JP6327097B2 - Control device, control method and program for driving force transmission device - Google Patents

Description

  The present invention relates to a control device, a control method, and a program for controlling a driving force transmission device that intermittently transmits a driving force of an input shaft to an output shaft.

  2. Description of the Related Art Conventionally, a driving force transmission device that transmits driving of an input shaft to an output shaft by changing angular velocity or torque has been used. For example, Patent Document 1 discloses a transmission provided with a planetary gear mechanism and a friction clutch member provided between an input shaft and an output shaft. Patent Document 2 discloses a continuously variable transmission that includes a fixed disk and an axially slidable disk on both the input shaft and the output shaft, and a belt-like drive medium is stretched over both the disks. .

JP 2001-182785 A JP 2007-285530 A

  By the way, in a conventional driving force transmission device, power transmission is performed by coupling both of them by friction engagement in a state where the driving side (input side) and the driven side (output side) are different (asynchronous). Yes. In the process of synchronizing the speed by friction engagement, slip loss and frictional heat are generated, leading to a decrease in transmission efficiency. Accordingly, an object of the present invention is to provide a control device, a control method, and a program for a driving force transmission device capable of transmitting power in a state where the driving side and the driven side are synchronized.

  The present invention relates to a control device for a driving force transmission device. The driving force transmission device includes an input shaft that is rotationally driven by a drive source, an output shaft that is provided coaxially with the input shaft, and an elastic member that is connected to the output shaft at one end and disposed in the axial circumferential direction. A vibrator connected to the other end of the elastic member and reciprocated in the axial circumferential direction of the output shaft as the elastic member expands and contracts, and when the angular velocity of the vibrator and the input shaft is equal. A clutch member to be engaged; and a brake member for engaging the vibrator with a fixed portion when the vibrator and the output shaft have the same angular velocity. The control device includes a control unit that controls output torque obtained from the output shaft by controlling engagement and disengagement timings of the clutch member and the brake member.

  Further, in the above invention, the operation of the vibrator includes a first phase that is released from both the clutch member and the brake member and performs simple vibration, a second phase that is engaged with the input shaft by the clutch member, Including a third phase that is released from both the clutch member and the brake member after the second phase and is simply oscillated, and a fourth phase that is engaged with the fixed portion by the brake member, It is preferable to obtain the engagement and disengagement timings of the clutch member and the brake member based on the model equations of the first to fourth phases.

  Further, in the above invention, the control unit uses the model formula for the phase of the vibrator, the release timing of the clutch member, the engagement and release timing of the brake member in the third and fourth phases of the previous period. By substituting, it is preferable to obtain the engagement timing of the clutch member in the current cycle.

  Further, in the above invention, the control unit performs approximation that omits the third phase, and based on the model expressions of the first, second, and fourth phases, the clutch member and the brake member It is preferable to determine the engagement and release timing.

  Further, in the above invention, the control unit performs approximation to make the sum of the times of the first and third phases equal to the period of the spring / mass system, and also has the model equations of the first to fourth phases. In addition, it is preferable to obtain the engagement and disengagement timings of the clutch member and the brake member.

  The present invention also relates to a program. The program causes a computer to function as the control unit of the invention.

  The present invention also relates to a method for controlling a driving force transmission device. The driving force transmission device includes an input shaft that is rotationally driven by a driving source, an output shaft that is provided coaxially with the input shaft, and an elastic member that is connected to the output shaft at one end and is disposed in the circumferential direction thereof. A vibrator connected to the other end of the elastic member and reciprocated in the axial circumferential direction of the output shaft as the elastic member expands and contracts, and when the angular velocity of the vibrator and the input shaft are equal. And a brake member for engaging the vibrator with a fixed portion when the vibrator and the output shaft have the same angular velocity. By controlling the engagement and disengagement timings of the clutch member and the brake member for the driving force transmission device, the output torque obtained from the output shaft is controlled.

  According to the present invention, it is possible to provide a control device, a control method, and a program for a driving force transmission device capable of transmitting power in a state where the driving side and the driven side are synchronized.

It is a schematic diagram which shows the structure of the driving force transmission apparatus which concerns on this embodiment. It is a perspective sectional view which illustrates the concrete composition of the driving force transmission device concerning this embodiment. It is a figure explaining operation | movement of the driving force transmission apparatus which concerns on this embodiment. It is a figure explaining operation | movement of the driving force transmission apparatus which concerns on this embodiment. It is a figure explaining operation | movement of the driving force transmission apparatus which concerns on this embodiment. It is a figure explaining operation | movement for 1 period of the driving force transmission apparatus which concerns on this embodiment. It is a figure explaining operation | movement for 1 period of the driving force transmission apparatus which concerns on this embodiment with a torque fluctuation. It is a flowchart of control (1) of the driving force transmission device according to the present embodiment. It is a figure explaining control (2) of the driving force transmission device concerning this embodiment. It is a flowchart of control (2) of the driving force transmission device according to the present embodiment. It is a flowchart of control (3) of the driving force transmission device according to the present embodiment. It is a flowchart of control (4) of the driving force transmission device according to the present embodiment.

