JP6459715B2 - Dog clutch control system - Google Patents

Description

  The present invention relates to a dog clutch control system for controlling a shift of a vehicle.

  2. Description of the Related Art Conventionally, a vehicle powertrain is provided with a transmission that transmits driving force generated by a driving device such as an engine or an electric motor used for driving to a driving wheel by changing a gear according to a traveling state. Yes. There are a plurality of types of transmissions. For example, a plurality of idler gears that are rotatable relative to an input shaft that can be connected to the engine via a clutch and immovable in the direction of the input shaft, and an input 2. Description of the Related Art There is known an always-meshing type transmission in which a plurality of gears that are provided substantially parallel to a shaft and are circumferentially connected to an output shaft connected to a drive wheel are always meshed. In this constantly meshing transmission, sleeves that are spline-fitted so as to be movable in the axial direction of the input shaft are juxtaposed between two idler gears on the input shaft. In this always-mesh transmission, the sleeve is moved in the axial direction of the input shaft by moving a shift fork slidably connected to the sleeve in the axial direction of the input shaft by an electric motor. As a result, the continuously meshing type transmission has inner teeth (hereinafter also referred to as sleeve teeth) provided on the inner circumference of the sleeve on the outer circumference of the surface to be joined of one of the idle gears. Engage with the provided engaged teeth (hereinafter referred to as dog clutch teeth). Thereby, the idle gear and the input shaft after engagement rotate together. Then, the idle gear that rotates integrally with the input shaft and the gear of the output shaft that meshes with the idle gear rotate in conjunction with each other, so that the torque and number of rotations of the input shaft can be transmitted to the output shaft. . Further, in the constantly meshing transmission, a plurality of idle gears are fitted so as to be relatively rotatable with respect to the output shaft and immovable in the direction of the output shaft. Are always engaged. A sleeve that is spline-fitted so as to be movable in the axial direction of the output shaft is juxtaposed between the two idle gears on the output shaft. And this always-meshing type transmission moves the sleeve in the axial direction of the output shaft by moving the shift fork slidably connected to the sleeve in the axial direction of the input shaft by an electric motor. One of the idle gears is engaged with the idle gear and the sleeve. The plurality of idle gears provided on the input shaft or the output shaft have different numbers of teeth, and the constantly meshing type transmission includes any one idle gear of the plurality of idle gears. Is selected and engaged with the sleeve to perform a shift operation.

  Japanese Patent Application Laid-Open No. 2004-133867 discloses that in this continuously meshing (dog clutch) transmission, an electric motor for displacing a shift fork slidably connected to a sleeve is provided with a first duty set in advance and a transmission after a predetermined period. A control method for driving with a second duty calculated according to the lubricating oil temperature is disclosed. In this control method, the duty ratio is reduced to zero in order to reduce the hitting sound when the sleeve teeth and the dog clutch teeth are engaged, and the sleeve teeth are inserted into the tooth gaps between the dog clutch teeth only by the inertia force. Engage with dog clutch teeth.

  Patent Document 2 discloses that the sleeve teeth are constituted by high teeth and low teeth, and the dog clutch teeth provided on the outer periphery of the surface to be joined of the idler gear are constituted by dog front teeth and dog rear teeth. ing. Patent Document 3 discloses a dog clutch mechanism in which the high teeth of the sleeve can be fitted not only in the tooth groove adjacent to the dog front tooth but also in the tooth groove adjacent to the dog rear tooth.

JP 2010-78117 A JP 2010-96190 A JP 2013-190064 A

  When the sleeve teeth and the dog clutch teeth are worn by use, the constantly meshing transmission generates a component force in a direction to return the sleeve teeth to the original position when they are in contact. When the control method of Patent Document 1 is used, the thrust is reduced at the time of contact. Therefore, when the sleeve teeth and the dog clutch teeth are worn, when the sleeve teeth and the dog clutch teeth are contacted, the sleeve teeth are restored to the original state. A component force is generated in the direction of returning to the position, and the sleeve teeth get over the dog clutch teeth and return to the original position. As a result, there has been a problem that the time required for engaging the sleeve teeth and the dog clutch teeth, that is, the time required for shifting increases.

  One aspect of the present invention has been made in view of the above problems, and it is an object of the present invention to provide a dog clutch control system capable of shortening the time required for shifting when the sleeve teeth and the dog clutch teeth are worn. To do.

  A dog clutch control system according to an aspect of the present invention is a shaft that can be rotationally connected via a clutch to a drive shaft to which engine torque output from a differential engine is transmitted, or a shaft that is connected to a differential device via an output gear. And a clutch hub fixed to the shaft; inner teeth are formed on the inner periphery; relative rotation with respect to the clutch hub is regulated by the inner teeth and supported by the shaft so as to be movable in the axial direction of the shaft A sleeve and an end face that is adjacent to the clutch hub and is relatively rotatable with respect to the shaft and not relatively movable in the axial direction, and has a dog rear tooth and a tooth height higher than the dog rear tooth on the outer periphery and facing the sleeve A dog front tooth provided on the sleeve side from an end surface of the dog rear tooth facing the sleeve. A chilling, an axial movement device that moves the sleeve in the axial direction of the shaft, a relative speed detection unit that detects a relative speed between the sleeve and the clutch ring, and the inner teeth of the sleeve adjacent to the dog rear teeth A separation detecting portion for detecting separation from the tooth groove, and when the inner teeth of the sleeve move in the circumferential direction of the clutch ring along the end surface of the dog rear tooth, Perpendicular to the circumferential direction of the sleeve at a timing according to the timing and the time required to reach the position facing the next tooth gap determined using the relative speed and the interval between the tooth gaps. And a controller that controls the axial movement device to increase the thrust applied to the sleeve in the direction from the first thrust to the second thrust.

  With this configuration, when the internal teeth of the sleeve are in a position facing the tooth groove of the clutch ring, the thrust applied to the sleeve, that is, the thrust applied to the sleeve can be increased, so that the internal teeth fit into the tooth groove of the clutch ring. The probability of doing can be increased. Therefore, it is possible to shorten the time required for shifting on average.

  In the dog clutch control system, the control unit is configured to perform a vertical direction with respect to a circumferential direction of the clutch ring from when a time obtained by subtracting a predetermined time from the required time to a time when the required time elapses. The axial movement device may be controlled to increase the thrust applied to the sleeve from the first thrust to the second thrust.

  With this configuration, the thrust applied to the sleeve can be increased from before reaching the position where the inner teeth of the sleeve face the tooth gap adjacent to the dog rear teeth or the side surface of the dog front teeth. When the inner teeth of the sleeve reach the position facing the tooth groove adjacent to the dog rear teeth, the thrust applied to the sleeve, that is, the thrust applied to the inner teeth is in a state of being surely increased. It is possible to increase the probability of fitting the tooth into the tooth gap adjacent to the tooth after the dog.

  In the dog clutch control system, the second thrust is a thrust determined so that the inner teeth do not get over the dog front teeth by an impact force at the time of contact between the inner teeth and the side surfaces of the dog front teeth.

  With this configuration, when the inner teeth of the sleeve reach the position where they contact the side surfaces of the front teeth of the dog, the inner teeth do not get over the front teeth of the dog due to the impact force between the inner teeth and the side surfaces of the front teeth of the dog. Can do.

  In the dog clutch control system, the first thrust may be a thrust capable of maintaining a rotational speed difference between the sleeve and the clutch ring within a predetermined range.

  With this configuration, it is possible to prevent the difference in the rotational speed between the sleeve and the clutch ring from being reduced so much while the inner teeth of the sleeve are brought into contact with the dog rear teeth.

  In the dog clutch control system, the predetermined time may be equal to or longer than a total time of a response delay time of the axial movement device and a processing delay time of the control unit.

  With this configuration, the second thrust can be applied to the inner teeth of the sleeve before reaching the position facing the tooth groove adjacent to the dog rear teeth or the position contacting the side surfaces of the dog front teeth.

  In the dog clutch control system, when the internal teeth of the sleeve first come into contact with the end face of the dog rear teeth when the inner teeth of the sleeve are brought close to the dog rear teeth, the relative speed And the next tooth gap using the relative speed and the interval between the tooth spaces from the shortest time to reach the position facing the next tooth groove using the circumferential wear width of the inner teeth. The axial movement device may be controlled so that the thrust applied to the sleeve in the direction perpendicular to the circumferential direction of the clutch ring is increased from the first thrust to the second thrust until the longest time to reach the position. Good.

  With this configuration, by increasing the thrust applied to the sleeve from the shortest time to the longest time to reach the position facing the tooth groove adjacent to the dog rear tooth, the position facing the tooth groove adjacent to the dog rear tooth Therefore, the thrust applied to the sleeve, that is, the thrust applied to the internal teeth can be reliably increased, so that the probability that the internal teeth fit into the tooth spaces of the clutch ring can be increased.

  In the dog clutch control system, the control unit determines whether or not the sleeve and the clutch ring are rotationally synchronized using the rotational speed of the sleeve and the rotational speed of the clutch ring, and the rotational synchronization is performed. If it is determined, the axial movement device may be controlled so that a third thrust equal to or greater than the second thrust is applied to the sleeve.

  With this configuration, after the inner teeth and the dog rear teeth or the dog front teeth are engaged, the inner teeth can be pushed into the back of the tooth gap adjacent to the dog rear teeth.

  The dog clutch control system may further include a stroke position sensor that detects a stroke position that is an axial position of the input shaft or the output shaft of the sleeve, and the control unit applies a thrust applied to the sleeve. The axial movement device may be controlled so as to change the thrust applied to the sleeve in a direction perpendicular to the circumferential direction of the sleeve in accordance with a time change amount of the stroke position after being increased to .

  With this configuration, when the amount of time change of the stroke position is large, the wear amount of the internal teeth, the dog rear teeth, and the dog front teeth is large, so by applying a large thrust to the internal teeth of the sleeve, the internal teeth and the dog rear teeth or The dog front teeth can be engaged. On the other hand, when the time change amount of the stroke position is small, the wear amount of the internal teeth, the dog rear teeth, and the dog front teeth is small, so that the internal teeth and the dog rear teeth or the dog front teeth can be engaged with a small thrust.

