JP2020148325A - Vehicle drive device - Google Patents

Abstract

To improve possibility to prevent up lock in a stop state.SOLUTION: A vehicle drive device (1) includes a clutch (30) including a first element (31) and a second element (32A, 32B) having an engagement state when axially approaching each other and a non-engagement state when axially separating from each other, and capable of transmitting rotary torque around a shaft between the first element and the second element in the engagement state, a rotary electric machine (10) driving a vehicle to enable rotation of the first element around the shaft, and a control device (100) for making the first element and the second element axially approach each other while rotating the first element by the rotary electric machine in a case of shifting the clutch from the non-engagement state to the engagement state in a vehicle stop state.SELECTED DRAWING: Figure 5

Description

The present disclosure relates to a vehicle drive device.

If an uplock occurs when shifting to a gear according to the operation of the shift lever while the engine is stopped, the gear shifts to a predetermined gear different from the gear required by the operation of the shift lever, and then shifts. There is known a technique for shifting to a gear required by operating a lever.

Japanese Unexamined Patent Publication No. 2003-74684

In the above-mentioned conventional technology, uplock is avoided by utilizing the fact that the synchromesh mechanism may cause "misalignment" in the meshing of the gear train in the automatic transmission by shifting to a predetermined shift stage. ing. However, there is uncertainty because such "deviation" does not always occur.

Therefore, on one aspect, the present invention aims to increase the possibility of avoiding uplock in a stopped state.

One side surface includes a first element and a second element that are in a meshed state when they are close to each other in the axial direction and in a non-meshed state when they are separated in the axial direction, and in the meshed state, between the first element and the second element. A clutch that can transmit rotational torque around the shaft,
A rotating electric machine for driving a vehicle that enables rotation of the first element around an axis,
Includes a control device that brings the first element and the second element close to each other in the axial direction while rotating the first element when the clutch is transitioned from the non-meshing state to the meshing state in the stopped state. , Vehicle drive devices are provided.

On one side, according to the present invention, it is possible to increase the possibility of avoiding the uplock in the stopped state.

It is the schematic which shows the structure of the drive device for a vehicle by one Example. It is a speed diagram of the planetary gear mechanism in the drive device for a vehicle. It is the schematic which shows an example of the hardware configuration of a control device. It is the schematic which shows an example of the functional structure of a control device. It is explanatory drawing of the uplock avoidance control. It is explanatory drawing of an example of the details of the uplock avoidance control. It is explanatory drawing of another example of the detail of the uplock avoidance control. It is explanatory drawing of another example of the detail of the uplock avoidance control. It is explanatory drawing of another example of the detail of the uplock avoidance control. It is explanatory drawing of another example of the detail of the uplock avoidance control. It is explanatory drawing of another example of the detail of the uplock avoidance control. It is explanatory drawing of another example of the detail of the uplock avoidance control. It is a schematic flowchart which shows an example of the process executed by a control device in relation to uplock avoidance control. It is a schematic flowchart which shows an example of the transition processing routine with the uplock avoidance control of step S1314 of FIG. It is a schematic flowchart which shows an example of the transition processing routine to the meshing state of step S13152 of FIG. It is a schematic flowchart which shows another example of the transition processing routine with the uplock avoidance control of step S1314 of FIG. It is explanatory drawing of the uplock avoidance control in FIG.

Hereinafter, each embodiment will be described in detail with reference to the accompanying drawings. In addition, in this specification, "predetermined" is used in the meaning of "predetermined".

FIG. 1 is a schematic view showing a configuration of a vehicle drive device 1 according to an embodiment. In FIG. 1, a partial configuration of a vehicle drive device is shown in a skeleton diagram.

The vehicle drive device 1 is a drive device for an electric vehicle, and includes a motor (an example of a rotary electric machine) 10, a planetary gear mechanism 20, an engagement device 30 (an example of a clutch), a first gear train 41, and the like. A second gear row 42 is provided.

The motor 10 generates rotational torque for driving the vehicle. The type and structure of the motor 10 are arbitrary. The motor 10 may be a motor generator that can also function as a generator (generator).

The planetary gear mechanism 20 is provided between the motor 10 and the output shaft 60. In this embodiment, as an example, the planetary gear mechanism 20 is a single pinion type. The planetary gear mechanism 20 includes a sun gear 21, a ring gear 22, a pinion 23, and a carrier 24.

The engaging device 30 is a clutch capable of selectively forming a mechanically engaged state and a non-engaged state. The engaging device 30 includes dog clutches 301 and 302. The dog clutches 301 and 302 each include two elements that are in an meshing state when they are close to each other in the axial direction and in a non-meshing state when they are separated from each other in the axial direction. Note that proximity is a concept that includes a state in which parts of each other overlap in the axial direction.

In this embodiment, as shown in FIG. 1, the engaging device 30 includes a first element 31 in the form of a sleeve, second elements 32A and 32B in the form of a clutch ring, and a clutch hub 304. In this case, in the engaging device 30, the first element 31 and the second element 32A form one dog clutch 301, and the first element 31 and the second element 32B form another dog clutch 302. .. In this case, the first element 31 is a common element that forms the two dog clutches 301 and 302.

The first element 31 has a substantially rotationally symmetric form with respect to the axis Is. The first element 31 has a tooth-shaped portion 311 for meshing on the inner peripheral side at a predetermined angle α1 (see FIG. 5) along the circumferential direction. The dentate portion 311 may have, for example, an axial end (tooth tip) in the form of a chamfer. Each dentate portion 311 extends radially inward with respect to the axis Is, and the plurality of dentate portions 311 extend radially in the direction along the axis Is.

The first element 31 has a concave groove 312 that is concave inward in the radial direction on the outer peripheral surface. The concave groove 312 extends in the circumferential direction over the entire circumference. The recessed groove 312 cooperates with the shift fork 70 as described later.

The first element 31 is provided with respect to the clutch hub 304 in such a manner that it can be translated along the axis Is and cannot rotate around the axis Is. For example, the first element 31 may be spline-coupled to the clutch hub 304. The clutch hub 304 rotates integrally with the shaft Is of the sun gear 21. Therefore, the first element 31 rotates integrally with the axis Is of the sun gear 21 together with the clutch hub 304, but can be translated along the axis Is of the sun gear 21.

In this way, the first element 31 is in a rotating state or a non-rotating state, and the neutral position shown in FIG. 1, the position where the first element 31 meshes with the second element 32A (see position P100 in FIG. 1), and the second element 32B. It can be translated along the axis Is to and from the meshing position (see position P200 in FIG. 1).

The second element 32A has a substantially rotationally symmetric form with respect to the axis Is. The outer peripheral surface of the second element 32A has a smaller diameter than the inner peripheral surface of the first element 31, and has a radial length corresponding to the difference in the radial direction of the dentate portion 311 and the second element of the first element 31. A dentate portion 321A (described later) of 32A is formed. The second element 32A has a tooth-shaped portion 321A for meshing at a predetermined angle α1 (see FIG. 5) along the circumferential direction, similarly to the tooth-shaped portion 311 of the first element 31. The dentate portion 321A is formed on the outer peripheral surface of the second element 32A along the circumferential direction. Each dentate portion 321A extends in the radial direction with respect to the axis Is in a manner of projecting outward in the radial direction, and the plurality of dentate portions 321A extend radially in the direction along the axis Is.

The dentate portion 321A of the second element 32A and the dentate portion 311 of the first element 31 form an meshing state when the second element 32A and the first element 31 are close to each other in the axial direction. When the meshed state is formed, the rotational torque around the shaft Is can be transmitted between the first element 31 and the second element 32A.

Unlike the second element 32B, the second element 32A is a fixed element, and is fixed to, for example, a motor housing (not shown).

Like the second element 32A, the second element 32B has a substantially rotationally symmetric form with respect to the axis Is, and has a tooth-shaped portion 321B for meshing at a predetermined angle α1 (see FIG. 5) along the circumferential direction. Have.

The dentate portion 321B of the second element 32B and the dentate portion 311 of the first element 31 form an meshing state when the second element 32B and the first element 31 are close to each other in the axial direction. When the meshed state is formed, the rotational torque around the shaft Is can be transmitted between the first element 31 and the second element 32B.

The second element 32B is a rotating element, and as described later, rotates integrally with the rotating shaft Ic of the carrier 24.

The first gear row 41 includes gears G1 and gears G2 that mesh with each other in the radial direction. The gear G1 is provided on the rotating shaft Ic and rotates integrally with the rotating shaft Ic, and the gear G2 is provided on the counter shaft 50 and rotates integrally with the counter shaft 50.

The second gear row 42 includes gears G3 and gears G4 that mesh with each other in the radial direction. The gear G3 is provided on the counter shaft 50 and rotates integrally with the counter shaft 50. The gear G4 is provided on the output shaft 60 and rotates integrally with the output shaft 60.

The vehicle drive device 1 further includes a shift fork 70, a ball screw mechanism 72, and an actuator 74.

The shift fork 70 is slidably fitted in the concave groove 312 of the first element 31. That is, the shift fork 70 enables the rotation of the first element 31 around the axis Is, while restraining the movement of the first element 31 in the direction along the axis Is.

The shift fork 70 is coupled to the nut 721 of the ball screw mechanism 72. The nut 721 may be integrally formed with the shift fork 70.

The ball screw mechanism 72 includes a nut 721, a screw shaft 722, a ball (not shown), and the like.

The actuator 74 is, for example, an electric motor capable of forward / reverse rotation, and is connected to a screw shaft 722. When the screw shaft 722 is rotated forward, the nut 721 and the shift fork 70 are moved to one side along the screw shaft 722, and when the screw shaft 722 is rotated in the reverse direction, the nut 721 and the shift fork 70 are shifted accordingly. The fork 70 is moved to the other side along the screw shaft 722.

When the actuator 74 is driven in this way, the shift fork 70 and the first element 31 associated therewith are translated along the axis Is via the ball screw mechanism 72.

Further, the vehicle drive device 1 may further include a shift detent mechanism 90.

The shift detent mechanism 90 has a function of defining (stabilizing) the position of the first element 31 in the direction along the axis Is at a plurality of stabilizing positions by defining the position of the shift fork 70. In this embodiment, the plurality of stabilization positions are the position where the first element 31 and the second element 32A mesh, the position where the first element 31 and the second element 32B mesh, and the first element 31 as the second element. It corresponds to a neutral position that does not mesh with either 32A or 32B.