<Overall configuration>
In FIG. 1, the schematic diagram of the driving force transmission apparatus 10 which concerns on this embodiment is shown. The driving force transmission device 10 includes an input shaft 12, an output shaft 14, a transmission member 16, a control unit 19, and speed sensors 21A, 21B, and 21C. The driving force transmission device 10 is used as a transmission means for transmitting driving force from a driving source such as an internal combustion engine of a vehicle to driving wheels, for example.

  The driving force by the input shaft 12 is transmitted to the elastic member 18 of the transmission member 16 via the clutch member 22 of the transmission member 16. At this time, the kinetic energy of the input shaft 12 is converted into the elastic energy of the elastic member 18. After the clutch member 22 is released, the brake member 24 of the transmission member 16 causes the vibrator 20 of the transmission member 16 to engage with the fixed portion 17 such as a casing. At this time, the output shaft 14 is pushed around according to the expansion and contraction of the elastic member 18. In this way, elastic energy of the elastic member 18 is transmitted as kinetic energy of the output shaft 14.

<Details of each configuration>
The input shaft 12 is driven to rotate by a drive source (not shown). The output shaft 14 is provided so as to be separated from the input shaft 12 and is provided coaxially with the input shaft 12. The output shaft 14 may have a hollow shape as shown in FIG. 1, for example, and the input shaft 12 may be disposed inside the output shaft 14 or may be coaxial with the input shaft 12 as shown in FIG. It may be arranged side by side.

  The transmission member 16 transmits the driving force of the input shaft 12 to the output shaft 14 via the elastic member 18. In addition, in FIG. 1, although the two transmission members 16 are provided on the output shaft 14, it is not restricted to this form. For example, the number of transmission members 16 may be one. Further, in order to balance in the radial direction (as a counterweight), a plurality of transmission members 16 may be provided on the axial object. The transmission member 16 includes an elastic member 18, a vibrator 20, a clutch member 22, and a brake member 24.

  The elastic member 18 has one end connected to the output shaft 14 and the vibrator 20 connected to the other end. The elastic member 18 is arranged around the shaft circumference at a position deviated from the axis of the output shaft 14. For example, an annular slot (ring slot) is formed on the axial end surface of the output shaft 14, and the elastic member 18 is disposed in the slot. The slot serves as a guide, and the elastic member 18 is expanded and contracted (elastically vibrated) along the circumference of the output shaft 14. The elastic member 18 may be composed of a coil spring, for example.

  The vibration period of the elastic member 18 is preferably formed so as to be shorter than the maximum rotation period of the drive source. For example, when the drive source is an internal combustion engine and the maximum rotation speed (maximum allowable rotation speed) is 6000 rpm (= 100 Hz), it is preferable to include the elastic member 18 having a natural frequency higher than 100 Hz. In this way, as will be described later, it is possible to transmit the driving force to the output shaft 14 a plurality of times during one rotation of the input shaft 12.

  The vibrator 20 is connected to the elastic member 18 and is reciprocated along the axial circumferential direction of the output shaft 14 as the elastic member 18 expands and contracts. The vibrator 20 may be made of, for example, a rigid material such as a metal, and may be formed of a weight that reciprocates along the slot together with the elastic member 18, and is coaxial with the output shaft 14 as shown in FIG. And a transmission shaft that rotates around the axis as the elastic member 18 expands and contracts.

  The clutch member 22 is an engaging means that engages the vibrator 20 and the input shaft 12. As will be described later, the clutch member 22 can engage the vibrator 20 and the input shaft 12 when the angular velocities are equal.

  The clutch member 22 is composed of a member that can engage / release the vibrator 20 and the input shaft 12 at high speed. For example, it is preferable that the engagement / release can be performed in a cycle shorter than the frequency of the elastic member 18 (vibrator 20). In addition, it is preferable that engagement / release can be quickly performed in accordance with a control signal from the control unit 19. From this, the clutch member 22 may be an electromagnetic clutch that performs engagement / release operation with intermittent power to the electromagnet, for example.

  The brake member 24 engages the vibrator 20 with a fixed portion 17 (non-rotating member) such as a casing. As will be described later, the brake member 24 is capable of engaging the vibrator 20 with the fixed portion 17 when the angular velocity of the vibrator 20 and the output shaft 14 are equal.

