JP2017079028A - Reaction force generation device and reaction force control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a reaction force generation device and a reaction force control device capable of suppressing abnormal sound caused by a backlash at a mechanical coupling part between a pedal member and a reaction force generating motor.SOLUTION: When reaction force Fmot due to a motor 62 is not increased, control means of a reaction force generation device 26 or a reaction force control device 34 continues causing the motor 62 to drive continually in a specific rotation direction so that a contact state between teeth of at least a pair of reduction gears 58 and 60 is kept.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a reaction force generation device that generates a reaction force against a pedal member such as an accelerator pedal, and a reaction force control device that controls the reaction force.

  In Patent Document 1, when the reaction force control by the motor is not performed, the reaction force output device that prevents the rotation friction on the motor side from acting on the reaction force output shaft side and does not give the operator a sense of incongruity. It is intended to provide ([0005], summary).

  In order to achieve the object, in Patent Document 1 (summary, FIG. 2), a motor 12 that generates a reaction force and a reaction force output shaft 13 that transmits the reaction force to the operation pedals 4 and 5 are provided. Between the motor 12 and the reaction force output shaft 13, the rotating shaft 12a of the motor 12 and the reaction force output shaft 13 are connected when the motor 12 is driven, and the reaction force and the rotating shaft 12a of the motor 12 are not driven. A clutch mechanism 19 that puts the output shaft 13 in a disconnected state is interposed.

  In Patent Document 1, the reaction force generated by the motor 12 is transmitted to the output lever 15 via the worm shaft 17, the worm wheel 18, the clutch mechanism 19, the pinion gear 20, the sector gear 21, and the reaction force output shaft 13 (FIG. 2). , [0016], [0017]). Further, one end of a coil spring 27 is locked to the sector gear 21 ([0019], FIG. 3). As a result, a biasing force in the initial position direction is applied to the reaction force output shaft 13 and the output lever 15 ([0030]).

Japanese Patent Application Laid-Open No. 2015-074312

  As described above, the configuration of Patent Document 1 includes mechanical connection portions (or a plurality of reduction gears) such as the worm shaft 17, the worm wheel 18, the clutch mechanism 19, the pinion gear 20, and the sector gear 21. In these mechanical connections, backlash exists. For this reason, when the driver performs a stepping operation and a return operation of the operation pedals 4 and 5 (pedal members), a contact sound may be generated when the opposing teeth shift from a non-contact state to a contact state. .

  In particular, in a state where the motor 12 does not generate an output that increases the reaction force, the driver performs operations such as stepping on the operation pedals 4 and 5 (pedal members) and continuous repetition of returning in a short time. When it went, there was a possibility that strange noise might be transmitted to the driver and give a sense of incongruity.

  The present invention has been made in consideration of such problems, and a reaction force generation device capable of suppressing abnormal noise caused by backlash at a mechanical connection between a pedal member and a reaction force generation motor. And it aims at providing a reaction force control device.

The reaction force generation device according to the present invention includes:
A pedal member operated by the driver;
Reaction force increasing means for increasing the reaction force in a direction in which the driver returns the pedal member to the original position while the driver is operating the pedal member;
Control means for controlling the reaction force to be increased by the reaction force increasing means,
The reaction force increasing means is
A motor that generates the reaction force;
A reduction gear disposed between the motor and the pedal member and having at least a pair of reduction gears for transmitting the driving force of the motor to the pedal member;
The control means is configured to continuously drive the motor in a specific rotation direction so as to maintain a contact state between teeth of the at least one pair of reduction gears when the reaction force is not increased. To do.

  According to the present invention, when the reaction force is not increased, the motor is continuously driven in a specific rotation direction so as to keep at least the contact state between the teeth of the pair of reduction gears. For this reason, even if the reaction force is not increased, the backlash of the speed reduction gear can be eliminated or reduced. Therefore, it is possible to suppress abnormal noise caused by backlash during operation of the pedal member, and to reduce a sense of discomfort to the driver.

  The specific rotation direction may be a direction opposite to the rotation direction when the reaction force is increased. In other words, the specific rotation direction may be the same as the rotation direction associated with the depression of the pedal member. As a result, when the driver steps on the pedal member (particularly when stepping is started), transmission of the pedaling force from the pedal member to the motor is started with the teeth of the pair of reduction gears in contact with each other. It becomes. Therefore, it is possible to suppress abnormal noise caused by backlash.

  Further, the rotation direction when the motor generates a reaction force is opposite to the rotation direction when the reaction force is not generated. That is, the motor is caused to perform both forward rotation and reverse rotation. For this reason, even if some foreign matter is sandwiched between a pair of reduction gears (mechanical coupling portions) between the pedal member and the motor, it is possible to easily remove the foreign matter.

  Alternatively, the specific rotation direction may be the same as the rotation direction when the reaction force is increased. Thereby, the teeth of the pair of reduction gears are in contact with each other when the reaction force starts to increase. Therefore, it is possible to suppress abnormal noise caused by backlash.

