JP2015224738A - Control device of meshing-type engagement device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To quickly switch a meshing-type engagement device having a pair of meshing engagement elements to an engaged state.SOLUTION: A device for controlling a meshing-type engagement device comprising a first meshing engagement element connected to a rotating electric machine, and a second meshing engagement element which can move to a direction of the first meshing engagement element by a drive force of a plunger which is transmitted via a waiting spring mechanism comprises: detection means which detects a meshing degree between the first engagement element and the second engagement element in the case where the second engagement element is stopped during movement; and rotating electric machine control means which controls the torque of the electric rotating machine so that meshing torque acting between the first and second engagement elements is reduced in the case where the second meshing engagement element is stopped during movement, and controls the torque of the rotating electric machine so that a change speed of the torque of the rotating electric machine related to the reduction of the meshing torque is lowered as the meshing degree becomes large.

Description

  The present invention relates to a technical field of a control device for a meshing engagement device that controls a meshing engagement device mounted on a vehicle.

  The control of the meshing clutch is disclosed in Patent Document 1, for example. According to the vehicle control device disclosed in Patent Literature 1, by applying torque in a direction that suppresses the rotation change of the engagement element, the engagement can be reliably completed even if the engagement stagnates in the middle. It is supposed to be possible.

  Patent Document 2 discloses a vehicle power transmission system that reverses the positive / negative polarity of the torque change rate of the generator motor based on the moving distance change rate of the meshing portion of the clutch.

JP 2009-222102 A JP 2012-076539 A1

  A configuration is known in which the engaging element is moved in the axial direction by the thrust of the plunger transmitted through the waiting spring. Even in such a configuration, the movement of the engaging element in the axial direction may stop due to the meshing torque acting between the engaging elements. Also in such a configuration, the movement of the engagement element can be resumed by the control of the meshing torque variation as disclosed in the prior art document.

  Incidentally, in such a configuration, the thrust in the axial direction of the engagement element correlates with the elastic force of the waiting spring mechanism. Therefore, the thrust of the engagement element when the movement is resumed changes each time depending on the engagement depth of the engagement element when the movement is stopped. More specifically, when the engagement element stops at a position where the meshing is relatively shallow, the amount of contraction of the waiting spring mechanism that accompanies the movement of the plunger is relatively large, so that the thrust when resuming the movement is relatively growing. On the other hand, when the engagement element stops at a position where the engagement is relatively deep, the amount of contraction of the waiting spring mechanism that accompanies the movement of the plunger is relatively small, and therefore the thrust when the movement is resumed is relatively small.

  However, the conventional meshing torque fluctuation control does not consider the meshing depth, and in order to prevent the engagement element from stopping again, the meshing torque change rate must be excessively reduced. Absent. As a result, in the conventional technique, the engagement time is unnecessarily long, and the rapid transition of the engagement device to the engagement state may be prevented.

  The present invention has been made in view of such technical problems, and is a meshing engagement device capable of quickly switching a meshing engagement device including a pair of meshing engagement elements to an engaged state. It is an object to provide a control device.

  In order to solve the above-described problem, a control device for a meshing engagement device according to the present invention includes a first meshing engagement element connected to a rotating electrical machine, and the first engagement element in the rotational axis direction of the first engagement element. A second meshing engagement element disposed opposite to the meshing engagement element and movable in the direction of the first meshing engagement element by a driving force of a plunger transmitted via a waiting spring mechanism, and enters an engaged state. A control device for a meshing engagement device that controls the meshing engagement device in which the second meshing engagement element moves in the direction of the first meshing engagement element during transition of the first meshing engagement device; Detecting means for detecting a degree of meshing between the first engagement element and the second engagement element when the second meshing engagement element is stopped while moving in the direction of the coupling element; During the movement in the direction of the meshing engagement element, the second meshing engagement element When stopped, the torque of the rotating electrical machine is controlled so that the meshing torque acting between the first and second meshing engagement elements in the rotational direction of the first meshing engagement element decreases, and the meshing And a rotating electrical machine control means for controlling the torque of the rotating electrical machine so that the rate of change of the torque of the rotating electrical machine associated with the decrease in the meshing torque decreases as the degree of the torque increases. Item 1).

  According to the control device for the meshing engagement device according to the present invention, when the engagement device shifts to the engagement state, the degree of meshing between the meshing engagement elements when the second meshing engagement element stops moving. Is detected. The degree of meshing is detected, for example, as the amount of movement (stroke amount) in the axial direction of the second meshing engagement element.

  On the other hand, when the movement of the second meshing engagement element stops, the meshing between the first and second meshing engagement elements is performed by control for varying the torque of the rotating electrical machine (hereinafter referred to as “torque variation control” as appropriate). Torque is reduced. If the frictional force acting between the meshing engagement elements is less than the elastic force of the waiting spring mechanism in the process of reducing the meshing torque, the movement of the second meshing engagement element is resumed.

  The torque fluctuation control may be executed regardless of whether or not the movement of the second meshing engagement element is stopped. That is, the torque fluctuation control itself may be executed for the purpose of improving the engagement of the pair of meshing engagement elements as part of the engagement control of the engagement device.

  Here, the moving speed of the second meshing engagement element at the time of resuming the movement has a relatively large degree of meshing (ie, the meshing depth) at the time when the movement is stopped from the relationship of the contraction amount of the waiting spring mechanism ( The deeper it is) the slower it is. For this reason, for example, if the rate of change in torque of the rotating electrical machine in the torque fluctuation control is too large, the second meshing engagement element and the first meshing engagement element will complete the movement of the second meshing engagement element. Before, there is a possibility that the second engagement element is brought into contact again at the opposite engagement surface and the movement of the second meshing engagement element is stopped again.