  Similar to the clutch member 22, the brake member 24 is preferably composed of a member that can fasten / release the vibrator 20 at high speed. In addition, it is preferable that engagement / release can be quickly performed in accordance with a control signal from the control unit 19. From this, the brake member 24 is comprised from the electromagnetic brake which performs the operation | movement of fixation / release with the interruption of the electric power to an electromagnet, for example.

  The speed sensor 21 </ b> A measures the angular speed (rotational speed) of the input shaft 12. The speed sensor 21B measures the angular speed of the vibrator 20. The speed sensor 21 </ b> C measures the angular speed of the output shaft 14. These speed sensors 21 </ b> A to 21 </ b> C transmit respective measured values to the control unit 19.

  The control unit 19 controls the operations of the clutch member 22 and the brake member 24 according to the angular velocities of the input shaft 12, the vibrator 20, and the output shaft 14. The control unit 19 may be a computer that includes an arithmetic circuit such as a CPU and storage means such as a hard disk, and the computer has a control program for controlling the engagement / release timing of a clutch member 22 and a brake member 24 described later. It may be a stored computer or an embedded computer. By executing the operation control program, the computer functions as the control unit 19 of the drive transmission device. Further, the control unit 19 has an input interface through which the angular velocity of the input shaft 12 is input from the speed sensor 21A, the angular velocity of the vibrator 20 is input from the speed sensor 21B, and the angular velocity of the output shaft 14 is input from the speed sensor 21C. Prepare.

  The control unit 19 controls the engagement and release of the clutch member 22 and the brake member 24 by outputting an engagement and release signal. For example, conduction and disconnection of the electromagnets of the electromagnetic clutch and the electromagnetic brake are controlled by the engagement signal and the release signal.

<Specific configuration example of driving force transmission device>
FIG. 2 illustrates a specific configuration of the driving force transmission device 10. The input shaft 12, the transmission shaft 26, and the output shaft 14 are arranged side by side on the same axis. The input shaft 12 and the transmission shaft 26 are rotatably supported by the base 30 via bearings 28.

  A flange 32 is formed on the input shaft 12 so as to project in the radial direction. The clutch member 22 is provided so as to sandwich the flange 32. The clutch member 22 includes a movable part 22A and an excitation part 22B.

  The excitation unit 22B receives an excitation current from a power source (not shown), thereby generating a magnetic flux. The exciting portion 22B is an annular member, and is fixed to the base 30 so as to be separated from the input shaft 12 and the transmission shaft 26.

  The movable portion 22A is an annular member made of a magnetic material such as metal, and is movable according to the magnetic flux generated from the exciting portion 22B. The movable portion 22A is coupled to the transmission shaft 26 via a fastening portion 34 that is screwed into the movable portion 22A in the axial direction. The length of the shaft portion 36 of the fastening portion 34 is formed longer than the axial thickness of the input side flange 38 of the transmission shaft 26. With such a structure, the movable portion 22A is fixed in the axial circumferential direction with respect to the transmission shaft 26 and is movable in the axial direction. When a magnetic flux is generated in the exciting portion 22B, the movable portion 22A is attracted in the axial direction and engaged with the flange 32 of the input shaft 12.

  The transmission shaft 26 includes an input side flange 38, an intermediate flange 40, and an output side flange 42. These flanges are respectively formed on the transmission shaft 26 along the axial direction from the input shaft 12 toward the output shaft 14. When the movable portion 22 </ b> A of the clutch member 22 provided on the input side flange 38 is engaged with the input shaft 12, the transmission shaft 26 rotates in synchronization with the input shaft 12.

  The elastic member 18 is connected to the output flange 42. The elastic member 18 is disposed in an annular slot 44 provided around the axis of the output shaft 14, one end along the extending direction of the slot 44 is connected to the output flange 42, and the other end is output shaft. 14. When the transmission shaft 26 is engaged with the input shaft 12, the transmission shaft 26 urges the elastic member 18 to contract.

  A brake member 24 is provided on the intermediate flange 40. Similarly to the clutch member 22, the brake member 24 includes a movable portion 24A and an exciting portion 24B so as to sandwich the intermediate flange 40. The movable portion 24 </ b> A is movable only in the axial direction with respect to the base 30. When a magnetic flux is generated in the exciting portion 24B, the movable portion 24A is attracted in the axial direction and engaged with the transmission shaft 26. Thereby, the rotation of the transmission shaft 26 is stopped.

  Transmission of driving force from the input shaft 12 to the output shaft 14 is performed as follows. First, when the input shaft 12 and the transmission shaft 26 are engaged by the clutch member 22, both of them rotate synchronously. By this synchronous rotation, the elastic member 18 connected to the transmission shaft 26 is contracted. Further, the elastic member 18 transmits elastic energy to the output shaft 14 by releasing the clutch member 22 and fixing the transmission shaft 26 by the brake member 24. As a result, driving force is transmitted from the input shaft 12 to the output shaft 14.

