JP2010249207A - Engaging element control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize feedback control of high robustness properly controlling an engaging state of an engaging element, even if a variation is caused in a control object by various variations at the beginning of releasing neutral control. <P>SOLUTION: In this engaging element control device, the variation caused by an uncertain variation such as disturbance and a design error at the beginning of releasing the neutral control, appears in a torque converter output rotating speed NT of an input clutch and this time variation ΔNT (S104 and S106). Thus, a target time variation ΔNTt for sufficiently absorbing the variation caused in the control object, is set by setting the target time variation ΔNTt from a two-dimensional map (S108). By controlling input clutch indicating pressure by making a feedback process (S110), based on this target time variation ΔNTt, even if the variation is caused in an engaging state of the input clutch at the beginning of releasing the neutral control, the feedback control of high robustness for properly controlling the engaging state of the input clutch, is made. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an engagement element control device that controls release and engagement of an engagement element that transmits a rotational driving force of an engine that drives a traveling body.

  Neutral control may be executed in a specific stop state in a vehicle that outputs engine driving force to the transmission side via a torque converter. For example, the engagement element in the transmission is released in a state where the gear position is in the forward travel position, the brake pedal is depressed, the brake is activated, the accelerator is almost fully closed, and the vehicle is stopped. Neutral control is performed to improve fuel consumption (see, for example, Patent Documents 1 to 3).

  In such an engine, it is necessary to cancel the neutral control by engaging the engaging element when the vehicle starts. Patent Documents 1 to 3 disclose techniques for preventing a shock that occurs during the engagement.

In Patent Document 1, the initial value of the solenoid duty for engagement hydraulic pressure control is set to a value capable of suppressing clutch slip at the start of neutral control release.
In Patent Literature 2, engine torque-down control is terminated based on the turbine rotational speed, the automatic transmission output shaft rotational speed, and the gear ratio thereof.

  In Patent Document 3, based on the deviation of the engine speed between the start of the neutral control release and during the release process, or the deviation of the hydraulic pressure command value between the start of the neutral control release and the time when the fluid coupling reaches the target speed ratio, It is determined whether or not learning of the hydraulic pressure command value of the engagement element is possible.

JP 2000-304125 A (page 5-7, FIG. 3-5) JP 2004-316605 A (page 6-7, FIG. 3) JP 2008-267609 A (page 7-10, FIG. 6-8)

  From the neutral control release start to the engagement of the engagement element, as described in Patent Documents 1 and 3, the target time change rate is set with respect to the time change rate of the turbine rotation speed NT of the torque converter and engaged. The oil pressure of the element is feedback controlled. This target time change rate is normally set to be a constant value with respect to the degree of engagement progress of the engagement element.

  However, when the hydraulic pressure of the engagement element is feedback-controlled so as to achieve such a target time rate of change, uncertain fluctuations such as disturbances and design errors at the beginning of neutral control cancellation, for example, the hydraulic pressure of the engagement element, actual It is not possible to sufficiently absorb variations that occur in the controlled object due to differences in engagement pressure, machine differences in the engine and torque converter, and the like. For this reason, the engagement of the engagement element may be too early or too late, which may cause a shock when the neutral control is released.

  For this reason, the feedback control is executed after the engagement of the engagement elements has progressed more than half by the feedforward process, and the feedback control cannot be started early after the neutral control is released. Due to the delay of the feedback control in this way, the engagement by the feed forward process proceeds too much due to the variation during this time, and there is a case where the complete engagement or a shock occurs while the feedback control does not function sufficiently. . On the contrary, if the engagement by the feedforward process is delayed due to the variation, the forced engagement may be started and a shock may be generated while the feedback control itself cannot be started.

  It is an object of the present invention to provide highly robust feedback control that can appropriately control the engagement state of the engagement element even if the variation occurs.

In the following, means for achieving the above-mentioned purpose, and its operation and effect are described.
The engagement element control apparatus according to claim 1 is an engagement element control apparatus that controls release and engagement of an engagement element that transmits a rotational driving force of an engine that drives a traveling body. A target engagement unit that sets a target engagement state of the engagement element according to an engagement progress of the engagement element and a temporal change amount of the engagement progress of the engagement element when engaging the element. A combination state setting unit; and an engagement state feedback control unit that feedback-controls the engagement state of the engagement element based on the target engagement state set by the target engagement state setting unit. To do.

  Variations that occur in the control target due to uncertain fluctuations such as disturbances at the time of neutral control cancellation and design errors appear in the degree of engagement progress of the engagement elements and the amount of time change in the degree of engagement progress of the engagement elements. Therefore, the target engagement state setting means is generated in the control target by setting the target engagement state of the engagement element according to both the engagement progress degree and the time change amount of the engagement progress degree. It is possible to set a target engagement state that can sufficiently absorb variations.

  Based on this target engagement state, the engagement state feedback control means feedback-controls the engagement state of the engagement element, so that the engagement state of the engagement element can be appropriately controlled even if the variation occurs. Highly accurate feedback control is possible.

  According to a second aspect of the present invention, in the engagement element control device according to the first aspect, the engagement state of the engagement element is adjusted by hydraulic pressure control, and the engagement state feedback control means is Feedback control is performed by adjusting the hydraulic pressure based on the target engagement state.

  When the engagement element adjusts the engagement state with the fluid pressure, the fluid pressure control based on the target engagement state performs the fluid pressure control to sufficiently absorb the variation generated in the control target. Feedback control is possible. Thus, even if the above-mentioned variation occurs, highly robust feedback control that can appropriately control the engagement state of the engagement element is possible.