  Therefore, according to the control device of the meshing engagement device according to the present invention, when the movement of the second meshing engagement element is stopped, the torque change rate in the torque variation control is changed according to the detected degree of meshing. Be controlled. That is, the rotating electrical machine control means decreases (increases) the torque change speed of the rotating electrical machine as the meshing between the meshing engagement elements becomes deeper (shallow) when the movement of the second meshing engagement element is stopped.

  For example, when the meshing is relatively shallow, the movement speed at the time of resuming the movement of the second meshing engagement element becomes large, but in such a case, the torque change speed is relatively large, The meshing engagement device can be shifted to the engaged state earlier.

  Such an operation and other advantages of the present invention will become apparent from the embodiments described below.

1 is a schematic configuration diagram conceptually showing a configuration of a hybrid vehicle according to an embodiment of the present invention. 1 is a schematic configuration diagram conceptually showing a configuration of a hybrid drive device. It is a schematic sectional drawing of the dog clutch in the hybrid drive device of FIG. It is a figure explaining the sleeve and piece at the time of an engagement start. It is a figure explaining the sleeve and piece at the time of a movement stop. It is the figure which represented notionally the relationship between torque change speed and movable time. It is a figure showing the relationship between a stop position stroke amount and the moving speed at the time of movement resumption. It is a flowchart of engagement assistance control. It is a flowchart of the engagement assistance control which concerns on a 1st modification. It is a flowchart of the engagement assistance control which concerns on a 2nd modification.

<Embodiment of the Invention>
Embodiments of the present invention will be described below with reference to the drawings.

<Configuration of Embodiment>
First, with reference to FIG. 1, the structure of the hybrid vehicle 1 which concerns on one Embodiment of this invention is demonstrated. FIG. 1 is a schematic configuration diagram conceptually showing the configuration of the hybrid vehicle 1.

  In FIG. 1, a hybrid vehicle 1 is a vehicle including an ECU 100, a PCU (Power Control Unit) 11, a battery 12, a vehicle speed sensor 13, an accelerator opening sensor 14, a stroke sensor 15, and a hybrid drive device 10.

  The ECU 100 is an electronic control unit that includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM, and the like, and is configured to be able to control the operation of each part of the hybrid vehicle 1. It is an example of a “control device of the combined device”. The ECU 100 is configured to be able to execute various controls including an engagement assist control described later according to a control program stored in the ROM.

  ECU 100 includes a clutch control unit 110 and a power control unit 120. The clutch control unit 110 is a device that controls an operating state of a dog clutch 500 described later. The power control unit 120 is a device that controls operation states of an engine 200, a motor generator MG1, and a motor generator MG2, which will be described later. Each of these control units operates in accordance with a preset control program, and controls the operating state of the hybrid vehicle 1 in cooperation with other control units (not shown) while appropriately cooperating with each other.

  In the present embodiment, the power control unit 120 appropriately executes the engagement assist control in cooperation with the clutch control unit 110, but such a configuration of the ECU 100 is an example. For example, the ECU 100 may be a single control device having both functions of the clutch control unit 110 and the power control unit 120.

  The PCU 11 converts the DC power extracted from the battery 12 into AC power and supplies it to a motor generator MG1 and a motor generator MG2, which will be described later, and also converts AC power generated by the motor generator MG1 and the motor generator MG2 into DC power. Including a step-up converter, an inverter for MG1, an inverter for MG2, and the like (all of which are not shown for publicly known configurations) configured to be able to be supplied to the battery 12, and power input / output between the battery 12 and each motor generator Or a control unit configured to be able to control power input / output between the motor generators. The PCU 11 is electrically connected to the ECU 100, and its operation is controlled by the ECU 100.

  The battery 12 is a rechargeable power storage unit that functions as a power supply source related to power for powering the motor generator MG1 and the motor generator MG2. The battery 12 has, for example, a configuration in which unit secondary battery cells having an output voltage of V are connected in series in units of several hundreds.

  The vehicle speed sensor 13 is a sensor configured to be able to detect the vehicle speed V of the hybrid vehicle 1. The vehicle speed sensor 13 is electrically connected to the ECU 100, and the detected vehicle speed V is referred to the ECU 100 as appropriate.

  The accelerator opening sensor 14 is a sensor configured to be able to detect an accelerator opening Ta, which is an operation amount of an accelerator pedal (not shown) of the hybrid vehicle 1. The accelerator opening sensor 14 is electrically connected to the ECU 100, and the detected accelerator opening Ta is referred to the ECU 100 as appropriate.

  The stroke sensor 15 is a sensor configured to be able to detect a stroke amount st that is a movement amount of a dog tooth 514 formed on a sleeve 512 of the dog clutch 500 described later. The stroke sensor 15 is electrically connected to the ECU 100, and the detected stroke amount st is appropriately referred to by the ECU 100.

  The hybrid drive device 10 is a power train of the hybrid vehicle 1. The hybrid drive device 10 is configured to be able to transmit power supplied from an engine 200 and motor generators MG1 and MG2, which will be described later, to an axle VS connected to the drive wheels DW.

  Here, the detailed configuration of the hybrid drive apparatus 10 will be described with reference to FIG. FIG. 2 is a schematic configuration diagram conceptually showing the configuration of the hybrid drive apparatus 10. In the figure, the same reference numerals are given to the same portions as those in FIG. 1, and the description thereof will be omitted as appropriate.

  In FIG. 2, the hybrid drive device 10 includes an engine 200, a power split mechanism 300, a motor generator MG1, a motor generator MG2, a speed reduction mechanism 400, and a dog clutch mechanism 500.

  The engine 200 is a gasoline engine that functions as a power source for the hybrid vehicle 1. As the engine 200, various internal combustion engines can be widely applied as engines capable of taking out thermal energy accompanying combustion of fuel into kinetic energy. Engine torque Te, which is output power of engine 200 via a crankshaft (not shown), is input to input shaft IS of hybrid drive device 10.

