portion acting torque is relatively large.

  More specifically, when the stroke force is large, the difference in the dog portion acting torque with respect to the difference ΔT21 in the release stroke time is ΔTr21 and ΔTr22, whereas when the stroke force is small, the same release stroke time. It can be seen that the difference in the dog portion acting torque with respect to the difference ΔT21 is ΔTr23 and ΔTr24 smaller than ΔTr21 and ΔTr22. Therefore, it can be said that when the stroke force is small, the dog portion acting torque can be accurately estimated from the release stroke time. This is because when the stroke force is small, the stroke change of the engagement element 72 becomes gentle.

  From the characteristics as described above, in the present embodiment, the ECU 4 performs the estimation of the dog portion acting torque as described above after reducing the stroke force before the estimation of the torque. For example, the ECU 4 decreases the stroke force to a predetermined stroke force, and based on the relationship between the dog portion acting torque at the stroke force and the release stroke time (for example, stored in advance as a map), Perform estimation. By doing so, it is possible to improve the estimation accuracy of the dog portion operation torque.

(Dog part acting torque sign determination method)
Next, a method for determining the sign (positive / negative) of the dog portion operating torque estimated by the above method will be described. Since the dog portion acting torque estimated by the above-described method is obtained as an absolute value (see FIG. 5 and the like), in this embodiment, the ECU 4 performs a process for determining the sign of the dog portion acting torque. Specifically, the ECU 4 switches the two methods for determining the sign of the dog portion operating torque according to the estimated magnitude of the dog portion acting torque, and determines the sign of the dog portion acting torque. Hereinafter, one of the two methods is referred to as a “first torque code determination method”, and the other is referred to as a “second torque code determination method”.

  The first torque sign determination method is a method for determining the sign of the dog portion acting torque from the stroke change amount (gradient) when the dog portion acting torque is changed by applying the MG torque. Since the dog portion operating torque is basically a combined torque of the engine torque and the MG torque, when the MG torque is increased or decreased, the dog portion operating torque is also increased or decreased accordingly. When the dog portion acting torque increases or decreases, the release stroke time increases or decreases according to the positive or negative of the dog portion acting torque (that is, the stroke change amount (gradient) changes). The sign of the working torque can be determined.

  The second torque sign determination method is a method for determining the sign of the dog portion operating torque from the phase change amount corresponding to the backlash in the engagement element 72. Since the positive and negative phases of the dog teeth are biased according to the sign of the dog portion operating torque, the sign of the dog portion operating torque can be determined by detecting the positive and negative phase biases with the rotation sensor 41.

  FIG. 7 is a diagram for specifically explaining the first torque code determination method. In FIG. 7, the abscissa indicates the dog portion acting torque, and the ordinate indicates the release stroke time. Here, a case where the dog portion operating torque is increased by changing the MG torque will be described as an example. As shown in the figure, when the dog portion acting torque is positive, when the dog portion acting torque is increased as shown by the arrow C1, the release stroke time is increased as shown by the arrow C2. On the other hand, when the dog portion acting torque is negative, it is understood that when the dog portion acting torque is increased as indicated by the arrow C3, the release stroke time is reduced as indicated by the arrow C4.

  Thus, it can be seen that the change in the release stroke time when the dog portion acting torque is changed differs depending on whether the dog portion acting torque is positive or negative. Therefore, it is possible to determine whether the dog portion operating torque is positive or negative according to the increase / decrease of the release stroke time. Specifically, when the release stroke time increases, it can be determined that the dog portion operating torque is positive, and when the release stroke time decreases, it is determined that the dog portion operating torque is negative. Can do.

  Therefore, in the present embodiment, the ECU 4 uses the first torque code determination method for determining the sign of the dog portion acting torque from the amount of change in the stroke when the dog portion acting torque is changed by applying the MG torque. Use. In this case, a decrease in release stroke time can be detected by an increase in stroke change amount per unit time, and an increase in release stroke time can be detected by a decrease in stroke change amount per unit time.

  The first torque code determination method tends to have higher determination accuracy than the second torque code determination method. FIG. 7 shows a method of determining the sign by changing the MG torque and increasing the dog portion acting torque. Instead, by changing the MG torque and reducing the dog portion acting torque. It is also possible to determine the sign.