The shift detent mechanism 90 includes a fork shaft 92, a coil spring 94, and a lock ball 96.

The fork shaft 92 is an integral member of the shift fork 70 and is coupled to the nut 721, for example, as schematically shown in FIG. The fork shaft 92 has three recesses (detents) 920, 921, 922 corresponding to the three stabilization positions described above. The recesses 920, 921, and 922 are provided so as to be arranged along the moving direction of the fork shaft 92.

The coil spring 94 urges the lock ball 96 toward the fork shaft 92. One end of the coil spring 94 is supported by, for example, a motor housing (not shown), and a lock ball 96 is provided at the other end.

The lock ball 96 can be fitted into any of the recesses 920, 921, and 922 provided in the fork shaft 92 by being urged toward the fork shaft 92 by the coil spring 94. When the lock ball 96 fits into any of the recesses 920, 921, and 922, it becomes difficult for the fork shaft 92 to easily move from that position, and it has a function of stabilizing the fork shaft 92 at that position. The position of the fork shaft 92 when the lock ball 96 fits into any of the recesses 920, 921, and 922 corresponds to the above-mentioned three stabilization positions. Specifically, the state in which the lock ball 96 fits into the recess 922 corresponds to the state in which the first element 31 and the second element 32B mesh with each other (the second meshing state described later), and the lock ball 96 fits into the recess 920. The rounded state corresponds to the state in which the first element 31 does not mesh with any of the second elements 32A and 32B (non-meshing state described later), and the state in which the lock ball 96 fits into the recess 921 is the first element 31 and the first element 31. Corresponds to the state in which the two elements 32A are engaged (the first meshing state described later).

In the following, the position information of the fork shaft 92 is the position of the fork shaft 92 along the axis Is (X direction), and is information indicating the position of the fork shaft 92 with respect to the lock ball 96. The position information of the fork shaft 92 may be generated based on the information from the actuator rotation angle sensor 135 (see FIG. 3) that detects the rotation angle of the actuator 74, the position of the nut 721 with respect to the screw shaft 722, and the like. It may be generated by a position sensor or the like that detects.

Next, the connection relationship (connection relationship related to vehicle drive) of the motor 10, the planetary gear mechanism 20, the engaging device 30, and the like will be described with reference to FIG.

An output shaft (differential shaft) 60 is connected to the motor 10 via a planetary gear mechanism 20. Specifically, the output shaft of the motor 10 is connected to the ring gear 22 of the planetary gear mechanism 20 and rotates integrally with the ring gear 22. In the planetary gear mechanism 20, the carrier 24 is connected to the output shaft 60. That is, the rotation shaft Ic of the carrier 24 is connected to the counter shaft 50 via the first gear train 41, and the counter shaft 50 is connected to the output shaft 60 via the second gear train 42. In this way, the motor 10 is connected to the output shaft 60 via the ring gear 22, the carrier 24, the first gear row 41, and the second gear row 42 of the planetary gear mechanism 20.

Further, the engaging device 30 is connected to the motor 10 via the planetary gear mechanism 20. Specifically, the second element 32B of the dog clutch 302 is connected to the rotation shaft Ic of the carrier 24 of the planetary gear mechanism 20. The second element 32B rotates integrally with the rotation shaft Ic around the rotation shaft Ic. Further, the first element 31 forming the dog clutches 301 and 302 is connected to the shaft Is, which is the rotation shaft of the sun gear 21 of the planetary gear mechanism 20. The first element 31 rotates integrally with the shaft Is around the shaft Is. As described above, the first element 31 is provided so as to be able to translate in the axial direction and non-rotatably around the axis Is. That is, the first element 31 rotates integrally with the sun gear 21, but is movable in the axial direction.

Next, with reference to FIG. 2, the speed change of the vehicle drive device 1 will be outlined. FIG. 2 is a speed diagram of the planetary gear mechanism 20 in the vehicle drive device 1.

In the present embodiment, in the engaging device 30, the first element 31 and the second element 32A mesh with each other (hereinafter, referred to as "first meshing state"), and the first element 31 and the second element 32B mesh with each other. A transition is possible between a state (hereinafter referred to as "second meshing state") and a state in which the first element 31 does not mesh with any of the second elements 32A and 32B (hereinafter referred to as "non-meshing state"). Is. The first meshing state corresponds to the engaged state of the dog clutch 301, the second meshing state corresponds to the engaged state of the dog clutch 302, and the non-meshing state corresponds to the non-engaged state of the dog clutches 301 and 302. Corresponds to the state.

When the first meshing state of the engaging device 30 is realized, a low speed gear stage is realized. Specifically, in the first meshing state, the sun gear 21 is fixed by the second element 32A. Therefore, the rotation speed of the motor 10 is decelerated by the planetary gear mechanism 20 and output to the rotation shaft Ic (see the “Low” line in FIG. 2), and the rotation speed of the rotation shaft Ic is further reduced by the first gear train 41. It is decelerated by (gear G1 and gear G2) and the second gear row 42 (gear G3 and gear G4) and output to the output shaft 60.

When the second meshing state of the engaging device 30 is realized, a high-speed gear stage is realized. Specifically, in the second meshing state, the sun gear 21 and the rotation shaft Ic of the carrier 24 are integrated by the second element 32B. Therefore, the rotation speed of the motor 10 is directly output to the rotation shaft Ic without being decelerated by the planetary gear mechanism 20 (see the “High” line in FIG. 2), and the rotation speed of the rotation shaft Ic is the first gear train. It is decelerated by 41 (gear G1 and gear G2) and the second gear row 42 (gear G3 and gear G4) and output to the output shaft 60.

When the non-meshing state of the engaging device 30 is realized, neutral is realized. Specifically, the sun gear 21 becomes free in a state where the rotating shaft Ic receives a reaction force from the output shaft 60.

Next, the control system of the vehicle drive device 1 will be described with reference to FIGS. 3 and 4. The control system of the vehicle drive device 1 includes a control device 100 for controlling the vehicle drive device 1.

FIG. 3 is a schematic view showing an example of the hardware configuration of the control device 100. FIG. 3 schematically illustrates another vehicle-mounted electronic device 130 in relation to the hardware configuration of the control device 100.

In addition to the motor 10 and the actuator 74, the other in-vehicle electronic device 130 includes a shift position sensor 131, a wheel speed sensor 132, an oil temperature sensor 133, a motor rotation speed sensor 134, an actuator rotation angle sensor 135, and the like.

The shift position sensor 131 detects the position of the shift lever operated by the user (driver) and generates a signal according to the position of the shift lever. The wheel speed sensor 132 generates a signal according to the vehicle speed. The oil temperature sensor 133 generates a temperature-corresponding signal that correlates with the temperature of the oil supplied to the engaging device 30. The motor rotation speed sensor 134 generates a signal according to the rotation speed of the motor 10. The motor rotation speed sensor 134 may be a resolver. The actuator rotation angle sensor 135 generates a signal according to the rotation angle of the actuator 74. The actuator rotation angle sensor 135 may be, for example, a Hall IC (Integrated Circuit), a resolver, or the like.

The control device 100 includes a CPU (Central Processing Unit) 111, a RAM (Random Access Memory) 112, a ROM (Read Only Memory) 113, an auxiliary storage device 114, a drive device 115, and a communication interface 117, which are connected by a bus 119. , Includes a wired transmission / reception unit 125 and a wireless transmission / reception unit 126 connected to the communication interface 117.

The auxiliary storage device 114 is, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like, and is a storage device that stores data related to application software or the like.
The wired transmission / reception unit 125 includes a transmission / reception unit capable of communicating using a wired network 128 based on a protocol such as CAN (Control Area Network) or LIN (Local Interconnect Network). Another in-vehicle electronic device 130 is connected to the wired transmission / reception unit 125. However, a part or all of the other in-vehicle electronic device 130 may be connected to the bus 119 or may be connected to the wireless transmission / reception unit 126.

The wireless transmission / reception unit 126 is a transmission / reception unit capable of communicating using a wireless network. The wireless network may include a wireless communication network of a mobile phone, the Internet, a VPN (Virtual Private Network), a WAN (Wide Area Network), and the like. Further, the wireless transmission / reception unit 126 may include a short-range wireless communication (NFC: Near Field Communication) unit, a Bluetooth (registered trademark) communication unit, a Wi-Fi (Wireless-Fidelity) transmission / reception unit, an infrared transmission / reception unit, and the like. ..

The control device 100 may be connectable to the recording medium 116. The recording medium 116 stores a predetermined program. The program stored in the recording medium 116 is installed in the auxiliary storage device 114 or the like of the control device 100 via the drive device 115. The installed predetermined program can be executed by the CPU 111 of the control device 100. For example, the recording medium 116 is a recording medium such as a CD (Compact Disc) -ROM, a flexible disk, a magneto-optical disk, or the like that optically, electrically, or magnetically records information, a ROM, a flash memory, or the like. It may be a semiconductor memory or the like that electrically records.

FIG. 4 is a schematic view showing an example of the functional configuration of the control device 100. The functional configuration shown in FIG. 4 does not necessarily represent all the functional configurations for realizing all the functions of the vehicle drive device 1, but represents a configuration related only to a specific function.

As shown in FIG. 4, the control device 100 includes a sensor information acquisition unit 150, a required gear stage detection unit 151, a motor control unit 152, an actuator control unit 153, an uplock avoidance control unit 160, and map data storage. Includes part 170. In the sensor information acquisition unit 150, the request gear stage detection unit 151, the motor control unit 152, the actuator control unit 153, and the uplock avoidance control unit 160, the CPU 111 executes one or more programs in the storage device (for example, ROM 113). It can be realized by. The map data storage unit 170 can be realized by, for example, a ROM 113 or an auxiliary storage device 114.

The sensor information acquisition unit 150 acquires various sensor information from the shift position sensor 131, the wheel speed sensor 132, the oil temperature sensor 133, and the like.

The request gear stage detection unit 151 determines whether or not there is a shift gear change request (hereinafter, also referred to as “shift shift request”) based on the sensor information from the shift position sensor 131. When there is a shift request, the request gear stage detection unit 151 determines (detects) the shift stage to be realized (hereinafter, also referred to as “request gear stage”). In this embodiment, as an example, the shift gear includes two gears of "High" and "Low" and "Neutral". In the manual mode, the request gear stage detection unit 151 can detect the shift request and the required gear stage based on the sensor information from the shift position sensor 131.