  Returning to FIG. 2, motor generator MG1 is a motor generator, and has a power running function for converting electrical energy into kinetic energy and a regeneration function for converting kinetic energy into electrical energy.

  Motor generator MG2 is a motor generator, and has a power running function that converts electrical energy into kinetic energy and a regeneration function that converts kinetic energy into electrical energy, similar to motor generator MG1. Motor generators MG1 and MG2 are configured as, for example, synchronous motor generators and include, for example, a rotor having a plurality of permanent magnets on the outer peripheral surface, and a stator wound with a three-phase coil that forms a rotating magnetic field. ing. However, these may have other configurations.

  The power split mechanism 300 is disposed between the sun gear S1 provided at the center, the ring gear R1 provided concentrically on the outer periphery of the sun gear S1, and the sun gear S1 and the ring gear R1. This planetary gear mechanism includes a plurality of pinion gears P1 that revolve while rotating, and a planetary carrier C1 that supports the rotation shaft of each pinion gear. The power split mechanism 300 functions as a two-degree-of-freedom differential mechanism in which each rotational element of the sun gear S1, the ring gear R1, and the planetary carrier C1 is a differential element.

  The sun gear S1 is coupled to the motor generator MG1 via the sun gear shaft SS, and the rotation speed is equivalent to the MG1 rotation speed Ng that is the rotation speed of the motor generator MG1. The MG1 rotation speed Ng is calculated by time-processing the rotation angle of the motor generator MG1 detected by a resolver (rotation sensor) not shown in FIGS.

  The ring gear R1 is connected to the axle VS via a speed reduction mechanism 400 including various speed reduction gears such as a drive shaft DS and a differential gear. For this reason, the rotational speed Nds, which is the rotational speed of the ring gear R1 and the rotational speed of the drive shaft DS, takes a unique value with respect to the vehicle speed V. Further, since motor generator MG2 is also connected to drive shaft DS, drive shaft rotation speed Nds is equivalent to MG2 rotation speed Nm, which is the rotation speed of motor generator MG2. Inevitably, the MG2 rotational speed Nm also takes a unique value with respect to the vehicle speed V. The MG2 rotation speed Nm is calculated by time-processing the rotation angle of the motor generator MG2 detected by a resolver (rotation sensor) (not shown in FIGS. 1 and 2).

  Although the motor generator MG2 is directly connected to the drive shaft DS here, a transmission or a speed reduction device may be appropriately interposed between the drive shaft DS and the motor generator MG2.

  The planetary carrier C1 is connected to the input shaft IS described above. Therefore, the rotational speed of the planetary carrier C1 is equivalent to the engine rotational speed Ne, which is the rotational speed of the engine 200.

  Under such a configuration, the power split mechanism 300 transmits the engine torque Te to the sun gear S1 and the ring gear R1 via the planetary carrier C1 and the pinion gear P1 (a ratio corresponding to the gear ratio between the gears). ).

  At this time, in order to make the operation of the power split mechanism 300 easy to understand, if the gear ratio ρ as the number of teeth of the sun gear S1 with respect to the number of teeth of the ring gear R1 is defined, the engine torque Te is applied from the engine 200 to the planetary carrier C1. In this case, the sun gear shaft torque Tes acting on the sun gear S1 can be expressed by the following equation (1), and the engine direct torque Tep appearing on the drive shaft DS can be expressed by the following equation (2).

Tes = Te × ρ / (1 + ρ) (1)
Tep = Te × 1 / (1 + ρ) (2)
The dog clutch 500 is an example of a “meshing engagement device” according to the present invention in which a pair of engagement elements are configured to be able to engage or disengage with each other.

  Here, the details of the dog clutch 500 will be described with reference to FIG. FIG. 3 is a schematic cross-sectional view conceptually showing the cross-sectional configuration of the dog clutch 500.

  In the figure, the same reference numerals are given to the same portions as those in FIG. 2, and the description thereof will be omitted as appropriate.

  In FIG. 3, the dog clutch 500 includes a piece 511, a sleeve 512, a hub bracket 515, and an electromagnetic actuator 520.

  The piece 511 and the sleeve 512 are a pair of meshing engagement elements disposed around the above-described sun gear S1, which is one rotation element of the power split mechanism 300. For comparison with the present invention, the piece 511 corresponds to the “first meshing engagement element” and the sleeve 512 corresponds to the “second meshing engagement element”. An axis C drawn with a one-dot chain line in FIG. 3 corresponds to the sun gear axis SS described above, which is the rotation axis of the sun gear S1. In the following description, unless otherwise specified, the horizontal direction in FIG. 3 is defined as “axial direction” and the vertical direction is defined as “radial direction”. A direction around the axis C is expressed as a “circumferential direction”. The axial direction is an example of the “rotational axis direction” according to the present invention.

  The piece 511 rotates integrally around the axis C in conjunction with the sun gear S1. The piece 511 is restricted from moving in the axial direction and the radial direction.

  The sleeve 512 is disposed on the outer side in the radial direction than the piece 511. The sleeve 512 is spline fitted to the hub bracket 515. The hub bracket 515 is fixed to a case (not shown) that contains the components of the power split mechanism 300. That is, the sleeve 512 is configured to be movable in the axial direction by being spline-fitted to the hub bracket 515, and the movement in the radial direction and the rotation around the axial line are limited. The sleeve 512 has a sandwiched portion 512a extending outward in the radial direction.

  The piece 511 and the sleeve 512 can engage and release the inner peripheral surface of the sleeve 512 and the outer peripheral surface of the piece 511 by the axial movement of the sleeve 512. More specifically, a plurality of dog teeth 513 are arranged on the outer peripheral surface of the piece 511 along the circumferential direction around the axis C toward the radially outer side. A plurality of dog teeth 514 are arranged on the inner peripheral surface of the sleeve 512 along the circumferential direction around the axis C toward the inside in the radial direction. The dog teeth 513 and 514 are meshing members that mesh with each other when engaged. That is, when the two mesh with each other, the piece 511 and the sleeve 512 are engaged. When the sleeve 512 and the piece 511 are engaged with each other, the sun gear S1 interlocked with the piece 511 is in a locked state in which the sun gear S1 is fixed so as not to rotate.