A ratchet gear provided on one side of the motor or the pedal member and formed with a plurality of tooth grooves facing the radially outer side or the radially inner side;
A ratchet mechanism provided on the other side of the motor or the pedal member and including a shaft member formed with at least one ratchet pawl that engages with the plurality of tooth grooves when the reaction force is transmitted is provided in the speed reducer. May be.
When the pedal member is depressed and when the motor generates the reaction force, the ratchet gear and the ratchet pawl may be engaged to transmit the first rotational force. When the pedal member is returned, the ratchet gear or the shaft member may idle due to the ratchet pawl coming out of the tooth groove of the ratchet gear. The control means, when not generating the reaction force, a third rotation force that is lower than the second rotation force that causes the idle rotation of the ratchet gear or the shaft member and that is opposite to the rotation direction when the reaction force is increased. May be generated by the motor.

  According to the above configuration, when control for increasing the reaction force is not performed, the third rotational force is lower than the second rotational force that causes the idle rotation of the ratchet gear or the shaft member and is opposite to the rotational direction when the reaction force is increased. A rotational force is generated by the motor. As a result, when the driver steps on the pedal member (particularly when stepping is started), the transmission of the pedaling force from the pedal member to the motor can be started with the teeth of the pair of reduction gears in contact with each other. It becomes possible. Therefore, abnormal noise caused by backlash can be suppressed.

  In the above configuration, the rotation direction of the motor is reversed between when the reaction force is increased and when the reaction force is not increased. For this reason, even if some foreign matter is sandwiched between a pair of reduction gears (mechanical connection portions) between the pedal member and the motor, the foreign matter can be easily removed by changing the backlash between the reduction gears. It becomes possible.

The reaction force control device according to the present invention includes:
A pedal member operated by the driver;
A motor that generates a reaction force against the pedaling force on the pedal member;
A speed reducer that is disposed between the motor and the pedal member and has at least a pair of reduction gears that transmit the driving force of the motor to the pedal member;
Used for a reaction force generation device comprising:
Controlling the reaction force generated by the motor,
When the reaction force by the motor is not generated, the motor is continuously driven in a specific rotation direction so as to keep a contact state between teeth of the at least one pair of reduction gears.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to suppress the noise resulting from a backlash in the mechanical connection part (connection part of a pair of reduction gears) between a pedal member and a reaction force generation motor.

1 is a schematic configuration diagram of a vehicle equipped with a reaction force generation device according to an embodiment of the present invention. It is a figure which shows simply the internal structure of the ratchet mechanism of the said embodiment, and its periphery. It is a perspective view which shows the said ratchet mechanism of the said embodiment, and its internal structure. It is a figure explaining the transmission path | route of various forces in the said embodiment. It is a figure explaining operation | movement of each part of the said ratchet mechanism corresponding to the various force of FIG. It is a flowchart of control of the motor in the embodiment.

A. One Embodiment [A-1. Configuration of Vehicle 10]
(A-1-1. Overview)
FIG. 1 is a schematic configuration diagram of a vehicle 10 equipped with a reaction force generation device 26 according to an embodiment of the present invention. The vehicle 10 includes an operation amount sensor 20, a vehicle speed sensor 22, and a navigation device 24 in addition to the reaction force generation device 26.

  The reaction force generation device 26 includes an accelerator pedal 30 (pedal member), a reaction force generation unit 32, and a reaction force electronic control device 34 (hereinafter referred to as “reaction force ECU 34” or “ECU 34”). The accelerator pedal 30 is urged toward the original position by an accelerator pedal return spring (not shown) disposed in the pedal housing 40. The urging force by the accelerator pedal return spring is referred to as “accelerator pedal return spring reaction force Fspr1” or “reaction force Fspr1”. The reaction force generation unit 32 (reaction force increasing means) generates a reaction force Frp (hereinafter also referred to as “pedal reaction force Frp”) with respect to the pedaling force Fp from the driver to the accelerator pedal 30 based on a command from the reaction force ECU 34. Generate.

  The operation amount sensor 20 detects the operation amount θ (depression amount from the original position) of the accelerator pedal 30 (hereinafter also referred to as “pedal operation amount θ”) [%] or [deg], and outputs it to the reaction force ECU 34. . The vehicle speed sensor 22 measures the vehicle speed V [km / h] of the vehicle 10 and outputs it to the reaction force ECU 34.

  The navigation device 24 detects the current position of the vehicle 10 using GPS (Global Positioning System) or the like, and stores navigation information Ir (hereinafter also referred to as “information Ir”) related to the course of the vehicle 10 (see FIG. Not shown). The information Ir includes information on the current position of the vehicle 10 and the recommended vehicle speed Vrec. The recommended vehicle speed Vrec is a vehicle speed (limit vehicle speed, vehicle speed suitable for traveling on a curve, etc.) set for each road, and is set by dividing the road into a plurality of sections or regions.

(A-1-2. Reaction force generator 32)
(A-1-2-1. Overview of reaction force generator 32)
As described above, the reaction force generation unit 32 generates the reaction force Frp for the depression force Fp from the driver to the accelerator pedal 30.

  As shown in FIG. 1, the reaction force generator 32 includes a reaction arm 50, a sector gear 52, a pinion gear 54, a ratchet mechanism 56 (clutch mechanism), a worm wheel 58, a worm shaft 60, and a motor 62. And a motor driver 64.

(A-1-2. Reaction arm 50, sector gear 52 and pinion gear 54)
One end of the reaction force arm 50 is fixed to a rotating shaft portion 70 formed to be rotatable with respect to the housing 66 of the reaction force generating portion 32. Further, the other end of the reaction force arm 50 is in contact with the base end of the accelerator pedal 30.