It is the schematic of the vehicle provided with the automatic transmission which has a dog clutch which concerns on embodiment of this invention. It is a schematic diagram of an automatic transmission which has a dog clutch concerning an embodiment of the present invention. 1 is an exploded perspective view of a dog clutch transmission mechanism according to an embodiment of the present invention. It is a front view of the clutch hub which concerns on embodiment of this invention. It is a front view of the sleeve which concerns on embodiment of this invention. It is a front view of the 3rd clutch ring concerning the embodiment of the present invention. It is a block diagram which shows the structure of the control part which concerns on embodiment of this invention. It is a figure which shows the concept of the movement of the sleeve at the time of a new article in embodiment of this invention. It is a figure which shows the concept of the movement of the sleeve at the time of wear in embodiment of this invention. It is a top view of the high teeth of the sleeve at the time of wear. It is a top view which shows the position of the high tooth of a sleeve when the next tooth space arrival time becomes the minimum. It is a top view which shows the position of the high tooth of a sleeve when the next tooth space arrival time becomes the maximum. It is a flowchart which shows an example of the flow of the process of control in embodiment of this invention. It is a continuation of the flowchart of FIG. The figure which shows an example of the time passage of the sleeve thrust, the stroke position, the number of rotations of the sleeve (the number of rotations of the sleeve), the number of rotations of the third dog clutch (the number of rotations of the dog), and the tooth gap prediction counter when the high teeth of the sleeve are worn It is.

  Embodiments of the present invention will be described below with reference to the drawings. First, the configuration of the vehicle according to the embodiment of the present invention will be described with reference to FIG. FIG. 1 is a schematic diagram of a vehicle M including an automatic transmission having a dog clutch according to an embodiment of the present invention. As shown in FIG. 1, the vehicle M includes an engine 11, a clutch 12, an automatic transmission (dog clutch control system) 13, a differential device 14, and driving wheels (front left and right wheels) Wfl and Wfr. The engine 11 generates driving force by burning fuel. The driving force of the engine 11 is configured to be transmitted to the drive wheels Wfl and Wfr via the clutch 12, the automatic transmission 13, and the differential device 14. The vehicle M is a so-called FF vehicle.

  The clutch 12 is configured to be automatically connected and disconnected in response to a command from a control device (ECU) 10. The automatic transmission 13 incorporates a dog clutch transmission mechanism and automatically selects, for example, six forward stages and one subsequent stage. The differential device 14 includes both a final gear and a differential gear, and is formed integrally with the automatic transmission 13.

  Next, the configuration of the automatic transmission 13 will be described with reference to FIG. FIG. 2 is a schematic diagram of the automatic transmission 13 having a dog clutch according to the embodiment of the present invention. As shown in FIG. 2, the automatic transmission 13 includes a housing 22, an input shaft 24, a first input gear 26, a second input gear 28, a third clutch ring (third input gear) 30, a fourth clutch ring (first 4 input gear) 32, clutch hub 34, sleeve 36, stroke position sensor 38, shaft drive 40, output shaft 42, first clutch ring (first output gear) 44, second clutch ring (second output gear) 46. The third output gear 48 and the fourth output gear 50 are provided.

  The first dog clutch transmission mechanism is configured by the first clutch ring (first output gear) 44, the second clutch ring (second output gear) 46, the clutch hub 34, the sleeve 36, the shaft driving device 40, and the like. Yes. Further, the second clutch clutch is constituted by the third clutch ring (third input gear) 30, the fourth clutch ring (fourth input gear) 32, the clutch hub 34, the sleeve 36, the stroke position sensor 38, the shaft driving device 40, and the like. A transmission mechanism is configured. Further, a dog clutch control system is constituted by the first dog clutch transmission mechanism, the second dog clutch transmission mechanism, the control device 10 and the like described above.

  The housing 22 includes a main body 22a formed in a substantially bottomed cylindrical shape, a first wall 22b that is a bottom wall of the main body 22a, and a second wall 22c that divides the main body 22a in the left-right direction.

  The input shaft 24 is rotatably supported by the housing 22. That is, one end of the input shaft (left end as viewed in FIG. 2) is supported by the first wall 22b via the bearing 22b1, and the other end (right end as viewed in FIG. 2) of the input shaft 24 is the second via the bearing 22c1. It is bearing on the wall 22c. The other end of the input shaft 24 can be rotationally connected to a drive shaft to which engine torque output from the engine is transmitted via the clutch 12. Therefore, the output of the engine 11 is input to the input shaft 24 when the clutch 12 is connected. Note that the input shaft 24 in the present embodiment is rotatably supported around the axis SCL.

  The input shaft 24 is provided with a first input gear 26, a second input gear 28, a third clutch ring 30, and a fourth clutch ring 32. The first input gear 26 and the second input gear 28 are fixed so as not to rotate relative to the input shaft 24 by, for example, spline fitting. The third input gear is formed on the outer periphery of the third clutch ring 30 that is rotatably supported with respect to the input shaft 24. The fourth input gear is formed on the outer periphery of the fourth clutch ring 32 that is rotatably supported with respect to the input shaft 24. Further, the clutch hub 34 is fixed to the input shaft 24 between the third clutch ring 30 and the fourth clutch ring 32 so as to be relatively non-rotatable (integrally rotatable) by, for example, spline fitting. Yes. The third clutch ring 30 meshes with a third output gear 48 described later, and the fourth clutch ring 32 meshes with a fourth output gear 50 described later.

  The housing 22 is provided with an output shaft 42 substantially parallel to the input shaft 24. The output shaft 42 is rotatably supported by the housing 22. Specifically, one end (the left end in FIG. 2) of the output shaft 42 is supported by the first wall 22b via the bearing 22b2, and the other end (the right end in FIG. 2) of the output shaft 42 supports the bearing 22c2. Via the second wall 22c.

  The output shaft 42 includes a first clutch ring (first output gear) 44, a second clutch ring (second output gear) 46, a third output gear 48, a fourth output gear 50, and a fifth output gear 52. It has been. The first clutch ring (first output gear) 44 has a gear (for example, a helical gear) formed on the outer peripheral surface thereof, and this gear meshes with the first input gear 26. Similarly, the second clutch ring (second output gear) 46 has a gear (for example, a helical gear) formed on the outer peripheral surface thereof, and this gear meshes with the second input gear 28. Similarly, the third output gear 48 has a gear (for example, a helical gear) formed on the outer peripheral surface thereof, and this gear meshes with the third clutch ring (third input gear) 30. Similarly, a gear (for example, a helical gear) is formed on the outer peripheral surface of the fourth output gear 50, and this gear meshes with the fourth clutch ring (fourth input gear) 32. The fifth output gear 52 has a gear (for example, a helical gear) formed on the outer peripheral surface thereof, and this gear meshes with an input gear (not shown) of the differential device 14. Thus, the output shaft 42 is connected to the differential device 14 via the fifth output gear 52.

In the present embodiment, the relative speed detection unit 80 that detects the relative speed between the sleeve and the clutch ring includes an input rotation speed detection sensor 39 and an output rotation speed detection sensor 49.
The input rotation speed detection sensor 39 is a rotation speed detection sensor that is provided in the vicinity of the input shaft 24 and includes, for example, a rotary encoder. The input rotation speed detection sensor 39 detects the rotation speed of the input shaft 24. The input rotation speed detection sensor 39 is a sleeve rotation speed detection sensor when the sleeve 36 is engaged with the third clutch ring 30 or the fourth clutch ring 32 by the second dog clutch transmission mechanism. For example, the input rotational speed detection sensor 39 determines the rotational speed of the input shaft 24 as the rotational speed of the sleeve 36.
The input rotation speed detection sensor 39 can also be a clutch ring rotation speed detection sensor when the sleeve 36 is engaged with the first clutch ring 44 or the second clutch ring 46 by the first dog clutch transmission mechanism. For example, the input rotation speed detection sensor 39 detects the rotation speed of the input shaft 24, and a value obtained by dividing the detected rotation speed of the input shaft 24 by the gear ratio of the first clutch ring 44 to the first input gear 26, The rotational speed of the first clutch ring 44 is determined.

The output rotation speed detection sensor 49 is a rotation speed detection sensor that is provided in the vicinity of the output shaft 42 and is composed of, for example, a rotary encoder. The output rotation speed detection sensor 49 detects the rotation speed of the output shaft 42. The output rotation speed detection sensor 49 is a clutch ring rotation speed sensor when the sleeve 36 is engaged with the third clutch ring 30 or the fourth clutch ring 32 by the second dog clutch transmission mechanism. For example, the output rotation speed detection sensor 49 detects the rotation speed of the output shaft 42, and is a value obtained by multiplying the detected rotation speed of the output shaft 42 by the gear ratio between the third output gear 48 and the third clutch ring 30. Is determined as the rotational speed of the third clutch ring 30.
The output rotation speed detection sensor 49 can also be a sleeve rotation speed detection sensor when the sleeve 36 is engaged with the first clutch ring 44 or the second clutch ring 46 by the first dog clutch transmission mechanism. The rotational speed of the sleeve 36 of the first dog clutch transmission mechanism is detected from the rotational speed of the output shaft 42.

  Between the first clutch ring 44 and the second clutch ring 46 and adjacent thereto, a clutch hub (hub) 34 is fixed to the output shaft 42 by, for example, spline fitting. The configurations of the first clutch ring 44, the second clutch ring 46, the clutch hub 34, and the like are the same as those of the third clutch ring 30, the fourth clutch ring 32, and the clutch hub 34 in the input shaft 24, and thus the description thereof is omitted. To do. The third output gear 48, the fourth output gear 50, and the fifth output gear 52 are fixed to the output shaft 42 by, for example, spline fitting. The driving force of the engine 11 is input from the input shaft 24, transmitted to the output shaft 42, and finally output to the differential device 14 via the fifth output gear 52.

  Since the second dog clutch transmission mechanism of the input shaft 24 and the first dog clutch transmission mechanism of the output shaft 42 have the same configuration, the second dog clutch transmission mechanism of the input shaft 24 will be described as a representative.