  In FIG. 3, the sleeve 512 is disposed on the left side of the piece 511. When the sleeve 512 moves in the right direction (also referred to as “stroke” as appropriate), it engages with the piece 511 and moves in the left direction. 511 is configured to be released. In the following description, the right direction in FIG. 3 is defined as “engagement direction” and the left direction is defined as “release direction”.

  The electromagnetic actuator 520 is a power source that generates a driving force in the axial direction and moves the sleeve 512 in the axial direction. As shown in FIG. 3, the electromagnetic actuator 520 of this embodiment is specifically an electromagnetic solenoid actuator. The electromagnetic actuator 520 is disposed around the sun gear S <b> 1 that rotates about the axis C and on the radially outer side of the piece 511 and the sleeve 512.

  The power source for moving the sleeve 512 in the axial direction is not limited to the electromagnetic actuator. For example, thrust may be applied to various plungers by hydraulic pressure or air pressure.

  The electromagnetic actuator 520 includes an electromagnetic coil 521, an inner yoke 522, an outer yoke 523, an armature 524, a return spring 525, and a waiting spring 526. The electromagnetic actuator 520 is electrically connected to the ECU 100, and the excitation state of the electromagnetic coil 521 is controlled by the clutch control unit 110 of the ECU 100.

  The inner yoke 522 is disposed so as to sandwich the electromagnetic coil 521 from the engagement direction side, and the outer yoke 523 is disposed so as to sandwich the electromagnetic coil 21 from the release direction side. The inner yoke 522 and the outer yoke 523 are connected on the radially outer side of the electromagnetic coil 521, and are both fixed to the case. That is, the inner yoke 522 and the outer yoke 523 function as a fixed portion that is fixedly disposed around the electromagnetic coil 521 so as to sandwich the electromagnetic coil 521 from both axial sides. Further, the inner yoke 522 and the outer yoke 523 are not connected to each other on the radially inner side of the electromagnetic coil 521, and an opening 527 is formed at a part of the electromagnetic coil 521 on the radially inner side. Both the inner yoke 522 and the outer yoke 523 are formed of a magnetic material.

  The armature 524 is an example of the “plunger” according to the present invention, which is disposed on the radially inner side of the inner yoke 522 and the outer yoke 523 and on the radially outer side of the sleeve 512. The armature 524 is installed so as to be movable in the axial direction, and thrust can be applied to the sleeve 512 by movement in the axial direction.

  The armature 524 is composed of two members, a first member 524a and a second member 524b.

  The first member 524a of the armature 524 is in contact with the release side end surface of the sandwiched portion 512a of the sleeve 512 via the waiting spring 526. The waiting spring 526 is an example of the “waiting spring mechanism” according to the present invention configured to be extendable and contractable in the axial direction according to the relative positional relationship between the armature 524 and the sandwiched portion 512a of the sleeve 512 in the axial direction. . Further, the second member 524b of the armature 524 is in contact with the end surface on the engagement direction side of the sandwiched portion 512a of the sleeve 512.

  The first member 524a of the armature 524 is supported via a support member 528 such as a bush on the radially inner side of the outer yoke 523, and the second member 524b is also supported on the radially inner side of the inner yoke 522. It is supported via a support member 528. As described above, the first member 524a and the second member 524b are individually supported by the fixing portions (the inner yoke 522 and the outer yoke 523), so that the stability of the axial movement is ensured. The transmission of the thrust is efficiently performed.

  The first member 524a of the armature 524 has a protruding portion 524c that protrudes outward in the radial direction and protrudes in the axial engagement direction. The protruding portion 524c is inserted into an opening 527 formed between the inner yoke 522 and the outer yoke 523. A stopper surface 524d orthogonal to the operating direction of the armature 524 is provided on the end surface on the engagement direction side of the protruding portion 524c. On the other hand, a stopper surface 522a is also provided on the end surface on the release direction side of the inner yoke 522 at a position facing the stopper surface 524d of the armature 524. When the armature 524 moves in the engagement direction, the stopper surface 524d of the armature 524 abuts against the stopper surface 522a of the inner yoke 522, so that the movement of the armature 524 in the engagement direction stops. Yes.

  The return spring 525 is disposed between the second member 524 b of the armature 524 and the inner yoke 522. The return spring 525 is a compression spring, for example, and is held in an appropriately compressed state, and urges the armature 524 in the release direction. The return spring 525 is configured to generate a greater biasing force in the release direction as the movement of the armature 524 in the engagement direction proceeds, that is, as the degree of engagement between the sleeve 512 and the piece 511 increases.

  The hub bracket 515 has an inner cylindrical portion 515 a that extends adjacent to the piece 511 around the axis C and is spline-fitted with the sleeve 512. The hub bracket 515 extends from the inner cylindrical portion 515a along the shape of the electromagnetic actuator 520 and extends radially outward while covering the sleeve 512 and the electromagnetic actuator 520, and is not shown at the outer edge end portion 515b. It is fixed to the case with bolts. The inner cylindrical portion 515a of the hub bracket 515 is disposed on the radially inner side of the sleeve 512. On the outer peripheral surface of the inner cylindrical portion 515a, there are a plurality of spline teeth (not aligned) along the circumferential direction toward the radially outer side. (Shown) is provided. The sleeve 512 is spline-fitted to the hub bracket 515 by inserting the dog teeth 514 between the spline teeth, and is allowed to move in the axial direction.

<Operation of Embodiment>
Next, the operation of the embodiment will be described.