  FIG. 8 is a diagram for explaining a method of switching between the first torque code determination method and the second torque code determination method according to the magnitude of the dog portion application torque. In FIG. 8, the abscissa indicates the dog portion acting torque, and the ordinate indicates the release stroke time.

  In the present embodiment, in the region D1 where the absolute value of the dog portion acting torque is larger than the absolute values of the stick torques STr31 and STr32 (hereinafter simply referred to as “stick torque STr3”), the second torque sign determination method is used. Execute. This is because in the region D1, the absolute value of the dog portion acting torque is larger than the stick torque STr3, and the engagement element 72 does not make a stroke, so that a stroke change cannot be detected. Therefore, in the region D1, the second torque code determination method that does not require stroke detection is executed.

  On the other hand, the absolute value of the dog portion working torque is less than or equal to the stick torque STr3, and the absolute value of the dog portion acting torque is the absolute value of the predetermined torques Tr31 and Tr32 (for example, a relatively small value near 0. (Indicated as “predetermined torque Tr3”.) In the region D2 as described above, the first torque code determination method is executed. This is because, in the region D2, the gradient of the release stroke time due to the dog portion acting torque is large. Moreover, it is because a dog part action torque can be changed comparatively large. Therefore, in the region D2, the first torque code determination method with high determination accuracy is executed.

  On the other hand, in the region D3 where the absolute value of the dog portion acting torque is less than the predetermined torque Tr3, the second torque sign determination method is executed. This is because in the region D3, the dog portion operating torque is already small, and the dog portion operating torque should not be changed greatly. Therefore, in the region D3, the second torque code determination method capable of performing determination without changing the dog portion acting torque is executed.

  Note that the predetermined torque Tr3 that defines the boundary between the region D2 and the region D3 can determine whether or not the dog portion operating torque can be changed relatively large (in other words, there is no problem even if the dog portion operating torque is changed greatly). Whether or not) is set. Further, the predetermined torque Tr3 is set for each relationship between the dog portion acting torque corresponding to the stroke force and the release stroke time.

  As described above, the reliability of the determination can be improved by switching the determination method of the sign of the dog portion acting torque according to the magnitude of the dog portion acting torque.

(How to adjust the release time)
Next, a method for adjusting the release time based on the dog portion acting torque estimated as described above will be described. In the present embodiment, the ECU 4 has at least one of MG torque and engine torque based on the estimated dog portion acting torque in order to converge to a target release stroke time (hereinafter also referred to as “target release time”). To control the dog portion operating torque and the stroke force. That is, the ECU 4 adjusts the release stroke time by controlling the dog portion acting torque and the stroke force based on the estimated dog portion acting torque (in other words, by adjusting the stroke change amount). Convergence to release time.

  Specifically, the ECU 4 performs control to increase or decrease the release stroke time by comparing the release stroke time corresponding to the estimated dog portion acting torque with the target release time. Specifically, the ECU 4 shortens the release stroke time by adjusting the MG torque to reduce the dog portion acting torque or increasing the stroke force. On the other hand, the ECU 4 lengthens the release stroke time by adjusting the MG torque to increase the dog portion acting torque or reducing the stroke force. By performing such control, it is possible to appropriately converge to the target release time, and it is possible to reduce the variation in release time.

  FIG. 9 is a diagram illustrating an example of the adjustment of the release time based on the dog portion operation torque. In FIG. 9, the horizontal axis indicates time, and the vertical axis indicates the stroke amount. Here, it is assumed that the clutch is engaged at time t11, that is, the stroke amount is “0”. Further, the ECU 4 performs control at the control cycle T10. Specifically, the control method is changed by making a determination every control cycle T10. Further, in FIG. 9, a graph E5 when the release is completed at the target release time (time from time t11 to time t16) with a constant stroke amount is shown for comparison. When the stroke amount reaches the release determination value, it is determined that the release has been completed.

  As shown in the figure, the stroke is performed from the time t11 in a state where the initial dog portion acting torque and the stroke force are set. In other words, liberation is done by the way. Thereafter, since the stroke amount at the time t12 is lower than the stroke amount in the corresponding graph E5, the control for shortening the release stroke time is performed after the time t12 as shown by the arrow E1. Specifically, control for adjusting the MG torque to reduce the dog portion acting torque or increasing the stroke force is performed. Thereafter, since the stroke amount at the time t13 exceeds the stroke amount in the corresponding graph E5, the control for extending the release stroke time is performed after the time t13 as shown by the arrow E2. Specifically, control is performed to adjust the MG torque to increase the dog portion acting torque or to reduce the stroke force.