  First, the clutch hub 34 will be described with reference to FIGS. 3 and 4. FIG. 3 is an exploded perspective view of the dog clutch transmission mechanism according to the embodiment of the present invention. FIG. 4 is a front view of the clutch hub according to the embodiment of the present invention. As shown in FIGS. 3 and 4, the clutch hub 34 has a fitting hole for fitting with the input shaft 24. At the same time, the clutch hub 34 is formed in a flat cylindrical shape, and spline teeth 34 a are formed on the outer peripheral surface of the clutch hub 34. For example, twelve spline teeth 34a are formed at the same pitch in the circumferential direction, and the diameter of the tip of each spline tooth 34a is the same. The diameter of the base of the spline teeth 34a is the same so that the high teeth 36a1 and the low teeth 36a2 constituting the inner teeth (splines) 36a, which will be described later, of the sleeve 36 become meshing grooves 34a1 having a depth that can be meshed together. Is formed. The inner teeth (splines) 36a of the sleeve 36 are slidably engaged with the spline teeth 34a of the clutch hub 34.

  Next, the sleeve 36 will be described with reference to FIGS. 3 and 5. FIG. 5 is a front view of the sleeve 36 according to the embodiment of the present invention. The sleeve 36 has inner teeth 36a formed on the inner periphery thereof, the relative rotation with respect to the clutch hub 34 is restricted by the inner teeth 36a, and the input shaft 24 (or output) is movable in the axial direction of the input shaft 24 (or output shaft 42). It is supported by the shaft 42). As shown in FIG. 3, the sleeve 36 is formed in a substantially annular shape, and an outer peripheral groove 36 b on which the shift fork 40 a (see FIG. 2) of the shaft moving device 40 is slidably engaged is formed on the outer periphery of the sleeve 36. It is formed in the direction. The sleeve 36 has a plurality of inner teeth formed on the inner periphery, and the inner teeth 36a are formed, for example, as shown in FIG. 3 and FIG. A total of 12 pitches are formed. The internal teeth 36a are provided with high teeth 36a1 and low teeth 36a2 having different tooth heights, and a pair of high teeth 36a1 having a high tooth height are formed to face each other at 180 degrees on the circumference. The other ten low teeth 36a2 have the same height and are lower than the high teeth 36a1.

  The end surfaces of the sleeve 36 facing the third clutch ring 30 and the fourth clutch ring 32 (the front end surface 36a4 in FIG. 5), which are perpendicular to the axis SCL of the high teeth 36a1 and the low teeth 36a2, are front and rear in the rotational direction. As shown in FIG. 5, a chamfered surface 36a3 of 45 degrees with respect to the rotation direction is formed at the corner. As a result, the corner portions are not easily lost due to the impact of the third clutch ring 30 and the fourth clutch ring 32 with dog clutch teeth described later. A tooth gap 36a5 is formed between the adjacent high teeth 36a1 and the low teeth 36a2 and between the two adjacent low teeth 36a2. A dog front tooth 30b1 (see FIG. 6) and a dog rear tooth 30b2 (see FIG. 6), which will be described later, of the third clutch ring 30 are fitted in these tooth grooves 36a5. Further, the high teeth 36 a 1 and the low teeth 36 a 2 of the sleeve 36 are engaged with the meshing grooves 34 a 1 of the clutch hub 34.

  In the input shaft 24, a third clutch ring 30 is provided on one side adjacent to the clutch hub 34, and a fourth clutch ring 32 is provided on the other side. Note that the third clutch ring 30 and the fourth clutch ring 32 have a dog clutch portion formed on the surface facing the clutch hub 34 and having a substantially symmetrical structure with the clutch hub 34 as the center. Is described as a representative.

  FIG. 6 is a front view of the third clutch ring according to the embodiment of the present invention. As shown in FIG. 6, the third clutch ring 30 is rotatable relative to the input shaft 24 via a bearing (not shown) adjacent to the clutch hub 34, as shown in FIGS. It is provided so as not to move relative to the direction (see FIG. 2). The gear formed on the outer peripheral surface of the third clutch ring 30 constitutes an idle gear that rotates relative to the input shaft 24 so as to be rotatable. A ring-shaped third dog clutch portion 30 a is formed on the surface (meshing portion) of the third clutch ring 30 facing the clutch hub 34.

  A plurality of dog clutch teeth 30 b that mesh with the inner teeth 36 a of the sleeve 36 are formed on the outer periphery of the third dog clutch 30 a. The dog clutch tooth 30b includes two kinds of dog front teeth 30b1 and dog rear teeth 30b2 having different tooth heights. The dog clutch teeth 30b have the same diameter at the bottom and are formed at the same pitch in the circumferential direction. The dog front teeth 30b1 are provided in a pair (two) at opposing positions that differ by 180 degrees in the circumferential direction. The dog front tooth 30b1 is formed such that the outer shape of the tooth tip is larger than the inner diameter of the tooth tip of the high tooth 36a1 of the sleeve 36 and smaller than the inner diameter of the tooth tip of the low tooth 36a2. Thus, when the sleeve 36 approaches the third clutch ring 30 while rotating relatively, the dog front teeth 30b1 engage with the high teeth 36a1 of the sleeve 36 and engage with the low teeth 36a2 as described above. do not do.

  As shown in FIG. 3, the dog front teeth 30b1 are formed to extend from the front end face FE of the third dog clutch portion 30a constituting the meshing portion to the rear end position RE of the third dog clutch portion 30a in the axis SCL direction. On both side surfaces 30b9 of the dog front teeth 30b1 on the sleeve 36 side, chamfered portions 30b3 inclined by 45 degrees from the rotation direction are formed. The front end portion of the dog front tooth 30b1 is constituted by the front end surface 30b5 and the chamfered portion 30b3 on the sleeve 36 side of the dog front tooth 30b1.

  As shown in FIGS. 3 and 6, the dog rear teeth 30b2 are arranged in a total of ten at the phase position between the two dog front teeth 30b1, and the outer diameter of each tooth tip is a low tooth of the sleeve 36. It is formed larger than the inner diameter of the tooth tip 36a2. The dog rear teeth 30b2 extend from a position retracted by a predetermined amount t from the sleeve 36 side in the axis SCL direction from the front end surface FE of the third dog clutch portion 30a constituting the meshing portion to the rear end position RE of the third dog clutch portion 30a. Is formed. On both side surfaces 30b7 of the clutch rear teeth 30b2 on the sleeve 36 side, chamfered portions 30b4 inclined by 45 degrees in the rotational direction are provided. When the sleeve 36 approaches the third clutch ring 30 while relatively rotating, the high teeth 36a1 and the low teeth 36a1 and the low teeth are moved to a position retracted by a predetermined amount t from the sleeve 36 side in the axis SCL direction from the front end surface FE of the third dog clutch portion 30a. When the teeth 36a2 enter, the dog rear teeth 30b2 engage with the high teeth 36a1 or the low teeth 36a2 of the sleeve. By engaging the dog rear teeth 30b2 with the high teeth 36a1 or the low teeth 36a2 of the sleeve, a large rotational torque can be transmitted safely and reliably.

  As described above, the third clutch ring 30 and the fourth clutch ring 32 are higher in the outer circumference than the dog rear teeth 30b2 and the dog rear teeth 30b2, and the end faces the sleeve 36 are opposed to the sleeve 36 of the dog rear teeth 30b2. A dog front tooth 30b1 provided on the sleeve 36 side from the end surface to be formed is formed.

When the sleeve 36 is moved to the third clutch ring 30 side, the high teeth 36a1 do not use the side surface 30b9 of the clutch front teeth 30b1 as a guide, and any of the tooth grooves 30b8, 30b10 of the dog clutch teeth 30b (see FIG. 6). It is possible to make it fit in. However, when the high teeth 36a1 (and the low teeth 36a2) try to fit into the tooth gap 30b8 between the clutch rear teeth 30b2, the distance between the adjacent clutch rear teeth 30b2 is short, and therefore, they are repelled by the clutch rear teeth 30b2. It is thought that there are many. Therefore, in order to quickly mesh the high teeth 36a1 with the dog clutch teeth 30b, the high teeth 36a1 are often guided by the side surface 30b9 of the clutch front teeth 30b1, and the high teeth 36a1 are often inserted into the tooth spaces 30b10 adjacent to the clutch front teeth 30b1. it is conceivable that.

  In the present embodiment, the stroke position sensor 38 is an example of a separation detection unit that detects that the internal teeth 36a of the sleeve 36 are separated from the tooth grooves 30b8 and 30b10 adjacent to the dog rear teeth 30b2. The stroke position sensor 38 is, for example, various position sensors such as an optical position sensor or a linear encoder. The stroke position sensor 38 detects, for example, the position in the axis SCL direction of the tip of the sleeve 36 (the front end surface 36a4 of the high teeth 36a1) as the stroke position. Specifically, for example, the stroke position sensor 38 detects the position of the tip of the sleeve 36 (the front end face 36a4 of the high teeth 36a1) with respect to the front end face FE of the third dog clutch portion 30a as a stroke position, and indicates the relative position. The position signal is output to the control unit 10. That is, the stroke position represents the position of the end face on the third dog clutch part 30a side of the high teeth 36a1 with respect to the front end face FE of the third dog clutch part 30a. The stroke position sensor 38 may detect the position of the front end of the sleeve 36 relative to the front end of the dog rear teeth 30b2, or the position of the front end of the sleeve 36 relative to the rear end position RE of the dog clutch portion 30a.

  FIG. 7 is a block diagram showing a configuration of a control unit according to the embodiment of the present invention. As shown in FIG. 7, the control unit 10 includes an input unit 101, a storage unit 102, an output unit 103, and a CPU (Central Processing Unit) 104. The input unit 101, the storage unit 102, the output unit 103, and the CPU 104 are connected to each other via a bus and can transmit signals to each other. The input unit 101 acquires a relative position signal from the stroke position sensor 38, acquires a sleeve rotation number signal indicating the rotation number of the sleeve 36 from the sleeve rotation number detection sensor 38, and receives a third clutch from the output rotation number detection sensor 49. A clutch ring rotational speed signal representing the rotational speed of the ring 30 is acquired. The storage unit 102 stores information on the relative position represented by the relative position signal, the sleeve rotational speed represented by the sleeve rotational speed signal, and the clutch ring rotational speed represented by the clutch ring rotational speed signal. The output unit 103 is connected to the linear actuator 40i, and the output unit 103 outputs a control signal to the driving device 40c in accordance with a command from the CPU 104. CPU104 performs a calculation and makes a control signal output to the drive device 40c from the output part 103. FIG.

