JP5907142B2 - 四輪駆動車両の制御装置 - Google Patents
四輪駆動車両の制御装置 Download PDFInfo
- Publication number
- JP5907142B2 JP5907142B2 JP2013218912A JP2013218912A JP5907142B2 JP 5907142 B2 JP5907142 B2 JP 5907142B2 JP 2013218912 A JP2013218912 A JP 2013218912A JP 2013218912 A JP2013218912 A JP 2013218912A JP 5907142 B2 JP5907142 B2 JP 5907142B2
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- Prior art keywords
- clutch
- vehicle
- wheel
- state
- coupling
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000005540 biological transmission Effects 0.000 claims description 174
- 230000007246 mechanism Effects 0.000 claims description 64
- 230000007704 transition Effects 0.000 claims description 18
- 230000008878 coupling Effects 0.000 description 154
- 238000010168 coupling process Methods 0.000 description 154
- 238000005859 coupling reaction Methods 0.000 description 154
- 230000002093 peripheral effect Effects 0.000 description 18
- 238000000034 method Methods 0.000 description 14
- 230000001360 synchronised effect Effects 0.000 description 11
- 230000008859 change Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 239000000446 fuel Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000002485 combustion reaction Methods 0.000 description 3
- 238000007562 laser obscuration time method Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
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- 230000009467 reduction Effects 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/119—Conjoint control of vehicle sub-units of different type or different function including control of all-wheel-driveline means, e.g. transfer gears or clutches for dividing torque between front and rear axle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
- B60K2023/043—Control means for varying left-right torque distribution, e.g. torque vectoring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
- B60K23/08—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles
- B60K2023/085—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for changing number of driven wheels, for switching from driving one axle to driving two or more axles automatically actuated
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
- Arrangement And Driving Of Transmission Devices (AREA)
Description
Ryawtgt=V/((1+Khtgt×V2)×L)×(θsw/nsw) …(1)
Ryawtgt−Ryaw ≧ 0 …(2)
Ryawtgt−Ryaw < 0 …(3)
Mreq=Kp×ΔRyaw+Kd×(dΔRyaw/dt)+Ki×(∫ΔRyawdt) …(4)
Ff+Frl+Frr=Fall …(5)
(Frl−Frr)×(Tr/2)=Mreq …(6)
Ff:(Frl+Frr)=i:(1−i) …(7)
Frl=Fall×(1−i)/2+Mreq/Tr …(8)
Frr=Fall×(1−i)/2−Mreq/Tr …(9)
Tcl=Frl×rt=Fall×(1−i)×rt/2+Mreq/Tr×rt …(10)
Tcr=Frr×rt=Fall×(1−i)×rt/2−Mreq/Tr×rt …(11)
Fall=(Tep×itotal)/rt …(12)
i=(Fnf−(h/L)×Gx)/(Fnf+Fnr) …(13)
12:エンジン(駆動力源)
14(14L,14R):前輪(主駆動輪)
16(16L,16R):後輪(副駆動輪)
20:フロントデフ(回転部材)
24,122:トランスファ
28:プロペラシャフト(駆動力伝達軸)
44,128:フロント側クラッチ(断接機構)
62:第1カップリング(第1のクラッチ)
64:第2カップリング(第2のクラッチ)
100:電子制御装置(制御装置)
Claims (3)
- 駆動力源と主駆動輪との間の動力伝達経路の一部を構成する回転部材に連結されて前記駆動力源の動力を副駆動輪に分配するトランスファと、前記トランスファにて分配された前記駆動力源の動力を前記副駆動輪へ伝達する駆動力伝達軸と、前記駆動力伝達軸の前記駆動力源側に設けられた、前記回転部材と前記駆動力伝達軸との間の動力伝達経路を断接する断接機構と、前記駆動力伝達軸と前記副駆動輪の左右両輪との間の各動力伝達経路に各々設けられた、伝達トルクを制御できる第1のクラッチ及び第2のクラッチとを備える四輪駆動車両において、前記断接機構と前記第1のクラッチ及び前記第2のクラッチとを解放する二輪駆動走行状態と、前記断接機構と前記第1のクラッチ及び前記第2のクラッチとを係合する四輪駆動走行状態とを、車両走行状態に応じて切り替える四輪駆動車両の制御装置であって、
前記二輪駆動走行状態から前記四輪駆動走行状態への移行に際して、運転者が前記四輪駆動車両を旋回させるようにステアリングホイールを操舵した操舵時には、アンダーステア状態であるか或いはオーバーステア状態であるかを判断し、アンダーステア状態であるか或いはオーバーステア状態である場合に、前記断接機構を係合に向けて制御した後に、前記判断したアンダーステア状態或いはオーバーステア状態を抑制するヨーモーメントを得る為に必要な前記副駆動輪の左右両輪のトルク配分となるように、前記第1のクラッチ及び前記第2のクラッチに伝達トルクを発生させることを特徴とする四輪駆動車両の制御装置。 - 前記断接機構は、摩擦クラッチ或いは同期機構付きのドグクラッチであることを特徴とする請求項1に記載の四輪駆動車両の制御装置。
- 前記二輪駆動走行状態から前記四輪駆動走行状態への移行に際して、前記操舵時でないときには、前記第1のクラッチ及び前記第2のクラッチの両方を係合に向けて制御し、その後、前記断接機構を係合に向けて制御し、その後、車両走行状態に基づいて前記第1のクラッチ及び前記第2のクラッチの両方に伝達トルクを発生させることを特徴とする請求項1又は2に記載の四輪駆動車両の制御装置。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013218912A JP5907142B2 (ja) | 2013-10-22 | 2013-10-22 | 四輪駆動車両の制御装置 |