  Thereafter, since the stroke amount at time t14 substantially matches the stroke amount in the corresponding graph E5, the release stroke time set at time t13 is maintained after time t14 as indicated by arrow E3 ( That is, no new adjustments are made). After that, since the stroke amount at time t15 is smaller than the stroke amount in the corresponding graph E5 (that is, a deviation occurs), after time t15, the control for correcting the release stroke time is again performed as indicated by the arrow E4. Done. Specifically, control for shortening the release stroke time is performed. As a result, the stroke amount reaches the release determination value at time t16. That is, release is completed in the target release time.

(Control method for estimation failure)
Next, the control performed when the estimation of the dog portion operation torque has failed will be described. When the stroke is too early and the stroke is completed within the control period, basically, the dog portion operating torque cannot be estimated. In such a case, the ECU 4 determines that the estimation of the dog portion acting torque has failed because the absolute value of the dog portion acting torque is small. Then, the ECU 4 shifts to the control after the release, assuming that the absolute value of the dog portion acting torque is minimal and has been released in a short time.

  On the other hand, even when the engagement element 72 does not make a stroke or when the stroke stops (sticks), the dog portion operating torque cannot be estimated basically. In such a case, the ECU 4 determines that the estimation of the dog portion acting torque has failed because the absolute value of the dog portion acting torque is large (for example, the absolute value is larger than the stick torque). The ECU 4 basically executes the second torque sign determination method described above to determine the sign of the dog portion working torque and adjusts the MG torque in a direction in which the absolute value of the dog portion acting torque decreases. Then, control for releasing the dog unit is continued.

  Here, when it is determined that the estimation of the dog portion acting torque has failed, the sign of the dog portion acting torque is determined by the second torque sign determining method as described above, and the control is performed by adjusting the MG torque. If it continues, it can be said that it is not possible to appropriately grasp what value the dog portion operating torque will be in the next step. For example, if the control is executed in a state where the stroke force is large, the dog portion operating torque is released in a large state, and a shift shock (shock at the time of release) may occur.

  Therefore, in this embodiment, in order to suppress such a shift shock, the ECU 4 determines that the estimation of the dog portion action torque has failed because the absolute value of the dog portion action torque is large, and thus the shift shock Stroke force is reduced so that is within the allowable range. As a result, it is possible to prevent release when there is a torque error greater than or equal to a predetermined value. Moreover, even if released, the occurrence of a shift shock can be suppressed.

  FIG. 10 is a diagram for explaining the control for reducing the stroke force performed when it is determined that the estimation of the dog portion acting torque has failed because the absolute value of the dog portion acting torque is large. In FIG. 10, the abscissa indicates the dog portion acting torque, and the ordinate indicates the release stroke time. FIG. 10 shows a graph F1 when the stroke force is relatively large and a graph F2 when the stroke force is relatively small. Further, the torque Tr43 in FIG. 10 corresponds to a dog portion operating torque at a level that allows a human to accept a shift shock.

  When the stroke force corresponding to the graph F1 is set, the stroke does not occur when the dog portion acting torque is “Tr41”, but when the dog portion acting torque becomes “Tr42”, the stroke is released. Since the dog portion acting torque Tr42 is larger in absolute value than the dog portion acting torque Tr43, if the dog portion acting torque Tr42 is released, a shift shock exceeding an allowable level may occur. Therefore, in the present embodiment, in order to suppress the occurrence of such a shift shock, the ECU 4 reduces the stroke force so that the shift shock is within an allowable range. For example, the ECU 4 reduces the stroke force corresponding to the graph F2 that is not released unless the absolute value is less than the dog portion acting torque Tr43.

  By reducing the stroke force in this way, it is possible to prevent release when there is a torque error of a predetermined value or more, and it is possible to suppress the occurrence of a shift shock even when the torque error is released.

