JP5092714B2 - Meshing engagement device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gearing type engagement device for smoothly changing the torque of a motor for adjusting the phase of a gearing member upon its release to torque requested after the release of the gearing member. <P>SOLUTION: In a dog clutch 40 for performing the engagement and release of a hub 41 and a brake member 43 by an actuator 44, pre-release request torque to be requested for switching a dog clutch 40 to a release state to a first MG 200 in which a power is transmitted to the hub 41 is calculated, and performs rocking control for performing the increase and decrease of the torque of the first MG 200 so that the hub 41 can rock in the case of switching the dog clutch 40 from its engagement state to its release state, and when the rocking control is performed, the torque of the first MG 200 is changed first so as to be made close to post-release request torque requested to the first MG 200 after the dog clutch 40 is switched to its release state. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  The present invention relates to a meshing engagement device that is used in a transmission of a vehicle and the like and meshes with teeth provided at a pair of meshing portions when engaged.

  When engaging the external teeth of the dog clutch with the internal teeth of the sleeve, the torque of the motor generator is adjusted to rotate the sleeve and the internal teeth, thereby rotating the external teeth phase and the internal teeth of the sleeve. There has been known a drive device that adjusts the phases of the tooth gaps so that the phases coincide with each other within a predetermined range (see Patent Document 1).

JP 2006-38136 A

  In this way, the dog clutch that meshes teeth at the time of engagement adjusts the phase of rotation of each part where the teeth are formed even at the time of release to release the meshing of the teeth, but at this time, the torque of the motor generator is not properly controlled In some cases, it is necessary to make a sudden change in the torque of the motor generator in order to adjust the torque required for the motor generator after the dog clutch is released. The device of Patent Document 1 describes a method for adjusting the phase at the time of engagement, but does not describe the control of the motor generator at the time of release that releases the meshing of the teeth of the dog clutch.

The present invention aims to provide a disengagement meshing motor torque meshes seen each other type engagement apparatus which can smoothly change the torque required after release of the members engage the adjusting the phase of the member And

Mesh look each other type engagement device of the present invention, the electric motor and, in the released state with teeth provided on each the engaged state engages in mesh with each other apart from the teeth of each other, at least one of said electric motor A pair of meshing members that are rotating bodies to which the motive power is transmitted, and an actuator that drives at least one of the pair of meshing members to switch the pair of meshing members to the engaged state and the released state, When switching the pair of meshing members to the engaged state, in the meshing type engaging device for meshing each tooth portion of the pair of meshing members by changing at least one of the rotational speed and torque of the electric motor, When a predetermined release condition for switching the pair of engagement members to the release state is satisfied, the tooth portions of the pair of engagement members are separated from each other. A pre-release torque calculating means for calculating a required torque before release required for the motor, and an engagement for transmitting the power of the motor when the pair of meshing members are switched from the engaged state to the released state. The swing control is performed to increase and decrease the torque of the electric motor so that the member is swung, and when the swing control is executed , the torque of the electric motor is being executed from the required torque before release. Control means for first changing in a direction approaching the required post-release torque expected to be required of the electric motor after the pair of meshing members are switched from the engaged state to the released state by swinging control ; By solving this problem, the above-described problem is solved (claim 1).

According to engage seen each other type engagement device of the present invention, when switching to the release state a pair of meshing member from the engaged state, the first change of the torque of the electric motor in a direction approaching after release required torque, whereby the pair When the meshing member is switched to the released state, the torque of the motor may be adjusted to the required torque after release as it is. Therefore, the torque of the electric motor after releasing the pair of meshing members can be smoothly changed to the required torque after release.

In one form of the mesh viewed mutual type engagement device of the present invention, the release before torque calculation means, when the predetermined release condition is satisfied, the pair meshing with one another in the engaged state meshing one member The torque of the electric motor that adjusts the torque acting between the tooth portion of the meshing member and the tooth portion of the other meshing member to zero is calculated as an equilibrium torque, and then the calculated equilibrium torque and the equilibrium torque are released as the release torque. The required torque before release may be calculated by adding the offset amount offset in the direction away from the required rear torque. In this way, by offsetting the motor torque in a direction away from the required torque after release, when the torque of the motor is changed in a direction approaching the required torque after release by the control means, the torque of the motor is balanced with the equilibrium torque. Can be adjusted quickly. Therefore, the pair of meshing members can be quickly switched to the released state.

  In this aspect, the control means includes a torque estimation means for estimating the torque of the electric motor when the swing control is executed, and the torque estimated by the torque estimation means when the swing control is executed and the balance. A change that is a change in the torque of the motor per unit time when the difference from the torque is less than or equal to a predetermined value compared to a case where the difference between the torque estimated by the torque estimation means and the equilibrium torque is greater than a predetermined value Change speed changing means for reducing the speed may be provided (claim 3). By reducing the speed of change in this way, the change in torque of the motor at the end of the swing control can be reduced, so the motor torque can be accurately set to the required torque after release after the pair of meshing members are switched to the released state. It can be adjusted well.

In one form of the mesh viewed mutual type engagement device of the present invention, the gap detection means for detecting a distance between the pair of engagement members, the rotational speed difference detection for detecting the difference in rotational speed of the pair of meshing member When switching the means and the pair of meshing members from the engaged state to the disengaged state, it is first determined whether or not the pair of meshing members has been switched to the disengaged state based on the distance detected by the gap detecting means The first release determination is executed, and when it is determined in the first release determination that the pair of meshing members are switched to the released state, the rotation speed difference detection unit detects the difference based on the difference in rotation speed. Release determination means for executing a second release determination for determining whether or not the pair of meshing members has been switched to the released state may be further included (claim 4). Thus, reliability can be improved by performing a two-step release determination.

  In this embodiment, the control means determines that the motor per unit time in the swing control is determined when it is determined in the second release determination that the pair of meshing members are maintained in the engaged state. You may make small the change speed which is a change of a torque (Claim 5). In this way, the speed of change is reduced, that is, the speed of swinging of the meshing member to which the power of the motor is transmitted is reduced, so that the rotation between the toothed part of one meshing member and the toothed part of the other meshing member is performed. A number difference can be easily generated. Thereby, since the tooth part of one meshing member and the tooth part of the other meshing member become easy to leave | separate, a pair of meshing member can be switched to a releasing state more reliably.