  According to a third aspect of the present invention, there is provided the engagement element control device according to the first or second aspect, wherein the engagement element is released by stopping the traveling body traveling by the rotational driving force of the engine. In this case, neutral control is performed to release the engagement element that transmits the rotational driving force of the engine, and the engagement of the engagement element is performed when the neutral control is released.

  Since the target engagement state is set according to the engagement progress of the engagement element and the time change amount of the engagement progress as described above, the above-described engagement element control device is applied to the neutral control release. In this case, the engagement element can be engaged at an appropriate target timing, and a shock at the time of neutral control cancellation can be prevented.

In the engagement element control device according to claim 4, in the engagement element control device according to any one of claims 1 to 3, the degree of engagement progress is represented by an engagement torque capacity. Features.
As described above, the degree of engagement progress is represented by the engagement torque capacity, and the target engagement state is set according to the engagement torque capacity of the engagement element and the amount of change in the engagement torque capacity over time. Therefore, it is possible to set a target engagement state that can sufficiently absorb the variation occurring in the above.

  The engagement element control device according to claim 5, wherein the target engagement state is a time change amount target value of the engagement torque capacity. To do.

  When the degree of engagement progress is expressed by the engagement torque capacity, the target engagement state set according to the engagement torque capacity of the engagement element and the time change amount of the engagement torque capacity is the time change of the engagement torque capacity. It can be set as a quantity target value. Therefore, by setting the target value for the time change amount of the engagement torque capacity that can sufficiently absorb the variation occurring in the control target, it is possible to perform highly robust feedback control that can appropriately control the engagement state of the engagement element. Become.

  The engagement element control device according to claim 6, wherein the engagement progress degree is a rotational speed on an input side of the engagement element. It is represented by.

  Due to the progress of engagement in the engagement element, the rotational speed on the input side of the engagement element decreases due to an increase in load from the output side. For this reason, the degree of engagement progress can be expressed by the rotational speed on the input side of the engagement element. In this way, by setting the target engagement state in accordance with the rotation speed on the input side of the engagement element and the amount of change in the rotation speed over time, the target engagement state in which the variation generated in the control target can be sufficiently absorbed. Setting is possible.

  In the engagement element control device according to claim 7, in the engagement element control device according to claim 6, the target engagement state is a time change amount target value of the rotational speed on the input side of the engagement element. It is characterized by being.

  When the degree of engagement progress is represented by the rotation speed on the input side of the engagement element, the target engagement state set according to the rotation speed on the input side of the engagement element and the amount of change in the rotation speed over time is the engagement element. Can be set as a target value for the time change amount of the rotational speed on the input side. In this way, by setting a target value for the temporal change amount of the rotational speed on the input side of the engagement element that can sufficiently absorb the variation occurring in the control target, the robustness that can appropriately control the engagement state of the engagement element High feedback control becomes possible.

  The engagement element control device according to claim 8, wherein the engagement progress degree is an input of the engagement element with respect to a reference rotation speed. It is represented by the ratio of the rotational speed of the side.

  Instead of directly expressing the rotation speed on the input side of the engagement element, the degree of progress of engagement may be represented by the ratio of the rotation speed on the input side of the engagement element with respect to the reference rotation speed. Even in such a non-dimensional manner, it is possible to set a target engagement state that can sufficiently absorb variations occurring in the control target.

The engagement element control apparatus according to claim 9 is the engagement element control apparatus according to claim 8, wherein the target engagement state is a time change amount target value of the ratio.
When the degree of engagement progress is expressed as a ratio of the rotation speed on the input side of the engagement element with respect to the reference rotation speed, the target engagement state set according to the ratio and the time change amount of the ratio is the time of the ratio It can be set as a change amount target value. By setting the time change amount target value of the ratio that can sufficiently absorb the variation occurring in the control target in this way, it is possible to perform highly robust feedback control that can appropriately control the engagement state of the engagement element. Become.

  The engagement element control device according to claim 10, wherein the degree of engagement progress is a rotational speed on an input side of the engagement element. And the rotation speed on the output side.

  As described above, the degree of engagement progress can be expressed by the difference in rotational speed between the input side and the output side of the engagement element. By setting the target engagement state according to this difference, the degree of engagement is generated in the controlled object. It is possible to set a target engagement state that can sufficiently absorb the variation.

An engagement element control device according to an eleventh aspect is the engagement element control device according to the tenth aspect, wherein the target engagement state is a time change amount target value of the difference.
When the degree of engagement progress is expressed by the difference in rotational speed between the input side and the output side of the engagement element, the target engagement state set according to this difference and the time change amount of the difference is the time change of the difference. It can be set as a quantity target value. Thus, by setting the time change amount target value of the difference that can sufficiently absorb the variation occurring in the control target, it is possible to perform highly robust feedback control that can appropriately control the engagement state of the engagement element. Become.

  In the engagement element control device according to claim 12, in the engagement element control device according to any one of claims 1 to 3, the target engagement state setting means is defined in claims 4, 6, 8, The engagement progress degree according to any one of Claims 10 and the temporal change amount of the engagement progress degree according to any one of Claims 4, 6, 8, and 10, according to Claims 4 and 6. , 8 and 10, the time change amount target value of the degree of progress of engagement is set.

  Thus, the former engagement degree and the latter are the two values used by the target engagement state setting means, that is, the engagement degree of the engagement element and the temporal change amount of the degree of engagement of the engagement element. Since it is not necessary to have the same degree of engagement progress, the combination of the degree of progress of engagement described in claims 4, 6, 8, and 10 may be used.