  In addition, when it is determined that the estimation of the dog portion acting torque has failed because the absolute value of the dog portion acting torque is large, the stroke force is adjusted instead of performing the control for reducing the stroke force as described above. Control to complete the release may be performed. That is, release completion may be given priority over suppression of shift shock. For example, when acceleration is required, when a shift request is high, or when it is necessary to avoid danger by staying in the resonance band of the engine low rotation range, it can be said that the gear should be shifted even if a shift shock is allowed The ECU 4 can execute the control for adjusting the stroke force and completing the release without executing the control for suppressing the shift shock.

  Next, with reference to FIG. 11, the control performed when it is determined that the estimation of the dog portion acting torque has failed because the absolute value of the dog portion acting torque is small will be described. In FIG. 11, the abscissa indicates the dog portion acting torque, and the ordinate indicates the release stroke time. As shown by the arrow G1, when the release stroke time is near the minimum value of the set stroke force and the torque fluctuation is large, the difference in stroke time is small or the backlash fluctuates, and the sign of the dog portion acting torque May not be determined with high accuracy.

  Therefore, in the present embodiment, the ECU 4 determines that the release stroke time is near the minimum value in the set stroke force, and the positive / negative bias of the phase at the dog teeth is difficult to determine by the second torque sign determination method. It is determined that the determination of the sign of the dog portion operating torque has failed. When such a determination is made, the ECU 4 performs control to generate MG torque so as to give a deviation to the dog portion operating torque, as indicated by reference numeral G2. Specifically, the ECU 4 is the dog portion operating torque (that is, the torque below the dog portion operating torque Tr51 at a level capable of allowing the shift shock) such that the shift shock is within the allowable range, and the fluctuation torque amplitude. The dog portion torque is changed so as to cause the above change.

  As a result, the sign of the dog portion operating torque can be determined within a range where no shift shock occurs. Further, since the absolute value of the dog portion acting torque is increased, the rattling noise caused by the backlash fluctuation can be reduced. Although FIG. 11 shows an example in which the MG torque is generated in the direction in which the dog portion acting torque is decreased, the MG torque may be generated in the direction in which the dog portion acting torque is increased.

(Friction coefficient calculation method)
Next, a method for calculating the friction coefficient at the sliding portion during the stroke operation will be described. The control and processing described above uses the fact that the relationship between the release stroke time and the dog portion acting torque at any stroke force is uniquely determined on the assumption that the friction coefficient of the sliding part during the stroke operation is unchanged. It was. However, it is conceivable that the coefficient of friction of the machine part causes deterioration, damage, and other changes over time.

  Therefore, in the present embodiment, the friction coefficient is learned in order to cope with such a change with time of the friction coefficient. Specifically, the ECU 4 determines whether it is necessary to learn the friction coefficient based on a change in the release stroke time detected with the stroke force fixed. Next, when it is determined that learning of the friction coefficient is necessary, the ECU 4 applies the MG torque and causes the engagement element 72 to perform a release stroke operation in a state where a predetermined dog portion operation torque is applied. Calculate the friction coefficient of the moving part. Next, the ECU 4 learns and stores the calculated friction coefficient. As a result, it is possible to appropriately cope with changes with time in the friction coefficient of the sliding portion.

  FIG. 12 is a diagram for explaining a method for determining whether or not learning of the friction coefficient of the sliding portion is necessary. In FIG. 12, the abscissa indicates the dog portion acting torque, and the ordinate indicates the release stroke time. A region H1 in FIG. 12 indicates a basic release stroke time range. That is, it corresponds to the range of the release stroke time when the friction coefficient of the sliding portion is not changed.

  When the release stroke time exceeding the region H1 is detected, that is, when the release stroke time within the region H2 is detected, it is determined that the friction coefficient needs to be learned because the change in the friction coefficient is suspected. The In this case, it is considered that the friction coefficient of the sliding portion is increased. On the other hand, when the release stroke time below the region H1 is detected, that is, when the release stroke time in the region H3 is detected, it is assumed that the friction coefficient is changed, and learning of the friction coefficient is necessary. Determined. In this case, it is considered that the friction coefficient of the sliding portion is small.

  Note that the determination of whether or not the friction coefficient needs to be learned is executed at a predetermined timing. As one example, it is executed at the time of execution of estimation of the dog portion operation torque as described above. In another example, it is executed while the vehicle is stopped.