  Further, the control means determines that the pair of meshing members are maintained in the engaged state in the second release determination even if the change speed is reduced and the swing control is executed. In this case, the period during which the torque change rate of the electric motor is reduced may be extended (Claim 6). Thus, by enlarging the period during which the change rate is reduced, the pair of meshing members can be more reliably switched to the released state.

As described above, according to the meshing engagement device of the present invention, when switching the pair of meshing members from the engaged state to the released state, the torque of the motor is first changed in a direction approaching the required torque after release. Therefore, it is possible to smoothly change the torque of the electric motor after releasing the pair of meshing members to the required torque after release .

FIG. 1 is a schematic view of a transmission in which a meshing engagement device according to one embodiment of the present invention is incorporated. The transmission 10 is mounted on a vehicle and uses the power generated by an internal combustion engine (hereinafter sometimes referred to as an engine) 100, a first motor generator (MG) 200, and a second motor generator (MG) 300. This is appropriately transmitted to the drive wheels according to the traveling state of the vehicle. The first MG 200 and the second MG 300 are known ones that can function as an electric motor and a generator. Stator 201 of first MG 200 is fixed to the vehicle body, and rotor 202 is connected to transmission 10. Similarly, in the second MG 300, the stator 301 is fixed to the vehicle body, and the rotor 302 is connected to the transmission 10. The transmission 10 includes a first planetary gear mechanism 20, a second planetary gear mechanism 30, a dog clutch 40 as a meshing engagement device, a rotor 202 of a second MG 300, and an output shaft 11 of the transmission 10. 2MG transmission unit 50.

  The first planetary gear mechanism 20 is provided so as to rotate integrally with the rotor 202 of the first MG 200, and has a hollow sun gear shaft 21 through which the crankshaft 101 of the engine 100 passes, and a sun gear 22 that rotates integrally with the sun gear shaft 21. A plurality of planetary gears (planetary gears) 23, 23 that revolve around the sun gear 22 while meshing with the sun gear 22, a ring gear 24 that meshes with the planetary gear 23, and the planetary gear 23 can be rotated around the axis of the sun gear shaft 21. A carrier 25 that supports and rotates integrally with the crankshaft 101 of the engine 100 is provided. The second planetary gear mechanism 30 includes a hollow sun gear shaft 31 through which an output shaft 11 provided coaxially with the crankshaft 101 is provided so that a hub 41 as a meshing portion of the dog clutch 40 rotates integrally. A sun gear 32 that rotates integrally with the sun gear shaft 31, a plurality of planetary gears 33, 33 that mesh with the sun gear 32 and revolve around it, a ring gear 34 that meshes with the planetary gear 33, and the planetary gear 33 on the axis of the sun gear shaft 32. A carrier 35 that is rotatably supported around the ring gear 24 and provided integrally with the ring gear 24 of the first planetary gear mechanism 20 is provided. As shown in FIG. 1, the planetary gear 23 of the first planetary gear mechanism 20 rotates around the sun gear 22 in conjunction with the rotation of the ring gear 34 of the second planetary gear mechanism 30 and the ring gear 34. It connects with the connection member 36 so that it may revolve. Since these planetary gear mechanisms 20 and 30 may be the same as those provided in a known transmission, detailed description thereof is omitted.

  The dog clutch 40 includes a hub 41 as a meshing portion and a fixing portion 42 that is fixed to the vehicle body. FIG. 2 shows the dog clutch 40 in an enlarged manner. As shown in FIG. 2, the hub 41 is provided with teeth 41a on the entire outer periphery thereof. The fixed portion 42 is provided with a brake member 43 serving as a meshing portion that is disposed coaxially with the hub 41 and has teeth 43a on the entire outer periphery. The brake member 43 is provided so as to reciprocate in the axial direction as indicated by arrows A and B in FIG. 2 and to prevent rotation about the axis.

  The dog clutch 40 includes an actuator 44 that drives the brake member between an engagement position where the brake member 43 engages with the hub 41 and a release position where the brake member 43 and the hub 41 are separated from each other, and the hub 41 and the brake member. A gap sensor 45 serving as a gap detecting means for outputting a signal corresponding to the distance to the distance 43, and a rotational speed sensor 46 serving as a rotational speed difference detecting means for outputting a signal corresponding to the rotational speed of the hub 41. Yes. When the brake member 43 is driven to the engaged position by the actuator 44, the teeth 41a of the hub 41 and the teeth 43a of the brake member 43 are engaged with each other, whereby the brake member 43 and the hub 41 are engaged, and the dog clutch 40 is engaged. Switch to the combined state. Hereinafter, the engagement of the hub 41 and the brake member 43 may be referred to as the engagement of the dog clutch 40. At this time, the transmission 10 is switched to a so-called overdrive (O / D) state in which the rotational speed of the engine 100 is smaller than the rotational speed of the output shaft 11. On the other hand, when the brake member 43 is driven to the release position by the actuator 44, the teeth 41a of the hub 41 and the teeth 43a of the brake member 43 are separated to be in a released state, whereby the dog clutch 40 is switched to the released state. Hereinafter, when the hub 41 and the brake member 43 are in a released state, the dog clutch 40 may be referred to as a released state. In this case, the overdrive state of the transmission 10 is released.

  FIG. 3 shows an alignment chart when the dog clutch 40 is in an engaged state. In addition, the vertical axis | shaft of FIG. 3 has shown the rotation speed. 3 indicate the sun gear 22, the carrier 25, and the ring gear 24 of the first planetary gear mechanism 20, respectively, and the symbols S ′, C ′, and R ′ respectively indicate the second planetary gear mechanism. 30 sun gears 32, a carrier 35, and a ring gear 34 are shown. As shown in FIG. 3, when the dog clutch 40 is in the engaged state, the sun gear 32 of the second planetary gear mechanism 30 is fixed so as not to rotate, so-called locked, so that the engine 100, the first MG 200, and the second MG 300 are centered on that portion. The number of revolutions changes.