  In the engagement element control device according to claim 13, in the engagement element control device according to any one of claims 1 to 12, the traveling body is a vehicle, and the engagement element is a rotation of an engine. The driving force is input through a torque converter.

  In a vehicle equipped with a torque converter, the engagement element may be configured to receive the rotational driving force of the engine from the torque converter side. In this case, since the target engagement state is set according to the engagement progress of the engagement element and the time change amount of the engagement progress as described above, even if the variation occurs, the engagement of the engagement element is set. It is possible to perform feedback control with high robustness that can appropriately feedback control the combined state.

  Therefore, when the above-described engagement element control device is applied to the neutral control release, the engagement element can be engaged at an appropriate target timing so as not to cause a shock at the neutral control release. it can.

  The engagement element control device according to claim 14, wherein the target engagement state setting means is a time change of the engagement progress degree. With respect to the amount, in a state in which the change from the temporal change amount of the engagement progress that is found at the initial stage when engaging the engagement element is suppressed, the target engagement of the engagement element is set together with the subsequent engagement progress. It is characterized by setting a combined state.

  When the time change amount of the degree of engagement progress changes greatly during the progress of the engagement, the feedback control is executed according to the target engagement state in which this is reflected.Therefore, a change occurs in the period until the end of the feedback control, There is a possibility that the stability of the engagement state control is lowered.

  For this reason, during feedback control, the degree of engagement progress obtained in a state in which the change from this value is suppressed with reference to the value of the temporal change amount of the degree of engagement progress that is initially found when engaging the engagement element. The target engagement state of the engagement element is set together with the degree of progress of the engagement using the value of the amount of time change. As a result, the fluctuation of the period until the end of the feedback control is suppressed, and the sense of stability of the engagement state control can be maintained.

  The engagement element control device according to claim 15, wherein the target engagement state setting means is a time change of the degree of engagement progress. As for the amount, the target engagement state of the engagement element is set together with the subsequent degree of engagement progress, using the amount of time change of the degree of engagement progress determined at the initial stage when engaging the engagement element. It is characterized by that.

  In this way, by using the value of the temporal change amount of the degree of progress of engagement that is found at the initial stage when engaging the engagement element, and reflecting it in the subsequent feedback control, the fluctuation of the period until the end of the feedback control is changed. Sufficiently suppressed. This makes it possible to sufficiently maintain the sense of stability of the engagement state control.

  The engagement element control device according to claim 16, wherein, in the engagement element control device according to claim 14 or 15, an amount of change over time of the degree of progress of engagement that is initially determined when the engagement element is engaged. Is characterized by using an average value of the temporal change amount of the degree of progress of engagement obtained during an initial predetermined period when engaging the engaging element.

  As described above, the value of the temporal change amount of the engagement progress obtained at the initial stage when engaging the engagement element is the average value of the temporal change amount of the engagement progress obtained during the initial predetermined period. By using it, it is possible to cancel the detection error and enable more stable feedback control.

5 is a flowchart of neutral control release processing executed by the engagement element control device according to the first embodiment. FIG. 2 is a block diagram illustrating an outline of an engagement element control device according to the first embodiment. 4 is a timing chart illustrating an example of processing according to the first embodiment. The graph explaining the structure of the two-dimensional map MAPdnt used in the neutral control cancellation process. (A), (b) The timing chart which shows an example of the process of Embodiment 1. FIG. 10 is a flowchart of neutral control release processing according to the second embodiment. 10 is a flowchart of an initial engagement progress degree time variation ΔNTB setting process according to the second embodiment. 10 is a flowchart of neutral control release processing according to the third embodiment. (A), (b), (c) The graph explaining the other structure of two-dimensional map MAPdnt.

[Embodiment 1]
FIG. 1 is a flowchart showing a neutral control release process executed by an engagement element control device to which the above-described invention is applied. As shown in FIG. 2, this neutral control release processing is executed by an electronic control unit (hereinafter referred to as ECT-ECU) 4 that controls the automatic transmission 2 mounted on the vehicle (corresponding to the traveling body). Process. The automatic transmission 2 includes various automatic transmissions, stepless and continuously variable, and may be a semi-automatic transmission. Here, the automatic transmission 2 controls the transmission and driving force of the internal brakes and clutches by engaging and releasing the internal brakes and clutches, and controls the movement and fixation of the internal planetary gears and the sun gears to execute a shift. .

  The ECT-ECU 4 outputs a signal to a hydraulic control solenoid in the hydraulic control unit 10 of the automatic transmission 2 in accordance with the driver's operation on the shift lever device 6, the running state of the vehicle, and the operating state of the engine 8. The shift control of the automatic transmission 2 including the torque converter 12 is executed.

  The rotational driving force from the engine 8 is input to the automatic transmission 2 via the torque converter 12. The engine 8 is controlled by the engine ECU 14. The engine ECU 14 inputs various signals from the engine 8 and executes control calculations, and transmits various data signals obtained from these signals, for example, data signals such as the engine speed NE to the ECT-ECU 4.

  The ECT-ECU 4 executes a control calculation by inputting a signal of the engine speed NE and a signal for a shift control process from the automatic transmission 2 side. For example, torque converter output rotational speed NT (turbine rotational speed) representing the output rotational speed of torque converter 12, data such as output shaft rotational speed Nout of output shaft 2a of automatic transmission 2, shift signal from shift lever device 6, and others The control calculation is executed by inputting the signal.