  FIG. 13 is a diagram for explaining a method of calculating the friction coefficient of the sliding portion. In FIG. 13, the abscissa indicates the dog portion acting torque, and the ordinate indicates the release stroke time. Specifically, FIG. 13 shows a graph J1 when the friction coefficient is not changed and a graph J2 when the friction coefficient is changed (when the friction coefficient is increased). Regions H1 and H2 are the same as those shown in FIG.

  In the present embodiment, when it is determined that the friction coefficient needs to be learned as described above, the ECU 4 applies only the known torque to the dog brake unit 7 in the state where the unknown torque is not applied, and engages. The coefficient of friction of the sliding portion is calculated by operating the element 72 in the release stroke. Specifically, the ECU 4 performs a stroke operation in a state where a known torque is applied to the engagement element 72 using the MG torque, and measures the release stroke time at this time, whereby the friction of the sliding portion is measured. Calculate the coefficient.

  For example, the ECU 4 causes the engagement element 72 to perform a stroke operation in a state where a predetermined dog portion operation torque Tr6 (known torque) generated by using the MG torque and a predetermined stroke force are applied. Thus, the release stroke time is measured. In this case, the release stroke time is measured by the method used in the above-described estimation of the dog portion operating torque. Then, the ECU 4 obtains a friction coefficient corresponding to the measured release stroke time by referring to a relationship (a map or the like) between the release stroke time and the friction coefficient obtained in advance. In the example shown in FIG. 13, since the release stroke time T6 is measured when a predetermined dog portion acting torque Tr6 is applied, the release stroke time is determined from the relationship between the release stroke time and the friction coefficient that have been obtained in advance. A friction coefficient corresponding to T6 is obtained. In this case, a friction coefficient larger than the original friction coefficient (friction coefficient that can obtain the relationship of the graph J1) can be obtained.

  Thereafter, the ECU 4 learns and stores the obtained friction coefficient. Specifically, the ECU 4 stores the obtained friction coefficient as the latest value, and thereafter described above in accordance with the relationship between the dog portion acting torque corresponding to the latest friction coefficient and the release stroke time (for example, the graph J2). The dog part torque is estimated.

  By learning and storing the friction coefficient in this way, it is possible to appropriately cope with a change with time in the friction coefficient of the sliding portion. Specifically, even when the friction coefficient of the sliding portion changes, the release time variation can be appropriately reduced.

[Control processing]
Next, a control process performed by the ECU 4 in the present embodiment will be described with reference to FIG. FIG. 14 is a flowchart showing processing performed when the dog brake unit 7 is released. This process is repeatedly executed by the ECU 4.

  First, in step S <b> 101, the ECU 4 performs a process for adjusting the stroke force applied to the engagement element 72. Specifically, the ECU 4 reduces the stroke force applied to the engagement element 72 in order to improve the accuracy of estimation of the dog portion acting torque. For example, the ECU 4 reduces the stroke force to a predetermined value. In this case, the ECU 4 controls the components configured to be able to change the stroke force. Then, the process proceeds to step S102.

  In step S102, the ECU 4 estimates the dog portion operating torque (absolute value). Specifically, after adjusting the stroke force as described above, the ECU 4 obtains the release stroke time from the stroke change amount in the engagement element 72, and based on the obtained release stroke time, Estimate. Specifically, the ECU 4 detects the stroke change amount of the engagement element 72 using the stroke amount sensor 40, and obtains the release stroke time from the stroke change amount. Then, the ECU 4 obtains the dog portion working torque corresponding to the obtained release stroke time based on, for example, the relationship between the dog portion acting torque obtained in advance and the release stroke time (see FIG. 5 and the like). After such processing, the processing proceeds to step S103.

  In steps S103 to S105, the ECU 4 performs a process for determining the sign (positive / negative) of the dog portion operating torque because the dog portion operating torque estimated in step S102 is obtained as an absolute value. First, in step S103, the ECU 4 determines whether or not to perform the first torque code determination method according to the magnitude of the dog portion acting torque. Specifically, the ECU 4 determines whether or not the estimated dog portion operating torque is within an area (for example, an area D2 in FIG. 6) determined to execute the first torque code determination method. To do. Specifically, it is determined whether or not the estimated absolute value of the dog portion operating torque is equal to or less than the stick torque and equal to or greater than the predetermined torque.