<Operation of dog clutch 500>
First, the operation of the dog clutch 500 will be described with reference to FIG. The operation of the dog clutch 500 is controlled by the clutch control unit 110.

  In FIG. 3, when the electromagnetic coil 521 of the electromagnetic actuator 520 is in a non-excited state, the electromagnetic actuator 520 is stopped, and the sandwiched portion 512a of the sleeve 512 is returned via the second member 524b of the armature 524. The urging force of the spring 525 is received in the release direction. With this urging force, as shown in FIG. 3, the sleeve 512 is held at a position on the inner cylindrical portion 515 a of the hub bracket 515 that is separated from the piece 511, and is in a non-engagement state with the piece 511. That is, when the actuator 520 is in a non-excited state, the dog clutch 500 is released, and the piece 511 can rotate in conjunction with the sun gear S1.

  On the other hand, when the electromagnetic coil 521 is excited in accordance with a control command from the clutch control unit 110 of the ECU 100, the magnetic inner yoke 522, outer yoke 523, and armature 524 disposed around the electromagnetic coil 521 are arranged. A magnetic circuit M that goes around the one member 524a is formed. The magnetic circuit M is formed so as to cross the gap between the stopper surface 524d of the protruding portion 524c of the armature 524 and the stopper surface 522a of the inner yoke 522, as indicated by a dotted arrow in FIG. Therefore, the armature 524 is magnetically attracted toward the inner yoke 522 by the electromagnetic force Fm while being guided by the inner peripheral surfaces of the inner yoke 522 and the outer yoke 523. The armature 524 moves in the engagement direction against the return spring 525 by this magnetic attractive force (electromagnetic force Fm). As the armature 524 moves, the sandwiched portion 512a of the sleeve 512 receives thrust through the waiting spring 526, and the sleeve 512 moves in the engaging direction. As a result, the dog teeth 514 of the sleeve 512 are engaged with the dog teeth 513 of the piece 511. That is, when the electromagnetic actuator 520 is in an excited state, the dog clutch 500 is engaged and the rotation of the sun gear S1 connected to the piece 511 can be stopped.

  Although the sleeve 512 starts to engage with the piece 511 due to the movement of the sleeve 512 in the engagement direction, the dog teeth of the sleeve 512 are shifted, for example, because the phase between the piece 511 and the sleeve 512 is shifted. A situation may occur in which 514 does not mesh well with the dog teeth 513 of the piece 511. That is, a situation may occur in which the end surface of the dog tooth 514 in the engagement direction and the end surface of the dog tooth 513 in the release direction are in temporary contact. In such a situation, further movement of the sleeve 512 in the engagement direction can be inhibited by the piece 511. In the electromagnetic actuator 520, even in such a situation, the armature 524 can continue to move in the engagement direction while compressing the waiting spring 526. Then, after transitioning to a state where the phases of the piece 511 and the sleeve 512 coincide with each other, the sleeve 512 is pushed out in the engaging direction by the biasing force of the waiting spring 526, and the dog teeth 514 of the sleeve 512 and the dog teeth 513 of the piece 511. It is possible to move to a position where the engagement is sufficient.

<Description of movement stop position>
During the engagement control of the dog clutch 500, a rotational speed difference (so-called differential rotation) is given between the sleeve 512 that is the moving-side engaging element and the piece 511 that is the receiving-side engaging element. Due to this rotational speed difference, the phase of the dog teeth 514 of the sleeve 512 and the phase of the dog teeth 513 of the piece 511 are induced to a normal phase in which both tooth surfaces can be brought into contact with each other in the relative rotation direction. Since the sleeve 512 does not rotate around the axis C as already described, this rotational speed difference is equivalent to the rotational speed of the piece 511. That is, this rotational speed difference is equivalent to MG1 rotational speed Ng which is the rotational speed of motor generator MG1. During the engagement control of the dog clutch 500, the MG1 rotation speed Ng is controlled to a differential rotation target value Ngtg (for example, several to several tens of rotations / minute).

  By the way, in the process in which the sleeve 512 moves in the engagement direction (that is, the direction of the piece 511), due to the frictional force acting between the dog teeth 514 and the dog teeth 513 due to the meshing torque between the dog teeth, The movement of the dog teeth 514 may stop. This will be described with reference to FIGS. FIG. 4 is a diagram illustrating the sleeve 512 and the piece 511 when the engagement of the sleeve 512 is started. FIG. 5 is a diagram illustrating the sleeve 512 and the piece 511 when the sleeve 512 stops moving. In addition, in each figure, the same code | symbol is attached | subjected to the location which overlaps with FIG. 3, and the description is abbreviate | omitted suitably.

  FIG. 4 illustrates the positional relationship between the sleeve 512 and the piece 511 at the start of engagement. The stroke amount st of the dog teeth 514 detected by the stroke sensor 15 is the amount of movement (movement distance) of the end surface in the engagement direction of the dog teeth 514 formed on the inner peripheral surface of the sleeve 512. In the positional relationship of FIG. st = 0. The maximum value stmax of the stroke amount st is a stroke amount when the stopper surface 524d of the armature 524 hits the stopper surface 522a of the inner yoke 522 in a state where the waiting spring 526 does not contract.

  On the other hand, FIG. 5 shows an example of the positional relationship between the dog teeth 514 and the dog teeth 513 when the movement is stopped. As described above, when the dog clutch 500 is shifted from the released state in which the pair of engagement elements, the sleeve 512 and the piece 511 are mutually released, to the engaged state in which the two are engaged with each other, In the meantime, a rotational speed difference corresponding to the differential rotation target value Ngtg is given.