Further, the required gear stage detection unit 151 detects the required gear stage, for example, when the shift position sensor 131 is in the "D" range, based on, for example, the relationship between the vehicle speed and the accelerator opening degree. The shift request and the required gear stage may be acquired from an external (upper) ECU (Electronic Control Unit).

The motor control unit 152 controls the motor 10. The motor control unit 152 determines a target torque, which is a target value of the output torque of the motor 10, based on the torque required by the driver (for example, derived from the accelerator opening), and the motor is realized so that the target torque is realized. 10 is controlled. Further, in a vehicle having a so-called automatic driving mode, the target torque may be determined based on peripheral information or infrastructure information from peripheral monitoring sensors (millimeter wave radar, LiDAR: Light Detection and Ranger, image sensor, etc.). Good.

In this embodiment, the motor control unit 152 cooperates with the uplock avoidance control unit 160 at the time of transition processing by the actuator control unit 153 described later, and the motor control in the uplock avoidance control described later (hereinafter, “uplock”). (Also called "motor control for avoidance") may be performed. The details of the motor control for avoiding the uplock will be described later in relation to the uplock avoidance control unit 160.

The actuator control unit 153 controls the actuator 74. When the required gear stage detection unit 151 detects a shift request, the actuator control unit 153 controls the actuator 74 so that the required gear stage related to the shift request is realized. That is, the actuator control unit 153 performs a transition process for transitioning the state of the engaging device 30 between the non-meshing state, the first meshing state, and the second meshing state.

When the transition process (an example of the first transition process) ends unsuccessfully (that is, when an uplock described later occurs), the actuator control unit 153 retries the transition process (an example of the second transition process). May be executed.

The uplock avoidance control unit 160 executes the uplock avoidance control for avoiding the uplock when the actuator control unit 153 performs the transition process in the stopped state. The uplock means an event in which the first element 31 and the second elements 32A and 32B do not mesh with each other in the engaging device 30 (described later with reference to FIG. 5). The uplock in the dog clutch 301 is mainly caused by the circumferential phase between the dentate portion 311 of the first element 31 and the dentate portion 321A of the second element 32A being out of sync. Similarly, the uplock in the dog clutch 302 is mainly due to the circumferential phase between the dentate 311 of the first element 31 and the dentate 321B of the second element 32B being out of sync. Occurs.

The uplock avoidance control unit 160 includes an uplock detection unit 162, a stopped state detection unit 164, and an avoidance control execution unit 166.

The uplock detection unit 162 detects the uplock. The uplock may be detected when the required gear stage is not realized despite the drive by the actuator 74 (the drive for realizing the required gear stage). For example, in the uplock detection unit 162, the drive current for rotating the actuator 74 is generated in a situation where there is a discrepancy between the state of the engaging device 30 derived from the position information of the fork shaft 92 described above and the required gear stage. Uplock may be detected when the rotation speed of the actuator 74 drops to "0" even though it is a significantly large value (for example, the maximum value). That is, when the actuator 74 is designed so that a larger drive current is applied as the load is higher, the uplock is detected based on the increase in the drive current under the above-mentioned inconsistency. May be done.

The stopped state detection unit 164 detects the stopped state. The stopped state is a state in which the vehicle speed is substantially 0, and is a concept including a parked state. For example, the stopped state detection unit 164 detects the parked state based on the off state of the main switch (not shown) that activates the vehicle. The on / off state of the main switch may correspond to the on / off state of the switch that enables power supply to the motor 10. Further, the stopped state detection unit 164 detects the stopped state based on the sensor information from the wheel speed sensor 132 when the main switch is on. For example, the stopped state detection unit 164 detects the stopped state when the vehicle speed is substantially 0 based on the sensor information from the wheel speed sensor 132. Alternatively, the stopped state detection unit 164 determines the stopped state when the vehicle speed is substantially 0 and the brake is operating based on a brake sensor (for example, a sensor that detects the master cylinder pressure or the wheel cylinder pressure). It may be detected. Similarly, the stopped state detection unit 164 may detect the stopped state based on the brake hold state (the state in which the electric parking brake is activated).

The avoidance control execution unit 166 executes uplock avoidance control for avoiding the uplock at the time of transition processing by the actuator control unit 153 in the stopped state. That is, the avoidance control execution unit 166 causes the motor control unit 152 to execute the motor control for uplock avoidance at the time of the transition process by the actuator control unit 153 in the stopped state.

In this way, in the present embodiment, in the stopped state detected by the stopped state detection unit 164, the actuator control unit 153 shifts the engaging device 30 from the non-meshing state to the first meshing state or the second meshing state. In this case, the motor control unit 152 rotates the first element 31 by the motor 10.

When the engaging device 30 is changed from the non-meshing state to the first meshing state or the second meshing state, it is required to change to "Low" or "High" while the shift stage is "neutral". , And when a change to "Low" or "High" is requested while the gear is "High" or "Low". Even if a change to "Low" or "High" is requested while the shift stage is "High" or "Low", it goes through the non-meshing state, so that the non-meshing state is changed to the first or second meshing state. This is because the transition to the meshed state occurs.

In the following (up to FIG. 13), in order to prevent the explanation from becoming complicated, as a representative, the uplock of the dog clutch 301 among the uplocks of the dog clutchs 301 and 302 is avoided unless otherwise specified. The uplock avoidance control for avoiding the uplock, that is, the uplock avoidance control for avoiding the uplock in which the first element 31 and the second element 32A do not mesh with each other will be described. However, the same is basically true for the uplock avoidance control for avoiding the uplock in which the first element 31 and the second element 32B do not mesh with each other.

Here, as described above, the uplock of the dog clutch 301 is mainly synchronized in the circumferential phase between the dentate portion 311 of the first element 31 and the dentate portion 321A of the second element 32A. It is caused by the absence.

Therefore, by rotating the first element 31 by the motor 10, it is possible to increase the possibility that the uplock of the dog clutch 301 can be avoided. Specifically, as described above, when the motor 10 is rotated in the non-meshing state, the sun gear 21 idles. That is, the first element 31 rotates together with the sun gear 21. When the first element 31 rotates, the phase of the tooth-shaped portion 311 of the first element 31 in the circumferential direction changes, so that the asynchronous phase of the tooth-shaped portion 321A of the second element 32A with respect to the circumferential direction can be eliminated. In this way, in this embodiment, the possibility that the uplock of the dog clutch 301 can be avoided can be increased by using the motor 10.

The map data storage unit 170 stores map data related to control parameters related to uplock avoidance control. The control parameters relate to the output torque (motor torque) of the motor 10 described later. In this embodiment, as an example, the control parameter is assumed to be the torque of the motor 10 output for rotating the first element 31 (hereinafter, also referred to as “motor torque for uplock avoidance control”). The motor torque for uplock avoidance control is associated with parameters related to the ease of transition from the non-meshing state of the dog clutch 301 to the meshing state and the ease of rotation of the first element 31 (hereinafter, also referred to as “environmental parameters”). Be done.

The environmental parameter may be a parameter related to the viscosity of the oil used in the vehicle driving device 1 (for example, the oil supplied to the planetary gear mechanism 20 and the engaging device 30). This is because the higher the viscosity of the oil used in the vehicle drive device 1, the more difficult it is for the motor 10 to rotate the first element 31, and therefore the more difficult it is for the dog clutch 301 to transition from the non-meshing state to the meshing state. Tend. Therefore, in this case, the environmental parameter is associated with the motor torque for uplock avoidance control in such a manner that the higher the viscosity of the oil used in the vehicle drive device 1, the larger the motor torque for uplock avoidance control. Since the viscosity of oil correlates with the temperature of oil, the environmental parameter in this case may be oil temperature.

Further, the environmental parameter may be a parameter related to the degree of wear of the dog clutch 301. This is because the greater the degree of wear of the dog clutch 301, the more difficult it is for the dog clutch 301 to transition from the non-meshing state to the meshing state. This is because the larger the degree of wear of the dog clutch 301, the larger the uplock region SC1 described later tends to be. Therefore, in this case, the motor torque for uplock avoidance control is increased in a mode in which the motor torque for uplock avoidance control increases as the degree of wear of the dog clutch 301 increases (the rotation angle of the motor 10 increases accordingly). Environment parameters are associated. Since the degree of wear of the dog clutch 301 correlates with the aged deterioration of the dog clutch 301, the environmental parameters in this case may be the mileage, the elapsed time from shipment, and the like.

In the modified example, the map data storage unit 170 may be omitted. When the map data storage unit 170 is used, the avoidance control execution unit 166 acquires environmental parameters prior to the uplock avoidance control, and determines the motor torque for the uplock avoidance control based on the acquired environmental parameters. To do.

FIG. 5 is an explanatory diagram of uplock avoidance control. FIG. 5 schematically shows a part of each of the first element 31 and the second element 32A of the dog clutch 301 in a cross-sectional view in a state of being unfolded in the circumferential direction. In FIG. 5, the "axial direction" corresponds to the direction along the axis Is.

FIG. 5 is an explanatory diagram of the movement of one tooth-shaped portion 311 among the plurality of tooth-shaped portions 311 provided along the circumferential direction in the first element 31, and is one tooth when it is at positions P2 and P3. The shape part 311 is shown by a solid line, one tooth part 311 when it is at the position P1 is shown by a broken line, and one tooth part 311 when it is at the positions P20 and P30 is shown by a chain line. Similarly, of the plurality of dentate portions 321A provided along the circumferential direction in the second element 32A, three dentate portions 321A are shown by solid lines. In FIG. 5, the difference (angle in the circumferential direction) between the positions P2 and P3 corresponds to the predetermined angle α1.

When the dentate portion 311 is at the position P1, as shown in FIG. 5, the dentate portion 321A is in phase in the circumferential direction (asynchronous), and an uplock occurs. That is, as shown by the arrow R0, when the first element 31 is moved toward the second element 32A along the axial direction, the tooth tip of the dentate portion 311 (the tooth tip in the axial direction, the same applies hereinafter) and the tooth shape. The tooth tips of the portion 321A come into contact with each other, and the first meshing state cannot be realized. In addition, in FIG. 5, the angle range in which such an uplock occurs (the angle range in the rotation direction around the axis Is) with respect to the dentate portion 321A at the position shown in FIG. 5 is the hatched region SC1 (hereinafter referred to as , Referred to as "uplock region SC1"). Since the dentate portion 321A is formed at each predetermined angle α1 along the circumferential direction, the uplock region SC1 is correspondingly present at each predetermined angle α1 along the circumferential direction (FIG. 6 and the like). reference).