  The base of the sector gear 52 is fixed to the rotary shaft 70 together with the reaction arm 50. For this reason, the sector gear 52 rotates together with the reaction force arm 50. The plurality of teeth 72 formed on the sector gear 52 mesh with the plurality of teeth 74 of the pinion gear 54.

  A reaction arm return spring 76 (hereinafter also referred to as “return spring 76”) is connected to the rotating shaft portion 70, and urges the reaction force arm 50 so as to maintain a contact state with the accelerator pedal 30. . The urging force Fspr2 (hereinafter also referred to as “reaction arm spring reaction force Fspr2” or “reaction force Fspr2”) from the return spring 76 is also transmitted to the sector gear 52, the pinion gear 54, and the ratchet mechanism 56 via the rotary shaft portion 70. .

  The pinion gear 54 is a shaft member having a plurality of tooth portions 74 formed in the circumferential direction, and is rotatably supported by the housing 66. The tooth portion 74 of the pinion gear 54 has a portion having a small diameter on the sector gear 52 side and a portion having a large diameter on the ratchet mechanism 56 side. The small diameter portion engages with the sector gear 52, and the large diameter portion is fitted into a fitting hole formed in a ratchet gear 80 (described later) of the ratchet mechanism 56.

(A-1-2-3. Ratchet mechanism 56)
The ratchet mechanism 56 transmits the stepping force Fp to the accelerator pedal 30 and the reaction force Fmot from the motor 62 (hereinafter also referred to as “motor reaction force Fmot”) out of the force input to the ratchet mechanism 56. That is, the pedaling force Fp to the accelerator pedal 30 is transmitted to the motor 62 side, and the reaction force Fmot from the motor 62 is transmitted to the accelerator pedal 30 side.

  Further, the ratchet mechanism 56 does not transmit the force (that is, the urging force Fsp2 from the return spring 76) when the accelerator pedal 30 is returned to the motor 62 side.

  FIG. 2 is a diagram schematically showing the internal configuration of the ratchet mechanism 56 of the present embodiment and its periphery. FIG. 3 is a perspective view showing the ratchet mechanism 56 of this embodiment and its internal configuration. As shown in FIGS. 2 and 3, the ratchet mechanism 56 includes a ratchet gear 80 and a plurality of ratchet claws 82.

  The ratchet gear 80 is a one-sided bottomed cylindrical member fixed to the pinion gear 54. As described above, the large-diameter portion of the pinion gear 54 is fitted into the fitting hole formed in the ratchet gear 80. Accordingly, the ratchet gear 80 can rotate on the same rotation axis Ax (centering on the rotation shaft portion 84) as the pinion gear 54 and the worm wheel 58.

  A plurality of tooth grooves 86 are formed on the radially inner side of the ratchet gear 80. With respect to the ratchet pawl 82 which is a member on the motor 62 side, the tooth groove 86 is set so that the ratchet gear 80 which is a member on the accelerator pedal 30 side can rotate in only one direction (only counterclockwise in FIG. 2). It is formed to limit. In other words, the tooth groove 86 is formed to limit the direction in which the ratchet pawl 82 can rotate with respect to the ratchet gear 80 in only one direction (only clockwise in FIG. 2).

  The ratchet pawl 82 is rotatably supported by the worm wheel 58 by the shaft portion 88. A support plate 90 is disposed between the ratchet pawl 82 and the bottom surface of the worm wheel 58.

  As shown in FIG. 2, a ratchet claw return spring 92 (hereinafter also referred to as “return spring 92”) partially attached to the support column 94 is attached to the ratchet claw 82. As a result, a biasing force Fsp3 that rotates so as to approach the radially outer side is applied to the ratchet pawl 82, and contacts the tooth groove 86 of the ratchet gear 80 at the original position of the ratchet pawl 82.

  In the ratchet mechanism 56 of the present embodiment, the ratchet gear 80 is a member on the accelerator pedal side. The ratchet pawl 82, the shaft portion 88, the support plate 90, the return spring 92, and the support pillar 94 are members on the motor 62 side. Since the ratchet pawl 82 is rotatably supported by the worm wheel 58, the worm wheel 58 can also be regarded as a member on the motor 62 side. The specific operation of the ratchet mechanism 56 will be described later with reference to FIGS.

(A-1-2-4. Worm wheel 58 and worm shaft 60)
The worm wheel 58 can rotate on the same rotation axis Ax as the pinion gear 54 and the ratchet gear 80. A wheel groove portion 100 is formed on the radially outer side of the worm wheel 58.

  The worm shaft 60 can rotate on the same rotation axis Am as the output shaft of the motor 62. A shaft screw portion 102 that engages with the wheel groove portion 100 of the worm wheel 58 is formed on the outer periphery of the worm shaft 60.

(A-1-2-5. Motor 62 and motor driver 64)
The motor 62 of the present embodiment is a brushless DC motor that operates by current supplied from a motor driver 64. Alternatively, the motor 62 may be a brush motor or an AC motor. A motor driver 64 (hereinafter also referred to as “driver 64”) operates the motor 62 based on a command from the reaction force ECU 34.