  In addition to the shift control of the automatic transmission 2, the ECT-ECU 4 executes the neutral control when the neutral control execution condition is satisfied. The execution condition of the neutral control is, for example, a condition in which the shift lever device 6 indicates the forward travel (D) position, and the vehicle state is predetermined (accelerator off, brake on, brake master cylinder pressure is a predetermined value or more, And all conditions where the vehicle speed is equal to or lower than a predetermined value), the condition is established when it is determined that the vehicle is stopped.

  When the neutral control execution condition is satisfied, the neutral control is executed, the input clutch (also referred to as a forward clutch or a forward clutch) in the automatic transmission 2 is released to a slip state, and the automatic transmission 2 is set to the neutral state. Make it close to. This reduces the load on the engine 8 and improves fuel efficiency.

  When the neutral control release condition is satisfied, a neutral control release process is executed to engage the input clutch in the automatic transmission 2 so that the rotational driving force can be transmitted from the torque converter 12 to the automatic transmission 2. The neutral control cancellation condition is, for example, a case where either a brake off operation or an accelerator pedal depression operation by the driver or both operations are performed.

  The neutral control release process is as shown in FIG. 1 and is executed by the ECT-ECU 4. This process will be described. This process is a process that is repeatedly executed at predetermined time intervals when neutral control is released. Steps in the flowchart corresponding to individual processing contents are represented by “S˜”.

When this process is started, first, it is determined whether or not a feedback control permission condition for engaging the input clutch for neutral control cancellation is satisfied (S100).
In order to execute the feedback control for neutral control cancellation, as shown in the timing chart of FIG. 3, as the initial processing, it is necessary to apply the initial hydraulic pressure to the input clutch and then wait in the constant pressure state (t0 to t1). It is. Therefore, the feedback control permission condition is that such initial processing is completed.

  Since the feedback control permission condition is not satisfied at the initial stage of neutral control cancellation (NO in S100), the above-described initial process (S102) is executed. Thereafter, until the initial process (S102) is completed, NO is determined in step S100.

  When the initial process (S102) is completed (FIG. 3: t1), since the feedback control permission condition is satisfied (YES in S100), the degree of engagement of the input clutch is then read (S104). Since the torque converter output rotational speed NT decreases when the input clutch is engaged when the neutral control is canceled, the torque converter output rotational speed NT itself is used as the degree of engagement progress in this embodiment. Therefore, the torque converter output rotational speed NT detected from the automatic transmission 2 side is read here.

  Next, the time variation ΔNT of the read torque converter output rotational speed NT is calculated (S106). Here, the difference between the torque converter output rotational speed NT read in the immediately preceding step S104 and the torque converter output rotational speed NT read in the previous control cycle is converted per unit time to a time variation ΔNT ( rpm / s: time change rate). The difference in the torque converter output speed NT per control cycle may be set as the time change amount ΔNT, and the difference in a time period longer than the control cycle of this process may be calculated as the time change amount ΔNT. .

Further, such data of the time variation ΔNT may be obtained by an arithmetic circuit or arithmetic processing separately provided in the ECT-ECU 4, and the result may be read in step S106.
Next, a target time variation ΔNTt (corresponding to a time variation target value) of the degree of engagement progression (torque converter output speed NT) is set (S108). This target time change amount ΔNTt is obtained based on the torque converter output rotational speed NT read in step S104 and the time change amount ΔNT calculated in step S106 by the two-dimensional map MAPdnt shown in FIG.

  In FIG. 4, the target time change amount ΔNTt is as indicated by a solid line in each of a plurality of set time change amounts ΔNT (5 rpm / s to 50 rpm / s). That is, the larger the torque converter output rotational speed NT, the smaller the target time variation ΔNTt on the minus side (the larger the absolute value), and the lowering of the torque converter output rotational speed NT is promoted.

  As the actual time variation ΔNT is smaller (the absolute value is larger), the target time variation ΔNTt is larger (the absolute value is smaller) on the minus side so that the decrease in the torque converter output rotational speed NT is suppressed. Is set.

  In FIG. 4, the two-dimensional map MAPdnt is shown as a continuous line for each time change amount ΔNT, but is actually set as a discrete value corresponding to the torque converter output rotational speed NT. For example, it is set every 100 rpm intervals of the torque converter output rotational speed NT. By interpolating between such discrete numerical values, a target time variation ΔNTt appropriate for the combination of the torque converter output rotational speed NT and the time variation ΔNT is set based on the two-dimensional map MAPdnt. .

  Next, based on the deviation (ΔNTt−ΔNT) between the target time change amount ΔNTt thus obtained and the actual time change amount ΔNT, the input clutch command pressure is calculated by feedback control calculation (S110). For example, by calculating a feedback correction amount by PID control, PI control, etc., a new input clutch command pressure value is set and commanded to the hydraulic control unit 10 of the automatic transmission 2, whereby neutral control is performed. Execute feedback control at release.

  Thereafter, the neutral control release process (FIG. 1) continues until the feedback control stop condition is satisfied. As a result, the torque converter output rotational speed NT decreases as shown in FIG. 3 (t1 to t1). When the feedback control stop condition is satisfied (t2), the neutral control release process (FIG. 1) stops executing. Thereafter, the input clutch command pressure is returned to the command pressure in the normal mode (t2).

  In FIG. 3, the torque converter output rotational speed NT has completely reached “0 rpm”, and thereafter, the torque converter output rotational speed NT increases due to the start of vehicle travel (t3). If the vehicle starts running when the internal input clutch is completely engaged, the torque converter output rotational speed NT rises before reaching “0 rpm”.