<Details of operation of driving force transmission device>
Next, transmission of driving force by the driving force transmission device 10 will be described with reference to FIGS. In the following, it is assumed that the rotational speed of the input shaft 12 is faster than the rotational speed of the output shaft 14. As shown in FIG. 3, the elastic member 18 is biased around the axis in advance, and is elastically expanded and contracted along the axial direction of the output shaft 14. Accordingly, the vibrator 20 is also reciprocated along the axial direction of the output shaft 14.

  In order to place the elastic member 18 in a vibrating state when the driving force is transmitted, it is preferable that the elastic member 18 is in an urging state at a stage before transmission (standby stage). For example, as shown by a broken line in FIG. 5 described later, the vibrator 20 and the output shaft 14 are fixed in a state where the elastic member 18 is contracted.

  As shown in FIG. 4, the clutch member 22 engages the input shaft 12 and the vibrator 20 in synchronization with the cycle of the reciprocating motion of the vibrator 20. That is, the driving force of the input shaft 12 is transmitted to the output shaft 14 in synchronization with the vibration cycle of the elastic member 18.

  By transmitting the driving force in synchronization with the vibration cycle of the elastic member 18, it is possible to transmit the driving force independent of the rotation cycle of the input shaft 12. Furthermore, by using the elastic member 18 whose vibration cycle is shorter than the maximum rotation cycle of the drive source, it becomes possible to transmit the drive force multiple times during one rotation of the input shaft 12. In addition, transmission of driving force is intermittently performed, but smooth transmission of driving force, such as PWM control, can be performed by performing this intermittent transmission at high speed (high frequency).

  Further, the engagement is performed when the angular velocity of the vibrator 20 and the angular velocity of the input shaft 12 are equal. The angular velocity of the vibrator 20 changes according to the elastic energy of the elastic member 18, and the angular velocity of the input shaft 12 and the vibrator 20 is twice in one cycle in which the vibrator 20 vibrates except for the extreme value of the angular velocity. Will be equal. The clutch member 22 engages the input shaft 12 and the vibrator 20 at any one of the two times. By performing engagement when the angular velocities are equal, it is possible to prevent loss due to slipping.

  When the input shaft 12 and the vibrator 20 are engaged with each other by the clutch member 22, as shown from the upper stage to the lower stage in FIG. 4, the speed difference between the input shaft 12 and the output shaft 14 (input shaft angular speed> output shaft angular speed) is determined. Thus, the elastic member 18 is contracted and the elastic energy of the elastic member 18 is accumulated. That is, the kinetic energy of the input shaft 12 is converted into the elastic energy of the elastic member 18.

  Further, as shown in FIG. 5, the clutch member 22 is released and the vibrator 20 is fixed by the brake member 24. At this time, the elastic member 18 transmits the accumulated elastic energy to the output shaft 14. In other words, as the vibrator 20 is fixed, the contracted elastic member 18 rotates (pushes) the output shaft 14 so as to expand to the natural length. As described above, the driving force is transmitted from the input shaft 12 to the output shaft 14.

  Similarly to the clutch member 22, the engagement by the brake member 24 is performed when the angular velocity of the vibrator 20 and the angular velocity of the output shaft 14 are equal. By performing engagement when the angular velocities are equal, it is possible to prevent loss due to slipping.

  Transmission of the driving force from the input shaft 12 to the output shaft 14 via the elastic member 18 can be expressed numerically as follows. For example, when the ratio of the angular velocity of the input shaft 12 to the angular velocity of the output shaft 14 is 5: 3, the input energy of 2/5, which is a differential component during engagement of the clutch member 22, is elastic member. 18 and the remaining 3/5 of the energy is transmitted to the output shaft 14.

  FIG. 6 illustrates speed changes of the input shaft 12, the vibrator 20, and the output shaft 14 due to the drive transmission described above. In addition to the time chart of FIG. 6, FIG. 7 shows, in synchronization with this, the displacement of the elastic member 18, the torque due to the engagement of the clutch member 22 (LU1 torque), the torque due to the engagement of the brake member 24 (LU2 Torque) and a time chart of spring transmission torque by the elastic member 18 are shown.

  6 and 7, the vibrator 20 is released from the clutch member 22 and the brake member 24 and reciprocates (single vibration) along the axial direction of the output shaft 14. At this time, the maximum angular velocity of the vibrator 20 is higher than the angular velocity of the input shaft 12.

  As shown in the second phase (phase 2) in FIGS. 6 and 7, when the angular velocity of the vibrator 20 and the angular velocity of the input shaft 12 are equal, the input shaft 12 and the vibrator 20 are engaged by the clutch member 22. During the engagement, the vibrator 20 and the input shaft 12 are at the same speed.