  The control unit 10 controls the linear actuator 40 i that drives the axial movement device 40 based on the relative position signal output from the stroke position sensor 38. Further, the control unit 10 controls the driving device 40c that drives the axial movement device 40 using the detected rotational speed of the sleeve 36 and the detected rotational speed of the third clutch ring 30.

  The axial movement device 40 moves the sleeve 36 in the axial direction of the input shaft 24 or the output shaft 42. That is, the axial movement device 40 reciprocates the sleeve 36 along the axis SCL direction. When the sleeve 36 is pressed against the third clutch ring 30 or the fourth clutch ring 32 and the reaction force is applied from the third clutch ring 30 or the fourth clutch ring 32, the axial movement device 40 Is allowed to move by the reaction force.

  As shown in FIG. 2, the axial movement device 40 includes a fork 40a, a fork shaft 40b, and a drive device 40c. The tip of the fork 40a is formed in accordance with the outer peripheral shape of the outer peripheral groove 36b of the sleeve 36. The fork shaft 40b is supported by the housing 22 so as to be slidable along the axial direction. Specifically, one end (left end as viewed in FIG. 2) of the fork shaft 40b is supported by the first wall 22b via the bearing 22b3, and the other end (right end as viewed in FIG. 2) side of the fork shaft 40b is connected to the bracket 40d. The bracket 40d is slidable by a guide member (anti-rotation) 40e protruding in the axial direction by the second wall 22c, and fixed to the nut member 40f so as not to be relatively rotatable. The nut member 40f is screwed to a drive shaft 40h including the drive device 40c so as to be able to advance and retreat. The drive shaft 40h is supported by the second wall 22c through a bearing 22c3.

  The drive device 40c is, for example, a linear drive device that uses a linear actuator 40i as a drive source. As the linear actuator 40i, for example, there is a ball screw type linear actuator. This is, for example, a cylindrically formed housing in which a plurality of coils are arranged as a stator (not shown) in the inner circumferential direction, and is provided so as to be rotatable with respect to the stator so as to be opposed to the stator by providing a magnetic gap. A rotor (not shown) in which a plurality of N-pole magnets and S-pole magnets are alternately excreted on the outer periphery, a drive shaft (ball screw shaft) 40 h that rotates integrally with the rotor around the rotation axis of the stator, and a drive A nut member 40f made of a ball nut screwed to the shaft 40h is provided. The drive shaft 40h is screwed into the nut member 40f via a plurality of balls (not shown) so as to be relatively rotatable. By controlling energization to each coil of the stator, the drive shaft 40h is arbitrarily rotated in both forward and reverse directions, and the nut member 40f and the fork shaft 40b are reciprocated and positioned and fixed at arbitrary positions. Further, the drive device 40c has a long lead for the drive shaft (ball screw shaft) 40h, so that when the reaction force is applied from the third clutch ring 30 or the fourth clutch ring 32, the sleeve 36 reacts to the reaction force. It is configured to allow movement by force.

  A shift detent mechanism 58 is provided in the vicinity of the first wall 22b of the fork shaft 40b. The shift detent mechanism 58 includes a lock member 62 that is biased in a direction perpendicular to the axis of the fork shaft 40b by a biasing member (coil spring) (not shown). The fork shaft 40b can be moved to an arbitrary position by sliding the fork shaft 40b in the axial direction by fitting the lock member 62 into a concave portion (triangular groove) 60 provided in the fork shaft 40b along the axis with a spring force. It is configured to be positionable. As a result, the position of the sleeve 36 relative to the third clutch ring 30 and the fourth clutch ring 32 is changed so that the high teeth 36a of the sleeve 36 are the dog clutch portions 30a of the third clutch ring 30 and the fourth clutch ring 32 (specifically, the dog front teeth). 30b1) is positioned at a neutral position where it does not contact, or at a meshing position where the high teeth 36a of the sleeve 36 and the dog clutch portion 30a (specifically, the dog front teeth 30b1) of the third clutch ring 30 or the fourth clutch ring 32 mesh.

  In this embodiment, a ball screw type linear actuator is employed as the driving device 40c. However, when the sleeve 36 is pressed against the third clutch ring 30 or the fourth clutch ring 32, the third clutch ring 30 or the second clutch actuator 30c is used. If a reaction force is applied from the four clutch ring 32, another drive device may be used as long as it is configured to allow the sleeve 36 to move by the reaction force. For example, a solenoid-type drive device, A hydraulic drive may be used.

  For example, when shifting up, when the sleeve 36 rotates at a high speed and a small moment of inertia and the third clutch ring 30 (third input gear) rotates at a low speed and a large moment of inertia, the sleeve 36 is decelerated. On the other hand, if the sleeve 36 is rotated at a low speed and a small moment of inertia and the third clutch ring 30 is rotated at a high speed and a large moment of inertia during the downshift, the sleeve 36 is accelerated. In the following operation, the deceleration operation of the sleeve 36 when shifting up will be described.

  Next, an outline of the movement of the high teeth 36a1 of the sleeve 36 described above will be described with reference to FIGS. First, the thrust applied to the sleeve 36 when it is new will be described with reference to FIG. FIG. 8 is a diagram showing the concept of movement of the sleeve 36 when it is new in the embodiment of the present invention. 8, 9, 11, and 12 are illustrated by extending the third clutch ring 30 from the outer periphery toward the center in a substantially straight line for easy understanding. 8 and 9, the movement of the high teeth 36a1 of the sleeve 36 will be described as a representative.

  As shown in FIG. 8, when the high teeth 36a1 of the sleeve 36 are located away from the dog rear teeth 30b2, the control unit 10 causes the sleeve 36 to move in a direction perpendicular to the rotational direction of the sleeve 36 (that is, the sleeve 36 The axial movement device 40 is controlled to apply an initial thrust F0 in a direction perpendicular to the circumferential direction. As a result, the initial thrust F0 is applied to the high teeth 36a1 and the low teeth 36a2 of the sleeve 36. The initial thrust F0 is a thrust for promptly jumping the high teeth 36a1 of the sleeve 36 to the end face (hereinafter referred to as the front end face) facing the sleeve 36 of the dog rear teeth 30b2.

  Subsequently, as shown in FIG. 8, when the high teeth 36a1 of the sleeve 36 are in contact with the dog rear teeth 30b2, the low teeth 36a2 (not shown) are in contact with the other dog rear teeth 30b2. When the inner teeth 36a of the sleeve 36 are in contact with the dog rear teeth 30b2, the control unit 10 causes the sleeve 36 to be in a direction perpendicular to the rotation direction of the sleeve 36 (that is, a direction perpendicular to the circumferential direction of the sleeve 36). In addition, the axial movement device 40 is controlled so as to apply the first thrust F1. As a result, the first thrust F1 is applied to the high teeth 36a1 and the low teeth 36a2 of the sleeve 36. Here, the first thrust F1 has a predetermined rotational speed difference between the sleeve 36 and the third clutch ring 30 against the frictional force generated by the contact between the high teeth 36a1 of the sleeve 36 and the dog rear teeth 30b2. This is the thrust that can be maintained within the range. Thereby, it is possible to prevent the difference in rotational speed between the sleeve 36 and the third clutch ring 30 from being reduced so much. Then, the high teeth 36a1 of the sleeve 36 relatively move toward the dog front teeth 30b1 (in the left direction in FIG. 8) while maintaining the first thrust F1.

  When the side surface of the high tooth 36a1 of the sleeve 36 collides with the side surface of the dog front tooth 30b1, the high tooth 36a1 of the sleeve 36 is inserted into the tooth gap between the dog front tooth 30b1 and the dog rear tooth 30b2 by this first thrust F1. The As a result, the sleeve 36 is rotated around the third clutch ring. At this time, the control unit 10 applies a third thrust F3 larger than the first thrust F1 to the sleeve 36 in a direction perpendicular to the rotation direction of the sleeve (that is, a direction perpendicular to the circumferential direction of the sleeve 36). The axial movement device 40 is controlled so as to apply. As a result, the third thrust F3 is applied to the high teeth 36a1 and the low teeth 36a2 of the sleeve 36. By the third thrust F3, the high teeth 36a1 of the sleeve 36 are pushed in until the front end surface of the high teeth 36a1 of the sleeve 36 contacts the rear tooth stopper 30b11 which is the bottom of the tooth gap. The third thrust F3 is a thrust that pushes the high teeth 36a1 of the sleeve 36 to the bottom (rear tooth stopper 30b11) of the tooth groove 30b10 adjacent to the dog front teeth 30b1.

  Next, the thrust applied to the sleeve 36 when the sleeve 36 and the third clutch ring 30 are worn (hereinafter referred to as wearing) will be described. FIG. 9 is a diagram showing the concept of movement of the sleeve 36 during wear in the embodiment of the present invention. As shown in FIG. 9, when the high teeth 36a1 of the sleeve 36 are located away from the dog rear teeth 30b2 even during wear as in the case of a new article, the control unit 10 causes the sleeve 36 to move in the rotational direction of the sleeve. Then, the axial movement device 40 is controlled so as to apply the initial thrust F0 in a direction perpendicular to the circumferential direction (that is, a direction perpendicular to the circumferential direction of the sleeve 36). As a result, the initial thrust F0 is applied to the high teeth 36a1 and the low teeth 36a2 of the sleeve 36.