On the other hand, when the dentate portion 311 is at the position P2 or the position P3, as shown in FIG. 5, the dentate portion 321A is out of phase (synchronized) in the circumferential direction, and uplock does not occur.

Since the tooth tips of the tooth-shaped portion 311 and the tooth-shaped portion 321A are formed in a tapered shape as schematically shown in FIG. 5, the tooth-shaped portion 311 completely coincides with the position P2 or the position P3. Even when the teeth are not provided (see, for example, positions P20 and P30), the first meshing state can be realized if the dentate portion 311 is located outside the uplock region SC1. That is, when the dentate portion 311 is located outside the uplock region SC1, when the first element 31 is moved toward the second element 32A along the axial direction, even if the dentate portion 311 hits the dentate portion 321A. Since a circumferential force for rotating the first element 31 is generated between the tooth-shaped portion 311 and the tooth-shaped portion 321A, the first meshing state is realized. That is, the first element 31 rotates slightly between the dentate portion 311 and the dentate portion 321A due to the force in the circumferential direction (see arrows R1 and R2), the asynchronousness is eliminated, and the first meshing state is realized. It will be possible.

In this embodiment, the uplock avoidance control is executed in the stopped state, so that even if the toothed portion 311 happens to be in the position P1 when the stopped state accompanied by the stop of the motor 10 is formed, the motor 10 first Element 31 is rotated. Therefore, in this embodiment, even when the dentate portion 311 is located in the uplock region SC1 in the stopped state, the dentate portion 311 is brought out of the uplock region SC1 by using the motor 10. It is possible to increase the possibility that the uplock of the dog clutch 301 can be avoided.

Next, some examples will be described with reference to FIGS. 6 to 12 regarding the details of the uplock avoidance control (details of the transition process accompanied by the uplock avoidance control).

FIG. 6 is an explanatory diagram of a detailed example of the uplock avoidance control, in order from the top, a time series of the output torque of the motor 10 (hereinafter, referred to as “motor torque”) and the dentate portion of the first element 31. The time series of the phase of 311 (hereinafter referred to as "dog tooth phase") and the time series of the movement amount of the first element 31 along the axis Is (hereinafter referred to as "dog tooth stroke") are shown. .. Regarding the time series of dog tooth phases, the vertical axis is the phase in the circumferential direction (phase around the axis Is), and the uplock region SC1 and the non-uplock region SC2 are color-coded (with or without hatching). Further, regarding the dog tooth stroke, the position S10 where the tooth tip of the tooth-shaped portion 311 and the tooth tip of the tooth-shaped portion 321A come into contact with each other based on the neutral position (indicated as “N” in FIG. (Hereinafter referred to as "dog tooth tip contact position S10") and a position where the first meshing state is realized (hereinafter referred to as "stroke completion position S20") are indicated. The non-meshing state corresponds to a state in which the lock ball 96 fits into the recess 920 as described above.

In the example shown in FIG. 6, at the time point t0, the motor torque is 0, and the dog tooth phase θ is θ = 0. The dog tooth phase θ = 0 corresponds to the center position of the uplock region SC1 (the position where the tooth tip of the tooth-shaped portion 311 and the tooth tip of the tooth-shaped portion 321A come into contact with each other). Therefore, if the first element 31 is moved toward the second element 32A in this state, an uplock will occur.

In the example shown in FIG. 6, it is assumed that the change from "neutral" to "Low" of the shift gear is requested at the time point t1. Although not shown in FIG. 6 (the same applies to FIG. 7 and the like described later), it is assumed that the vehicle is in a stopped state during the period shown. In this case, the uplock avoidance control is started from the time point t1. In the modified example, the uplock avoidance control may be started slightly after the time point t1. Further, when a change from "High" to "Low" of the shift gear is requested at the time point t1, the uplock avoidance control is started from the time when the shift gear is switched from "High" to "Neutral". Good. Similarly, when a change from "Low" to "High" of the gear is requested at time t1, the uplock avoidance control is started when the gear is switched from "Low" to "Neutral". You can.

When the uplock avoidance control is started, the motor control unit 152 performs motor control for uplock avoidance. A motor torque (motor torque for uplock avoidance control) is generated in the motor 10 in a rectangular wave shape. That is, the motor torque for uplock avoidance control is periodically generated in a pulsed waveform. In this case, the dog tooth phase increases and decreases periodically as shown in the time series of the dog tooth phase. In this case, in the state shown in FIG. 5, the dentate portion 311 reciprocates between the position P2 side and the position P3 side with the position P1 as the center.

The magnitude (or amplitude) of the motor torque for uplock avoidance control is preferably determined so that the dog tooth phase changes outside the uplock region SC1 (that is, inside the non-uplock region SC2). In the case of FIG. 6, the dog tooth phase changes with a change amount of less than a predetermined angle α1 on one side, but may change beyond a predetermined angle α1 on one side. That is, the dog tooth phase may change beyond the phase of one tooth or more.

Specifically, the magnitude of the motor torque for uplock avoidance control is preferably such that the dog tooth phase changes by 1/4 or more of the predetermined angle α1, and more preferably the dog tooth phase has the predetermined angle α1. It is determined so as to change by 1/2 or more, more preferably by a predetermined angle α1 or more. When the dog tooth phase changes by 1/4 or more of the predetermined angle α1, the dog tooth phase is increased even if the dog tooth phase is located at the boundary of one side (opposite to the rotation direction) in the uplock region SC1. When there is a high possibility that the dog tooth phase reaches the outside of the lock region SC1 and the dog tooth phase changes by 1/2 or more of the predetermined angle α1, the dog tooth phase changes the center position (center position in the circumferential direction) in the non-uplock region SC2. This is because there is a high possibility that it can pass through. Further, when the dog tooth phase changes by a predetermined angle α1 or more, the dog tooth phase can pass through the center position in the non-uplock region SC2.

Further, the magnitude of the motor torque for uplock avoidance control may be changed according to the environmental parameters as described above so that the dog tooth phase changes more reliably to the outside of the uplock region SC1.

When the uplock avoidance control is started, the actuator control unit 153 starts the transition process by starting the drive of the actuator 74 from the time point t2, and starts moving the first element 31 toward the second element 32A ( Start to get closer). Then, at the time point t4, when the first element 31 meshes with the second element 32A (that is, when the dog tooth stroke reaches the stroke completion position S20), the actuator control unit 153 stops driving the actuator 74 and first Stop the axial movement of the element 31 (end the transition process). The time t4 when the dog tooth stroke reaches the stroke completion position S20 is detected based on the above-mentioned position information of the fork shaft 92 (position information of the fork shaft 92 that can be derived from the sensor information from the actuator rotation angle sensor 135). You may.

When the dog tooth stroke reaches the stroke completion position S20 (that is, when the first meshing state is realized without causing uplock), at the time point t5, the motor control unit 152 stops driving the motor 10.

According to the example shown in FIG. 6, when the shift speed is changed from "neutral" to "Low" (that is, when the dog clutch 301 is changed from the non-meshing state to the first meshing state), the motor 10 is used for the first step. Since the one element 31 is rotated, there is a high possibility that the uplock that may occur when the first element 31 is brought close to the second element 32A from the neutral position can be avoided.

In particular, according to the example shown in FIG. 6, since the first element 31 is moved from the neutral position toward the second element 32A while the first element 31 is rotated by the motor 10, the possibility of uplock is greatly increased. Can be reduced. For example, even if the dog tooth phase is located in the uplock region SC1 at t3 when the dog tooth stroke reaches the dog tooth tip contact position S10, it can be expected that a deviation in the circumferential direction will occur due to inertia. Increases the chances of avoiding uplocks.

In the example shown in FIG. 6, the motor torque for uplock avoidance control fluctuates at a constant cycle, but the cycle may be changed during one uplock avoidance control. Further, the fluctuation cycle of the motor torque for uplock avoidance control may be adapted so as not to generate noise due to resonance or the like. Further, the motor torque for uplock avoidance control has a constant amplitude, but the amplitude may be changed during one uplock avoidance control.

Further, in the example shown in FIG. 6, the motor torque for uplock avoidance control has a rectangular wave shape, but may have another shape, for example, a triangular wave shape, a sinusoidal shape, or the like.

Further, in the example shown in FIG. 6, the motor torque for uplock avoidance control is generated up to the time point t5 even after the time point t4 when the dog tooth stroke reaches the stroke completion position S20, but the present invention is not limited to this. For example, if the time point t4 at which the dog tooth stroke reaches the stroke completion position S20 can be detected based on the position information of the fork shaft 92 described above, the motor 10 may be stopped at the time point t4. Alternatively, the motor 10 may be stopped between the time points t3 and the time point t4.

FIG. 7 is an explanatory diagram of another example of the details of the uplock avoidance control, and as in the case of FIG. 6, the motor torque time series, the dog tooth phase time series, and the dog tooth stroke are in order from the top. The time series is shown. The notation and the like are as described in FIG.

The example shown in FIG. 7 differs from the example shown in FIG. 6 in that the motor torque for uplock avoidance control is substantially constant in the motor control for uplock avoidance control and does not fluctuate significantly periodically. ..

In the case of the example shown in FIG. 7, as in the example shown in FIG. 6, the magnitude (or amplitude) of the motor torque for uplock avoidance control is preferably such that the dog tooth phase is outside the uplock region SC1 (that is, not). It is determined to change to the phase θ ₁ in the uplock region SC2). In this case, as in the example shown in FIG. 6, the magnitude of the motor torque for uplock avoidance control is an environmental parameter as described above so that the dog tooth phase changes more reliably to the outside of the uplock region SC1. It may be changed according to. The phase θ ₁ is less than the predetermined angle α1, but preferably 1/4 or more of the predetermined angle α1, and more preferably 1/2 or more of the predetermined angle α1. If the dog tooth phase is 1/4 or more of the predetermined angle α1, even if the dog tooth phase is located at the boundary of one side (opposite to the rotation direction) in the uplock region SC1, the dog tooth phase is extended to the outside of the uplock region SC1. If it is more than 1/2 of the predetermined angle α1, there is a high possibility that the dog tooth phase can pass through the center position (center position in the circumferential direction) in the non-uplock region SC2. is there.