  FIG. 5 shows a comparison between the case according to the present embodiment (one-dot chain line) and the case where the target time variation ΔNTt is set according to the shift progress (torque converter output rotational speed NT) as in the conventional case (broken line). ing. The solid line is the same as the example of the present embodiment shown in FIG.

  In FIG. 5A, when the feedback control permission condition is satisfied, the time variation ΔNT is not sufficiently small (the absolute value of the negative value is large) due to uncertain fluctuations such as disturbance and design error, and the torque converter output rotation The case where the fall of number NT is not progressing is shown. Even in such a state, in the present embodiment, the target time variation ΔNTt is set by the two-dimensional map MAPdnt, so that the torque converter output rotational speed NT remains large and the time variation ΔNT is large (negative Correspondingly, the target time change amount ΔNTt is set to a particularly small value (a value with a particularly large negative value). That is, the reduction in torque converter output speed NT is promoted by feedback control. Therefore, as indicated by the alternate long and short dash line, the torque converter output rotational speed NT quickly follows the solid line, and the end of the feedback control is at the same timing (t2) as the solid line.

  However, in the comparative example indicated by the broken line, since it is necessary to perform feedback control after the torque converter output rotational speed NT has sufficiently decreased (for example, 300 rpm or less) in the neutral control cancellation process, the feedback control cannot actually be started. . Or even if torque converter output rotation speed NT falls to such an extent that feedback control can be started, there is no time to sufficiently reduce torque converter output rotation speed NT by feedback control. For this reason, the input clutch must be rapidly engaged by the start operation, which causes a shock. The comparative example indicated by the broken line in FIG. 5A shows an example in which the input clutch is rapidly engaged with the start operation before the feedback control is started.

  In FIG. 5B, the time change amount ΔNT becomes excessively small (the absolute value of the negative value is excessively large) due to uncertain fluctuations such as disturbance and design error when the feedback control permission condition is satisfied, and the torque converter output rotation The number NT shows an excessive decrease. In this case, in the present embodiment using the two-dimensional map MAPdnt, the torque converter output rotational speed NT is rapidly decreasing, and the time variation ΔNT is small (the absolute value of the negative value is large). Correspondingly, a particularly large value (a value where the absolute value of the minus value is particularly small) is set as the target time change amount ΔNTt. That is, in the feedback control, a decrease in the torque converter output rotational speed NT is suppressed. Therefore, as indicated by the alternate long and short dash line, it follows the solid line, and the end of the feedback control is at the same timing (t2) as the solid line.

  However, in the comparative example indicated by the broken line, when feedback control is started (tx), there is no time to sufficiently control the torque converter output rotational speed NT that rapidly decreases, and the input clutch is rapidly connected to cause a shock. It will be.

  In the configuration described above, the relationship with the claims corresponds to the ECT-ECU 4 as the target engagement state setting means and the engagement state feedback control means. Steps S100, S104, S106, and S108 of the neutral control cancellation processing (FIG. 1) executed by the ECT-ECU 4 correspond to processing as the target engagement state setting means, and step S110 corresponds to processing as the engagement state feedback control means. .

According to the first embodiment described above, the following effects can be obtained.
(I). As shown in FIG. 5, the variation caused in the control object due to uncertain fluctuations such as disturbance at the time of neutral control cancellation and design error, and the torque converter output rotational speed NT of the input clutch which is an engagement element and this time change amount ( ΔNT). Therefore, by setting the target time change amount ΔNTt from the two-dimensional map MAPdnt described above, the target time change amount ΔNTt that can sufficiently absorb the variation occurring in the control target can be set.

  Then, by performing feedback control of the input clutch command pressure based on this target time change amount ΔNTt, as shown in FIG. 5, even if there is a variation, the engagement state of the input clutch can be appropriately controlled and has high robustness. Feedback control is possible.

[Embodiment 2]
In the present embodiment, as the neutral control release processing, the processing shown in the flowchart of FIG. 6 is repeatedly interrupted at a predetermined time period when neutral control is released. Other configurations are the same as those of the first embodiment, and will be described with reference to FIGS.

  When this processing is started, it is first determined whether or not a feedback control permission condition for engaging the input clutch when neutral control is released is satisfied (S200). The feedback control permission condition is as described in step S100 of the neutral control release process (FIG. 1).

  Since the feedback control permission condition is not satisfied at the initial stage when the neutral control is released (NO in S200), the initial process (S202) described in the first embodiment is executed. Then, the initial engagement progress time change amount ΔNTB setting process (S204) as shown in the flowchart of FIG. 7 is executed. Then, this process is temporarily exited.

Thereafter, until the initial process (S202) is completed, NO is determined in step S200, and the processes in steps S202 and S204 are continued.
The initial engagement progress time change amount ΔNTB setting process (FIG. 7) executed in step S204 will be described. First, in the initial process executed in step S202, it is determined whether or not the constant pressure standby state after the initial hydraulic pressure is applied (S240). If it is not in the constant pressure standby state yet (NO in S240), the cumulative value ΣΔNT of the time variation ΔNT and the cumulative number counter n described later are cleared (S242). Then, this process is temporarily exited.