  The operation of the actuator 44 is controlled by a motor generator control unit (MGCU) 60. The MGCU 60 is configured as a computer including a microprocessor and peripheral devices such as RAM and ROM necessary for the operation thereof. For example, the required driving force and the state of charge of a battery (not shown) connected to the first MG 200 and the second MG 300 This is a known computer unit that switches its operation so that the first MG 200 and the second MG 300 function as an electric motor or a generator based on the above. These controls are performed with reference to output signals of various sensors connected to the MGCU 60 such as the accelerator opening sensor 61 that outputs a signal corresponding to the accelerator opening. In addition, a gap sensor 45 and a rotation speed sensor 46 are connected to the MGCU 60. In addition, illustration was abbreviate | omitted about the other sensor connected to MGCU60.

  The engine 1 is controlled by an engine control unit (ECU) 70. The ECU 70 is configured as a computer including a microprocessor and peripheral devices such as a RAM and a ROM necessary for its operation, and is a well-known computer unit that controls the operating state of the engine 100 based on output signals of various sensors. Sensors connected to the ECU 70 include, for example, a crank angle sensor 71 that outputs a signal corresponding to the rotation speed (rotation speed) of the crankshaft 101, a vehicle speed sensor 72 that outputs a signal corresponding to the speed of the vehicle, and the like. In addition, various sensors are connected to the ECU 70, but their illustration is omitted. And as shown in FIG. 1, MGCU60 and ECU70 are connected so that information can be shared mutually.

  The MGCU 60 determines whether the dog clutch 40 is to be operated in the engaged state or the released state according to the output requested from the vehicle by the driver, the traveling state of the vehicle, and the like. The operation of the actuator 44 is controlled so as to switch to the state to be operated. For example, when the condition for switching the dog clutch 40 from the disengaged state to the engaged state is established, the MGCU 60 controls the rotation speed and torque of the first MG 200 to control the tooth 41a of the hub 41 and the tooth groove 43b of the tooth 43a of the brake member 43. Then, the operation of the actuator 44 is controlled so that the teeth 41a of the hub 41 and the teeth 43a of the brake member 43 are engaged with each other. Similarly, when the condition for switching the dog clutch 40 from the engaged state to the released state is satisfied, the MGCU 60 controls the rotation speed and torque of the first MG 200 to control the teeth 41a of the hub 41 and the teeth 43a of the brake member 43. The torque acting during this period is adjusted to substantially zero, and then the operation of the actuator 44 is controlled so that the hub 41 and the brake member 43 are separated from each other. At this time, the MGCU 60 controls the first MG 200 to decrease the torque of the first MG 200 first, and thereafter alternately increases and decreases the torque, thereby executing the swing control that swings the hub 41. Therefore, the first MG 200 corresponds to the electric motor of the present invention.

  FIG. 4 shows a clutch release control routine that the MGCU 60 repeatedly executes at a predetermined cycle during the operation in order to switch the dog clutch 40 to the released state in this way. This clutch release control routine is executed in parallel with other routines executed by the MGCU 60. By executing this control routine, the MGCU 60 functions as the control means of the present invention.

  In the control routine of FIG. 4, the MGCU 60 first determines whether or not the dog clutch 40 is in an engaged state in step S11. If it is determined that the dog clutch 40 is in the released state, the current control routine is terminated. On the other hand, if it is determined that the dog clutch 40 is in the engaged state, the process proceeds to step S12, and the MGCU 60 acquires the operating state of the engine 1 and the traveling state of the vehicle. As the operating state of the engine 1, the rotational speed of the crankshaft 101, the accelerator opening, and the like are acquired. As the running state of the vehicle, for example, the vehicle speed is acquired.

  In the next step S13, the MGCU 60 calculates a torque request value Td required by the driver for the vehicle. The torque request value Td may be calculated by a known calculation method that calculates based on the acquired accelerator opening. In subsequent step S14, the MGCU 60 calculates a maximum value of torque (hereinafter, also referred to as a maximum output torque) Todmax that can be output in a state where the transmission 10 is locked in the overdrive state. The maximum output torque Todmax is determined by the engine speed obtained from the vehicle speed and the gear ratio, and the engine torque characteristics.

  In the next step S15, the MGCU 60 determines whether the torque request value Td is greater than the maximum output torque Todmax. By this process, it is determined whether or not a predetermined release condition for switching the dog clutch 40 to the released state is satisfied. When it is determined that the torque request value Td is equal to or less than the maximum output torque Todmax, the current control routine is terminated. On the other hand, if it is determined that the torque request value Td is greater than the maximum output torque Todmax, the process proceeds to step S20, and the MGCU 60 executes an O / D lock release control routine. Thereafter, the current control routine is terminated.

  FIG. 5 is a flowchart showing an O / D lock release control routine executed by the MGCU 60. In the control routine of FIG. 5, the MGCU 60 first controls the first MG 200 and the second MG 300 so that the vehicle speed and the torque of the output shaft 11 become constant in step S 21, and controls the engine 100 via the ECU 70. In the next step S21, the MGCU 60 generates the torque of the engine 100, the torque of the first MG 200, and the torque of the second MG 300 that adjust the torque acting between the teeth 41a of the hub 41 and the teeth 43a of the brake member 43 to be substantially zero. Calculated as the equilibrium torque of each part. These equilibrium torques may be calculated by, for example, a known calculation method that calculates based on the respective gear ratios of the first planetary gear mechanism 20 and the second planetary gear mechanism 30.