  Subsequently, when the high teeth 36a1 of the sleeve 36 first come into contact with the front end surface of the dog rear teeth 30b2 even during wear as in the case of a new article, the low teeth 36a2 (not shown) are in contact with the other dog rear teeth 30b2. From the time when the inner teeth 36a of the sleeve 36 first contact the front end surface of the dog rear teeth 30b2, while the left side surface 36a6 is in the F2 section of FIG. The axial movement device 40 is controlled so that the first thrust F1 is applied in a direction perpendicular to the rotation direction of the sleeve (that is, a direction perpendicular to the circumferential direction of the sleeve 36). As a result, the first thrust F1 is applied to the high teeth 36a1 and the low teeth 36a2 of the sleeve 36. Here, the first thrust F1 has a predetermined rotational speed difference between the sleeve 36 and the third clutch ring 30 against the frictional force generated by the contact between the high teeth 36a1 of the sleeve 36 and the dog rear teeth 30b2. It is a thrust that can be maintained within a range (does not reduce the rotational speed difference).

  Subsequently, while the left side surface 36a6 toward the high teeth 36a1 is in the section F2 in FIG. 9, the control unit 10 causes the sleeve 36 to move in a direction perpendicular to the rotational direction of the sleeve (that is, with respect to the circumferential direction of the sleeve 36). The axial movement device 40 is controlled so as to apply a second thrust F2 larger than the first thrust F1 in the vertical direction. As a result, the second thrust F2 is applied to the high teeth 36a1 and the low teeth 36a2 of the sleeve 36. For this reason, since the high teeth 36a1 of the sleeve 36 are in contact with the front end face of the dog rear teeth 30b2, the second thrust F2 larger than the first thrust F1 can be applied to the high teeth 36a1 and the low teeth 36a2. The probability that the high teeth 36a1 and the low teeth 36a2 fit into the corresponding tooth spaces 30b8 can be increased.

  Thus, the control unit 10 applies the first thrust F1 to the sleeve 36 in the direction perpendicular to the circumferential direction of the sleeve 36 in the F2 section, and the first thrust F1 in the direction perpendicular to the circumferential direction of the sleeve 36 in the F2 section. The control of applying the second thrust F2 to the sleeve 36 is repeated. When the side surface of the high tooth 36a1 of the sleeve 36 collides with the side surface of the dog front tooth 30b1, the second thrust F2 inserts the tooth 30b10 between the dog front tooth 30b1 and the dog rear tooth 30b2. As a result, the sleeve 36 follows the third clutch ring 30. At this time, the controller 10 causes the sleeve 36 to generate a third thrust greater than or equal to the second thrust F2 in a direction perpendicular to the rotational direction of the sleeve 36 (that is, a direction perpendicular to the circumferential direction of the sleeve 36). The axial movement device 40 is controlled to apply F3. As a result, the third thrust F3 is applied to the high teeth 36a1 and the low teeth 36a2 of the sleeve 36. By the third thrust F3, the high teeth 36a1 of the sleeve 36 are pushed in until the front end surface of the high teeth 36a1 of the sleeve 36 contacts the rear tooth stopper 30b11 which is the bottom of the tooth gap. At the same time, the low teeth 36a2 of the sleeve 36 are pushed in by the third thrust F3 until the front end surface of the low teeth 36a2 of the sleeve 36 contacts the bottom of the corresponding tooth groove 30b8.

  As described above, the control unit 10 performs control to apply the second thrust F2 larger than the first thrust F1 to the high teeth 36a1 in the direction perpendicular to the circumferential direction of the sleeve 36 in the F2 section. In order to realize this control, the control unit 10 moves away from the tooth groove 30b8 when the inner tooth 36a1 of the sleeve 36 moves in the circumferential direction of the third clutch ring 30 along the end surface of the dog rear tooth 30b2. In a direction perpendicular to the circumferential direction of the sleeve 36 at a timing according to the timing and the time required to reach the position facing the next tooth space determined based on the relative speed and the space between the tooth spaces. The axial movement device is controlled to increase the thrust applied to the sleeve 36 from the first thrust to the second thrust, whereby the inner teeth 36a of the sleeve 36 are opposed to the tooth grooves 30b8 and 30b10 adjacent to the dog rear teeth 30b2. Since the thrust applied to the internal teeth 36a of the sleeve 36 is increased when the position is in the position, the probability that the internal teeth 36a will fit into the tooth grooves 30b8, 30b10 of the third clutch ring 30 It can be increased.

At this time, the control unit 10 uses the detected rotational speed of the sleeve 36 and the detected rotational speed of the third clutch ring 30 to move the inner teeth 36a of the sleeve 36 along the front end surface of the dog rear teeth 30b2. When moving in the circumferential direction of the third clutch ring 30, a time T1 required to reach a position facing the tooth grooves 30b8 and 30b10 adjacent to the dog rear teeth 30b2 is determined. Thereby, as an example, the control unit 10 rotates the third clutch ring 30 from the time when the time (T1-Ta) obtained by subtracting the predetermined time Ta from the required time T1 to the time when the required time T1 elapses. The axial movement device 40 is controlled so that the thrust applied to the sleeve 36 in the direction perpendicular to the direction is increased from the first thrust F1 to the second thrust F2. Thus, the thrust applied to the sleeve 36 can be increased before the inner teeth 36a of the sleeve 36 reach the position facing the tooth groove adjacent to the dog rear teeth 30b2 or the position contacting the side surfaces of the dog front teeth 30b1. Therefore, when the inner teeth 36a of the sleeve 36 reach a position facing the tooth grooves 30b8 and 30b10 adjacent to the dog rear teeth 30b2, the thrust applied to the sleeve 36, that is, the thrust applied to the inner teeth 36a2 is reliably increased. Therefore, the probability of fitting the inner teeth 36a of the sleeve 36 to the tooth gap 30b8 adjacent to the dog rear tooth 30b2 or the tooth groove 30b10 adjacent to the dog front tooth 30b1 can be increased.
In the present embodiment, as an example, the control unit 10 changes the thrust from the first thrust F1 to the first thrust F1 from the time when the time obtained by subtracting the predetermined time Ta from the required time T1 to the time when the required time T1 elapses. Although the thrust is increased to a thrust F2 of 2, the present invention is not limited to this. The control unit 10 applies the thrust applied to the internal teeth 36a1 of the sleeve 36 at any time from the time when the predetermined time Ta is subtracted from the determined required time T1 to the time when the required time T1 has elapsed. The axial movement device 40 may be controlled so as to increase the first thrust F1 from the first thrust F2.

  The second thrust applied to the sleeve 36 in the direction perpendicular to the circumferential direction of the third clutch ring 30 from when the time obtained by subtracting the predetermined time Ta from the required time T1 to when the required time T1 elapses. F2 is a thrust force that is determined so that the inner teeth 36a do not get over the dog front teeth 30b1 due to the impact force at the time of contact between the inner teeth 36a (specifically, the high teeth 36a1) and the side surfaces of the dog front teeth 30b1. Thus, when the inner teeth 36a (specifically, the high teeth 36a1) of the sleeve 36 reach a position where they contact the side surfaces of the dog front teeth 30b1, the inner teeth 36a (specifically, the high teeth 36a1) and the dog front teeth 30b1. It is possible to prevent the internal teeth 36a (specifically, the high teeth 36a1) from getting over the dog front teeth 30b1 by the impact force at the time of contact with the side surface. Here, the predetermined time Ta is, for example, the total time of the response delay time of the axial movement device 40 and the processing delay time of the control unit 10. By setting the predetermined time Ta in this manner, the inner teeth 36a1 of the sleeve 36 are moved to the positions facing the tooth grooves adjacent to the dog rear teeth 30b2 or the positions contacting the side surfaces of the dog front teeth 30b1. 2 thrust F2 can be added. The predetermined time Ta may be longer than the total time of the response delay time of the axial movement device 40 and the processing delay time of the control unit 10. That is, the predetermined time Ta is equal to or longer than the total time of the response delay time of the axial movement device 40 and the processing delay time of the control unit 10.

  Further, the control unit 10 determines when the inner teeth 36a (specifically, the high teeth 36a1) of the sleeve 36 move in the circumferential direction of the clutch ring 30 along the end face of the dog rear teeth 30b2, and from the required time. The first thrust that can maintain the rotational speed difference between the sleeve 36 and the third clutch ring 30 within a predetermined range in a period other than the period from when the time obtained by subtracting the time elapses to when the required time elapses. The axial movement device 40 is controlled to apply F1 to the sleeve 36. As a result, the rotational speed difference between the sleeve 36 and the third clutch ring 30 can be prevented from being reduced so much while the inner teeth 36a1 of the sleeve 36 are brought into contact with the dog rear teeth 30b2.

  10 and 11, when the high teeth 36a1 of the sleeve 36 move in the circumferential direction of the third clutch ring 30 along the front end surface of the dog rear teeth 30b2, the high teeth 36a1 A method for determining the minimum value Tmin of the time required to reach the tooth gap 30b8 (also referred to as the next tooth gap arrival time) will be described. FIG. 10 is a plan view of the high teeth 36a1 of the sleeve 36 when worn. As shown in FIG. 10, the circumferential width of the high teeth 36a1 is Lslv, and the circumferential wear width of the high teeth 36a1 during wear is defined as Lwear.

  FIG. 11 is a plan view showing the position of the high teeth 36a1 of the sleeve 36 when the next tooth gap arrival time is minimized. When the high teeth 36a1 of the sleeve 36 first contact with the dog rear teeth 30b2, it is not known which position of the tooth width of the dog rear teeth 30b2 is contacted. It is assumed that it is in contact with the position closest to the previous tooth gap moving in the circumferential direction (the position of the high tooth 36a1 in FIG. 11). At this time, the arrival time of the next tooth gap is minimized. Specifically, the shortest time Tmin to reach the position facing the next tooth gap is calculated by the following equation (1), where the speed difference between the sleeve 36 and the third clutch ring 30 is a relative speed dv.

  Tmin = Lmin / dv (1)

  Here, the speed difference between the sleeve 36 and the third clutch ring 30 is obtained from the difference between the rotational speed of the sleeve 36 and the rotational speed of the third clutch ring 30. However, Lmin is equal to the side surface 36a6 of the high tooth 36a1 when it is in contact with the position closest to the previous tooth groove (the position of the high tooth 36a1 in FIG. 11) moving in the circumferential direction of the clutch ring, and the next dog It is the distance in the circumferential direction of the third clutch ring 30 between the corner portion 30b12 of the rear tooth 30b2, and is represented by the following equation (2).