  As shown in the third phase (phase 3) of FIGS. 6 and 7, after the elastic energy is accumulated (shrinked) in the elastic member 18, the engagement by the clutch member 22 is released. When the angular velocity of the vibrator 20 becomes equal to that of the output shaft 14 in the third phase that is released by the clutch member 22 and the brake member 24 and performs simple vibration, the vibrator 20 is engaged with the fixed portion 17 by the brake member 24, As shown in the fourth phase (phase 4) in FIGS. 6 and 7, the angular velocity of the vibrator 20 becomes zero. After the elastic energy of the elastic member 18 is transmitted to the output shaft 14, the brake member 24 is released and the vibrator 20 reciprocates again (first phase).

<Model expression representing the operation of the driving force transmission device>
The storage unit of the control unit 19 stores the above-described first to fourth model equations. In this model formula, the loss due to friction during the operation of the driving force transmission device is ignored, and the motion of the vibrator 20 and the elastic member 18 is regarded as the motion of the spring / mass system. First, regarding the first phase, the displacement x (t) of the vibrator 20 and the angular velocity W (t) of the vibrator 20 can be expressed as the following mathematical formulas (1) and (2).

_{Here, W out} the angular velocity of the output shaft 14, t is time, _{A 1} is the amplitude of the elastic member 18 in the first phase, alpha ₁ denotes the initial phase. Further, omega is the natural angular frequency obtained by the following equation (3) using the torsional stiffness k of inertia I _m and the elastic member 18 of the vibrator 20.

As a condition of the angular velocity of the vibrator 20 at the start point t ₀ and the end point t ₁ of the first phase, the following formulas (4) and (5) are derived using the formula (2).

_{Here, W in} represents the angular velocity of the input shaft 12. From the above equation, the amplitude A ₁ , the initial phase α- ₁ , and the time t ₁ are expressed as the following equations (6) to (8).

Next, in the second phase (t _{1 to} t ₂ ), the input shaft 12 and the vibrator 20 rotate in synchronization because of the engagement by the clutch member 22. From this, the following formula (9) and formula (10) are derived.

In the third phase (t _{2 to} t ₃ ), the vibrator 20 is released from the clutch member 22 and the brake member 24, and thus vibrates in the same manner as in the first phase. From this, the following formulas (11) and (12) are derived.

Here, A ₂ represents the amplitude of the vibrator 20 (and the elastic member 18) in the third phase, and α ₂ represents the initial phase in the third phase. At the start point t ₃ and the end point t ₄ of the third phase, the following formulas (13) and (14) hold.

From the above equation, the amplitude A ₂ , the initial phase α ₂ , and the time t ₃ of the vibrator 20 in the third phase can be obtained from the following equations (15), (16), and (17).

  In the fourth phase, since the vibrator 20 is fixed by the brake member 24, the following formula (18) and formula (19) are derived.

Furthermore, after one cycle of movement of the spring-mass system simple harmonic motion, when the return to the first spring torsion angle at time t _4, the following equation (20) is obtained.

Next, a mathematical expression indicating the transmission torque of the elastic member 18 from the first phase to the fourth phase will be described. The transmission torque is obtained by multiplying the displacement of the vibrator 20 of each phase by time and the spring stiffness k of the elastic member 18. The first average transmission torque of each phase from phase up to the fourth phase respectively _{T sp # Ave1, T sp #} Ave2, T sp # Ave3, if indicated by _{T sp # Ave4,} following equation (21) to Equation ( 24) is required.

  From the average transmission torque of each phase of Equation (21) to Equation (24), the average transmission torque during one cycle of the spring / mass system is expressed as the following Equation (25).

<Control of driving force transmission device (1)>
The control unit 19 performs control for extracting a desired torque from the output shaft 14 based on the above formula. Specifically, the control unit 19 controls the output torque obtained from the output shaft 14 by controlling the engagement / release timing of the clutch member 22 and the brake member 24. That is, the control unit 19 obtains the time t ₁ that is the engagement timing of the clutch member 22, the time t ₂ that is the release timing, the time t ₃ that is the engagement timing of the brake member 24, and the time t ₄ that is the release timing. The output torque control is performed by performing the engagement / release control of the clutch member 22 and the brake member 24 according to this. The derivation of the times t _{1 to} t ₄ can be obtained by substituting the required value of the average transmission torque from the first to fourth phases into the model formulas of the first to fourth phases.

FIG. 8 illustrates a flowchart in the control. The controller 19 obtains the amplitude A ₁ , the initial phase α ₁ , and the time t ₁ that is the engagement timing of the clutch member 22 at time t ₀ (S10).