  If the constant pressure standby state is reached in the initial processing (YES in S240: FIG. 3: ts˜), it is next determined whether or not the initial engagement progress time variation ΔNTB calculation is incomplete (S244). Since the initial engagement progress time variation ΔNTB is not initially calculated (YES in S244), the time variation ΔNT of the torque converter output rotational speed NT is then calculated (S246). This is the calculation of the time change amount ΔNT before entering the feedback control of the time change amount ΔNT, and the process is as described in step S106 of the neutral control release process (FIG. 1).

Next, as shown in Expression 1, the cumulative calculation of the cumulative value ΣΔNT is executed (S248).
[Formula 1] ΣΔNT ← ΣΔNT + ΔNT
Next, the cumulative number counter n is incremented (incremented) (S250).

  Then, it is determined whether or not a predetermined period has elapsed (S252). For example, it is determined whether or not 100 ms has elapsed since the constant pressure standby state was reached, or whether or not the value of the cumulative number counter n has become a value corresponding to 100 ms.

If the predetermined period has not elapsed (NO in S252), the process is temporarily exited.
Thereafter, the processing of steps S246, S248, and S250 is repeated until the predetermined period elapses, and the accumulated value ΣΔNT is calculated from the above equation 1 to the value of the time change amount ΔNT of the torque converter output rotational speed NT at the initial time when neutral control is released Will be accumulated.

  When the predetermined period elapses (YES in S252), the average value of the time change amount ΔNT of the torque converter output rotational speed NT accumulated in the cumulative value ΣΔNT is calculated according to Equation 2, and the initial engagement progress time change amount ΔNTB is calculated. It is set (S254).

[Formula 2] ΔNTB ← ΣΔNT / n
In this way, the initial engagement progress time variation ΔNTB is set to a value that reflects uncertain fluctuations such as disturbances at the beginning of neutral control cancellation and design errors. That is, when the initial engagement progress time change amount ΔNTB is small (a negative value and large as an absolute value), the torque converter output rotational speed NT tends to decrease excessively, and the initial engagement progress time change amount When ΔNTB is large (a negative value and small as an absolute value), it can be seen that the decrease in the torque converter output speed NT tends to be too small.

  Thus, the present process is temporarily exited. Thereafter, until the feedback control is started, since it is determined YES in step S240, the calculation of the initial engagement progress degree time variation ΔNTB is completed (NO in S244). Substantial processing is not performed in the time variation ΔNTB setting processing (S204: FIG. 7).

  When the feedback control permission condition is satisfied by completing the initial process (S202) (YES in S200, FIG. 3: t1), the degree of progress of engagement of the input clutch is then read (S206). This process is as described in step S104 of the neutral control release process (FIG. 1).

  Next, a time change amount ΔNT of the degree of engagement progress (torque converter output speed NT) is calculated (S208). This process is as described in step S106 of the neutral control release process (FIG. 1).

  Next, the target time variation ΔNTt of the engagement progress (torque converter output speed NT) is set using the two-dimensional map MAPdnt shown in FIG. 4 (S210). However, the time change amount used together with the torque converter output rotation speed NT as a parameter of the two-dimensional map MAPdnt here is not the time change amount ΔNT of the current torque converter output rotation speed NT but the initial engagement progress time change amount as described above. The initial engagement progress time change amount ΔNTB obtained in the ΔNTB setting process (S204: FIG. 7) is used.

  That is, the target time change amount ΔNTt is calculated from the two-dimensional map MAPdnt based on the combination of the initial engagement progress time change amount ΔNTB and the torque converter output rotational speed NT, which are fixed values at this time.

  In the present embodiment, the two-dimensional map MAPdnt (FIG. 4) is designed in advance as follows. That is, for each time change amount ΔNT (here, initial engagement progress time change amount ΔNTB), the target time change amount ΔNTt calculated based on the torque converter output rotational speed NT is substantially equal when the feedback control is executed. It is designed so that the feedback control ends during the period, that is, the input clutch is completely engaged.

  Therefore, by using the target time change amount ΔNTt calculated by the two-dimensional map MAPdnt in the present embodiment, the feedback control can be completed almost certainly during the designed period.

  Based on the deviation (ΔNTt−ΔNT) between the target time variation ΔNTt thus obtained and the actual time variation ΔNT, the input clutch command pressure is calculated by feedback control calculation (S212). The content of this feedback control is as described in step S110 of FIG.

  Thereafter, the neutral control release process (FIG. 6) continues until the feedback control stop condition is satisfied. As a result, when the torque converter output rotational speed NT changes substantially as illustrated in FIG. 3 and the feedback control stop condition is satisfied, the neutral control release process (FIG. 6) stops executing. Thereafter, the command pressure of the input clutch is returned to the command pressure in the normal mode (FIG. 3: t2).

  In the above-described configuration, the relationship with the claims is that steps S200 and S204 to S210 of the neutral control release processing (FIG. 6) executed by the ECT-ECU 4 are engaged with the processing as the target engagement state setting means, and step S212 is engaged. This corresponds to processing as state feedback control means.

According to the second embodiment described above, the following effects can be obtained.
(I). The effect of the first embodiment is produced, and the initial engagement progress time variation ΔNTB obtained as an average value of the time variation ΔNT at the initial release of neutral control is used together with the torque converter output rotational speed NT to change the target time. The amount ΔNTt is set. From this, the detection error of the torque converter output rotational speed NT can be offset, and the sense of stability of the feedback control in the engaged state can be more reliably maintained.

[Embodiment 3]
In the present embodiment, as the neutral control release process, the process shown in the flowchart of FIG. 8 is repeatedly interrupted at a predetermined time period. Other configurations are the same as those of the second embodiment, and will be described with reference to FIGS.