  On the other hand, the sleeve 512 moves in the engagement direction by an electromagnetic force Fm that is transmitted via the waiting spring 526 and acts on the armature 524. For this reason, the dog teeth 514 of the sleeve 512 come into contact with the dog teeth 513 of the piece 511 with high probability during the movement period. That is, tooth surface contact between the dog teeth occurs. When the dog teeth 514 are moved, the frictional force acting between the tooth surfaces of the dog teeth is a driving force in the engagement direction of the dog teeth 514 by the electromagnetic force Fm (in this embodiment, the waiting spring 526 When the stroke amount st of the dog teeth 514 reaches the maximum stroke amount stmax, the operation stops. In the present embodiment, the stroke amount corresponding to the position of the dog tooth 514 when the movement of the dog tooth 514 stops for a predetermined time or more is defined as a stop position stroke amount ststp.

  Further, the contact start stroke amount stens is a stroke amount that enables the dog teeth 513 and the dog teeth 514 to engage with each other (that is, contact between the top surfaces facing in the engagement direction does not occur).

  Further, the engagement completion stroke amount steng is a stroke amount as a threshold that can be regarded as the transition of the dog clutch 500 to the engagement state being completed. That is, if the stroke amount st is greater than or equal to the engagement completion stroke amount seng, it is determined that the transition of the dog clutch 500 to the engaged state has been completed.

  The stopping of the dog tooth 514 in a range where the stroke amount st is greater than or equal to the contact start stroke amount stens and less than the engagement completion stroke amount seng is hereinafter referred to as “tooth surface stop” as appropriate. The tooth surface stop is generated by the movement of the dog teeth 514 in the engagement direction being hindered by the above-described frictional force.

<Outline of engagement assist control>
The power control unit 120 performs engagement assist control when the clutch control unit 110 controls the engagement of the dog clutch 500. The engagement assist control is control for assisting the engagement of the dog clutch 500. Specifically, the power control unit 120 executes torque fluctuation control when the above-described tooth surface stop occurs during the engagement control of the dog clutch 500. The torque fluctuation control is a control for sweeping the MG1 torque Tg that defines the rotation of the piece 511 (that is, the rotation of the dog teeth 513), which is the meshing engagement element on the receiving side, in the direction in which the meshing torque decreases. It is. It should be noted that various aspects can be applied to the practical aspect of this torque fluctuation control including how to give a torque change. For example, the MG1 torque Tg in the torque fluctuation control may be swept in a triangular wave shape within a range defined by a predetermined upper and lower limit value, or may be swept in steps.

  When the torque fluctuation control is started, the meshing torque between the dog teeth decreases, so that the frictional force between the dog teeth decreases, and the elastic force of the dog teeth 514, that is, the thrust in the engagement direction is frictional. Overpower. As a result, the dog teeth 514 can start moving again, and the dog clutch 500 can be quickly shifted to the engaged state.

  By the way, before execution of the engagement control, the motor generator MG1 bears a reaction torque of the sun gear shaft torque Tes that is a part of the engine torque Te. From this state, if the MG1 torque Tg continues to be swept in a direction in which the meshing torque between the dog teeth is reduced by torque fluctuation control, the rotation direction of the motor generator MG1 is reversed, and the rotation direction of the piece 511 is necessarily reversed. . As a result, the dog tooth 514 has a period during which the dog tooth 514 is free to move from the tooth surface stopped state where one tooth surface is in contact with the tooth surface of the dog tooth 513 (hereinafter referred to as “movable time” as appropriate). ), The opposite tooth surface comes into contact with the tooth surface of the dog tooth 513, and the tooth surface stops again. Such a tooth surface stop is not preferable from the viewpoint of vibration noise at the time of tooth surface contact, for example. Therefore, when the dog tooth 514 is moved again from the tooth surface stop position, the engagement is completed within the movable time. It is necessary to let

On the other hand, this movable time is closely related to the change speed of MG1 torque Tg in torque fluctuation control (hereinafter referred to as “torque change speed” as appropriate). Here, with reference to FIG. 6, the relationship between the torque change speed and the movable time of the dog teeth 514 will be described. Here, FIG.
It is the figure which represented notionally the relationship between torque change speed and movable time.

  FIG. 6 illustrates two types of time transitions of the MG1 torque Tg. One is a time transition of torque change speed Vtrk = Vtrk1 (see solid line), and the other is a time transition of torque change speed Vtrk = Vtrk2 (see broken line).

  Here, the movable time of the dog teeth 514 is the time during which the MG1 torque Tg belongs to the illustrated movable region (hatched region). That is, the region on the lower torque side than the illustrated movable region is a tooth surface stop region where one tooth surface contacts, and the region on the higher torque side than the illustrated movable region is a tooth where the other tooth surface contacts. It is a surface stop area.

  Therefore, the movable time is T2 when the torque change speed Vtrk = Vtrk1, and T1 (T1 <T2) when the torque change speed Vtrk = Vtrk2 (Vtrk2> Vtrk1). That is, the longer the torque change speed Vtrk is, the shorter the movable time of the dog teeth 514 of the sleeve 512 when the movement is resumed.

  By the way, according to the applicant's research, the moving speed Vst of the dog teeth (dog teeth 514 in this embodiment) at the time of resuming the movement varies depending on the depth of engagement between the dog teeth when the tooth surface is stopped. Here, this will be described with reference to FIG. FIG. 7 is a diagram conceptually showing the relationship between the stop position stroke amount and the moving speed of the dog teeth 514 when the movement is resumed.

  As shown in FIG. 7, according to the applicant's research, the moving speed Vst at the time of resuming the movement of the dog tooth 514 whose tooth surface is stopped at a relatively shallow position is relatively high (see group A in the drawing). . Further, the moving speed Vst at the time of resuming the movement of the dog tooth 514 whose tooth surface is stopped at a relatively deep position is relatively slow (see group B in the drawing). That is, the moving speed Vst of the dog teeth 514 when the movement is resumed is inversely proportional to the stop position stroke amount ststp (see the broken arrow in the drawing).