Specifically, the angular velocity W _out of the output shaft 14 sent from the speed sensor 21C, the position x (t ₀ ) of the vibrator 20 sent from the speed sensor 21B, and the natural angle obtained in advance by the equation (3). By substituting the frequency ω into the equation (6), the amplitude A ₁ is obtained. When the amplitude A ₁ is obtained, the initial phase α ₁₋ is obtained from Equation (7). Further, when the amplitude A ₁ and the initial phase α ₁ are obtained, the time t ₁ is obtained from Equation (8).

Next, the control unit 19 calculates the time _{t 2} is the release timing of clutch member 22 by using equation (22) (S12). Specifically, equation (22) required value of the average transmission torque of the second phase _T to the _{sp # Ave2,} time _{t 1, the} amplitude _{A 1,} the initial phase alpha _1, the angular velocity _{W in} and output shaft 14 of the input shaft 12 By substituting the angular velocity W _out , the time t ₂ is obtained.

Next, the control unit 19, using equation (15) to Equation (17) determines the amplitude _{A 2,} the initial phase alpha _2, and time _{t 3} is the engagement timing of the brake member 24 (S14). For equation (15), since the parameters on the right side has been required, the amplitude A ₂ is determined by solving this. When the amplitude A ₂ is obtained, the initial phase α ₂ is obtained from Equation (16). When the initial phase α ₂ is obtained, time t ₃ is obtained from Expression (17).

Further, the control unit 19, using equation (20), determining the time _{t 4} is the release timing of the brake member 24 (S16).

Thereafter, the control unit 19 outputs an engagement signal and a release signal to the clutch member 22 based on the engagement timing t ₁ and the release timing t ₂ of the clutch member 22. Also it outputs an engagement signal and release signal to the brake member 24 based on the engagement timing _{t 3} and release timing _{t 4} of the brake member 24 (S18).

When reaching the time _{t 4,} the control unit 19 as the time _{t 4 = t 0 (S20)} , speed sensors 21A, 21B, from 21C, the angular speed _{W in} the input shaft 12, the angular velocity of the position and the output shaft 14 of the vibrator 20 W _out is received and these values are substituted into the above equation. Thereafter, the engagement / release timing of the clutch member 22 and the engagement / release timing of the brake member 24 are obtained in the same manner as in the previous cycle.

<Control of driving force transmission device (2)>
In the control process described above, between the time _{t 0} of time _{t 1,} satisfying the average required value _{T sp # Ave} transmission torque _*, time _t 1 ~t _4, the amplitude _A 1, _{A 2,} the initial phase alpha ₁ , Α ₂ . When the period from time t ₀ to time t ₁ is a short period, these calculations may not be in time. Therefore, when deriving some parameters, the calculation load may be reduced by using the parameters of the previous period.

  FIG. 9 illustrates a time chart of the above control. Here, the period B (previous period) from the first phase to the fourth phase, the subsequent period A (current period), and the period C extending from the third phase of the period B to the second phase of the period A are shown. Has been.

The control unit 19 uses the amplitude A ₂ and the initial phase α ₂ of the third phase and the fourth phase of the cycle B and the times t ₀ , t ₂ , t ₃ , and t _4, and the amplitude A ₁ and the initial phase in the cycle A α- ₁ and times t ₁ and t ₂ are obtained. Thereafter, the remaining amplitude A ₂ , initial phase α− ₂ , time t ₃ and t ₄ are determined using the determined amplitude A ₁ , initial phase α− ₁ , time t ₁ , t ₂ .

FIG. 10 illustrates a flowchart in the above control. The controller 19 obtains the amplitude A ₁ , the initial phase α ₁ , and the time t ₁ that is the engagement timing of the clutch member 22 at the time t ₀ in the period A (S30).

Specifically, the amplitude A ₁ is obtained from the time t ₄ in the period B (= time t ₀ in the periods A and C), the angular velocity W _out of the output shaft 14 and the formula (6). Furthermore, the initial phase α ₁ is obtained from the amplitude A _1, the angular velocity W _out of the output shaft 14, and Equation (7). Subsequently, the angular velocity W _in of the input shaft 12, the angular velocity W _out of the output shaft 14, the initial phase α ₁ , the amplitude A ₁ , the time t ₄ in the period B (= time t ₀ in the periods A and C), and the formula (8) from the time t ₁ is determined in an engaged timing of the clutch member 22.

Subsequently, the control unit 19 calculates the time _{t 2} is the release timing of the clutch member 22 (S32). Here, the following mathematical formulas (26) to (29) derived from the mathematical formula (22) and the mathematical formula (25) are used.

  In the above formulas (26) to (29), the suffix B of each parameter indicates the value of the period B.

After the time t ₂ is obtained, the viewpoint is switched from the cycle C to the cycle A, and the control unit 19 sets the amplitude A ₂ , the initial phase α ₂ , which are parameters related to the third phase and the fourth phase of the cycle A, and determining the time _{t 3} is engagement timing of the brake member 24 (S34).