  When this process is started, first, it is determined whether or not a feedback control permission condition for engaging the input clutch when neutral control is released is satisfied (S300). The feedback control permission condition is as described in step S100 of the neutral control release process (FIG. 1).

  Since the feedback control permission condition is not satisfied at the initial stage when the neutral control is released (NO in S300), the initial process (S302) described in the first embodiment is executed. Further, the initial engagement progress time change amount ΔNTB setting process (S304) is executed as described with reference to FIG. Then, this process is temporarily exited.

Thereafter, until the initial process (S302) is completed, NO is determined in step S300, and the processes in steps S302 and S304 are continued.
When the feedback control permission condition is satisfied by completing the initial process (S302) (YES in S300), the degree of engagement of the input clutch is then read (S306). This process is as described in step S104 of the neutral control release process (FIG. 1).

  Next, a time change amount ΔNT of the torque converter output rotational speed NT is calculated (S308). This process is as described in step S106 of the neutral control release process (FIG. 1).

Next, it is determined whether or not the value of the time variation ΔNT calculated in step S308 satisfies the expression 3 (S310).
[Formula 3] ΔNT> ΔNTB + dNTu
If Expression 3 is satisfied (YES in S310), the suppression time change amount ΔNTL is set by Expression 4 (S312).

[Formula 4] ΔNTL ← ΔNTB + dNTu
This equation 4 shows that when the actual time change amount ΔNT exceeds the initial engagement progress time change amount ΔNTB + the upper limit width dNTu, instead of the actual time change amount ΔNT, the initial time change amount ΔNTL is An upper limit value (ΔNTB + dNTu) centering on the combined progress time variation ΔNTB is set. As a result, the change in the suppression time change amount ΔNTL is limited within an allowable range centered on the initial engagement progress time change amount ΔNTB.

If Expression 3 is not satisfied (NO in S310), it is then determined whether or not the value of the time variation ΔNT calculated in Step S308 satisfies Expression 5 (S314).
[Formula 5] ΔNT <ΔNTB−dNTd
If Expression 5 holds (YES in S314), the suppression time change amount ΔNTL is set by Expression 6 (S316).

[Formula 6] ΔNTL ← ΔNTB − dNTd
When the actual time change amount ΔNT falls below the initial engagement progress time change amount ΔNTB−lower limit width dNTd, instead of the value of the actual time change amount ΔNT, the initial value is set to the suppression time change amount ΔNTL. A lower limit (ΔNTB−dNTd) centering on the engagement progress time variation ΔNTB is set. As a result, the change in the suppression time change amount ΔNTL is limited within an allowable range centered on the initial engagement progress time change amount ΔNTB.

If Formula 5 is not satisfied (NO in S314), the value of the time variation ΔNT calculated in step S308 is set as the suppression time variation ΔNTL (S318).
In this way, when the suppression time change amount ΔNTL is set in any of step S312, step S316, and step S318, the target time change amount ΔNTt is then calculated using the two-dimensional map MAPdnt shown in FIG. Set (S320). However, here, the value used together with the torque converter output rotational speed NT as the parameter of the two-dimensional map MAPdnt is the suppression time change amount ΔNTL.

  That is, based on the value of the time change amount ΔNT calculated in step S308, the suppression time change amount ΔNTL and the torque whose change is suppressed within the limit range centering on the initial engagement progress time change amount ΔNTB. Based on the combination with the converter output rotational speed NT, the target time variation ΔNTt is calculated from the two-dimensional map MAPdnt.

  Note that the design of the two-dimensional map MAPdnt is as described in the second embodiment, and the feedback control is completed in substantially the same period for each time change amount ΔNT (actually, the suppression time change amount ΔNTL). Designed in advance.

  Therefore, by using the target time change amount ΔNTt calculated by the two-dimensional map MAPdnt in this embodiment, the feedback control can be completed in a substantially designed period, and various variations during the feedback control can be dealt with to some extent. it can.

  Based on the deviation (ΔNTt−ΔNT) between the target time variation ΔNTt thus obtained and the actual time variation ΔNT, the input clutch command pressure is calculated by feedback control calculation (S322). The content of this feedback control is as described in step S110 of FIG.

  Thereafter, the neutral control release process (FIG. 8) continues until the feedback control stop condition is satisfied. As a result, when the torque converter output rotational speed NT changes substantially as illustrated in FIG. 3 and the feedback control stop condition is satisfied, the neutral control release process (FIG. 8) stops executing. Thereafter, the command pressure of the input clutch is returned to the command pressure in the normal mode.

  In the above-described configuration, the relationship with the claims is that steps S300 and S304 to S320 of the neutral control release processing (FIG. 8) executed by the ECT-ECU 4 are engaged with the processing as the target engagement state setting means, and step S322 is engaged. This corresponds to processing as state feedback control means.

According to the third embodiment described above, the following effects can be obtained.
(I). By an intermediate operation between the first embodiment and the second embodiment, the feedback control can be completed in a substantially designed period, and various variations during the feedback control can be dealt with to some extent.

[Other embodiments]
(A). In the embodiment described above, the torque converter output rotational speed NT itself is used as the degree of engagement progress.

  -The engagement torque capacity of the input clutch may be used as the degree of engagement progress, and further, feedback control is performed by obtaining a target value for the time change amount of the engagement torque capacity from this engagement torque capacity and its time change amount. You may do it.