  In the next step S23, MGCU 60 calculates command torques to be output to engine 100, first MG 200, and second MG 300, respectively. The calculated equilibrium torque of the engine 100 is set as the internal combustion engine command torque output to the engine 100. Further, the calculated equilibrium torque of the second MG 300 is also set as the second MG command torque output to the second MG 300. On the other hand, the first MG command torque output to the first MG 200 is set to a value obtained by adding the offset value A to the calculated equilibrium torque Tb of the first MG 200. As indicated by arrows in FIG. 6, the balance torque of engine 100 acts on the upper side of FIG. 6, and the balance torque of second MG 300 acts on the lower side of FIG. Note that the reference numerals in FIG. 6 are the same as those in FIG. The equilibrium torque of the first MG 200 acts toward the lower side of FIG. 6, but as described above, the MGUC 60 first decreases the torque of the first MG 200, that is, changes the torque of the first MG 200 toward the upper side of FIG. The swing control to be performed is executed. Therefore, when the equilibrium torque Tb of the first MG 200 is output as the first MG command torque, the torque of the first MG 200 is controlled to be smaller than the equilibrium torque Tb by the swing control. Therefore, the torque that is initially reduced by the swing control is added to the balance torque Tb as an offset value A, and the balance torque Tb obtained by adding the offset value A is output to the first MG 200 as a command torque. For this reason, as the offset value A, for example, a torque that is first reduced by the swinging control is set. By calculating the command torque in this way, the MGCU 60 functions as the pre-release torque calculation means of the present invention.

  In the subsequent step S24, the MGCU 60 outputs the calculated command torque, and the engine 100, the first MG 200, and the second MG 300 are adjusted so that the torque of each of the engine 100, the first MG 200, and the second MG 300 is adjusted to the output torque. Execute torque control.

  In the next step S25, the MGCU 60 determines whether or not the torques of the engine 100, the first MG 200, and the second MG 300 have been adjusted to the command torques output thereto, respectively. In this process, it is determined that the adjustment has been made if the difference between the torques of engine 100, first MG 200, and second MG 300 and the command torque output to each is within a preset allowable range. In addition, what is necessary is just to set a tolerance | permissible_range suitably in the range which does not have influence on the releasing of the dog clutch 40. FIG. If it is determined that the torques of engine 100, first MG 200, and second MG 300 are not adjusted to the command torques output to each, the process proceeds to step S26, and MGCU 60 determines the torques of engine 100, first MG 200, and second MG 300. Is adjusted to the command torque output to each of them, feedback correction is executed for each torque of engine 100, first MG 200, and second MG 300. Thereafter, the process is returned to step S24, and the processes of steps S24 to S26 are repeated until an affirmative determination is made in step S25.

  On the other hand, if it is determined that the torques of engine 100, first MG 200, and second MG 300 have been adjusted to the command torques output thereto, the process proceeds to step S27, and MGCU 60 operates the actuator so that brake member 43 is driven to the release position. The operation of 44 is controlled. In the next step S30, the MGCU 60 executes torque swing control.

  The torque swing control will be described with reference to FIGS. FIG. 7 is a flowchart showing torque fluctuation control, and FIG. 8 is a flowchart following FIG. In the control routine of FIG. 7, the MGCU 60 first resets a counter C that counts the number of times the torque of the first MG 200 is shaken in step S31. In the next step S32, the MGCU 60 determines whether the counter C is 0 or an even number. When it is determined that the counter C is 0 or an even number, the process proceeds to step S33, and the MGCU 60 reduces the torque of the first MG 200 so as to decrease at a preset change speed K1. That is, the torque of the first MG 200 is adjusted so that the torque of the first MG 200 changes upward as indicated by the arrow C in the alignment chart shown in FIG. On the other hand, when it is determined that the counter C is an odd number, the process proceeds to step S34, and the MGCU 60 increases the torque of the first MG 200 so as to increase at a preset change speed K1. The change speed indicates the change in the torque value of the first MG 200 per unit time. Further, the torque of the first MG 200 is increased and decreased at the changing speed K1, thereby causing the hub 41 to swing. For this reason, the change speed K1 is set to a value that allows the hub 41 to swing at an appropriate speed. This value may be set appropriately according to the size of the dog clutch 40 and the like.

  After reducing or increasing the torque of the first MG 200 in step S33 or step S34, the process proceeds to step S35, and the MGCU 60 estimates the torque of the first MG 200 (hereinafter sometimes referred to as estimated torque) Tmg1. The estimation of the torque Tmg1 may be performed by a known estimation method that is performed based on, for example, changes in the voltage or current of the first MG 200. By executing this process, the MGCU 60 functions as the torque estimating means of the present invention.

  In subsequent step S36, the MGCU 60 determines whether or not the absolute value of the value obtained by subtracting the equilibrium torque Tb of the first MG 200 from the estimated torque Tmg1 is equal to or less than a predetermined determination value α. The determination value α is for determining whether or not the torque value of the first MG 200 is within a change speed change region in which the change speed of the torque of the first MG 200 is changed to a value smaller than the change speed K1. The determination value α may be set as appropriate according to the ease of disengagement between the teeth 41a of the hub 41 of the dog clutch 40 and the teeth 43a of the brake member 43, for example. If it is determined that the absolute value of the value obtained by subtracting the equilibrium torque Tb of the first MG 200 from the estimated torque Tmg1 is larger than the determination value α, the process returns to step S32, and the processes of steps S32 to S36 are performed until a positive determination is made in step S36. Run repeatedly.

  When the absolute value of the value obtained by subtracting the equilibrium torque Tb of the first MG 200 from the estimated torque Tmg1 is determined to be equal to or less than the determination value α, the process proceeds to step S37, where the MGCU 60 decreases or increases the torque of the first MG 200 smaller than the change speed K1. The torque of first MG 200 is changed so as to decrease or increase at a predetermined change rate β. Whether the torque of the first MG 200 is increased or decreased is determined based on the counter C. When the counter C is 0 or an even number, the torque of the first MG 200 is decreased at the change rate β, and when the counter C is an odd number, the torque of the first MG 200 Is increased at a change rate β. By executing this processing, the MGCU 60 functions as a change speed changing unit of the present invention.