  In the present embodiment, as a mechanical connecting portion (or a combination of each reduction gear) between the accelerator pedal 30 and the motor 62, a connecting portion between the sector gear 52 and the pinion gear 54, a connecting portion between the ratchet gear 80 and the ratchet pawl 82, and a worm. A connecting portion between the wheel 58 and the worm shaft 60 is included. These connecting portions function as a reduction gear 104 having a plurality of reduction gears that transmit the reaction force Fmot (driving force) of the motor 62 to the accelerator pedal 30.

(A-1-3. Reaction force ECU 34)
The reaction force ECU 34 (control means, reaction force control device) controls the motor reaction force Fmot generated by the reaction force generator 32. As shown in FIG. 1, the ECU 34 includes an input / output unit 110, a calculation unit 112, and a storage unit 114.

  The input / output unit 110 is used for input / output of signals with the operation amount sensor 20, the vehicle speed sensor 22, the navigation device 24, and the motor driver 64. The input / output unit 110 may include an A / D conversion circuit (not shown) that converts an input analog signal into a digital signal.

  The calculation unit 112 performs a calculation based on input signals from the operation amount sensor 20, the vehicle speed sensor 22, and the navigation device 24, and generates an output signal for the motor driver 64 based on the calculation result.

  As shown in FIG. 1, the calculation unit 112 includes a target vehicle speed control unit 120 (hereinafter also referred to as “control unit 120”), a motor reaction force control unit 122 (hereinafter also referred to as “control unit 122”), and a back. And a rush compensation control unit 124 (hereinafter also referred to as “control unit 124”). Each control unit 120, 122, 124 is realized by executing a program stored in the storage unit 114. The program may be supplied from the outside via a wireless communication device (mobile phone, smartphone, etc.) not shown. A part of the program can be configured by hardware (circuit parts).

  The target vehicle speed control unit 120 sets the target vehicle speed Vtar [km / h] of the vehicle 10 based on the recommended vehicle speed Vrec from the navigation device 24 or the like. The target vehicle speed Vtar is set to a value equal to the recommended vehicle speed Vrec, for example. Alternatively, when the state in which the change amount [km / h / s] of the vehicle speed V per unit time is equal to or less than a predetermined value continues for a predetermined time, the control unit 120 may set the vehicle speed V at that time as the target vehicle speed Vtar.

  The motor reaction force control unit 122 controls the reaction force Fmot generated by the motor 62. For example, a map defining the relationship between the manipulated variable θ and the target value of the reaction force Fmot (hereinafter also referred to as “target reaction force Fmotor”) for each vehicle speed V is stored in the storage unit 114. Then, the control unit 122 calculates the target reaction force Fmotor based on the operation amount θ from the operation amount sensor 20 and the vehicle speed V from the vehicle speed sensor 22. Further, the control unit 122 controls the duty ratio of a switching element (not shown) so as to supply a current corresponding to the target reaction force Fmotor to the motor 62.

  The backlash compensation control unit 124 executes backlash compensation control that compensates for backlash generated in the reaction force generation unit 32 in a state where the motor reaction force Fmot is not generated. Details of the backlash compensation control will be described later with reference to FIG.

[A-2. Various force transmission paths and operations in the ratchet mechanism 56]
FIG. 4 is a diagram for explaining various force transmission paths in the present embodiment. FIG. 5 is a diagram for explaining the operation of each part of the ratchet mechanism 56 corresponding to the various forces shown in FIG. Here, referring to FIG. 4, the transmission path of the pedaling force Fp to the accelerator pedal 30, the transmission path of the reaction force arm spring reaction force Fsp2, the transmission path of the motor reaction force Fmot, and the transmission path of the backlash compensation torque Tbac. Will be described. The backlash compensation torque Tbac is a torque generated by the motor 62 in order to compensate for backlash in the mechanical connection portion (or reduction gear) of the reaction force generation portion 32.

  Moreover, how each part of the ratchet mechanism 56 operate | moves with the various force which transmits these transmission paths using FIG. 5 is demonstrated. Here, “clockwise” and “counterclockwise” indicate directions in FIGS. 4 and 5. Moreover, the numerical value of the arrow in FIG.4 and FIG.5 shows the order of transmission of various force.

(A-2-1. Transmission path of the depression force Fp to the accelerator pedal 30)
The upper left of FIG. 4 shows the transmission path of the pedaling force Fp to the accelerator pedal 30, and the upper left of FIG. 5 shows the operation of each part of the ratchet mechanism 56 by the pedaling force Fp. As shown in the upper left of FIG. 4, the depression force Fp against the accelerator pedal 30 is applied to the reaction force arm 50, and the reaction force arm 50 rotates counterclockwise around the rotation shaft portion 70. Along with this, the sector gear 52 also rotates counterclockwise around the rotation shaft portion 70.

  The rotation of the sector gear 52 causes the pinion gear 54 to rotate clockwise, and the ratchet gear 80 (FIG. 3) fixed to the pinion gear 54 also rotates in the same direction. As shown in the upper left of FIG. 5, when the ratchet gear 80 rotates clockwise, the ratchet pawl 82 and the worm wheel 58 also rotate in the same direction (see FIG. 2).

  The worm shaft 60 is rotated by the rotation of the worm wheel 58. The rotational direction of the worm shaft 60 at this time is opposite to the rotational direction of the motor 62 when generating the motor reaction force Fmot.