  Lmin = Lwear (= Ldog-Lslv- (Lslv-Lwear)) (2)

  Here, Ldog is an interval between the tooth gaps 30b8, and Lslv is a tooth width of the dog rear teeth 30b2 and a tooth gap width of the dog rear teeth 30b2. In the present embodiment, as an example, it is assumed that the wear width Lwear in the circumferential direction of the high teeth 36a1 at the time of wear is predetermined, but the control unit 10 increases the wear height as the sleeve stroke amount described later increases. You may update so that the wear width of the circumferential direction of the tooth | gear 36a1 may become large. Under such an assumption, the control unit 10 determines the detected rotational speed of the sleeve 36 and the detected rotational speed of the third clutch ring 30 when the inner teeth 36a first contact the dog rear teeth 30b2. In addition, the shortest time Tmin to reach the position facing the next tooth gap is determined as the required time T1 according to, for example, Expression (1) using the circumferential wear width Lwear of the high teeth 36a1.

  Subsequently, referring to FIG. 12, when the high teeth 36a1 of the sleeve 36 moves in the circumferential direction of the third clutch ring 30 along the front end surface of the dog rear teeth 30b2, the high teeth 36a1 move to the next tooth gap. A method for determining the maximum value Tmax of the time required to reach 30b8 (also referred to as the next tooth space arrival time) will be described. FIG. 12 is a plan view showing the position of the high teeth 36a1 of the sleeve 36 when the next tooth gap arrival time is maximized. When the high teeth 36a1 of the sleeve 36 come into contact with the dog rear teeth 30b2 for the second time and thereafter, the position farthest from the front tooth surface of the dog rear teeth 30b2 that moves in the circumferential direction of the clutch ring (see FIG. It is assumed that it is in contact with the 12 high teeth 36a1). At this time, the arrival time of the next tooth gap is maximized. Specifically, the longest time Tmax to reach the position facing the next tooth gap is calculated by the following equation (3).

  Tmax = Lmax / dv (3)

  However, Lmax is the position farthest from the front tooth surface of the front end face of the dog rear tooth 30b2 that moves in the circumferential direction of the clutch ring (the position of the high tooth 36a1 in FIG. 12) and the next dog rear tooth 30b2. The circumferential distance of the third clutch ring 30 between the corner portion 30b12 and the following expression (4).

  Lmax = Ldog−Lslv (4)

  Under such an assumption, the control unit 10 determines that the detected rotational speed of the sleeve 36 and the detected rotational speed of the third clutch ring 30 when the inner teeth 36a contact the dog rear teeth 30b2 for the second time and thereafter. In addition to the above, using the pitch of the dog rear teeth 30b2 and the circumferential wear width Lwear of the high teeth 36a1, the longest time Tmax to reach the position facing the next tooth space is calculated according to, for example, Equation (3). Determine as T2.

  As described above, when the inner teeth 36a of the sleeve 36 are brought close to the dog rear teeth 30b2, the control unit 10 first determines the relative speed when the inner teeth 36a of the sleeve 36 first contact the end surface of the dog rear teeth 30b2. From the shortest time Tmin to reach the position facing the next tooth gap using dv and the circumferential wear width Lwear of the inner teeth, the next tooth gap is obtained using the relative speed dv and the gap Ldog between the tooth gaps. The axial movement device 40 is configured to increase the thrust applied to the sleeve 36 in the direction perpendicular to the circumferential direction of the third clutch ring 30 from the first thrust F1 to the second thrust F2 until the longest time Tmax to reach the facing position. To control.

  Accordingly, the thrust applied to the sleeve 36 is increased from the shortest time Tmin to the longest time Tmax to reach the position facing the tooth grooves 30b8 and 30b10 adjacent to the dog rear teeth 30b2, thereby adjacent to the dog rear teeth 30b2. Since the thrust applied to the sleeve 36, that is, the thrust applied to the internal teeth 36a, can be reliably increased when reaching the position facing the tooth groove or the position contacting the side surface of the dog front teeth 30b1, the internal teeth 36a can be increased. The probability of fitting into the tooth groove of the ring 30 can be increased.

  Subsequently, the operation of the control unit 10 will be described with reference to FIGS. FIG. 13 is a flowchart illustrating an example of the flow of control processing according to the embodiment of the present invention. FIG. 14 is a continuation of the flowchart of FIG. 15 shows the sleeve thrust, the stroke position, the rotational speed of the sleeve 36 (sleeve rotational speed), the rotational speed of the third dog clutch 30a (dog rotational speed), and the tooth gap prediction counter when the high teeth 36a1 of the sleeve 36 are worn. It is a figure which shows an example of time passage of. Here, the sleeve thrust is a thrust applied to the high teeth 36 a 1 of the sleeve 36 in a direction perpendicular to the circumferential direction of the sleeve 36. Further, the tooth gap prediction counter is such that when the high teeth 36a of the sleeve 36 move in the circumferential direction of the third clutch ring 30 along the front end surface of the dog rear teeth 30b2, the high teeth 36a1 of the sleeve 36 come into contact. This is the number of dog rear teeth 30b2.

Hereinafter, the operation of the control unit 10 will be described with reference to the flowchart of FIG.
(Step S101) First, the control unit 10 sets the tooth gap prediction counter to 0.

  (Step S102) Next, the control unit 10 controls the axial movement device 40 to apply the initial thrust F0 to the high teeth 36a1 of the sleeve 36. Accordingly, as shown in the sleeve nest road talk in FIG. 15, when the sleeve thrust F0 is applied, the stroke position of the high teeth 36a1 of the sleeve 36 changes the high teeth 36a1 of the sleeve 36 to the front end face of the dog rear teeth 30b2 (see FIG. 15 tooth end face after dog).

  (Step S103) Next, the control unit 10 determines whether or not the high teeth 36a1 of the sleeve 36 are in contact with the front end face of the dog rear teeth 30b2. When it is determined that the high teeth 36a1 of the sleeve 36 are in contact with the front end face of the dog rear teeth 30b2 (YES, time t1 in FIG. 15), the process proceeds to step S201 in FIG.

  (Step S104) When it is determined in step S103 that the high teeth 36a1 of the sleeve 36 are not in contact with the front end face of the dog rear teeth 30b2 (NO in step S103), the control unit 10 determines that the stroke position exceeds the threshold position. It is determined whether the tooth has entered a tooth gap adjacent to the dog rear tooth 20b2. If the stroke position exceeds the threshold position and has not entered the tooth gap adjacent to the dog rear tooth 20b2 (NO), the process returns to step S103.

  (Step S105) When it is determined in step S104 that the stroke position exceeds the threshold position and enters the tooth gap adjacent to the dog rear tooth 20b2 (YES in step S104), the control unit 10 determines that the high tooth 36a1 of the sleeve 36 is reached. In addition, the axial movement device 40 is controlled to apply the third thrust F3. As described above, the magnitude of the sleeve thrust has a relationship of F2 <F2 ≦ F3. Accordingly, the high teeth 36a1 of the sleeve 36 are further pushed into the tooth gap 30b8 adjacent to the dog rear teeth 20b2.

  (Step S106) The controller 10 determines whether or not the high teeth 36a1 of the sleeve 36 have reached the rear tooth stopper, which is the bottom of the tooth gap 30b8 adjacent to the dog rear teeth 20b2.

  (Step S107) When it is determined in step S106 that the high teeth 36a1 of the sleeve 36 have reached the rear tooth stopper (YES in step S106, time t10 in FIG. 15), the control unit 10 applies the high teeth 36a1 of the sleeve 36. The axial movement device 40 is controlled so that the sleeve thrust becomes zero.

  (Step S201) When it is determined in Step S103 that the high teeth 36a1 of the sleeve 36 are in contact with the front end face of the dog rear teeth 30b2 (Step S103 YES, time t1 in FIG. 15), the control unit 10 sets the tooth gap prediction counter. Increase by one. As a result, the tooth gap prediction counter is set to 1 as shown in FIG.

  (Step S202) Next, the control unit 10 resets the timer T. As a result, the value of the timer T becomes 0 as shown in FIG. Thereafter, the value of the timer T is increased by the elapsed time.

  (Step S203) Next, the control unit 10 determines the minimum value Tmin and the maximum value Tmax of the next tooth gap arrival time according to the equations (1) and (3), respectively.

  (Step S204) Next, the control unit 10 determines whether or not the value of the tooth gap counter is 1. This determination process determines whether or not the high teeth 36a1 of the sleeve 36 first contacted the front end face of the dog rear teeth 30b2.

  (Step S205) When it is determined in Step S204 that the value of the tooth gap counter is 1 (YES in Step S204), that is, when the high teeth 36a1 of the sleeve 36 first contact the front end surface of the dog rear teeth 30b2. The control unit 10 sets the required time T1 to the minimum value Tmin of the next tooth gap arrival time, and sets the required time T2 to the maximum value Tmax of the next tooth gap arrival time.

  (Step S206) When it is determined in Step S204 that the value of the tooth gap counter is not 1 (NO in Step S204), that is, the high tooth 36a1 of the sleeve 36 contacts the front end surface of the dog rear tooth 30b2 for the second time or more. In this case, the control unit 10 sets the required time T1 to the maximum value Tmax of the next tooth space arrival time, and sets the required time T2 to the maximum value Tmax of the next tooth space arrival time.

  (Step S207) Next, the control unit 10 determines whether a value (T1-Ta) obtained by subtracting a predetermined time Ta from the required time T1 is greater than zero. This determination process is to determine whether or not there is a time margin before applying the second thrust F2.

  (Step S208) If it is determined in Step S207 that the value (T1-Ta) obtained by subtracting the predetermined time Ta from the required time T1 is greater than 0 (YES in Step S207), the control unit 10 moves in the circumferential direction of the sleeve 36. The axial movement device 40 is controlled so that the first thrust F1 is applied to the high teeth 36a1 of the sleeve 36 in a direction perpendicular to the sleeve 36. Thereby, for example, the first thrust F1 is applied to the high teeth 36a1 of the sleeve 36 in a direction perpendicular to the circumferential direction of the sleeve 36 from time t1 to time t2 in FIG.