  In the next step S38, the MGCU 60 determines whether or not the estimated torque Tmg1 is equal to or less than the value obtained by subtracting the offset value B from the equilibrium torque Tb. The offset value B is set to determine whether or not the estimated torque Tmg1 has changed to a value close to the equilibrium torque Tb that is expected to disengage the teeth 41b of the hub 41 and the teeth 43a of the brake member 43. It is appropriately set according to the size of the hub 41 and the break member 43. If it is determined that the estimated torque Tmg1 is equal to or less than the value obtained by subtracting the offset value B from the equilibrium torque Tb, the process skips steps S39 and S40 and proceeds to step S41. On the other hand, if it is determined that the estimated torque Tmg1 is greater than the value obtained by subtracting the offset value B from the equilibrium torque Tb, the process proceeds to step S39, and the MGCU 60 executes a first release determination that determines whether or not the dog clutch 40 has been switched to the released state. To do. This first release determination is performed based on, for example, whether or not the distance between the hub 41 and the brake member 43 is greater than a predetermined determination distance at which it can be determined that they are reliably separated. This distance may be detected based on the stroke amount of the actuator 44 in addition to the gap sensor 45. When the actuator 44 is electrically operated, the first release determination may be performed based on a change in current when the actuator 44 moves the brake member 43 in the direction opposite to the hub 41. In subsequent step S40, MGCU 60 determines whether dog clutch 40 has been switched to the released state based on the determination result of the first release determination. If it is determined that the dog clutch 40 is engaged, the process returns to step S38, and the processes of steps S38 to S40 are repeated until a positive determination is made in step S38 or step S40.

  On the other hand, if it is determined that the dog clutch 40 has been switched to the released state, the process proceeds to step S41, and the MGCU 40 executes the second release determination. This second release determination is performed based on the difference in the rotational speed between the hub 41 and the brake member 43. Since the dog clutch 40 is provided so that the brake member 43 does not rotate, it is determined that the dog clutch 40 is switched to the released state when the rotational speed of the hub 41 is equal to or higher than a predetermined rotational speed. In subsequent step S42, the MGCU 60 determines whether or not the dog clutch 40 has been switched to the released state based on the determination result of the second release determination. If it is determined that the dog clutch 40 has been switched to the released state, the control routine is terminated. As described above, by executing the processes of steps S39 and S41, the MGCU 60 functions as a release determination unit of the present invention.

  On the other hand, if it is determined that the dog clutch 40 is in the engaged state, the process proceeds to step S43 in FIG. 8, and the MGCU 60 determines whether or not the counter C is greater than zero. If it is determined that the counter C is 0, the process proceeds to step S44, where the MGCU 60 subtracts the predetermined value σ from the change speed β to decrease the value of the change speed β, and newly changes the value obtained by subtracting the predetermined value σ. Set as speed β. The predetermined value σ may be set as appropriate so that the change rate β gradually decreases. In subsequent step S45, the MGCU 60 increments the value of the counter C by one. Thereafter, the process returns to step S32 in FIG.

  On the other hand, if it is determined that the counter C is greater than 0, the process proceeds to step S46, and the MGCU 60 determines whether or not the counter C is greater than the preset upper limit value Max. The upper limit value Max is set as a determination value for determining whether or not the dog clutch 40 has an abnormality. As the upper limit value Max, the number of times that it is possible to determine that there is an abnormality in the dog clutch 40 is set if the dog clutch 40 does not switch to the released state even if the torque increase and decrease of the first MG 200 are repeated. If the counter C determines that the value is not more than the upper limit value Max, the process proceeds to step S47, where the MGCU 60 adds a predetermined value γ to the determination value α to expand the change speed change region, and newly determines the value obtained by adding the predetermined value γ Set as the value α. The predetermined value γ may be set as appropriate so that the change speed change region is gradually expanded. Next, the MGCU 60 executes the process of step S45, and then returns the process to step S32 of FIG.

  On the other hand, if it is determined that the counter C is greater than the upper limit value Max, the process proceeds to step S48, and the MGCU 60 executes a clutch abnormality process. As the clutch abnormality process, for example, an abnormality lamp provided in the instrument panel is turned on to notify the driver that the dog clutch 40 is abnormal. Thereafter, the routine returns to the clutch release control routine of FIG. 4 and the current clutch control routine is terminated.

  Returning to FIG. 5, the description of the O / D lock release control routine will be continued. After executing the torque fluctuation control in step S30, the process proceeds to step S28, where the determination value α and the change speed β used in the torque fluctuation control are learned. For example, when the determination value α is changed in the torque fluctuation control, a value that is increased by a certain amount with respect to the determination value α that has been used until then is stored in the RAM of the MGCU 60 as a new determination value α. It will be used from the next torque swing control. When the change rate β is changed, a value obtained by reducing the change rate β by a certain amount with respect to the change rate β used so far is stored as a new change rate β in the RAM of the MGCU 60, and the next torque fluctuation. Used from swing control. When the determination value α and the change speed β are not changed, the determination value α may be decreased by a certain amount, or the change speed β may be increased by a certain amount. Thereafter, the O / D lock release control routine is terminated.

  As described above, in the clutch release control routine of FIG. 4, the processing of step S33 or S34 is executed according to the value of the counter C, and the torque increase and decrease of the first MG 200 are executed alternately. The dog clutch 40 can be quickly switched to the released state by swinging 41. In addition, when releasing the dog clutch 40, the torque of the first MG 200 is controlled in advance to the torque obtained by offsetting the torque of the first MG 200 from the balance torque Tb by the offset amount A. Therefore, when the swing control is executed, the torque of the first MG 200 is quickly balanced. It is possible to approach the torque Tb. FIG. 9 shows an alignment chart after the dog clutch 40 is switched to the released state. In addition, since each code | symbol in FIG. 9 is the same as FIG. 3, description is abbreviate | omitted. Moreover, each arrow of FIG. 9 has shown the action direction of each torque of the engine 100, 1st MG200, and 2nd MG300. As shown in FIG. 9, after the dog clutch 40 is switched to the released state, the rotation directions of the engine 100, the first MG 200, and the second MG 300 are the same. That is, the rotation direction of the first MG 200 is reversed before and after the dog clutch 40 is switched to the released state. Therefore, the direction of the torque applied to the first MG 200 is reversed before and after the dog clutch 40 is switched to the released state. In FIG. 9, the torque of the first MG 200 is directed downward in FIG. 9, but since the rotation direction of the first MG 200 is reversed, this torque acts in a direction opposite to that before the dog clutch 40 is switched to the released state. Torque. In the swing control of the present invention, the torque of the first MG 200 is first changed in the upward direction of the nomograph as described with reference to FIG. That is, in the first torque change of the swing control, when the dog clutch 40 is switched to the released state and the rotation direction is reversed, the torque of the first MG 200 is changed in the direction in which the acting direction of the torque of the first MG 200 is quickly reversed. As a result, the torque of the first MG 200 when the dog clutch 40 is switched to the released state can be made closer to the post-release required torque required for the first MG 200 after the dog clutch 40 is switched to the released state. Therefore, when the dog clutch 40 is switched to the released state due to the first torque change of the swinging control, the torque of the first MG 200 can be smoothly changed to the requested torque after release.