The example shown in FIG. 7 is different from the example shown in FIG. 6, and the dog tooth phase increases to the phase θ ₁ in the non-uplock region SC2 and then maintains the phase θ ₁ . In the example shown in FIG. 7, since the dog tooth stroke exceeds the dog tooth tip contact position S10 at the time point t3, the dog tooth is output up to the time point t5 even though the motor torque for uplock avoidance control is output. The phase remains in phase θ ₁ .

In the case of the example shown in FIG. 7, similarly to the example shown in FIG. 6, when the uplock avoidance control is started, the actuator control unit 153 starts driving the actuator 74 from the time point t2 and presses the first element 31. Start moving towards the second element 32A. Then, when the first element 31 meshes with the second element 32A at the time point t4, the actuator control unit 153 stops driving the actuator 74 and stops the axial movement of the first element 31. Then, when the first meshing state is realized without the uplock occurring, the motor control unit 152 stops driving the motor 10 at the time point t5.

The example shown in FIG. 7 also has the same effect as the example shown in FIG. In particular, also in the example shown in FIG. 7, the first element 31 is moved from the neutral position toward the second element 32A while the first element 31 is rotated by the motor 10, as in the example shown in FIG. The possibility of locking can be greatly reduced.

FIG. 8 is an explanatory diagram of still another example of the details of the uplock avoidance control, and as in the case of FIG. 6, the motor torque time series, the dog tooth phase time series, and the dog tooth are in order from the top. The time series of strokes is shown. The notation and the like are as described in FIG.

The example shown in FIG. 8 differs from the example shown in FIG. 6 in that the motor torque for uplock avoidance control is substantially constant in the motor control for uplock avoidance control and does not fluctuate significantly periodically. ..

In the case of the example shown in FIG. 8, as in the example shown in FIG. 6, the magnitude (or amplitude) of the motor torque for uplock avoidance control is preferably such that the dog tooth phase is outside the uplock region SC1 (that is, not). It is determined to change up to the phase θ ₂ in the uplock region SC2). In this case, as in the example shown in FIG. 6, the magnitude of the motor torque for uplock avoidance control is an environmental parameter as described above so that the dog tooth phase changes more reliably to the outside of the uplock region SC1. It may be changed according to. The example shown in FIG. 8 is different from the example shown in FIG. 7, and the phase θ ₂ is larger than the predetermined angle α1. In this way, the first element 31 may be rotated beyond the phase of one tooth or more. In this case, the dog tooth phase can pass through the center position (center position in the circumferential direction) in the non-uplock region SC2 regardless of the phase before rotation.

The example shown in FIG. 8 also has the same effect as the example shown in FIG. In particular, also in the example shown in FIG. 8, as in the example shown in FIG. 6, the first element 31 is moved from the neutral position toward the second element 32A while the first element 31 is rotated by the motor 10, so that it is up. The possibility of locking can be greatly reduced.

FIG. 9 is an explanatory diagram of still another example of the details of the uplock avoidance control, and as in the case of FIG. 6, the motor torque time series, the dog tooth phase time series, and the dog tooth are in order from the top. The time series of strokes is shown. The notation and the like are as described in FIG.

The example shown in FIG. 9 is different from the example shown in FIG. 6 in that the motor torque for uplock avoidance control is feedback-controlled.

Specifically, when the uplock avoidance control is started, the motor control unit 152 performs the motor control for uplock avoidance. Specifically, the motor control unit 152 generates a motor torque for uplock avoidance control so that the dog tooth phase reaches the target value θ _target outside the uplock region SC1 (that is, inside the non-uplock region SC2). .. In this case, the dog tooth phase may be calculated based on the sensor information from the motor rotation speed sensor 134. That is, as described above, since the first element 31 rotates integrally with the axis Is of the sun gear 21, the dog tooth phase is determined according to the rotation angle of the motor 10. Further, since the second element 32A is a fixed element, the relative phase relationship between the first element 31 and the second element 32A is uniquely determined according to the rotation angle of the motor 10. When the dog tooth phase converges to the target value θ _target at the time point t55, the motor control unit 152 stops the generation of the motor torque for uplock avoidance control (that is, stops the motor 10).

In this case as well, as in the example shown in FIG. 6, when the uplock avoidance control is started, the actuator control unit 153 starts driving the actuator 74 from the time point t2, and the first element 31 is changed to the second element 32A. Start moving towards. Then, the actuator control unit 153 stops driving the actuator 74 when the first element 31 meshes with the second element 32A at the time point t4.

In the example shown in FIG. 9, the time point t2 is before the time point t55 at which the dog tooth phase converges to the target value θ _target , and the time point t55 is earlier than the time point t3 at which the dog tooth stroke reaches the dog tooth tip contact position S10. Before. The actuator control unit 153 may control the change mode of the dog tooth stroke according to the change mode of the dog tooth phase so as to realize such a time series relationship. In this case, since the dog tooth stroke reaches the dog tooth tip contact position S10 after the time point t55 when the dog tooth phase converges to the target value θ _target , the possibility of uplock can be significantly reduced. Further, since the drive (transition process) of the actuator 74 is started before the time point t55, the time point t4 when the dog tooth stroke reaches the stroke completion position S20 as compared with the case where the drive of the actuator 74 is started after the time point t55. (That is, the time from the occurrence of the shift request to the completion of the shift can be shortened). However, in the modified example, the drive of the actuator 74 may be started after the time point t55.

The example shown in FIG. 9 also has the same effect as the example shown in FIG. In particular, also in the example shown in FIG. 9, the first element 31 is moved from the neutral position toward the second element 32A while the first element 31 is rotated by the motor 10, as in the example shown in FIG. The possibility of locking can be greatly reduced. Further, according to the example shown in FIG. 9, since the dog tooth phase is feedback-controlled, the possibility of uplock can be reduced more reliably.

The details of the uplock avoidance control shown in FIGS. 6 to 9 described above show that the first element 31 is moved toward the second element 32A while the first element 31 is rotated by the motor 10 to obtain the first meshing state. Although realized, the present invention is not limited to this, as will be described next with reference to FIGS. 10 to 12.

FIG. 10 is an explanatory diagram of still another example of the details of the uplock avoidance control, and as in the case of FIG. 6, the motor torque time series, the dog tooth phase time series, and the dog tooth are in order from the top. The time series of strokes is shown. The notation and the like are as described in FIG.

In the example shown in FIG. 10, the drive start timing of the actuator 74 is different from the example shown in FIG.

Specifically, in the example shown in FIG. 10, unlike the example shown in FIG. 7, the point where the first element 31 is rotated by the motor 10 and then the first element 31 is moved toward the second element 32A. Is different. That is, in the example shown in FIG. 7, the first element 31 is moved from the neutral position toward the second element 32A while the first element 31 is rotated by the motor 10 so that the dog tooth phase reaches the phase θ ₁ . On the other hand, in the example shown in FIG. 10, the first element 31 is rotated by the motor 10 to bring the dog tooth phase to the phase θ ₁ (that is, when the dog tooth phase reaches the phase θ ₁ t30. Or after the time point t30), the first element 31 is moved from the neutral position toward the second element 32A. The phase θ ₁ may be as described above, but the preferred range in the example shown in FIG. 10 will be described later.

Also in the example shown in FIG. 10, when the shift speed is changed from "neutral" to "Low" (that is, when the dog clutch 301 is changed from the non-meshing state to the first meshing state), the motor 10 first Since the element 31 is rotated, it is possible to increase the possibility of avoiding the uplock that may occur when the first element 31 is brought close to the second element 32A from the neutral position.

FIG. 11 is an explanatory diagram of still another example of the details of the uplock avoidance control, and as in the case of FIG. 6, the motor torque time series, the dog tooth phase time series, and the dog tooth are in order from the top. The time series of strokes is shown. The notation and the like are as described in FIG.

In the example shown in FIG. 11, the drive start timing of the actuator 74 is different from that in the example shown in FIG.

Specifically, in the example shown in FIG. 11, unlike the example shown in FIG. 8, the point where the first element 31 is rotated by the motor 10 and then the first element 31 is moved toward the second element 32A. Is different. That is, in the example shown in FIG. 8, the first element 31 is moved from the neutral position toward the second element 32A while the first element 31 is rotated by the motor 10 so that the dog tooth phase reaches the phase θ ₂ . On the other hand, in the example shown in FIG. 10, the first element 31 is rotated by the motor 10 to bring the dog tooth phase to the phase θ ₂ (that is, when the dog tooth phase reaches the phase θ ₂ t30. Or after the time point t30), the first element 31 is moved from the neutral position toward the second element 32A. The phase θ ₂ may be as described above, but the preferred range in the example shown in FIG. 11 will be described later.

Also in the example shown in FIG. 11, when the shift speed is changed from "neutral" to "Low", the first element 31 is rotated by the motor 10, so that the first element 31 is changed to the second element 32A from the neutral position. It is possible to increase the possibility of avoiding the uplock that may occur when approaching.

FIG. 12 is an explanatory diagram of still another example of the details of the uplock avoidance control, and as in the case of FIG. 6, the motor torque time series, the dog tooth phase time series, and the dog tooth are in order from the top. The time series of strokes is shown. The notation and the like are as described in FIG.

In the example shown in FIG. 12, the drive start timing of the actuator 74 is different from that in the example shown in FIG.

Specifically, in the example shown in FIG. 12, unlike the example shown in FIG. 9, the point where the first element 31 is rotated by the motor 10 and then the first element 31 is moved toward the second element 32A. Is different. That is, in the example shown in FIG. 9, the first element 31 is moved from the neutral position to the second element 32A while the first element 31 is rotated by the feedback control of the motor 10 so that the dog tooth phase reaches the target value θ _target. On the other hand, in the example shown in FIG. 12, the first element 31 is rotated by the feedback control of the motor 10 to bring the dog tooth phase to the target value θ _target (that is, the dog tooth phase is changed). After reaching the target value θ _target or after passing the time point t55), the first element 31 is moved from the neutral position toward the second element 32A. The target value θ _target may be as described above, but the preferred range in the example shown in FIG. 12 will be described later.

Also in the example shown in FIG. 12, when the shift speed is changed from "neutral" to "Low", the first element 31 is rotated by the motor 10, so that the first element 31 is changed to the second element 32A from the neutral position. It is possible to increase the possibility of avoiding the uplock that may occur when approaching.

By the way, unlike the uplock avoidance control shown in FIGS. 6 to 9, the uplock avoidance control shown in FIGS. 10 to 12 causes the first element 31 to be rotated by the motor 10, but the rotation of the first element 31 is caused. After stopping, the first element 31 is moved toward the second element 32A.