  If the estimated dog portion acting torque is within the region determined to execute the first torque code determination method, the ECU 4 determines that the first torque code determination method should be performed (step S103; Yes), the process proceeds to step S104. In step S104, the ECU 4 executes the first torque code determination method. Specifically, the ECU 4 determines the sign of the dog portion acting torque from the change (increase / decrease) in the release stroke time when the dog portion acting torque is changed by applying the MG torque. In this case, the ECU 4 detects a decrease in the release stroke time by an increase in the stroke change amount per unit time, and detects an increase in the release stroke time by a decrease in the stroke change amount per unit time. Then, the process proceeds to step S106.

  On the other hand, if the estimated dog portion applied torque is not within the region determined to execute the first torque code determination method, the ECU 4 should not perform the first torque code determination method. A determination is made (step S103; No), and the process proceeds to step S105. In step S105, the ECU 4 executes a second torque code determination method. Specifically, the ECU 4 determines the sign of the dog portion operating torque from the phase change amount corresponding to the backlash in the engaging element 72. Specifically, the ECU 4 determines the sign of the dog portion operation torque by detecting the deviation of the phase corresponding to the backlash in the dog teeth with the rotation sensor 41. Then, the process proceeds to step S106.

  In step S106, the ECU 4 determines whether or not the dog brake unit 7 has been released. Specifically, the ECU 4 determines whether or not the stroke amount of the engagement element 72 has reached the release determination value based on the detection value of the stroke amount sensor 40. If the release has been completed (step S106; Yes), the process ends. On the other hand, when release is not completed (step S106; No), a process progresses to step S107.

  In step S107, the ECU 4 adjusts the release time based on the dog portion acting torque estimated as described above. Specifically, the ECU 4 controls the at least one of the MG torque and the engine torque to adjust the dog portion acting torque based on the estimated dog portion acting torque to converge to the target release time, Control to adjust. That is, the ECU 4 adjusts the release stroke time by controlling the dog portion acting torque and the stroke force based on the estimated dog portion acting torque (in other words, by adjusting the stroke change amount). Convergence to release time. For example, the ECU 4 shortens the release stroke time by adjusting the MG torque to reduce the dog portion acting torque or increasing the stroke force. On the other hand, the ECU 4 lengthens the release stroke time by adjusting the MG torque to increase the dog portion acting torque or reducing the stroke force. When the process of step S107 ends, the process returns to step S102, and the above-described process is executed again.

  According to the processing described above, variation in release time can be reduced and shift shock can be reduced.

[Modification]
In the above, an example in which the stroke amount of the engagement element 72 is detected using the stroke amount sensor 40 has been described. However, the stroke amount may be acquired using a contact switch instead of the stroke amount sensor 40. In yet another example, the stroke amount may be acquired from the phase information detected by the rotation sensor 41. This method corresponds to detecting a change in physical quantity accompanying a change in stroke amount. For example, when the contact surface of the dog tooth is provided with a gradient, the phase information detected by the rotation sensor 41 can be used as information equivalent to the stroke amount information, and control can be constructed.

  Moreover, although the example which detects a phase change with the rotation sensor 41 was shown above, it is not limited to this. In another example, without using the rotation sensor 41, based on the phase in the first motor generator MG1 (obtained from the resolver) and the phase in the second motor generator MG2 (obtained from the resolver), the gear ratio Such a phase change can be obtained.

  Further, the present invention is not limited to application to the dog brake portion 7 including the engaged element 71 configured to be rotatable by being applied with the dog portion operating torque and the engaging element 72 configured to be capable of stroke. . The present invention can also be applied to a dog brake portion having an engaged element that is configured to be rotatable while being applied with a dog portion operating torque. That is, the present invention can also be applied to a dog brake portion of a type in which the rotating element is configured to be able to stroke.

  Further, the present invention is not limited to the application to the dog brake portion 7 including the engaged element 71 configured to be rotatable and the engaging element 72 configured to be non-rotatable. That is, the present invention is not limited to application to a meshing mechanism that includes a rotating element and a fixed element and serves as a brake. The present invention is also applicable to a meshing mechanism in which both elements are configured to be rotatable. That is, the present invention can also be applied to a meshing mechanism that serves as a clutch (dog clutch) configured to mesh the rotating elements. For example, the present invention can also be applied to a hybrid vehicle that uses a meshing mechanism configured to mesh rotating elements and performs a shift in a multimode.