  In this swing control, first, the torque of the first MG 200 is changed at the change speed K1, and when the difference between the torque of the first MG 200 and the equilibrium torque Tb becomes equal to or less than the determination value α, the torque of the first MG 200 is changed. Change is made at a change rate β smaller than K1. Since the change in the torque of the first MG 200 at the end of the swinging control can be reduced by adjusting the change speed in two stages in this way, the torque after the release of the first MG 200 is requested after the dog clutch 40 is switched to the released state. The torque can be adjusted with high accuracy.

  In the clutch release control routine of FIG. 4, since the release determination of the dog clutch 40 is performed by the first release determination and the second release determination, the reliability can be improved. Furthermore, if the dog clutch 40 does not switch to the disengaged state even when the torque of the first MG 200 is changed, the change speed β is further reduced or the determination value α is increased to enlarge the change speed change region. 40 can be more reliably switched to the released state.

  The present invention is not limited to the above-described form and can be implemented in various forms. For example, the device in which the meshing engagement device of the present invention is incorporated is not limited to a transmission mounted on a vehicle. The present invention may be applied to various devices that selectively switch between permission and block of power transmission. In the embodiment described above, the brake member is provided so as not to rotate, but the brake member may be provided so as to be rotatable. Further, both the brake member and the hub may be provided so as to be driven in the axial direction.

(Reference example)
FIG. 10 shows an outline of a power distribution mechanism in which a meshing engagement device according to a reference example having a common part with the embodiment of the present invention is incorporated. In the reference example , portions common to the embodiment of the present invention are denoted by the same reference numerals and description thereof is omitted. This power distribution mechanism 400 is mounted on a hybrid vehicle, and appropriately transmits power generated in each of engine 100, first MG 200, and second MG 300 to drive wheels in accordance with the traveling state of the vehicle. Stator 201 of first MG 200 is fixed to vehicle body 1, and rotor 202 is connected to power distribution mechanism 400. Similarly, in the second MG 300, the stator 301 is fixed to the vehicle body 1, and the rotor 302 is connected to the power distribution mechanism 400. The power distribution mechanism 400 connects the first planetary gear mechanism 20, the second planetary gear mechanism 30, the dog clutch 40 as a meshing engagement device, the rotor 202 of the second MG 300, and the drive shaft 11 of the power distribution mechanism 400. The second MG transmission unit 50 is provided. The power transmitted from the power distribution mechanism 400 to the drive shaft 11 is transmitted to the drive wheels via a differential device (not shown).

Since the 1st planetary gear mechanism 20 is the same as that of the embodiment of the present invention, explanation is omitted. The second planetary gear mechanism 30 includes a sun gear shaft 31 connected to rotate integrally with the hub 41 of the dog clutch 40, a sun gear 32 rotating integrally with the sun gear shaft 31, and a plurality of revolving around the sun gear 32 while meshing with the sun gear 32. A first planetary gear (planetary gear) 33, a plurality of second planetary gears (planetary gears) 37 that revolve around the sun gear 32 while meshing with the first planetary gear 33, and a first planetary gear 37 that meshes with the second planetary gear 37. The ring gear 34 connected to the carrier 25 of the gear mechanism 20 and the output shaft 101 of the engine 1 so as to rotate together, the first planetary gear 33 and the second planetary gear 37 are rotatably supported around the axis Ax. A carrier 35 coupled to rotate integrally with the ring gear 24 of the first planetary gear mechanism 20. There. Similarly to the embodiment of the present invention, the ring gear 34 of the second planetary gear mechanism 30 and the planetary gear 23 of the first planetary gear mechanism 20 are configured such that the planetary gear 23 becomes the sun gear 22 as the ring gear 34 rotates. It is connected by a connecting member 36 so as to revolve around.

The dog clutch 40 includes a hub 41 and a fixing portion 42 that is fixed to the vehicle body 1. Hub 41 as described above that is connected to rotate integrally with the sun gear shaft 31 of the second planetary gear mechanism 30. FIG. 11 is a schematic diagram of the dog clutch 40. As shown in FIG. 11, the hub 41 is provided with teeth 41a on the entire outer periphery thereof to form a tooth row 41b. The fixed portion 42 is provided with a brake member 43 that is disposed coaxially with the hub 41 and is supported so as to be movable in the direction of the axis Ax and not rotatable about the axis Ax as indicated by arrows A and B in the drawing. On the outer periphery of the brake member 43, teeth 43a are provided over the entire circumference to form a tooth row 43b. The dog clutch 40 includes an engagement position where the tooth row 41b of the hub 41 and the tooth row 43b of the brake member 43 are engaged with each other, and a release position where the tooth row 41b of the hub 41 and the tooth row 43b of the brake member 43 are separated from each other. Actuator 44 as actuator means for driving the brake member 43 between them, and a position sensor 47 for outputting a signal corresponding to the position of the brake member 43. The position sensor 47 is connected to the MGCU 60. Also in this reference example , the operation of the actuator 44 is controlled by the MGCU 60 as in the embodiment of the present invention .

  FIG. 12 shows an example of a nomograph when the dog clutch 40 is engaged in the power distribution mechanism 400. In addition, the vertical axis | shaft of FIG. 12 has shown the rotation speed. 12 indicate the sun gear 22, the carrier 25, and the ring gear 24 of the first planetary gear mechanism 20, respectively, and the symbols S ′, C ′, and R ′ indicate the second planetary gear mechanism, respectively. 30 sun gears 32, a carrier 35, and a ring gear 34 are shown. As shown in FIG. 12, when the dog clutch 40 is in the engaged state, the sun gear 32 of the second planetary gear mechanism 30 is fixed so as not to rotate, so that it is locked, so that the engine 100, the first MG 200, and the drive shaft are centered on that portion. 11 changes.