Specifically, the amplitude A ₂ is obtained from the time t ₂ and the formula (15). When the amplitude A ₂ is obtained, the initial phase α ₂ is obtained from Equation (16). When the amplitude A ₂ and the initial phase α ₂ are obtained, the time t ₃ is obtained from Equation (17).

Further, the control unit 19, by solving the equations (24) and Equation following equation derived from (25) (30) - equation (33), determining the time _{t 4} is the release timing of the brake member 24 (S36) .

Thereafter, the control unit 19 outputs an engagement signal and a release signal to the clutch member 22 based on the engagement timing t ₁ and the release timing t ₂ of the clutch member 22. Also outputs an engagement signal and release signal to the brake member 24 based on the engagement timing _{t 3} and release timing _{t 4} of the brake member 24 (S38).

When reaching the time _{t 4,} the control unit 19 as the time _{t 4 = t 0 (S40)} , speed sensors 21A, 21B, from 21C, the angular speed _{W in} the input shaft 12, the angular velocity of the position and the output shaft 14 of the vibrator 20 W _out is received and these values are substituted into the above equation. Thereafter, the engagement / release timing of the clutch member 22 and the engagement / release timing of the brake member 24 are obtained in the same manner as in the previous cycle.

<Control of driving force transmission device (3)>
In this control, in order to reduce the calculation load, an approximation that omits (ignores) the third phase is performed, and then, based on the model expressions of the first, second, and fourth phases, The engagement / release timing and the engagement / release timing of the brake member 24 are obtained. As shown in FIG. 7 and FIG. 9, the ratio of the third phase in the entire period is short compared to the other phases. For this reason, this control is performed under the assumption that even if the third phase is omitted, there is little influence on the actual control.

In performing this control, the control unit 19 performs a process of setting time t ₂ ≈t ₃ in advance. Further, when the average transmission torque for one cycle is obtained, the third phase torque is ignored. In addition, in Expression (18), (ω (t ₃ −t ₀ ) + α ₂ ) ≈0 where the angular velocity W _out << ωA ₂ of the output shaft. Further, with respect to Equation (15), assuming that (W _out −W _in ) << ω, cos (ω (t ₁ −t ₀ ) + α ₁ ) ≈1, amplitude A ₂ ≈A ₁ + (t ₂ −t− ₁₎ ) (W _in −W _out ).

The simplification of the time _{t 2} satisfying the required value of the average transmission torque _{T sp # Ave} can be obtained by the following equation (34) - equation (37).

FIG. 11 illustrates a flowchart in this control. The control unit 19 obtains the amplitude A ₁ , the initial phase α ₁ , and the time t ₁ that is the engagement timing of the clutch member 22 by using the equations (6) to (8) at the time t ₀ in the period A. (S50).

Subsequently, the control unit 19, by solving the equations (34) - equation (37), determining the time _{t 2} is the release timing of the clutch member 22 (S52). Further, the control unit 19 obtains the amplitude A ₂ , the initial phase α ₂ , and the time t ₃ that is the engagement timing of the brake member 24 from the time t ₂ and the mathematical expressions (15) to (17) (S 54). In addition the control unit 19 uses the formula (20), determining the time _{t 4} is the release timing of the brake member 24 (S56).

Thereafter, the control unit 19 outputs an engagement signal and a release signal to the clutch member 22 based on the engagement timing t ₁ and the release timing t ₂ of the clutch member 22. Also it outputs an engagement signal and release signal to the brake member 24 based on the engagement timing _{t 3} and release timing _{t 4} of the brake member 24 (S58).

When reaching the time _{t 4,} the control unit 19 as the time _{t 4 = t 0 (S60)} , speed sensors 21A, 21B, from 21C, the angular speed _{W in} the input shaft 12, the angular velocity of the position and the output shaft 14 of the vibrator 20 W _out is received and these values are substituted into the above equation. Thereafter, the engagement / release timing of the clutch member 22 and the engagement / release timing of the brake member 24 are obtained in the same manner as in the previous cycle.

<Control of driving force transmission device (4)>
In this control, calculation load is reduced by approximation and simplification different from the above. First, the following equation (38) is obtained from the equations (16), (17), and (23).

  Further, since the sum of the times of the first phase and the third phase can be regarded as substantially equal to the period of the spring / mass system, the following mathematical formula (39) is obtained.

Similarly to the control (3) described above, regarding the formula (18), the angular velocity W _out << ωA ₂ of the output shaft is set to (ω (t ₃ −t ₀ ) + α ₂ ) ≈0. Further, with respect to Equation (15), assuming that (W _out −W _in ) << ω, cos (ω (t ₁ −t ₀ ) + α ₁ ) ≈1, amplitude A ₂ ≈A ₁ + (t ₂ −t− ₁₎ ) (W _in −W _out ).