  Further, the present invention is not limited to the configuration in which the motor generator is connected to either the engaging element or the engaged element, and the motor generator is connected to both the engaging element and the engaged element. It can also be applied to configurations.

1 shows a schematic configuration of a hybrid vehicle according to an embodiment. The structure of a motor generator and a power transmission mechanism is shown. The alignment chart in the fixed gear ratio mode of a power distribution mechanism is shown. The schematic diagram of a dog brake part is shown. It is a figure for demonstrating the estimation method of a dog part action torque. It is a figure for demonstrating the control performed in order to improve the estimation precision of a dog part action torque. It is a figure for demonstrating the 1st torque code determination method. It is a figure for demonstrating the method which switches the code | symbol determination method of a torque according to the magnitude | size of a dog part action torque. It is a figure which shows an example of adjustment of the releasing time based on a dog part action torque. It is a figure for demonstrating the control performed when it determines with having failed in estimation because the absolute value of a dog part action torque is large. It is a figure for demonstrating the control performed when it determines with having failed in estimation because the absolute value of a dog part action torque is small. It is a figure for demonstrating the method to determine whether the learning of a friction coefficient is required. It is a figure for demonstrating the calculation method of a friction coefficient. It is a flowchart which shows the process performed when releasing a dog brake part.

Explanation of symbols

1 Engine 3 Output shaft 4 ECU
7 Dog brake section 20 Power distribution mechanism 31 Inverter 32, 34 Converter 33 HV battery 40 Stroke amount sensor 41 Rotation sensor 71 Engagement element 72 Engagement element MG1 First motor generator MG2 Second motor generator

Claims (7)

A meshing mechanism having an engagement element and an engaged element provided with a plurality of dog teeth, and performing engagement / release by stroking at least one of the engagement elements and the engaged elements. A vehicle drive control device comprising:
During the engagement operation and the release operation of the meshing mechanism, the time required for the release is obtained from the amount of change in the stroke of the dog teeth, and the torque acting on the dog teeth is estimated from the obtained time required for the release. A drive control apparatus for a vehicle, comprising torque estimation means.   2. The vehicle drive control device according to claim 1, wherein the torque estimating unit estimates the torque after reducing a force applied in the stroke direction more than before estimating the torque. A motor generator is connected to at least one of the engaging element and the engaged element,
The sign of the torque acting on the dog tooth estimated by the torque estimating means is determined from the amount of change in the stroke in a state where the torque acting on the dog tooth is changed by applying torque from the motor generator. The vehicle drive control device according to claim 1, further comprising torque code determination means for executing the first torque code determination method.   The torque code determination unit is configured to calculate the first torque code determination method and a phase change amount corresponding to backlash in the dog tooth according to the magnitude of the torque acting on the dog tooth estimated by the torque estimation unit. 4. The positive / negative of the torque acting on the dog tooth estimated by the torque estimating means is determined by switching to a second torque sign determination method for determining whether the torque acting on the dog tooth is positive or negative. Vehicle drive control device.   2. The apparatus according to claim 1, further comprising means for reducing a force applied in the stroke direction so that a shock at the time of release is within an allowable range when the torque estimating means cannot detect the amount of change in the stroke. 5. The vehicle drive control device according to claim 4. A motor generator is connected to at least one of the engaging element and the engaged element,
Friction coefficient calculating means for calculating a friction coefficient of a sliding portion during the stroke by stroking the dog teeth while applying a predetermined torque to the dog teeth by applying torque from the motor generator. A vehicle drive control device according to any one of claims 1 to 5.   An internal combustion engine, a first motor generator, a power distribution mechanism to which the internal combustion engine and the first motor generator are coupled and the meshing mechanism are coupled, and a second motor generator coupled to a drive shaft And is applied to a hybrid vehicle that switches a transmission mode between a continuously variable transmission mode and a fixed transmission ratio mode by releasing / engaging the meshing mechanism. The vehicle drive control device according to one item.

Images