In consideration of such a difference, the uplock avoidance control shown in FIGS. 10 to 12 and the uplock avoidance control shown in FIGS. 6 to 9 can be appropriately used.

Specifically, the uplock avoidance control shown in FIGS. 6 to 9 is preferably executed in the initial transition process, whereas the uplock avoidance control shown in FIGS. 10 to 12 is It is preferably applied to the transition process at the time of retry.

In the uplock avoidance control shown in FIGS. 6 to 9, as described above, the first element 31 is brought close to the second element 32A while the first element 31 is rotated by the motor 10, so that at the start of the transition process. This is because there is a high possibility that the uplock avoidance control will function effectively regardless of the region (uplock region SC1 or non-uplock region SC2) of the dog tooth phase.

On the other hand, in the uplock avoidance control shown in FIGS. 10 to 12, as described above, after the first element 31 is rotated by the motor 10, the first element 31 is brought close to the second element 32A, so that the transition process is performed. Depending on the dog tooth phase at the start, the dog tooth phase after the first element 31 is rotated by the motor 10 may be in the uplock region SC1. In this case, uplock occurs and the transition process is not performed. This is to be successful.

Here, when an uplock occurs in a certain transition process, it is highly possible that the dog tooth phase at the time of executing the one transition process is in the uplock region SC1. Therefore, the next transition process (that is, retry transition process) can be executed on the premise that the dog tooth phase is in the uplock region SC1.

In this regard, according to the uplock avoidance control shown in FIGS. 10 to 12, it is easy to appropriately set the phase θ ₁ , the phase θ ₂ , and the target value θ _target . In this case, in the retry transition process. The possibility of uplock can be greatly reduced.

Specifically, the phase θ ₁ , the phase θ ₂ , and the target value θ _target are preferably at the time of retry, assuming that the dog tooth phase at the start of the transition process at the time of retry is in the uplock region SC1. The dog tooth phase is set to reach the center position (center position in the circumferential direction) in the non-uplock region SC2 by the transition process of. For example, phase θ ₁ = α1 / 2, phase θ ₂ = k × α1 / 2 (where k is an odd number of 3 or more), target value θ _target = j × α1 / 2 (where j is 1 or more). Odd number). In this case, the possibility of uplock can be significantly reduced in the retry transition process. However, the phase θ ₁ , the phase θ ₂ , and the target value θ _target may be set within a range of about ± α1 / 4 around the above values.

In the modified example, the uplock avoidance control shown in FIGS. 10 to 12 may be executed in the initial transition process, and conversely, the uplock avoidance control shown in FIGS. 6 to 9 may be executed at the time of retry. It may be executed in the transition process of.

Next, an operation example of the control device 100 related to the uplock avoidance control will be described with reference to FIGS. 13 and later. In the subsequent processing flow chart (flow chart), the processing order of each step may be changed as long as the relationship between the input and the output of each step is not impaired.

FIG. 13 is a schematic flowchart showing an example of processing executed by the control device 100 in connection with the uplock avoidance control. The processing routine shown in FIG. 13 may be executed at predetermined intervals.

In step S1300, the control device 100 acquires various sensor information, shift information, drive current information indicating the magnitude of the drive current of the actuator 74, and the like from the in-vehicle electronic device 130. The shift information may be, for example, information representing a required gear stage generated by the ECU included in the in-vehicle electronic device 130. The drive current information may be acquired only while the actuator 74 is being driven (during the transition process).

In step S1301, the control device 100 determines whether or not the non-meshing state transition flag F0 is “0”. The non-meshing state transition flag F0 sets the state of the engaging device 30 from the first or second meshing state to non-meshing when the shift stage is changed from "Low" to "High" or "High" to "Low". It becomes "1" when transitioning to the meshing state, and becomes "0" in other states. The initial value (value at the time of starting the vehicle) of the non-meshing state transition flag F0 is “0”. If the determination result is "YES", the process proceeds to step S1302, and if not, the process proceeds to step S1310.

In step S1302, the control device 100 determines whether or not the uplock avoidance control flag F1 is “0”. The uplock avoidance control flag F1 is set to "1" when the transition process accompanied by the uplock avoidance control is being executed, and is set to "0" in other states. The initial value (value at the time of starting the vehicle) of the uplock avoidance control flag F1 is “0”. If the determination result is "YES", the process proceeds to step S1304, and if not, the process proceeds to step S1314.

In step S1304, the control device 100 determines whether or not the normal shifting flag F2 is “0”. The normal shifting flag F2 is set to "1" during shifting in the non-stop state (execution state of transition processing without uplock avoidance control), and is set to "0" in other states. The initial value (value at the time of starting the vehicle) of the normal shifting flag F2 is "0". If the determination result is "YES", the process proceeds to step S1306, and if not, the process proceeds to step S1324.

In step S1306, the control device 100 determines whether or not there is a shift request based on the sensor information (sensor information from the shift position sensor 131) and shift information obtained in step S1300. If the determination result is "YES", the process proceeds to step S1308, and in other cases, the processing of the current cycle ends.

In step S1308, the control device 100 determines whether or not the shift request is from "neutral" to "High" or from "neutral" to "Low". If the determination result is "YES", the process proceeds to step S1310, and in other cases (that is, when the shift request is from "Low" to "High" or "High" to "Low"), the process proceeds to step S1318.

In step S1310, the control device 100 determines whether or not the vehicle is in the stopped state based on the sensor information (sensor information from the wheel speed sensor 132) obtained in step S1300. If the determination result is "YES", the process proceeds to step S1312, and if not, the process proceeds to step S1322.

In step S1312, the control device 100 sets the uplock avoidance control flag F1 to “1”.

In step S1314, the control device 100 shifts to a transition processing routine accompanied by uplock avoidance control. Specifically, the control device 100 has a transition process relating to a change from "neutral" to "Low" or "High" (that is, a transition process for a transition from a non-meshing state to a first or second meshing state). Therefore, it shifts to a transition processing routine with uplock avoidance control. An example of the transition processing routine accompanied by this uplock avoidance control will be described later with reference to FIG.

In step S1318, the control device 100 sets the non-meshing state transition flag F0 to “1”.

In step S1320, the control device 100 starts the transition process in response to the shift request related to “Low” to “High” or “High” to “Low”. For example, in the case of "Low" to "High", the transition process from the second meshing state to the first meshing state is started.

In step S1322, the control device 100 sets the normal shifting flag F2 to “1”.

In step S1324, the control device 100 executes a transition process without uplock avoidance control. Details of the transition process without uplock avoidance control are omitted, but in the transition process without uplock avoidance control, the motor control for uplock avoidance is not executed for the transition process with uplock avoidance control. The point is different. If the transition process without uplock avoidance control ends unsuccessfully (when an uplock occurs), the transition process without uplock avoidance control may be executed again. This is because in the non-stop state, unlike the stopped state, the shaft Is (and the first element 31) is rotating in the non-meshing state, and it is unlikely that uplock will occur continuously.

In step S1326, the control device 100 determines whether or not the transition process without the uplock avoidance control is completed. If the determination result is "YES", the process proceeds to step S1328, and in other cases, the processing of the current cycle ends.

In step S1328, the control device 100 resets the normal shifting flag F2 to “0”.

In step S1330, the control device 100 executes the transition process (transition process from the first meshing state to the second meshing state or the transition process from the second meshing state to the first meshing state) started in step S1320 (transition process from the first meshing state to the second meshing state). continue.

In step S1332, the control device 100 disengages the state of the engaging device 30 based on the sensor information obtained in step S1300 (position information of the fork shaft 92 that can be derived from the sensor information from the actuator rotation angle sensor 135). Determine whether or not the state has changed. If the determination result is "YES", the process proceeds to step S1334, and in other cases, the processing of the current cycle ends.

In step S1334, the control device 100 resets the non-meshing state transition flag F0 to “0”.

FIG. 14 is a schematic flowchart showing an example of a transition processing routine accompanied by uplock avoidance control in step S1314 of FIG. When the transition processing routine ends, the processing of the current cycle of the processing routine of FIG. 13 ends.

In step S13140, the control device 100 determines whether or not the retry preparing flag F5 is “0”. The retry preparing flag F5 is set to "1" in the state where the state of the engaging device 30 is returned to the non-meshing state due to the retry of the transition process, and is set to "0" in other states. The initial value (value at the time of starting the vehicle) of the retry preparation flag F5 is “0”. If the determination result is "YES", the process proceeds to step S13142, and if not, the process proceeds to step S13160.

In step S13142, the control device 100 determines whether or not the motor torque calculated flag F4 is “0”. The motor torque calculated flag F4 is "1" in the state where the motor torque for uplock avoidance control is calculated, and is "0" in other states. The initial value (value at the time of starting the vehicle) of the motor torque calculated flag F4 is “0”. If the determination result is "YES", the process proceeds to step S13144, and if not, the process proceeds to step S13150.

In step S13144, the control device 100 calculates the motor torque for uplock avoidance control based on the sensor information (sensor information from the oil temperature sensor 133) obtained in step S1300. Specifically, the control device 100 calculates the magnitude (or amplitude) of the motor torque for uplock avoidance control according to the oil temperature, which is an environmental parameter, with reference to the map data storage unit 170.

In step S13146, the control device 100 sets the motor torque calculated flag F4 to “1”.

In step S13148, the control device 100 controls the motor 10 so that the motor torque is generated based on the motor torque for uplock avoidance control calculated in step S13144, and rotates the first element 31. That is, the control device 100 starts the motor control for uplock avoidance based on the motor torque for uplock avoidance control calculated in step S13144. For example, in the example shown in FIG. 6, the control device 100 starts to generate motor torque in a rectangular wavy shape.

In step S13150, the control device 100 executes (continues) motor control for avoiding uplock.

In step S13152, the control device 100 shifts to a transition processing routine from the non-meshing state of the engaging device 30 to the first meshing state or the second meshing state (hereinafter, also referred to as “transition processing routine to the meshing state”). .. For example, when the shift request this time is from "High" to "Low", the control device 100 shifts to the transition processing routine to the meshing state in order to perform the transition processing from the non-meshing state to the first meshing state. .. An example of the transition processing routine to the meshed state in step S13152 will be described later with reference to FIG.