From these formulas and formulas (20), (22), (24), and (25), the following formulas (40) to (43) are derived. By solving this equation, the time t ₂ is obtained a release timing of the clutch member 22.

FIG. 12 illustrates a flowchart in this control. The control unit 19 obtains the amplitude A ₁ , the initial phase α ₁ , and the time t ₁ that is the engagement timing of the clutch member 22 by using the equations (6) to (8) at the time t ₀ in the period A. (S70).

Subsequently, the control unit 19, by solving the equations (40) - equation (43), determining the time _{t 2} is the release timing of the clutch member 22 (S72). Further, the control unit 19 obtains the amplitude A ₂ , the initial phase α ₂ , and the time t ₃ that is the engagement timing of the brake member 24 from the time t ₂ and the mathematical expressions (15) to (17) (S 74). In addition the control unit 19 uses the formula (20), determining the time _{t 4} is the release timing of the brake member 24 (S76).

Thereafter, the control unit 19 outputs an engagement signal and a release signal to the clutch member 22 based on the engagement timing t ₁ and the release timing t ₂ of the clutch member 22. Also outputs an engagement signal and release signal to the brake member 24 based on the engagement timing _{t 3} and release timing _{t 4} of the brake member 24 (S78).

When reaching the time _{t 4,} the control unit 19 as the time _{t 4 = t 0 (S80)} , speed sensors 21A, 21B, from 21C, the angular speed _{W in} the input shaft 12, the angular velocity of the position and the output shaft 14 of the vibrator 20 W _out is received and these values are substituted into the above equation. Thereafter, the engagement / release timing of the clutch member 22 and the engagement / release timing of the brake member 24 are obtained in the same manner as in the previous cycle.

  DESCRIPTION OF SYMBOLS 10 Driving force transmission device, 12 Input shaft, 14 Output shaft, 16 Transmission member, 17 Fixed part, 18 Elastic member, 19 Control part, 20 Vibrator, 21A, 21B, 21C Speed sensor, 22 Clutch member, 24 Brake member.

Claims (7)

An input shaft that is driven to rotate by a drive source;
An output shaft provided coaxially with the input shaft;
An elastic member having one end connected to the output shaft and disposed in the axial circumferential direction;
A vibrator connected to the other end of the elastic member and reciprocated in the axial direction of the output shaft as the elastic member expands and contracts;
A clutch member for engaging the vibrator and the input shaft when the angular velocities are equal;
A brake member that engages the vibrator with a fixed portion when the angular velocity of the vibrator and the output shaft is equal;
A control device for a driving force transmission device comprising:
A control device for a driving force transmission device, comprising: a control unit that controls output torque obtained from the output shaft by controlling engagement and disengagement timings of the clutch member and the brake member. A control device for a driving force transmission device according to claim 1,
The vibrator operates in a first phase that is released from both the clutch member and the brake member and performs simple vibration, a second phase engaged with the input shaft by the clutch member, and the clutch after the second phase. A third phase that is released from both the member and the brake member and vibrates and a fourth phase that is engaged with the fixed portion by the brake member;
The control unit for a driving force transmission device, wherein the control unit obtains engagement and disengagement timings of the clutch member and the brake member based on the model equations of the first to fourth phases. A control device for a driving force transmission device according to claim 2,
The control unit substitutes the phase of the vibrator, the release timing of the clutch member, the engagement and release timing of the brake member of the third and fourth phases of the previous period into the model formula. A control device for a driving force transmission device, characterized in that an engagement timing of the clutch member in a cycle is obtained. A control device for a driving force transmission device according to claim 2,
The control unit performs approximation that omits the third phase, and determines the engagement and disengagement timings of the clutch member and the brake member based on the model expressions of the first, second, and fourth phases. A control device for a driving force transmission device. A control device for a driving force transmission device according to claim 2,
The controller performs an approximation to make the sum of the times of the first and third phases equal to the period of the spring / mass system, and based on the model equations of the first to fourth phases, the clutch member And a control device for the driving force transmission device, wherein the timing for engaging and releasing the brake member is obtained.   A program causing a computer to function as the control unit according to any one of claims 1 to 5. An input shaft that is driven to rotate by a drive source;
An output shaft provided coaxially with the input shaft;
An elastic member having one end connected to the output shaft and disposed in the axial circumferential direction;
A vibrator connected to the other end of the elastic member and reciprocated in the axial direction of the output shaft as the elastic member expands and contracts;
A clutch member for engaging the vibrator and the input shaft when the angular velocities are equal;
A brake member that engages the vibrator with a fixed portion when the angular velocity of the vibrator and the output shaft is equal;
A control method for a driving force transmission device comprising:
A control method for a driving force transmission device, wherein an output torque obtained from the output shaft is controlled by controlling engagement and disengagement timings of the clutch member and the brake member.

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