  A fixed reference rotation speed is set in advance as the reference rotation speed, and the ratio of the torque converter output rotation speed NT, which is the rotation speed on the input side of the input clutch with respect to this reference rotation speed, may be set as the degree of engagement progress. The feedback control may be executed by obtaining a target value for the time change amount of the ratio from the ratio and the time change amount.

  The difference between the input side rotational speed and the output side rotational speed of the input clutch may be used as the degree of engagement progress, and further, from this difference and its time change amount, a target value of time difference of the difference is obtained and fed back. Control may be executed.

  (B). Two parameters of the two-dimensional map MAPdnt are an engagement progress degree and a temporal change amount of the engagement progress degree, and a time change amount target value of the engagement progress degree is calculated based on these values. However, the degree of engagement progress as the first parameter, the degree of engagement progress in the time change amount as the second parameter, and the engagement progress degree in the set time change amount target value are the same type of engagement progress. It does not have to be limited.

  For example, the torque converter output rotation speed NT may be a combination of two or more engagement progress degrees selected from the engagement torque capacity, the ratio, and the difference shown in (a). As a specific example, the target time change amount ΔNTt may be set by a map from the ratio and the time change amount of the difference. The target time change amount of the difference may be set by a map from the engagement torque capacity and the time change amount ΔNT of the torque converter output rotational speed NT.

  (C). In the two-dimensional map MAPdnt shown in FIG. 4, the relationship between the torque converter output rotational speed NT and the target time change amount ΔNTt is expressed linearly at each time change amount ΔNT. ) And (b) may be curved. Alternatively, as shown in FIG. 9C, a common target time variation ΔNTt may be set on the side where the torque converter output rotational speed NT is low.

  DESCRIPTION OF SYMBOLS 2 ... Automatic transmission, 2a ... Output shaft, 4 ... ECT-ECU, 6 ... Shift lever apparatus, 8 ... Engine, 10 ... Hydraulic control part, 12 ... Torque converter, 14 ... Engine ECU.

Claims (16)

An engagement element control device for controlling release and engagement of an engagement element that transmits a rotational driving force of an engine that drives a traveling body,
When engaging the engagement element, the target engagement state of the engagement element is set according to the engagement progress of the engagement element and the amount of change in the engagement progress of the engagement element over time. Target engagement state setting means for
Engagement state feedback control means for feedback controlling the engagement state of the engagement element based on the target engagement state set by the target engagement state setting means;
An engagement element control device comprising: 2. The engagement element control apparatus according to claim 1, wherein the engagement state of the engagement element is adjusted by hydraulic pressure control, and the engagement state feedback control unit adjusts the hydraulic pressure based on the target engagement state. An engagement element control device characterized by performing feedback control by means of In the engagement element control device according to claim 1 or 2,
Release of the engaging element is performed by neutral control that releases the engaging element that transmits the rotational driving force of the engine when the traveling body that travels by the rotational driving force of the engine is stopped.
The engagement element control device according to claim 1, wherein the engagement of the engagement element is performed when the neutral control is released. The engagement element control apparatus according to any one of claims 1 to 3, wherein the degree of progress of engagement is represented by an engagement torque capacity. 5. The engagement element control device according to claim 4, wherein the target engagement state is a target value for a time change amount of the engagement torque capacity. The engagement element control device according to any one of claims 1 to 3, wherein the degree of engagement progress is represented by a rotational speed on an input side of the engagement element. apparatus. The engagement element control apparatus according to claim 6, wherein the target engagement state is a target value for a temporal change amount of the rotational speed on the input side of the engagement element. The engagement element control device according to any one of claims 1 to 3, wherein the degree of engagement progress is represented by a ratio of a rotational speed on an input side of the engagement element with respect to a reference rotational speed. An engagement element control device. 9. The engagement element control apparatus according to claim 8, wherein the target engagement state is a time change amount target value of the ratio. The engagement element control device according to any one of claims 1 to 3, wherein the degree of engagement progress is represented by a difference between an input side rotation speed and an output side rotation speed of the engagement element. An engagement element control device characterized by the above. The engagement element control apparatus according to claim 10, wherein the target engagement state is a time change amount target value of the difference. The engagement element control device according to any one of claims 1 to 3, wherein the target engagement state setting means is an engagement progress degree according to any one of claims 4, 6, 8, and 10. And the engagement change degree according to any one of claims 4, 6, 8, and 10 according to any one of claims 4, 6, 8, and 10. An engagement element control device, characterized in that a target value of a time change amount of the degree of progress is set. The engagement element control device according to any one of claims 1 to 12, wherein the traveling body is a vehicle, and the rotation driving force of an engine is input to the engagement element via a torque converter. An engagement element control device characterized by the above. The engagement element control device according to any one of claims 1 to 13, wherein the target engagement state setting means engages the engagement element with respect to a temporal change amount of the engagement progress degree. The engagement element is characterized in that a target engagement state of the engagement element is set together with the subsequent engagement progress degree in a state in which a change from the temporal change amount of the engagement progress degree determined at the initial stage is suppressed. Control device. The engagement element control device according to any one of claims 1 to 13, wherein the target engagement state setting means is configured to engage the engagement element with respect to a temporal change amount of the engagement progress degree. An engagement element control device that sets a target engagement state of the engagement element together with the subsequent degree of engagement using the amount of change in the degree of degree of engagement determined at the initial stage. 16. The engagement element control device according to claim 14 or 15, wherein the temporal change amount of the degree of engagement progress that is initially found when the engagement element is engaged is an initial value when the engagement element is engaged. An engagement element control device using an average value of the temporal change amount of the degree of engagement progress obtained during the predetermined period.

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