In step S13153, the control device 100 determines whether or not the retry preparing flag F5 is “1”. As will be described later with reference to FIG. 15, the retry preparation flag F5 is set to “1” when the transition process in step S13152 ends unsuccessfully (that is, when an uplock is detected). To. If the determination result is "YES", the process proceeds to step S13154, and if not, the process proceeds to step S13157.

In step S13154, the control device 100 stops the motor 10 and ends the motor control for avoiding uplock.

In step S13156, the control device 100 resets the motor torque calculated flag F4 to “0”.

In step S13157, the control device 100 determines whether or not the uplock avoidance control flag F1 is “0”. As will be described later with reference to FIG. 15, the uplock avoidance control flag F1 completes the transition to the first or second meshing state when the transition process in step S13152 is completed (the transition to the first or second meshing state is completed without causing uplock). If you do), it will be reset to "0". If the determination result is "YES", the process proceeds to step S13158, and in other cases, the processing of the current cycle ends.

In step S13158, the control device 100 stops the motor 10 and ends the motor control for avoiding uplock.

In step S13159, the control device 100 resets the motor torque calculated flag F4 to “0”.

In step S13160, the control device 100 disengages the state of the engaging device 30 based on the sensor information obtained in step S1300 (position information of the fork shaft 92 that can be derived from the sensor information from the actuator rotation angle sensor 135). It is determined whether or not the state has changed (that is, whether or not the first element 31 has returned to the neutral position). If the determination result is "YES", the process proceeds to step S13162, and if not, the process proceeds to step S13168.

In step S13162, the control device 100 calculates the motor torque for uplock avoidance control for the transition process at the time of retry. For example, the control device 100 calculates the motor torque for uplock avoidance control in the transition process at the time of retry in a manner that is larger than the motor torque for uplock avoidance control in the immediately preceding transition process. It should be noted that the specifications may be such that the motor torque for uplock avoidance control in the transition process at the time of retry is not changed, and in such specifications, step S13162 may be omitted.

In step S13164, the control device 100 controls the motor 10 so that the motor torque is generated based on the motor torque for uplock avoidance control calculated in step S13162, and rotates the first element 31. That is, the control device 100 starts the motor control for uplock avoidance based on the motor torque for uplock avoidance control calculated in step S13162.

In step S13166, the control device 100 resets the retry preparing flag F5 to “0” and sets the motor torque calculated flag F4 to “1”.

In step S13168, the control device 100 executes (continues) the retry preparation process started in the transition process of step S13152. The retry preparation process is a process of returning the state of the engaging device 30 to the non-meshing state as a retry preparation, as will be described later.

FIG. 15 is a schematic flowchart showing an example of a transition processing routine to the meshing state in step S13152 of FIG. When the transition processing routine is completed, the process proceeds to step S13153 in FIG.

In step S150, the control device 100 determines whether or not the flag F6 during the dog tooth stroke is “0”. The dog tooth stroke flag F6 becomes “1” when the first element 31 is moved toward the second element 32A or the second element 32B by the actuator 74, and becomes “0” in other states. .. The initial value (value at the time of starting the vehicle) of the flag F6 during the dog tooth stroke is “0”. If the determination result is "YES", the process proceeds to step S152, and if not, the process proceeds to step S158.

In step S152, the control device 100 determines whether or not the start condition of the transition process is satisfied.

The start condition of the transition process is satisfied at the time point t2 in the examples shown in FIGS. 6 to 9, for example. In this case, for example, the start condition of the transition process may be satisfied when the motor 10 reaches a stable rotation state, and for example, when a predetermined time has elapsed from the start of the motor control for avoiding uplock. May be filled with. Alternatively, the transition processing start condition may be satisfied when the rotation angle of the motor 10 changes by a predetermined angle or more based on the sensor information from the motor rotation speed sensor 134. Alternatively, the transition processing start condition may be satisfied as soon as the motor control for avoiding uplock is started.

The start condition of the transition process is satisfied at the time point t30 in the examples shown in FIGS. 10 and 11, for example. In this case, for example, the transition processing start condition may be satisfied as soon as the motor control for avoiding uplock is completed. Alternatively, the transition processing start condition may be satisfied when a predetermined short time has elapsed from the end of the motor control for avoiding the uplock. Similarly, the transition processing start condition is satisfied at time point t55 in, for example, the example shown in FIG. In this case, for example, the transition processing start condition may be satisfied as soon as the motor control for avoiding uplock is completed. Alternatively, the starting condition of the transition process, to dog teeth phases may be filled just prior to converge to the target value theta _target, the dog teeth phase is converged to the target value theta _target, a predetermined short time has elapsed May be satisfied if

In step S152, if the determination result is "YES", the process proceeds to step S154, and in other cases, the processing of the current cycle ends.

In step S154, the control device 100 starts the transition process. That is, the control device 100 starts moving the first element 31 from the neutral position toward the second element 32A or the second element 32B by the actuator 74. For example, when the shift request this time is from "High" to "Low", the control device 100 starts moving the first element 31 from the neutral position toward the second element 32A by the actuator 74.

In step S156, the control device 100 sets the flag F6 during the dog tooth stroke to “1”.

In step S158, the control device 100 determines whether or not an uplock has occurred based on the sensor information (sensor information from the actuator rotation angle sensor 135) and the drive current information obtained in step S1300. The method for determining the uplock may be as described above. If the determination result is "YES", the process proceeds to step S160, and if not, the process proceeds to step S164.

In step S160, the control device 100 sets the retry preparation flag F5 to “1” and resets the dog tooth stroke flag F6 to “0”.

In step S162, the control device 100 starts a process of returning the state of the engaging device 30 to the non-meshing state (retry preparation process) as a retry preparation. Specifically, the control device 100 ends (interrupts) the transition process being executed, drives the actuator 74, and starts moving the first element 31 to the neutral position.

In step S164, the control device 100 has the first state of the engaging device 30 based on the sensor information obtained in step S1300 (position information of the fork shaft 92 that can be derived from the sensor information from the actuator rotation angle sensor 135). Alternatively, it is determined whether or not the transition to the second meshing state has occurred (that is, whether or not the transition process has been completed without causing uplock). For example, when the shift request this time is from "High" to "Low", the control device 100 determines whether or not the state of the engaging device 30 has changed to the first meshing state. If the determination result is "YES", the process proceeds to step S166, and if not, the process proceeds to step S168.

In step S166, the control device 100 ends the transition process (that is, stops driving the actuator 74).

In step S167, the control device 100 resets the uplock avoidance control flag F1 and the dog tooth stroke flag F6 to “0”.

In step S168, the control device 100 executes (continues) the transition process started in step S154.

According to the processes shown in FIGS. 13 to 15, the uplock avoidance control is executed when the engaging device 30 is changed from the non-meshing state to the first or second meshing state in the stopped state. Can be effectively reduced.

In the processes shown in FIGS. 13 to 15, when an uplock occurs even though the uplock avoidance control is executed (when the determination result is “YES” in step S158 of FIG. 15), the retry transition process Is executed. Further, since the uplock avoidance control is executed also in the retry transition process, the possibility of uplock can be reduced.

In the processes shown in FIGS. 13 to 15, although the motor torque for uplock avoidance control is changed between the initial transition process and the transition process at the time of retry, the uplock avoidance control of the same aspect is performed. It is executed, but it is not limited to this. For example, in the initial transition process, the uplock avoidance control shown in FIGS. 6 to 9 may be executed, and in the transition process at the time of retry, the uplock avoidance control shown in FIGS. 10 to 12 may be executed.

FIG. 16 is a schematic flowchart showing another example of the transition processing routine with the uplock avoidance control in step S1314 of FIG. FIG. 17 is an explanatory diagram of the process shown in FIG. 16, in which a time series of motor torque, a time series of dog tooth phase, and a time series of dog tooth stroke are shown in order from the top. In FIG. 17, the notation and the like are as described in FIG.

The schematic flowchart shown in FIG. 16 is different from the schematic flowchart shown in FIG. 14 in that steps S180 to S194 are added. The differences will be mainly described below.

In step S180, the control device 100 determines whether or not the shift request is retried (that is, whether or not the uplock has occurred at least once). If the determination result is "YES", the process proceeds to step S13140, and in other cases (that is, if it is the first transition process), the process proceeds to step S182.

In step S182, the control device 100 determines whether or not the flag F6 during the dog tooth stroke is “0”. If the determination result is "YES", the process proceeds to step S184, and if not, the process proceeds to step S13152.

In step S184, the control device 100 starts the initial transition process. That is, the control device 100 starts moving the first element 31 from the neutral position toward the second element 32A or the second element 32B by the actuator 74.

In step S186, the control device 100 sets the initial flag F7 and the dog tooth stroke intermediate flag F6 to “1”. The initial flag F7 is "1" when the initial transition process other than the retry is being executed, and is "0" in other states. The initial value (value at the time of starting the vehicle) of the initial flag F7 is “0”.

In step S188, the control device 100 determines whether or not the initial flag F7 is “0”. If the determination result is "YES", the process proceeds to step S13154, and if not, the process proceeds to step S190.

In step S190, the control device 100 resets the initial flag F7 to “0”.

In step S192, the control device 100 determines whether or not the initial flag F7 is “0”. If the determination result is "YES", the process proceeds to step S13158, and if not, the process proceeds to step S194.

In step S194, the control device 100 resets the initial flag F7 to “0”.

According to the example shown in FIG. 16, unlike the example shown in FIG. 14, the uplock avoidance control is not executed in the first transition process even in the stopped state, and the uplock avoidance control is performed only in the transition process at the time of retry. Will be executed. Even in such a case, the uplock avoidance control is executed in the transition process at the time of retry, so that the possibility of uplock can be reduced.

For example, in the example shown in FIG. 17, the first transition process is executed from the time point t40, but the dog tooth stroke cannot be further moved from the dog tooth tip contact position S10, and an uplock occurs. Therefore, the retry preparation process is started from the time point t41, and the retry preparation process is completed at the time point t42. Then, at the subsequent time point t43, the uplock avoidance control is started. Specifically, the motor torque is output during the period from the time point t43 to the time point t44, and the dog tooth phase changes accordingly. In the example shown in FIG. 17, the dog tooth phase reaches within the non-uplock region SC2 at time point t44. Then, the drive of the actuator 74 is started at the time point t45 after the time point t44, and the transition process at the time of retry is completed at the time point t46 (that is, the transition process is completed without causing an uplock).

When the example shown in FIG. 16 is used, in FIG. 15, in step S168, the control device 100 executes (continues) the transition process started in step S154 or step S184.