  As is well known, the operating state of the engine 1 becomes unstable when the rotational speed becomes less than a predetermined rotational speed, for example, a lower limit value of the idling rotational speed range. On the other hand, it is necessary to suppress the rotational speed of the drive shaft 11 when the vehicle starts. Therefore, when the vehicle starts, the dog clutch 40 is switched to the released state to release the lock of the sun gear 32 as shown in an example of an alignment chart in FIG. 13, and the rotational speed of the engine 1 is increased by increasing the rotational speed of the first MG 200. Need to be high. Therefore, the MGCU 60 executes a clutch release control routine shown in FIG. 14 to switch the dog clutch 40 to the released state when the vehicle stops. The MGCU 60 repeatedly executes this control routine at a predetermined cycle while operating.

  In the control routine of FIG. 14, the MGCU 60 first determines in step S51 whether or not the vehicle is stopped. This determination is made based on the output signal of the vehicle speed sensor 72, for example. If it is determined that the vehicle is traveling, the current control routine is terminated. On the other hand, if it is determined that the vehicle is stopped, the process proceeds to step S52, and the MGCU 60 determines whether or not the dog clutch 40 is engaged based on the output signal of the position sensor 47. If it is determined that the dog clutch 40 is in the released state, the current control routine is terminated.

On the other hand, if it is determined that the dog clutch 40 is in the engaged state, the process proceeds to step S53, and the MGCU 60 estimates the load applied between the teeth 41a of the hub 41 and the teeth 43a of the brake member 43. When the dog clutch 40 is engaged and the vehicle stops, the teeth of the other party are pressed between the teeth 41a of the hub 41 and the teeth 43a of the brake member 43 as indicated by arrows L1 and L2 in FIG. A load is generated. FIG. 15 is an enlarged view of a part of the dog clutch 40 in the engaged state. Since the dog clutch 40 is stopped, these loads are equal to each other. And this load changes with the change of the vehicle speed when a vehicle stops, the inclination of the vehicle at the time of a stop, etc. For example, the load increases when the vehicle is suddenly stopped or when the vehicle is stopped on a slope. Therefore, for example, if the relationship between the change in vehicle speed when the vehicle is stopped or the vehicle inclination and the load is stopped by an experiment or the like is previously stored in the ROM of the MGCU 60 as a map, the load is estimated with reference to this map. Good. The change in the vehicle speed may be acquired based on the stored vehicle speed by storing in the RAM of the MGCU 60 the vehicle speed from when the driver requests the vehicle to stop until the vehicle stops .

In the next step S54, the MGCU 60 executes release control for controlling the operation of the actuator 44 so that the brake member 43 moves to the release position . In connection Ku step S55 MGCU60 the dog clutch 40 it is determined whether engagement. When a load is generated between the teeth 41a of the hub 41 and the teeth 43a of the brake member 43, the brake member 44 may not move even if the brake member 44 is driven by the actuator 44. is there. Therefore, it is determined again whether or not the dog clutch 40 is engaged. If it is determined that the dog clutch 40 is in the released state, the current control routine is terminated.

On the other hand, if it is determined that the dog clutch 40 is in the engaged state, the process proceeds to step S56, and the MGCU 60 performs the operation of the first MG 200 so that the hub 41 rotates in the forward direction, that is, upward in the alignment chart of FIG. The forward rotation control is executed. In this forward rotation control, the MGCU 60 sets a positive torque, which is a torque to be output from the first MG 200, based on the load estimated in step S13, and controls the operation of the first MG 200 so that the positive torque is output from the first MG 200. To do. As the positive torque, for example, a torque that rotates the hub 41 by a predetermined angle in the positive direction against the estimated load is set. The predetermined angle is, for example, an angle at which the teeth 41a of the hub 41 and the teeth 43a of the brake member 43 are separated in the circumferential direction, and the distance between the teeth 41a and 41a provided on the hub 41 and the teeth provided on the brake member 43 are set. It sets suitably according to the space | interval of 43a and the tooth | gear 43a . In the next step S57, the MGCU 60 executes release control for controlling the operation of the actuator 44 so that the brake member 43 moves to the release position. In subsequent step S58, MGCU 60 determines whether or not dog clutch 40 is in an engaged state. If it is determined that the dog clutch 40 is in the released state, the current control routine is terminated.

  On the other hand, if it is determined that the dog clutch 40 is in the engaged state, the process proceeds to step S59, and the MGCU 60 operates the first MG 200 so that the hub 41 rotates by a predetermined angle in the negative direction, that is, in the downward direction in the alignment chart of FIG. Execute reverse control to control. In this reverse rotation control, the MGCU 60 sets a negative torque, which is a torque to be output from the first MG 200, based on the load estimated in step S53, and controls the operation of the first MG 200 so that the negative torque is output from the first MG 200. . The negative torque is set such that the hub 41 rotates in a negative direction by a predetermined angle against a load estimated opposite to the positive torque. The predetermined angle is the same value as the predetermined angle for forward rotation control. In the next step S60, the MGCU 60 executes release control for controlling the operation of the actuator 44 so that the brake member 43 moves to the release position. Thereafter, the current control routine is terminated.

In this reference example , when the dog clutch 40 is switched to the released state while the vehicle is stopped, positive torque and negative torque are output from the first MG 200 and the hub 41 is rotated in the positive and negative directions as shown in FIG. 17, the teeth 41a of the hub 41 and the teeth 43a of the brake member 43 can be spaced apart in the circumferential direction. Therefore, the dog clutch 40 can be quickly switched to the released state.