US14/515,786 US9598068B2 (en) | 2013-10-22 | 2014-10-16 | Control system for four-wheel-drive vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2013218912A JP5907142B2 (ja) | 2013-10-22 | 2013-10-22 | 四輪駆動車両の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2015080984A JP2015080984A (ja) | 2015-04-27 |
JP5907142B2 true JP5907142B2 (ja) | 2016-04-20 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013218912A Expired - Fee Related JP5907142B2 (ja) | 2013-10-22 | 2013-10-22 | 四輪駆動車両の制御装置 |
Country Status (2)
Country | Link |
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US (1) | US9598068B2 (ja) |
JP (1) | JP5907142B2 (ja) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012020908A1 (de) * | 2012-10-24 | 2014-05-08 | Audi Ag | Verfahren und System zum Betreiben eines Antriebsstrangs eines Kraftwagens |
JP6565871B2 (ja) * | 2016-11-15 | 2019-08-28 | トヨタ自動車株式会社 | 車両用4輪駆動装置の制御装置 |
JP6888428B2 (ja) * | 2017-06-01 | 2021-06-16 | 株式会社ジェイテクト | 4輪駆動車及び4輪駆動車の制御方法 |
JP6969206B2 (ja) * | 2017-08-07 | 2021-11-24 | 株式会社ジェイテクト | 4輪駆動車及び4輪駆動車の制御方法 |
US11279400B1 (en) | 2018-01-02 | 2022-03-22 | RBR Enterprise, LLC | Adjustable wheel track axle with independent wheel angle control for an agricultural vehicle |
JP6958473B2 (ja) * | 2018-04-23 | 2021-11-02 | トヨタ自動車株式会社 | 4輪駆動車両 |
JP7040383B2 (ja) * | 2018-09-25 | 2022-03-23 | トヨタ自動車株式会社 | 四輪駆動車両 |
JP7089225B2 (ja) * | 2018-11-13 | 2022-06-22 | トヨタ自動車株式会社 | 走行制御装置 |
JP7109743B2 (ja) * | 2019-01-30 | 2022-08-01 | マツダ株式会社 | 車両システム |
US11167638B2 (en) * | 2019-08-29 | 2021-11-09 | Kawasaki Jukogyo Kabushiki Kaisha | Utility vehicle |
CA3175561A1 (en) | 2020-04-17 | 2021-10-21 | Polaris Industries Inc. | Torque vectoring for utility vehicles |
KR20240030006A (ko) * | 2022-08-29 | 2024-03-07 | 현대자동차주식회사 | 전기 차량 및 이의 제어 방법 |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
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JPH0169032U (ja) * | 1987-10-28 | 1989-05-08 | ||
US5105901A (en) * | 1989-12-09 | 1992-04-21 | Mazda Motor Corporation | Four wheel drive system |
JP2872718B2 (ja) * | 1989-12-09 | 1999-03-24 | マツダ株式会社 | 4輪駆動装置 |
US7383910B2 (en) * | 2004-03-31 | 2008-06-10 | Honda Motor Co., Ltd. | Drive force control method for four-wheel drive vehicle |
US6962227B1 (en) * | 2004-05-07 | 2005-11-08 | Magna Drivetrain Of America, Inc. | Torque vectoring drive axle assembly |
US7258187B2 (en) * | 2004-05-14 | 2007-08-21 | Magna Powertrain Usa, Inc. | Torque vectoring axle |
DE102004046008B4 (de) * | 2004-09-16 | 2012-01-26 | Getrag Driveline Systems Gmbh | Antriebsstrang und Verfahren zum Ansteuern eines Antriebsstranges |
JP4821208B2 (ja) * | 2005-08-08 | 2011-11-24 | 日産自動車株式会社 | 車両の駆動力配分装置 |
CA2677392C (en) | 2008-09-09 | 2016-11-29 | Magna Powertrain Usa, Inc. | Power take-off unit with active coupling and hypoid disconnect system |
JP2011079421A (ja) * | 2009-10-07 | 2011-04-21 | Univance Corp | 4輪駆動車用駆動力伝達装置 |
GB2488528A (en) * | 2011-02-18 | 2012-09-05 | Land Rover Uk Ltd | Vehicle with power transfer clutch actuator having variable connection rates |
JP5971027B2 (ja) * | 2012-08-21 | 2016-08-17 | 株式会社ジェイテクト | 駆動力制御装置及び車両の制御方法 |
JP5942946B2 (ja) * | 2013-09-02 | 2016-06-29 | トヨタ自動車株式会社 | 4輪駆動車両の制御装置 |
JP5904185B2 (ja) * | 2013-10-07 | 2016-04-13 | トヨタ自動車株式会社 | 四輪駆動車両の制御装置 |
JP5983675B2 (ja) * | 2014-05-13 | 2016-09-06 | トヨタ自動車株式会社 | 四輪駆動車両の制御装置 |
JP6070630B2 (ja) * | 2014-05-16 | 2017-02-01 | トヨタ自動車株式会社 | 四輪駆動車両の制御装置 |
JP6064972B2 (ja) * | 2014-10-16 | 2017-01-25 | トヨタ自動車株式会社 | 車両用4輪駆動装置の制御装置 |
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2013
- 2013-10-22 JP JP2013218912A patent/JP5907142B2/ja not_active Expired - Fee Related
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2014
- 2014-10-16 US US14/515,786 patent/US9598068B2/en active Active
Also Published As
Publication number | Publication date |
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US9598068B2 (en) | 2017-03-21 |
US20150111696A1 (en) | 2015-04-23 |
JP2015080984A (ja) | 2015-04-27 |
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