(A-2-2. Reaction path of reaction force arm spring reaction force Fspr2)
The upper right of FIG. 4 shows the transmission path of the reaction force arm return spring reaction force Fspr2, and the upper right of FIG. 5 shows the operation of each part of the ratchet mechanism 56 by the reaction force Fspr2. When the driver weakens the pedaling force Fp on the accelerator pedal 30, the accelerator pedal 30 moves toward the original position by a reaction force Fspr1 from the accelerator pedal return spring (not shown). Accordingly, the reaction force arm 50 moves toward the original position of the reaction force arm 50 while keeping the contact with the accelerator pedal 30 by the reaction force Fspr2 from the reaction force arm return spring 76 (FIG. 1).

  That is, when the driver weakens the pedaling force Fp on the accelerator pedal 30, the reaction force Fspr2 urges the reaction force arm 50 in the clockwise direction as shown in the upper right of FIG. The reaction force Fspr2 biases the sector gear 52 in the clockwise direction. Accordingly, the pinion gear 54 and the ratchet gear 80 rotate counterclockwise. As shown in the upper right of FIG. 5, when the ratchet gear 80 rotates counterclockwise, the ratchet gear 80 idles with respect to the ratchet pawl 82 and the worm wheel 58.

(A-2-3. Transmission path of motor reaction force Fmot)
The lower left part of FIG. 4 shows a transmission path of the motor reaction force Fmot, and the lower left part of FIG. 5 shows the operation of each part of the ratchet mechanism 56 by the motor reaction force Fmot. As shown in the lower left of FIG. 4, when the motor reaction force Fmot is generated with respect to the depression force Fp against the accelerator pedal 30, the direction in which the motor 62 is rotated by the depression force Fp (the rotation direction at the upper left in FIG. 4). Rotate to. Thereby, as shown in the lower left of FIG. 5, the worm wheel 58 and the ratchet pawl 82 supported by the worm wheel 58 are rotated counterclockwise.

  When the worm wheel 58 and the ratchet pawl 82 rotate counterclockwise, the ratchet gear 80 and the pinion gear 54 also rotate in the same direction. Due to the rotation of the pinion gear 54 counterclockwise, the sector gear 52 and the reaction force arm 50 rotate clockwise.

  Note that the motor reaction force Fmot of the present embodiment is set to be smaller than or equivalent to the pedaling force Fp. For this reason, the accelerator pedal 30 is not returned to the original position by the motor reaction force Fmot. However, the motor reaction force Fmot may be larger than the pedaling force Fp under predetermined conditions.

(A-2-4. Transmission path of backlash compensation torque Tbac)
4 shows the transmission path of the backlash compensation torque Tbac, and the lower right part of FIG. 5 shows the operation of each part of the ratchet mechanism 56 by the backlash compensation torque Tbac. As shown in the lower right of FIG. 4 and the lower right of FIG. 5, when generating the backlash compensation torque Tbac, the motor 62 rotates in the same direction as the direction of rotation by the treading force Fp (the rotation direction in the upper left of FIG. 4). To do. As a result, the worm wheel 58 and the ratchet pawl 82 supported by the worm wheel 58 rotate clockwise.

  When the worm wheel 58 and the ratchet pawl 82 rotate clockwise, the worm wheel 58 and the ratchet pawl 82 inherently idle with respect to the ratchet gear 80. This is because when the ratchet pawl 82 rotates clockwise, the ratchet pawl 82 moves along the tooth groove 86 of the worm wheel 58 and can move from one tooth groove 86 to the next tooth groove 86. . In other words, the ratchet pawl 82 (and the worm wheel 58) idles with respect to the ratchet gear 80 because the counterclockwise force (torque) in the ratchet pawl 82 exceeds a specific tooth groove 86 and is adjacent to the tooth groove. It is because it is so large that it can move to 86.

  On the other hand, the backlash compensation torque Tbac is set to a value smaller than a value at which the ratchet pawl 82 can move beyond the specific tooth gap 86 to the adjacent tooth gap 86. For this reason, the ratchet pawl 82 and the worm wheel 58 do not idle with respect to the ratchet gear 80, and the backlash compensation torque Tbac continues to be transmitted from the ratchet pawl 82 to the ratchet gear 80.

  Thereby, in the mechanical connection part (or combination of each reduction gear) between the motor 62 and the accelerator pedal 30, backlash in the direction toward the accelerator pedal 30 is reduced. Such mechanical connection parts include a connection part between the worm shaft 60 and the worm wheel 58, a connection part between the ratchet pawl 82 and the ratchet gear 80, and a connection part between the pinion gear 54 and the sector gear 52.

  When the pedal effort Fp increases while the backlash in the direction toward the accelerator pedal 30 is reduced in this way, the distance from the member on the accelerator pedal 30 side to the member on the motor 62 side (corresponding to backlash) ) Becomes shorter. Accordingly, it is possible to reduce noise generated when the member on the accelerator pedal 30 side in the mechanical connecting portion collides with the member on the motor 62 side.

  For example, when attention is paid to the reduction in backlash at the connecting portion between the worm shaft 60 and the worm wheel 58, the mechanical connecting portion closer to the accelerator pedal 30 (the connecting portion between the ratchet pawl 82 and the ratchet gear 80 and the pinion gear 54). And the sector gear 52) need not reach the backlash compensation torque Tbac. Similarly, when attention is paid to the reduction in backlash at the connecting portion between the ratchet pawl 82 and the ratchet gear 80, the backlash compensation torque Tbac is further increased to the mechanical connecting portion (pinion gear 54 and sector gear 52) on the accelerator pedal 30 side. It does not have to reach.