  (Step S209) Next, the control unit 10 determines whether or not the timer T has reached a value (T1-Ta) obtained by subtracting a predetermined time Ta from the required time T1. This determination process determines whether or not the time (T1-Ta) has elapsed since the timer T was reset. When the timer T has not reached the value (T1-Ta) (NO), the control unit 10 stands by as it is.

  (Step S210) If the value (T1-Ta) obtained by subtracting the predetermined time Ta from the required time T1 is determined to be 0 or less in Step S207 (NO in Step S207), or the timer T is a value (T1-Ta) in Step S209. ) (YES in step S209), the control unit 10 controls the axial movement device 40 to apply the second thrust F2 to the high teeth 36a1 of the sleeve 36. Thereby, for example, the second thrust F2 is applied to the high teeth 36a1 of the sleeve 36 in a direction perpendicular to the circumferential direction of the sleeve 36 from time t2 to time t3 in FIG.

  (Step S211) Next, the control unit 10 determines whether or not the sleeve 36 and the third clutch ring 30 are rotationally synchronized by using the rotational speed 36 of the sleeve and the rotational speed 30 of the third clutch ring. In the present embodiment, as an example, whether or not the sleeve and the clutch ring are rotationally synchronized is determined using a decreasing gradient G of the rotational speed difference between the sleeve 36 and the third clutch ring 30. When the high teeth 36a1 of the sleeve 36 come into contact with the side surface of the dog front teeth 30b1, the sleeve 36 rapidly decelerates as indicated by the sleeve rotational speed immediately before time t9 in FIG. 15, and reaches the sleeve rotational speed A at time t9 in FIG. As shown, the sleeve rotation speed matches the rotation speed of the third clutch ring 30. For this reason, the decreasing gradient G of the rotational speed difference becomes large. Using this, the controller 10 determines that the decrease gradient G of the rotational speed difference between the sleeve 36 and the third clutch ring 30 is equal to or greater than the gradient threshold Ga that determines that the sleeve 36 and the third clutch ring 30 are rotationally synchronized. It is determined whether or not.

(Step S212) When it is determined in Step S211 that the decreasing gradient G is less than the gradient threshold Ga (NO in Step S211), it is determined whether or not the amount of time change in the stroke position of the sleeve 36 exceeds the threshold.
As shown by the change in the stroke position before and after time t3 in FIG. 15, when worn, the second tooth 36a1 of the sleeve 36 comes into contact with the front end surface of the dog rear tooth 30b2 and then is in a position facing the tooth groove. When the thrust F2 is applied, the high tooth 36a1 moves once into the tooth gap and then moves out of the tooth groove, so that the stroke position moves back and forth in the direction of the axis SCL (B1 in FIG. 15). On the other hand, when the second thrust F2 is applied at a position facing the tooth groove in a state where it is not worn (new state), the high tooth 36a1 enters the tooth groove as it is, so that the stroke position is in the direction of the axis SCL. Do not go around. By utilizing this, the control unit 10 determines that the high teeth 36a1 of the sleeve 36 are worn when the time change amount of the stroke position exceeds the threshold value, and the time change amount of the stroke position is equal to or less than the threshold value. In this case, it can be determined that the high teeth 36a1 of the sleeve 36 are not worn (a new state). In this embodiment, the control part 10 shall acquire a stroke position with a fixed period as an example, and the time variation | change_quantity of a stroke position shall be the time variation | change_quantity of the stroke position in the period before and behind, for example.

  If it is determined in step S212 that the amount of change in the stroke position with time exceeds the threshold value (YES), the high teeth 36a1 of the sleeve 36 are worn, and the process returns to step S201. For example, at time t3 in FIG. 15, the amount of change in the stroke position with time exceeds the threshold value, so the process returns to step S201, the value of the tooth gap prediction counter increases by 1 to 2, and timer T is reset to 0 again in step S202. Become. Since the value of the tooth gap prediction counter is 2, the maximum value Tmax of the next tooth gap arrival time is set to the required time T1. Thereafter, the first thrust F1 is applied to the high teeth 36a1 of the sleeve 36 from the time t3 to the time t4, and the second thrust F2 is applied to the high teeth 36a1 of the sleeve 36 from the time t4 to the time t5. At time t5, it is determined in step S211 that the rotation is not synchronized. Since the stroke position moves back and forth in the direction of the axis SCL as indicated by B2 in FIG. 15, it is determined in step S212 that the amount of time change in the stroke position of the sleeve 36 exceeds the threshold value. Thereafter, the process returns to step S202 again, and the value of the tooth gap prediction counter is further increased by 1 to 3, and the timer T is again set to 0 in step S202.

  Similarly, the first thrust F1 is applied to the high teeth 36a1 of the sleeve 36 from time t5 to time t6, and the second thrust F2 is applied to the high teeth 36a1 of the sleeve 36 from time t6 to time t7. At time t7, it is determined in step S211 that the rotation is not synchronized. Since the stroke position moves back and forth in the direction of the axis SCL as indicated by B3 in FIG. 15, it is determined in step S212 that the time change amount of the stroke position exceeds the threshold value. Thereafter, the process returns to step S202 again, the value of the tooth gap prediction counter is further increased by 1 to 4, and the timer T is again set to 0 in step S202. Similarly, the first thrust F1 is applied to the high teeth 36a1 of the sleeve 36 from time t7 to time t8, and the second thrust F2 is applied to the high teeth 36a1 of the sleeve 36 from time t8 to time t9.

  On the other hand, at time t9 in FIG. 15, since the decreasing gradient G is equal to or greater than the gradient threshold Ga (YES in step S211), that is, since it is determined that the control unit 10 is synchronized with rotation, the process proceeds to step S105 in FIG. The part 10 controls the axial movement device 40 so as to apply a third thrust F3 equal to or greater than the second thrust F2 to the high teeth 36a1 of the sleeve 36 in a direction perpendicular to the circumferential direction of the sleeve 36. For example, at time t9 in FIG. 15, the third thrust F3 is applied to the high teeth 36a1 in a direction perpendicular to the circumferential direction of the sleeve 36. Then, as shown by the change in the stroke position from time t9 to time t10 and the sleeve thrust in FIG. 15, until the inner teeth 36a reach the back of the tooth gap adjacent to the dog rear teeth 30b1 (dog rear tooth stopper) ( 15 until time t15 in FIG. 15), the third thrust F3 is continuously applied to the high teeth 36a1 in a direction perpendicular to the circumferential direction of the sleeve 36. In this way, the inner teeth 36a can be pushed into the back of the tooth gap adjacent to the dog rear teeth 30b1.

  (Step S213) If it is determined in Step S212 that the time variation of the stroke position of the sleeve 36 is equal to or less than the threshold value (NO in Step S212), rotation synchronization does not occur and the high teeth 36a1 are in contact with the front end face of the dog rear teeth 30b2. Since the time change amount of the stroke position of the sleeve 36 does not exceed the threshold value, the high teeth 36a1 of the sleeve 36 are not worn (new state). In this case, the control unit 10 determines whether or not the timer T has reached the required time T2. This determination process determines whether or not the required time T2 has elapsed since the timer T was reset. If it is determined that the timer T has not reached the required time T2 (NO), that is, if the required time T2 has not elapsed since the timer T was reset, the process returns to step S211.

  (Step S214) If it is determined in Step S213 that the timer T has reached the required time T2 (YES in Step S213), that is, if the required time T2 has elapsed since the timer T was reset, the control unit 10 The axial movement device 40 is controlled to apply the first thrust F1 to the high teeth 36a1. Here, the reason why the first thrust F1 smaller than the second thrust F2 is applied to the high teeth 36a1 is that the high teeth 36a1 of the sleeve 36 are not worn (new state), and therefore the first thrust F1 is applied. This is because even if it is added to the high teeth 36a1, a component force over the dog front teeth 30b1 is not generated.

  (Step S215) Similar to step S211, the control unit 10 determines whether or not the sleeve 36 and the third clutch ring 30 are rotationally synchronized. Specifically, the control unit 10 determines whether or not the decrease gradient G of the rotational speed difference between the sleeve 36 and the third clutch ring 30 is equal to or greater than the gradient threshold Ga. When the decrease gradient G of the rotation speed difference is less than the gradient threshold Ga (NO), the process returns to step S214. On the other hand, if the decrease gradient G of the rotational speed difference is equal to or greater than the gradient threshold Ga, it can be considered that the sleeve 36 and the third clutch ring 30 are synchronized in rotation, and therefore the process proceeds to step S105 in FIG.

  As described above, the control unit 10 determines the internal teeth 36a1 of the sleeve 36 in the direction perpendicular to the circumferential direction of the sleeve 36 in accordance with the time change amount of the stroke position after increasing the thrust applied to the sleeve 36 to F2. The axial movement device 40 is controlled so as to change the thrust applied to. As a result, when the time change amount of the stroke position is large, the wear amount of the internal teeth 36a1, the dog rear teeth 30b2, and the dog front teeth 30b1 is large. Therefore, by applying a large thrust to the internal teeth 36a1 of the sleeve 36, the internal teeth 36a1. And the dog rear teeth 30b2 or the dog front teeth 30b1 can be engaged with each other. On the other hand, when the time change amount of the stroke position is small, the wear amount of the inner teeth 36a1, the dog rear teeth 30b2 and the dog front teeth 30b1 is small, so that the inner teeth 36a1, the dog rear teeth 30b2 and the dog front teeth 30b1 are engaged with a small thrust. Can be combined.

  Specifically, when the time change amount of the stroke position after increasing the thrust applied to the sleeve 36 is less than a predetermined threshold (NO in step S212), the control unit 10 uses the first thrust F1 as the sleeve 36. The axial movement device 40 is controlled to be applied to the high teeth 36a1 of the sleeve 36 in a direction perpendicular to the circumferential direction. When the time change amount of the stroke position is less than the threshold value, the high teeth 36a1 of the sleeve 36 are not worn (new state), so even with the first thrust F1, the high teeth 36a1 and the side surfaces of the dog front teeth 30b1 Since the high teeth 36a1 do not get over the dog front teeth 30b1 due to the impact force at the time of contact, the high teeth 36a1 and the dog front teeth 30b1 can be engaged.