As described above, the uplock avoidance control shown in FIGS. 10 to 12 is suitable for the transition process at the time of retry. Therefore, the example shown in FIG. 16 can be suitably combined with the uplock avoidance control shown in FIGS. 10 to 12.

Although each embodiment has been described in detail above, the present invention is not limited to a specific embodiment, and various modifications and changes can be made within the scope of the claims. It is also possible to combine all or a plurality of the components of the above-described embodiment.

For example, in the above-described embodiment, the synchromesh mechanism is not provided in the engaging device 30 because the possibility of uplock is effectively reduced as described above, but a synchromesh mechanism may be provided. ..

Further, in the above-described embodiment, the uplock avoidance control is executed for each of the dog clutches 301 and 302, but the block avoidance control is executed for only one of the dog clutches 301 and 302. May be good.

Further, the uplock avoidance control of the same aspect is executed for each of the dog clutches 301 and 302, but the uplock avoidance control of a different aspect may be executed. For example, the uplock avoidance control with the feedback control shown in FIG. 12 may be executed for the dog clutch 301, and the uplock avoidance control shown in FIG. 6 may be executed for the dog clutch 302. ..

Further, in the above-described embodiment, an application example to the specific vehicle drive device 1 shown in FIG. 1 is described, but at least one of the two elements in which the dog clutch is provided and which forms the dog clutch is provided. As long as one of them can be rotated by a motor, the number of gears, various connection modes, and the like can be applied to any vehicle drive device. Therefore, the applicable drive device is not limited to that for electric vehicles, but may be for hybrid vehicles. For example, in the above-described embodiment, the uplock avoidance control is realized by rotating the first element 31 in the form of a sleeve by the motor 10, but the elements corresponding to the second elements 32A and 32B are rotated by the motor. It is also possible to configure it so that uplock avoidance control is realized. As an example, it may be applied to a vehicle drive device including a configuration in which an engine is connected to a ring gear 22 instead of a motor 10 and a second element 32A is connected to a motor.

<Additional notes>
The following will be further disclosed with respect to the above examples. Of the effects described below, the effect relating to each additional form with respect to one form is an additional effect resulting from each of the additional forms.

(1) One form includes a first element (31) and a second element (32A, 32B) having tooth-shaped portions (311 and 321A, 321B) for meshing around the shaft (Is), respectively. It is possible to transition between the meshed state and the non-engaged state by the relative movement in the axial direction between the one element and the second element, and in the meshed state, the axial rotation is performed between the first element and the second element. Clutch (30) capable of transmitting the rotational torque of
A rotating electric machine (10) for driving a vehicle that enables the rotation of the first element around an axis, and
A vehicle drive device (1) including a control device (100) for rotating the first element by the rotary electric machine when the clutch is transitioned from the non-meshing state to the meshing state in a stopped state. ..

According to this embodiment, when the clutch is changed from the non-meshing state to the meshing state in the stopped state, the possibility of avoiding the uplock in the stopped state is increased by rotating the first element by the rotary electric machine. Can be done.

(2) Further, in the present embodiment, preferably, when the control device shifts the clutch from the non-meshing state to the meshing state in the stopped state, the control device rotates the first element while rotating the first element. The first element and the second element are brought close to each other in the axial direction.

In this case, since the first element is rotated and brought close to the second element in the axial direction, the possibility of avoiding the uplock can be further increased.

(3) Further, in the present embodiment, preferably, rotating the first element includes rotating the first element while changing the rotation direction of the first element.

In this case, it is possible to increase the possibility of avoiding the uplock in the stopped state without rotating the first element relatively large in a certain rotation direction.

(4) Further, in the present embodiment, preferably, the first element and the second element have the tooth-shaped portion at a predetermined angle (α1) around the axis.
Changing the rotation direction of the first element is executed every time the first element rotates by an angle equal to or larger than the uplock region.

In this case, while rotating the first element, there is a high possibility that the phase of the dentate portion for meshing of the first element can be positioned in the non-uplock region where the uplock can be avoided.

(5) Further, in the present embodiment, preferably, the control device rotates the first element when the clutch is transitioned from the non-meshing state to the meshing state in the stopped state, and then the first element is rotated. The first element and the second element are brought close to each other in the axial direction.

In this case, by rotating the first element, the possibility of avoiding the uplock can be increased.

(6) Further, in the present embodiment, preferably, the first element has a tooth-shaped portion (311) for meshing at a predetermined angle (α1) around the axis.
Rotating the first element includes rotating the first element at an angle greater than or equal to the uplock region.

In this case, by rotating the first element, it is possible to bring the phase of the dentate portion for meshing of the first element into the non-uplock region where the uplock can be avoided, and the uplock can be avoided. You can improve your sex.

(7) Further, in the present embodiment, preferably, rotating the first element includes feedback control so that the first element rotates by a target angle equal to or larger than the uplock region.

In this case, by setting an appropriate target angle such that the phase of the dentate portion for meshing of the first element reaches within the non-uplock region where the uplock can be avoided, the possibility of avoiding the uplock is further increased. be able to.

(8) Further, in the present embodiment, preferably, when the control device shifts the clutch from the non-meshing state to the meshing state in the stopped state, the clutch is changed from the non-meshing state to the meshing state. The output torque of the rotating electric machine for rotating the first element is changed based on the parameters relating to at least one of the ease of transition to and the ease of rotation of the first element. ..

In this case, the output torque of the rotary electric machine can be changed based on the above parameters to further increase the possibility of avoiding the uplock.

(9) Further, in the present embodiment, preferably, the parameter relates to at least one of the viscosity of the oil supplied to the rotary electric machine and the degree of wear of the clutch.

In this case, the output torque of the rotary electric machine can be changed according to the viscosity of the oil and the degree of wear of the clutch to further increase the possibility of avoiding the uplock.

(10) Further, in the present embodiment, preferably, two of the second elements are provided with respect to one of the first elements.

In this case, it is possible to increase the possibility that the uplock can be avoided in the transition to the meshing state with any of the second elements.

(11) Further, in the present embodiment, preferably, the control device shifts the clutch to the meshed state when the clutch is transitioned from the disengaged state to the meshed state in the stopped state. If the first transition process is unsuccessful, the second transition process for shifting the clutch to the meshed state is executed.
Rotating the first element is performed in both the first transition process and the second transition process, or only in the second transition process of the first transition process and the second transition process. Will be executed.

In this case, the possibility of retry can be reduced, or the possibility of avoiding uplock at the time of retry can be increased.

(12) In the present embodiment, preferably, the output torque of the rotary electric machine is transmitted to the wheels in the meshed state of the clutch.

In this case, it is possible to increase the possibility of avoiding the uplock for shifting for so-called gear parking, and also increase the possibility of avoiding the uplock for shifting across neutral or shifting from neutral. be able to.

1 Vehicle drive device 10 Motor 20 Planetary gear mechanism 21 Sun gear 22 Ring gear 23 Pinion 24 Carrier 30 Engagement device 31 First element 32A Second element 32B Second element 41 First gear row 42 Second gear row 50 Counter shaft 60 Output axis (differential axis)
70 Shift fork 72 Ball screw mechanism 74 Actuator 90 Shift detent mechanism 92 Fork shaft 94 Coil spring 96 Lock ball 100 Control device 130 In-vehicle electronic device 131 Shift position sensor 132 Wheel speed sensor 133 Oil temperature sensor 134 Motor rotation speed sensor 135 Actuator rotation angle Sensor 150 Sensor information acquisition unit 151 Requested gear stage detection unit 152 Motor control unit 153 Actuator control unit 160 Uplock avoidance control unit 162 Uplock detection unit 164 Stop state detection unit 166 Avoidance control execution unit 170 Map data storage unit 301 Dog clutch 302 Dog clutch 304 Clutch hub 311 Toothed part 312 Recessed groove 321A Toothed part 321B Toothed part 922 Recessed part (detent)
920 recess (detent)
921 Recess (detent)
G1 Gear G2 Gear G3 Gear G4 Gear S10 Dog tooth tip contact position S20 Stroke completion position SC1 Uplock area SC2 Non-uplock area

Claims (10)

It is provided with a first element and a second element having toothed parts for meshing around the axis, respectively, and between the meshed state and the non-engaged state by the relative movement in the axial direction between the first element and the second element. A clutch capable of transmitting rotational torque around an axis between the first element and the second element in the meshed state.
A rotating electric machine for driving a vehicle that enables the rotation of the first element around an axis,
Includes a control device that brings the first element and the second element close to each other in the axial direction while rotating the first element when the clutch is transitioned from the non-meshing state to the meshing state in the stopped state. , Vehicle drive. The vehicle drive device according to claim 1, wherein rotating the first element includes rotating the first element while changing the rotation direction of the first element. The first element and the second element have the dentate portion at a predetermined angle around the axis.
The vehicle drive device according to claim 2, wherein changing the rotation direction of the first element is executed every time the first element rotates at an angle equal to or larger than the uplock region. The first element and the second element have the dentate portion at a predetermined angle around the axis.
The vehicle drive device according to claim 1, wherein rotating the first element includes rotating the first element at an angle equal to or larger than an uplock region in one rotation direction. The vehicle drive device according to claim 4, wherein rotating the first element includes feedback control so that the first element rotates by a target angle equal to or larger than the uplock region. When the clutch is transitioned from the non-meshing state to the meshing state in the stopped state, the control device facilitates the transition of the clutch from the non-meshing state to the meshing state, and the first element. Any one of claims 1 to 5, which changes the output torque of the rotating electric machine for rotating the first element based on a parameter relating to at least one of the ease of rotation. Vehicle drive device according to. The vehicle drive device according to claim 6, wherein the parameter relates to at least one of the viscosity of the oil supplied to the rotary electric machine and the degree of wear of the clutch. The vehicle drive device according to any one of claims 1 to 5, wherein the second element is provided twice with respect to the first element. When the clutch is transitioned from the non-engaged state to the meshed state in the stopped state, the control device executes a first transition process for transitioning the clutch to the meshed state, and the first transition is performed. If the process is unsuccessful, a second transition process for transitioning the clutch to the meshed state is executed.
Rotating the first element is performed in both the first transition process and the second transition process, or only in the second transition process of the first transition process and the second transition process. The vehicle drive device according to any one of claims 1 to 8, which is executed. The vehicle drive device according to any one of claims 1 to 9, wherein the output torque of the rotary electric machine is transmitted to the wheels in the meshed state of the clutch.