  As described above, in this embodiment, there is a connecting portion between the sector gear 52 and the pinion gear 54, a connecting portion between the ratchet gear 80 and the ratchet pawl 82, and a connecting portion between the worm wheel 58 and the worm shaft 60. For this reason, the gear ratio of the reaction force generation unit 32 (deceleration unit) can be made relatively high (for example, several tens to several hundreds). As described above, when the gear ratio is high, the impact applied by the worm wheel 58 to the worm shaft 60 when the pedaling force Fp is applied is relatively large, and abnormal noise is also increased. Accordingly, reducing backlash at the connecting portion between the worm wheel 58 and the worm shaft 60 greatly contributes to suppression of abnormal noise.

[A-3. Control of motor 62]
Next, control of the motor 62 in the present embodiment will be described. In the present embodiment, the reaction force ECU 34 executes motor reaction force control for controlling the motor reaction force Fmot and backlash compensation control for controlling the backlash compensation torque Tbac as control of the motor 62.

  FIG. 6 is a flowchart of control of the motor 62 in the present embodiment. In step S1, the ECU 34 determines whether it is necessary to generate the motor reaction force Fmot. This determination can be made based on whether or not the target reaction force Fmottar based on the current vehicle speed V and the operation amount θ is zero, for example. For the relationship between the combination of the vehicle speed V and the operation amount θ and the target reaction force Fmotor, the map stored in the storage unit 114 can be used.

  When the generation of the motor reaction force Fmot is required (S1: YES), in step S2, the ECU 34 generates the motor reaction force Fmot. For example, the ECU 34 instructs the driver 64 to output a current corresponding to the target reaction force Fmotor to the motor 62. Upon receiving this command, the driver 64 outputs a current corresponding to the target reaction force Fmotor to the motor 62.

  When the generation of the motor reaction force Fmot is not required (S1: NO), in step S3, the ECU 34 generates the backlash compensation torque Tbac. For example, the ECU 34 instructs the driver 64 to output a current corresponding to the backlash compensation torque Tbac to the motor 62. The driver 64 that has received this command outputs a current corresponding to the backlash compensation torque Tbac to the motor 62. As described above, the rotation direction of the motor 62 when generating the backlash compensation torque Tbac is opposite to the rotation direction of the motor 62 when generating the motor reaction force Fmot.

  In the present embodiment, the backlash compensation torque Tbac is constant. Alternatively, the backlash compensation torque Tbac may be varied within a range in which the ratchet pawl 82 does not idle with respect to the ratchet gear 80.

[A-4. Effects of this embodiment]
As described above, according to the present embodiment, when the motor reaction force Fmot is not increased (S1: NO in FIG. 6), the combination of the worm wheel 58 and the worm shaft 60 (a pair of reduction gears or mechanical connection) 6), the motor 62 is continuously driven in a specific rotation direction so as to keep the contact state between the wheel groove portion 100 and the shaft screw portion 102 (S3 in FIG. 6, lower right in FIG. 4 and right in FIG. 5). under). For this reason, even when the reaction force Fmot is not increased, the backlash between the worm wheel 58 and the worm shaft 60 can be maintained in a state where it is eliminated or reduced. Therefore, it is possible to suppress noise generated due to backlash when the accelerator pedal 30 (pedal member) is operated, and to reduce a sense of discomfort to the driver.

  In the present embodiment, the rotation direction (specific rotation direction) of the motor 62 in the backlash compensation control is opposite to the rotation direction when the motor reaction force Fmot is increased (FIGS. 4 and 5). Thus, when the driver depresses the accelerator pedal 30 (particularly when the depressing is started), the wheel groove portion 100 and the shaft of the combination of the worm shaft 60 and the worm wheel 58 (a pair of reduction gears or a mechanical coupling portion) are provided. The transmission of the pedaling force Fp from the accelerator pedal 30 to the motor 62 is started in a state where the screw portions 102 (teeth) are in contact with each other. Therefore, it is possible to suppress abnormal noise caused by backlash.

  In addition, the rotation direction when the motor 62 generates the reaction force Fmot (upper left in FIG. 4) is opposite to the rotation direction when the reaction force Fmot is not generated (lower right in FIG. 4). That is, the motor 62 is caused to perform both forward rotation and reverse rotation. For this reason, even if some foreign matter is caught between the combination of the worm wheel 58 and the worm shaft 60 between the accelerator pedal 30 and the motor 62 (a pair of reduction gears or a mechanical connecting portion), the foreign matter can be easily removed. It becomes possible to do.

  In the present embodiment, a ratchet mechanism 56 including a ratchet gear 80 and a worm wheel 58 (shaft member) is provided in the reaction force generation unit 32 (deceleration unit) (FIG. 1). The ratchet gear 80 is formed with a plurality of tooth grooves 86 provided on the accelerator pedal 30 side and facing radially inward (FIGS. 2 and 3). The worm wheel 58 is provided with a ratchet pawl 82 that is provided on the motor 62 side and meshes with the plurality of tooth spaces 86 when the motor reaction force Fmot is transmitted (FIGS. 2 and 3).