  On the other hand, when the time change amount of the stroke position after increasing the thrust applied to the sleeve 36 to F2 exceeds a predetermined threshold value (YES in step S212), the control unit 10, as shown in steps S207 to S208, The controller 10 applies the first thrust F1 to the high teeth 36a1 of the sleeve 36 in the direction perpendicular to the circumferential direction of the sleeve 36 until the time obtained by subtracting the predetermined time Ta from the required time T1 elapses. The axial movement device 40 is controlled to be added. Then, as shown in steps S209 to S210, the control unit 10 moves the sleeve 36 in the circumferential direction from the time when the predetermined time Ta is subtracted from the required time T1 until the time when the required time T1 elapses. On the other hand, the axial movement device 40 is controlled so that the second thrust F2 is applied to the high teeth 36a1 in the vertical direction. As a result, when the amount of time change in the stroke position exceeds the threshold value, the high teeth 36a1 of the sleeve 36 are in a worn state. Therefore, by applying the second thrust F2 to the high teeth 36a1, the high teeth 36a1 and the dog Since the high teeth 36a1 do not get over the dog front teeth 30b1 due to the impact force at the time of contact with the side surface of the front teeth 30b1, the high teeth 36a1 and the dog front teeth 30b1 can be engaged.

  In the present embodiment, whether or not the sleeve 36 and the third clutch ring 30 are synchronized with each other is determined using a decreasing gradient of the rotational speed difference between the sleeve 36 and the third clutch ring 30. It is not limited to this. The determination as to whether the sleeve 36 and the third clutch ring 30 are rotationally synchronized may be performed using the stroke position detected by the stroke position sensor 38. Here, the stroke position sensor 38 detects a stroke position, which is the position in the axial direction of the input shaft 24 or the output shaft 42 of the high teeth 36a1 of the sleeve 36.

  As described above, in the dog clutch control system according to the present embodiment, the control unit 10 detects the tooth when the inner teeth 36a of the sleeve 36 move in the circumferential direction of the third clutch ring 30 along the end surface of the dog rear teeth 30b2. The sleeve 36 has a timing according to the timing away from the grooves 30b8 and 30b10 and the time required to reach the position facing the next tooth space determined using the relative speed dv and the space Ldog between the tooth spaces. The axial movement device 40 is controlled so that the thrust applied to the sleeve 36 in the direction perpendicular to the circumferential direction is increased from the first thrust F1 to the second thrust F2.

  As a result, when the inner teeth 36a of the sleeve 36 are at positions facing the tooth grooves 30b8 and 30b10 of the third clutch ring 30, the thrust applied to the sleeve 36 in the direction perpendicular to the circumferential direction of the sleeve 36 increases. The possibility that the inner teeth 36a of the sleeve 36 are inserted into the tooth spaces 30b8 and 30b10 is increased. Therefore, it is possible to shorten the time required for shifting on average.

  In the present embodiment, the stroke position sensor 38 has been described as an example of the separation detection unit. However, the separation detection unit is not limited to the stroke position sensor 38 alone. As shown in C1, C2, and C3 in FIG. 15, the sleeve rotation speed has a large amount that rapidly decreases per unit time when the tip of the inner teeth 36a of the sleeve 36 once enters and exits the tooth grooves 30b8 and 30b10. Therefore, the separation detection unit may be the input rotation speed detection sensor 39. The input rotation speed detection sensor 39 determines that the internal teeth 36a of the sleeve 36 are the dog rear teeth 30b2 based on the amount of change in the sleeve rotation speed per unit time. It is possible to detect the separation from the tooth spaces 30b8 and 30b10 adjacent to. Further, the separation detection unit may be an output rotation speed detection sensor 49. The output rotation speed detection sensor 49 determines that the inner teeth 36a of the sleeve 36 are changed from the change amount of the sleeve rotation speed per unit time to the dog rear teeth 30b2. It is possible to detect a separation from the adjacent tooth gaps 30b8 and 30b10.

  In the present embodiment, the control unit 10 keeps the second thrust F2 to be given to the next opportunity constant regardless of the amount of time change in the stroke position after increasing the thrust applied to the sleeve 36 to F2. However, the second thrust F2 may be changed according to the amount of time change in the stroke position. For example, the control unit 10 has passed the time (T1-Ta) obtained by subtracting the predetermined time Ta from the required time T1 in accordance with the time change amount of the stroke position after increasing the thrust applied to the sleeve 36 to F2. The axial drive device 40 is changed so that the second thrust F2 applied to the high teeth 36a1 of the sleeve 36 is changed in a direction perpendicular to the circumferential direction of the third clutch ring 30 from the time until the time T1 elapses. You may control. Specifically, the control unit 10 may control the axial movement device 40 such that the second thrust F2 increases as the amount of time change in the stroke position increases. It is assumed that the wear width increases as the time change amount of the stroke position increases. However, since the time change amount of the stroke position increases and the thrust F2 increases, the high teeth 36a1 of the sleeve 36 even if the wear width increases. However, it is possible to maintain the probability of fitting into the tooth gap 30b8 between the dog rear teeth 30b2 or the tooth gap 30b10 between the dog rear teeth 30b1 and the dog rear teeth 30b2.

  The invention is not limited to the embodiment described above and shown in the drawings, and can be implemented with appropriate modifications within the scope not departing from the gist.

  DESCRIPTION OF SYMBOLS 10 ... Control part, 13 ... Automatic transmission (dog clutch control system), 22 ... Housing, 24 ... Input shaft / rotating shaft (input shaft), 30 ... Clutch ring / dog clutch transmission mechanism (3rd clutch ring), 30a .. dog clutch part (3rd dog clutch part), 30b1 ... clutch front teeth, 30b2 ... clutch rear teeth, 30b3 ... chamfered parts (chamfered parts of clutch front teeth), 30b6 ... End face (front end face of clutch rear teeth), 30b8, 30b10 ... tooth gap, 32 ... dog clutch transmission mechanism (fourth clutch ring), 34 ... clutch hub / dog clutch transmission mechanism, 36,.・ Sleeve / Dog clutch speed change mechanism, 36a... Spline (inner teeth), 36a1... High teeth, 36a2... Low teeth, 36a5. Line tooth gap), 38... Stroke position sensor (separation detector), 39... Input rotational speed detection sensor, 40... Axial movement device, 40 a. 42 ... Output shaft (output shaft), 49 ... Output rotation speed detection sensor, 58 ... Shift detent mechanism, 60 ... Positioning recess, 60SL ... Left stop positioning recess, 60SR ...・ Right stop positioning recess, 61a, 61b ... inclined surface, 62 ... lock member, 70 ... end edge (top) of inclined surface, 80 ... relative speed detector, 101 ... input unit , 102 ... Storage unit, 103 ... Output unit, 104 ... CPU, FE ... Front end face (front end face of dog clutch part), RE ... Rear end position, SCL ... Axis (rotation) Axis), t ... A predetermined amount.

Claims (5)

A shaft that can be rotationally connected via a clutch to a drive shaft to which engine torque output by the engine is transmitted, or a shaft that is connected to a differential device via an output gear;
A clutch hub fixed to the shaft;
Inner teeth are formed on the inner periphery, relative rotation to the clutch hub is restricted by the inner teeth, and a sleeve supported by the shaft so as to be movable in the axial direction of the shaft;
Adjacent to the clutch hub, the shaft is relatively rotatable with respect to the shaft and is not relatively movable in the axial direction, and has a dog rear tooth and a tooth height higher than the dog rear tooth on the outer periphery, and an end face facing the sleeve A clutch ring formed with dog front teeth provided on the sleeve side from an end surface of the rear teeth facing the sleeve;
An axial movement device for moving the sleeve in the axial direction of the shaft;
A relative speed detector for detecting a relative speed of the sleeve and the clutch ring;
A separation detecting unit for detecting that the internal teeth of the sleeve are separated from a tooth gap adjacent to the dog rear teeth;
When the inner teeth of the sleeve move in the circumferential direction of the clutch ring along the end surface of the dog rear teeth, the timing at which they are separated from the tooth grooves, the relative speed, and the interval between the tooth grooves The thrust applied to the sleeve in the direction perpendicular to the circumferential direction of the sleeve is changed from the first thrust to the first thrust at a timing according to the time required to reach the position facing the next tooth gap determined using A control unit for controlling the axial movement device to increase the thrust to 2;
A dog clutch control system comprising: The control unit applies a thrust force applied to the sleeve in a direction perpendicular to a circumferential direction of the clutch ring from when a time obtained by subtracting a predetermined time from the required time elapses to when the required time elapses. The dog clutch control system according to claim 1, wherein the axial movement device is controlled so as to increase from the first thrust to the second thrust. When the inner teeth of the sleeve first contact the end face of the dog rear teeth when the inner teeth of the sleeve are brought closer to the dog rear teeth, From the shortest time to reach the position facing the next tooth groove using the circumferential wear width of the inner teeth, to the position facing the next tooth groove using the relative speed and the interval between the tooth grooves. 2. The shaft driving device is controlled so that a thrust applied to the sleeve in a direction perpendicular to a circumferential direction of the clutch ring is increased from the first thrust to the second thrust until the longest time to reach. The dog clutch control system according to 2. The control unit determines whether the sleeve and the clutch ring are synchronized with each other using the rotational speed of the sleeve and the rotational speed of the clutch ring. The dog clutch control system according to any one of claims 1 to 3, wherein the axial movement device is controlled to apply a third thrust greater than a thrust of 2 to the sleeve. A stroke position sensor that detects a stroke position that is an axial position of the shaft of the sleeve;
The control unit applies the thrust to the sleeve in a direction perpendicular to the circumferential direction of the sleeve in accordance with a time change amount of the stroke position after increasing the thrust applied to the sleeve to the second thrust. The dog clutch control system according to any one of claims 1 to 4, wherein the axial movement device is controlled so as to be changed.

Images