  This is because the moving speed Vst of the dog teeth 514 is determined by the elastic force of the waiting spring 526. That is, when the dog tooth 514 stops the tooth surface at a position where the meshing with the dog tooth 513 is shallow (a position where the stop position stroke amount ststp is small), the contraction amount of the waiting spring 526 at the time of resuming movement (that is, elastically uniquely). Force) is relatively large. For this reason, the thrust received by the dog teeth 514 in the engagement direction when the movement is resumed is relatively large, and the moving speed Vst is relatively large.

  On the other hand, when the dog tooth 514 stops the tooth surface at a position where the engagement with the dog tooth 513 is deep (a position where the stop position stroke amount ststp is large), the amount of contraction of the waiting spring 526 (ie, uniquely) (Elastic force) becomes relatively small. For this reason, the thrust received by the dog teeth 514 in the engaging direction when the movement is resumed is relatively small, and the moving speed vst is relatively small.

  Here, in order to move the dog teeth 514 sufficiently within the above-described movable time (that is, move until the stroke amount st becomes equal to or greater than the engagement completion stroke amount sheng), in addition to the torque change speed Vg described above, Therefore, it is necessary to consider the moving speed Vst of the dog teeth 514. For example, when the moving speed Vst of the dog tooth 514 is not considered, it is necessary to give a larger margin to the movable time, and it is necessary to make the torque change speed Vtrk slower than necessary. As a result, the engagement time of the dog clutch 500 may be unnecessarily long.

  On the other hand, the engagement assist control executed by the power control unit 120 in the present embodiment has a configuration in which the moving speed Vst of the dog teeth 514 is taken into consideration, while preventing the tooth surface from stopping again. A quick transition of the dog clutch 500 to the engaged state is realized.

<Details of engagement assist control>
Here, the details of the engagement assist control will be described with reference to FIG. FIG. 8 is a flowchart of the engagement assist control. The engagement assist control is a control executed when the clutch control unit 110 executes the engagement control of the dog clutch 500.

  In FIG. 8, the stroke amount st of the dog teeth 514 is detected (step S110). Subsequently, based on the detected stroke amount st, it is determined whether or not the movement of the dog teeth 514 is stopped (step S120). The determination relating to the movement stop is performed based on the time change rate Δst (obtained by the time differentiation process) of the detected stroke amount st. Strictly speaking, the stoppage of the dog teeth 514 corresponds to the time change rate Δst = 0, but in the present embodiment, this time change is considered in consideration of the detection error of the stroke sensor 15 and the like. When the rate Δst is less than a predetermined value (≈0), it is determined that the movement of the dog teeth 514 has stopped.

  Further, for the purpose of eliminating the temporary stoppage of movement, the movement of the dog tooth 514 is stopped when the stop determination is continuously made a predetermined number of times (that is, a predetermined time) based on the time change rate Δst. The determination may be made. If the movement of the dog teeth 514 has not stopped (step S120: NO), the process returns to step S110.

  When the movement of the dog teeth 514 stops (step S120: YES), the stop position stroke amount ststp described above is detected (step S130). The stop position stroke amount ststp is simply equivalent to the stroke amount st at that time.

  When the stop position stroke amount ststp is detected, it is determined whether or not the dog tooth 514 is stopped as a tooth surface stop (step S140). That is, it is determined whether or not the stop position stroke amount ststp satisfies the relationship “stenss ≦ ststp <seng”. Note that, as described above, stengs is a stroke amount at which dog teeth can mesh with each other, and steng corresponds to the engagement completion determination value as described above.

  When the movement stop of the dog tooth 514 does not correspond to the tooth surface stop (step S140: NO), it is determined whether or not the engagement of the dog clutch 500 is completed (step S170). That is, it is determined whether or not the stop position stroke amount ststp satisfies the relationship “ststp ≧ sheng”. When the engagement of the dog clutch 500 is completed (step S170: YES), the engagement assist control ends.

  On the other hand, when the engagement of the dog clutch 500 is not completed (step S170: NO), the dog teeth 514 are stopped for reasons other than the meshing with the dog teeth 513 (for example, the top surfaces in the opposite direction described above Therefore, the process returns to step S110. In the case of a stop due to contact between the top surfaces, the movement of the dog teeth 514 is naturally resumed as the phase relationship between the dog teeth changes due to the rotational speed difference given between the dog teeth.

  Here, in step S140, when the dog tooth 514 is stopped on the tooth surface (step S140: YES), the stop position stroke amount is based on the stop position stroke amount ststp (that is, the meshing depth when the movement is stopped). The torque change speed Vtrk in the torque fluctuation control is determined so as to decrease as ststp increases (that is, the engagement becomes deeper) (step S150). When the torque change speed Vtrk is determined, torque fluctuation control is performed at the determined torque change speed Vtrk (step S160), and the process returns to step S110. The engagement assist control is performed as described above.

  As described above, according to the engagement assist control according to the present embodiment, the torque change speed Vtrk becomes smaller (larger) as the meshing between the dog teeth 514 and the dog teeth 513 becomes deeper (the shallower) when the dog teeth 514 stop moving. ) Is set. Accordingly, when the meshing is shallow and the moving speed Vst of the dog teeth 514 at the time of resuming movement is large, the movable time is relatively shortened by the large torque change speed Vtrk. As a result, the engagement time of the dog clutch 500 is shortened. Further, when the meshing is deep and the moving speed Vst of the dog teeth 514 at the time of resuming the movement is small, a sufficiently long movable time is secured by the small torque change speed Vtrk. As a result, the tooth surface stop of the dog tooth 514 can be prevented again. That is, the dog clutch 500 can be quickly switched to the engaged state without deteriorating vibration noise.

  Note that the method of determining the torque change rate Vtrk in step S150 is not limited as long as it is determined that the torque change rate Vtrk becomes smaller as the meshing of the dog teeth 514 when the tooth surface stops is deeper.