  When the accelerator pedal 30 is depressed and when the motor 62 generates the reaction force Fmot, the ratchet gear 80 and the ratchet pawl 82 are engaged to transmit the pedal force Fp and the motor reaction force Fmot (first rotational force) (FIGS. 4 and 4). 5 upper left and lower left). When the accelerator pedal 30 is returned, the ratchet claw 82 slips out of the tooth groove 86 of the ratchet gear 80, causing the ratchet gear 80 to idle (upper right in FIGS. 4 and 5). When the ECU 34 (control means) does not generate the motor reaction force Fmot (S1: NO in FIG. 6), the reaction force arm spring reaction force Fspr2 (second rotational force) that causes the ratchet gear 80 or the worm wheel 58 to idle is generated. The backlash compensation torque Tbac (third rotational force) in the direction opposite to the rotational direction when the motor reaction force Fmot is increased is generated in the motor 62 (lower right in FIGS. 4 and 5).

  According to the above configuration, when the control for increasing the motor 62 is not performed, the reaction force is lower than the reaction force Fspr2 that causes idling of the ratchet gear 80 or the worm wheel 58 and in the direction opposite to the rotation direction when the reaction force Fmot is increased. The backlash compensation torque Tbac is generated by the motor 62. Thus, when the driver depresses the accelerator pedal 30 (particularly when depressing is started), the wheel groove portion 100 and the shaft screw portion 102 (teeth) of the combination of the worm wheel 58 and the worm shaft 60 (a pair of reduction gears). ) The pedaling force Fp can be started to be transmitted from the accelerator pedal 30 to the motor 62 in a state where they are in contact with each other. Therefore, abnormal noise caused by backlash can be suppressed.

  In the above configuration, the rotation direction of the motor 62 is reversed between the case where the motor reaction force Fmot is increased and the case where the motor reaction force Fmot is not increased (FIG. 4). For this reason, even if some foreign matter is caught between the combination of the worm wheel 58 and the worm shaft 60 between the accelerator pedal 30 and the motor 62 (a pair of reduction gears or a mechanical connecting portion), the worm wheel 58 and the worm By changing the backlash between the combinations of the shafts 60, the foreign matter can be easily removed.

B. Modifications It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted based on the description of the present specification. For example, the following configuration can be adopted.

[B-1. Applicable to]
In the above embodiment, the reaction force generation device 26 is applied to the vehicle 10 (FIG. 1). However, for example, from the viewpoint of reducing backlash or the accompanying noise, this is not restrictive. For example, the reaction force generator 26 can be used for a moving object such as an aircraft. Or you may apply the reaction force production | generation apparatus 26 to a robot or a manufacturing apparatus.

  In the above embodiment, the object to which the motor reaction force Fmot is applied is the accelerator pedal 30 (FIG. 1). However, for example, from the viewpoint of reducing backlash or the accompanying noise, this is not restrictive. For example, the present invention can be applied to a configuration in which a motor reaction force Fmot is applied to a brake pedal (not shown). For example, the ECU 34 may cause the motor 62 to generate the backlash compensation torque Tbac when the operation amount of the brake pedal is zero or less than a threshold value near zero. The rotation direction of the motor 62 at this time can be made opposite to the rotation direction when the motor reaction force Fmot is generated.

[B-2. Reducer 104]
In the above-described embodiment, the speed reducer 104 is a mechanical connection portion (or a combination of the reduction gears) between the accelerator pedal 30 and the motor 62, a connection portion between the sector gear 52 and the pinion gear 54, a ratchet gear 80, and a ratchet pawl 82. And the connecting portion of the worm wheel 58 and the worm shaft 60 (FIGS. 1 and 2). However, it is not limited to this from the viewpoint of performing deceleration or acceleration associated with the pedaling force Fp or the motor reaction force Fmot. For example, the sector gear 52 can be omitted. In this case, the reaction force arm 50 can be fixed to the rotating shaft portion 84. Alternatively, the sector gear 52 and the ratchet mechanism 56 can be omitted. In this case, the reaction force arm 50 and the worm wheel 58 may have a common rotation axis.

[B-3. Ratchet mechanism 56 (clutch mechanism)]
In the above embodiment, the ratchet mechanism 56 shown in FIGS. 2 and 3 is used as a clutch mechanism that transmits the pedaling force Fp and the motor reaction force Fmot and does not transmit the reaction arm spring reaction force Fspr2. However, for example, the clutch mechanism that transmits the pedal force Fp and the motor reaction force Fmot and does not transmit the reaction arm spring reaction force Fspr2 is not limited thereto. For example, instead of the ratchet mechanism 56, a one-way clutch other than the ratchet mechanism 56 can be used. Alternatively, an electromagnetic clutch or a dog clutch whose connection / disconnection is controlled by the ECU 34 may be used.

  In the above embodiment, the ratchet gear 80 has a cylindrical shape with one bottom (FIG. 3). However, from the viewpoint of switching the meshing or idling with the ratchet pawl 82 according to the rotation direction, this is not limiting. The ratchet gear 80 may have a cylindrical shape with a bottom on both sides. Alternatively, the ratchet gear 80 may be annular (cylindrical with no bottom).