  In forward rotation control, the brake member 43 is determined from a distance θ obtained by adding the distance α1 and the distance α2 shown in FIG. 17 to a half, that is, a distance S of a gap provided between the teeth 41a and 41a of the hub 41. The operation of the first MG 200 may be controlled so that the hub 41 rotates in the forward direction by a distance θ that is half the length of the teeth 43a minus the thickness T. Similarly, in the reverse rotation control, the operation of the first MG 200 may be controlled so that the hub 41 rotates in the negative direction by a distance θ that is halved by adding the distance α1 and the distance α2 shown in FIG. By rotating the hub 41 by such a distance θ in forward rotation control and reverse rotation control, the teeth 41a of the hub 41 and the teeth 43a of the brake member 43 are separated in the circumferential direction without rotating the hub 41 unnecessarily. Can do.

  Further, in the control routine of FIG. 14, a process for determining whether or not the dog clutch 40 is in an engaged state is provided after step S60. If it is determined in this process that the dog clutch 40 is in an engaged state, the process returns to step S56. Also good. In this case, since the forward rotation control and the reverse rotation control are repeatedly executed until the dog clutch 40 is switched to the released state, the dog clutch 40 can be reliably switched to the released state.

This reference example can be implemented in various forms without being limited to the form described above. For example, the meshing engagement device of the reference example is not limited to a power distribution mechanism of a hybrid vehicle, and may be incorporated in a transmission of a general vehicle.

The figure which shows the outline of the transmission with which the meshing type engagement apparatus which concerns on one form of this invention was integrated. The figure which expands and shows the dog clutch of FIG. The alignment chart when a dog clutch is an engagement state. The flowchart which shows a clutch release control routine. The flowchart which shows an O / D lock release control routine. The figure for demonstrating the equilibrium torque at the time of switching a dog clutch from an engagement state to a releasing state. The flowchart which shows a rocking | fluctuation swing control routine. The flowchart following FIG. The alignment chart after a dog clutch switches to a released state. The figure which shows the outline of the power distribution mechanism with which the meshing type engagement apparatus which concerns on the reference example which has a common part with embodiment of this invention was integrated. The figure which shows the outline of the dog clutch of FIG. The figure which shows an example of an alignment chart when a dog clutch is an engagement state. The figure which shows an example of an alignment chart when a dog clutch is a releasing state. 11 is a flowchart showing a clutch release control routine executed by the MGCU of FIG. The figure which expanded and showed a part of dog clutch of an engagement state. The figure which shows an example of an alignment chart when a vehicle is stopping and a dog clutch is an engagement state. The figure which expanded and showed a part of dog clutch in which the tooth | gear of a hub and the tooth | gear of a brake member are spaced apart in the circumferential direction in the engagement state.

Explanation of symbols

31 Sun gear shaft (rotating member)
40 dog clutch (meshing engagement device)
41 Hub (meshing member)
41a tooth 41b tooth row 43 brake member (meshing member)
43a tooth 43b tooth row 44 actuator (actuator means)
45 Gap sensor (Gap detection means)
46 Rotational speed sensor (Rotational speed difference detection means)
60 Motor generator control unit (control means, pre-release torque calculation means, torque estimation means, change speed change means, release determination means, load estimation means)
200 First motor generator (electric motor, rotating means)
A Offset amount Tb Balance torque Ax Axis

Claims (6)

In the engaged state, the tooth portions provided in the motor engage with each other and engage with each other, and in the released state, the tooth portions are separated from each other, at least one of which is a rotating body to which the power of the motor is transmitted. An engagement member, and an actuator that drives at least one of the pair of engagement members to switch the pair of engagement members to the engaged state and the released state,
When the pair of meshing members are switched to the engaged state, in the meshing type engaging device for changing at least one of the rotational speed and torque of the electric motor and meshing each tooth portion of the pair of meshing members,
Pre-release torque calculation for calculating a required torque before release required for the electric motor to separate the teeth of the pair of engagement members when a predetermined release condition for switching the pair of engagement members to the released state is satisfied The torque of the motor is increased and decreased so that the meshing member to which the power of the motor is transmitted is swung when the means and the pair of meshing members are switched from the engaged state to the released state. The swing control is executed, and when the swing control is executed , the torque of the electric motor is released from the required torque before release, and the pair of meshing members are released from the engaged state by the swing control being executed. the first thing and a control means for changing the direction to approach the release after the required torque which the are expected to be required to the electric motor after being switched to the state Intermeshing engagement and wherein. The pre-release torque calculating means is configured such that, when the predetermined release condition is satisfied, a tooth portion of one meshing member and a tooth portion of the other meshing member of the pair of meshing members meshing with each other in the engaged state. Calculate the torque of the electric motor that is adjusted to zero during the operation as the equilibrium torque, then release it by adding the calculated equilibrium torque and the offset amount that offsets this equilibrium torque in the direction away from the required torque after release. The meshing engagement device according to claim 1, wherein a pre-required torque is calculated.   The control means includes a torque estimation means for estimating the torque of the electric motor when the swing control is executed, and a difference between the torque estimated by the torque estimation means and the equilibrium torque when the swing control is executed. Is less than a predetermined value, the change speed, which is a change in the torque of the motor per unit time, is reduced as compared with the case where the difference between the torque estimated by the torque estimating means and the equilibrium torque is larger than the predetermined value. The meshing engagement device according to claim 2, further comprising a change speed changing means.   A gap detecting means for detecting a distance between the pair of meshing members, a rotational speed difference detecting means for detecting a difference in rotational speed of the pair of meshing members, and releasing the pair of meshing members from the engaged state. When switching to a state, first, a first release determination is performed to determine whether or not the pair of meshing members have been switched to the released state based on the distance detected by the gap detection means, and in the first release determination, the first release determination is performed. When it is determined that the pair of meshing members has been switched to the released state, it is determined whether or not the pair of meshing members have been switched to the released state based on the difference in rotational speed detected by the rotational speed difference detecting means. The engagement type engagement device according to any one of claims 1 to 3, further comprising release determination means for executing a second release determination.   When it is determined in the second release determination that the pair of meshing members are maintained in the engaged state, the control means is configured to change the torque of the electric motor per unit time in the swing control. 5. The meshing engagement device according to claim 4, wherein a certain rate of change is reduced.   When the control means determines that the pair of meshing members are maintained in the engaged state in the second release determination even when the change speed is reduced and the swing control is executed, 6. The meshing engagement device according to claim 5, wherein a period during which the torque change rate of the electric motor is reduced is extended.

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