  For example, the torque change speed Vtrk may be determined by the following equation (3) using a reference value Vtrkb1 determined experimentally, empirically, or theoretically in advance. According to the following equation (3), the torque change speed Vtrk can be reduced as the stop position stroke amount ststp is larger (that is, the meshing is deeper).

Vtrk = Vtrkb1 / | ststp | (3)
Alternatively, the torque change speed Vtrk may be determined by the following equation (4) using the reference value Vtrkb2 determined experimentally, empirically or theoretically in advance and the correction coefficient C. Also according to the following equation (4), the torque change speed Vtrk can be reduced as the stop position stroke amount ststp is larger (that is, the meshing is deeper).

Vtrk = Vtrkb2-C × | ststp | (4)
<First Modification>
The engagement assist control is not limited to that described in FIG. For example, the engagement assist control may be as shown in FIG. FIG. 9 is a flowchart of the engagement assist control according to the first modification. In the figure, the same reference numerals are assigned to the same portions as those in FIG. 8, and the description thereof is omitted as appropriate.

  In FIG. 9, when the engagement assist control is started, it is determined whether or not a predetermined time has elapsed since the start of the movement of the dog teeth 514 (step S210). If the predetermined time has not elapsed (step S210: NO), the process enters a standby state in step S210.

  When the predetermined time has elapsed (step S210: YES), the stroke amount st is detected (step S110), and it is determined whether or not the engagement is completed (step S170). If the engagement has not been completed, the torque change speed Vtrk is determined based on the stroke amount st so as to decrease as the stroke amount st increases (step S220). For example, the equation (3) or (4) can be applied to the determination of the torque change rate Vtrk in step S220. Further, step S220 can be the same processing as step S150 since the stroke amount st = stop position stroke amount ststp if the tooth surface stop occurs at this time.

  As described above, according to the first modified example, the predetermined time from the start point of movement of the dog teeth 514 (for example, the start point of energization to the armature 524) may be performed without performing the time differentiation process of the stroke amount st. Based on the stroke amount st when the time has elapsed, it is determined whether or not the tooth surface has stopped. In this way, the tooth surface stop determination always requires a predetermined time, but since position differential processing is not included, robustness against noise, disturbance, and the like can be improved.

  Note that this predetermined time is, for example, experimentally, empirically or theoretically in advance, as the time during which the dog clutch 500 is reliably shifted to the engaged state when the tooth surface is not normally engaged. Is set.

  It should be noted that the value of the predetermined time may be different between step S210 that is first visited after the execution of the engagement assist control and step S210 that is visited after performing the torque fluctuation control in step S160. It is also preferably different.

<Second Modification>
Further, the engagement assist control may be as shown in FIG. FIG. 10 is a flowchart of the engagement assist control according to the second modification. In the figure, portions that are the same as those in FIG. 9 are denoted by the same reference numerals, and description thereof is omitted as appropriate.

  In FIG. 10, when the transition to the engaged state of the dog clutch 500 is not completed (step S170: NO), it is determined whether or not the determination is made N times continuously (step S310). When the number of times that the determination of incomplete engagement has been established is less than N (step S310: NO), the process proceeds to step S220, and the torque change speed Vtrk is determined. The number of times step S170 branches to the “NO” side is equivalent to the number of executions of torque fluctuation control in step S160.

  On the other hand, if it is determined that engagement has not been completed N times consecutively (step S170: YES), an abnormality process is executed assuming that some abnormality has occurred in the dog clutch 500 (step S320). When the abnormality process is executed, the engagement assist control ends.

  According to the second modification, if the stroke amount st of the dog teeth 514 does not reach the engagement completion stroke amount steng even though the torque fluctuation control is performed N times, there is some abnormality in the dog clutch 500. As a result, for example, various evacuation processes can be performed, which is practically useful in terms of device protection.

  In this embodiment, the dog clutch 500 as an example of the meshing engagement device according to the present invention is configured to fix the sun gear S1 that is one rotation element of the power split mechanism 300 so as not to rotate. However, there is no limitation on the rotating element to which the meshing engagement device according to the present invention is applied, and the practical benefits related to the control device of the meshing engagement device according to the present invention are enjoyed regardless of the type of the rotation element. The

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification, and meshing engagement with such a change. The control device of the apparatus is also included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Hybrid vehicle, 100 ... ECU, 110 ... Clutch control part, 120 ... Power control part, 200 ... Engine, 300 ... Power split mechanism, MG1 ... Motor generator, MG2 ... Motor generator, 500 ... Dog clutch, 511 ... Piece, 512 ... Sleeve 513 Dog teeth 514 Dog teeth 520 Electromagnetic actuator 522 Inner yoke 523 Outer yoke 524 Armature 526 Waiting spring

Claims (1)

A first meshing engagement element connected to the rotating electrical machine, and a driving force of a plunger that is disposed to face the first meshing engagement element in the rotational axis direction of the first engagement element and is transmitted via a wait spring mechanism And a second meshing engagement element movable in the direction of the first meshing engagement element, and the second meshing engagement element moves in the direction of the first meshing engagement element when shifting to the engaged state. A control device for a meshing engagement device that controls a moving meshing engagement device,
Detection means for detecting a degree of meshing between the first engagement element and the second engagement element when the second meshing engagement element is stopped during the movement in the direction of the first meshing engagement element When,
When the second meshing engagement element stops in the middle of movement in the direction of the first meshing engagement element, the first and second meshing engagement elements are arranged in the rotational direction of the first meshing engagement element. The torque of the rotating electrical machine is controlled so that the meshing torque acting on the motor is reduced, and the change rate of the torque of the rotating electrical machine according to the decrease of the meshing torque is reduced as the degree of meshing is increased. A rotating electrical machine control means for controlling the torque of the rotating electrical machine.

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