  In the above embodiment, two ratchet claws 82 are provided (FIG. 2). However, for example, from the viewpoint of transmitting the pedal force Fp and the motor reaction force Fmot and not transmitting the reaction arm return spring reaction force Fspr2, the present invention is not limited to this. The number of ratchet claws 82 may be one or three or more (for example, any of 3 to 10), for example.

  In the above-described embodiment, the tooth groove 86 of the ratchet gear 80 is disposed on the radially outer side than the ratchet pawl 82 (FIGS. 2 to 5). On the contrary, the tooth groove 86 of the ratchet gear 80 can be disposed radially inward of the ratchet pawl 82. In this case, the tooth groove 86 is formed on the outer peripheral surface of the ratchet gear 80.

  In the above embodiment, the ratchet gear 80 is disposed on the accelerator pedal 30 side, and the ratchet pawl 82 is disposed on the motor 62 side (FIG. 2). On the contrary, the ratchet gear 80 may be disposed on the motor 62 side, and the ratchet pawl 82 may be disposed on the accelerator pedal 30 side.

[B-4. Backlash compensation control]
In the above embodiment, the rotation direction of the motor 62 that generates the backlash compensation torque Tbac (lower right in FIG. 4) is opposite to the rotation direction when generating the motor reaction force Fmot (lower left in FIG. 4). However, for example, from the viewpoint of reducing abnormal noise when increasing the motor reaction force Fmot, the rotation direction of the motor 62 that generates the backlash compensation torque Tbac is the rotation direction when generating the motor reaction force Fmot ( You may make it the same as the lower left of FIG. Accordingly, when the motor reaction force Fmot is increased immediately after the operation amount θ of the accelerator pedal 30 is increased, the wheel groove portion 100 and the shaft screw portion 102 of the combination of the worm wheel 58 and the worm shaft 60 (a pair of reduction gears). (Teeth) are in contact with each other. Therefore, it is possible to suppress abnormal noise caused by backlash.

  In the above embodiment, when the generation of the motor reaction force Fmot is not required (S1: NO in FIG. 6), the backlash compensation torque Tbac is continuously generated (S3). However, the backlash compensation torque Tbac may be generated only in a limited scene even when the generation of the motor reaction force Fmot is not required. For example, the backlash compensation torque Tbac may be generated only when the operation amount θ of the accelerator pedal 30 is zero or only when it is equal to or less than a predetermined value other than zero.

DESCRIPTION OF SYMBOLS 10 ... Vehicle 26 ... Reaction force production | generation apparatus 30 ... Accelerator pedal (pedal member) 32 ... Reaction force production | generation part (Reaction force increase means)
34 ... Reaction force ECU (control means, reaction force control device)
52 ... Sector gear (reduction gear) 54 ... Pinion gear (reduction gear)
58. Worm wheel (reduction gear, shaft member)
60 ... Worm shaft (reduction gear) 62 ... Motor 72 ... Sector gear teeth (tooth) 80 ... Ratchet gear (reduction gear)
82 ... ratchet pawl (reduction gear) 86 ... tooth gap (tooth)
104 ... reducer Fmot ... motor reaction force (reaction force)

Claims (5)

A pedal member operated by the driver;
Reaction force increasing means for increasing the reaction force in a direction in which the driver returns the pedal member to the original position while the driver is operating the pedal member;
A control means for controlling the reaction force to be increased by the reaction force increasing means, and a reaction force generating device comprising:
The reaction force increasing means is
A motor that generates the reaction force;
A reduction gear disposed between the motor and the pedal member and having at least a pair of reduction gears for transmitting the driving force of the motor to the pedal member;
The control means is configured to continuously drive the motor in a specific rotation direction so as to maintain a contact state between teeth of the at least one pair of reduction gears when the reaction force is not increased. Reaction force generator. The reaction force generation device according to claim 1,
The specific rotation direction is a direction opposite to the rotation direction when the reaction force is increased. The reaction force generation device according to claim 1,
The said specific rotation direction is the same direction as the rotation direction accompanying depression of the said pedal member. The reaction force production | generation apparatus characterized by the above-mentioned. In the reaction force generation device according to claim 1 or 2,
A ratchet gear provided on one side of the motor or the pedal member and formed with a plurality of tooth grooves facing the radially outer side or the radially inner side;
A ratchet mechanism provided on the other side of the motor or the pedal member and including a shaft member formed with at least one ratchet pawl that engages with the plurality of tooth grooves when the reaction force is transmitted is provided in the speed reducer. ,
When the pedal member is depressed and when the motor generates the reaction force, the ratchet gear and the ratchet pawl mesh with each other to transmit the first rotational force,
When the pedal member is returned, the ratchet claw or the shaft member idles due to the ratchet pawl coming out of the tooth groove of the ratchet gear,
The control means, when not generating the reaction force, a third rotation force that is lower than the second rotation force that causes the idle rotation of the ratchet gear or the shaft member and that is opposite to the rotation direction when the reaction force is increased. Is generated by the motor. A pedal member operated by the driver;
A motor that generates a reaction force against the pedaling force on the pedal member;
A speed reducer that is disposed between the motor and the pedal member and has at least a pair of reduction gears that transmit the driving force of the motor to the pedal member;
Used for a reaction force generation device comprising:
A reaction force control device for controlling the reaction force generated by the motor,
When the reaction force by the motor is not generated, the motor is continuously driven in a specific rotation direction so as to keep a contact state between teeth of the at least one pair of reduction gears. Force control device.

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