JP6766966B2 - 制御装置 - Google Patents
制御装置 Download PDFInfo
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- JP6766966B2 JP6766966B2 JP2019531037A JP2019531037A JP6766966B2 JP 6766966 B2 JP6766966 B2 JP 6766966B2 JP 2019531037 A JP2019531037 A JP 2019531037A JP 2019531037 A JP2019531037 A JP 2019531037A JP 6766966 B2 JP6766966 B2 JP 6766966B2
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- engaging
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- electric machine
- rotary electric
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Classifications
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- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
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- F16H61/0213—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal characterised by the method for generating shift signals
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- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
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- F16H2200/0086—Transmissions for multiple ratios characterised by the number of reverse speeds the gear ratios comprising two reverse speeds
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
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- F16H2200/2002—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears
- F16H2200/2007—Transmissions using gears with orbital motion characterised by the number of sets of orbital gears with two sets of orbital gears
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
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- F16H2200/202—Transmissions using gears with orbital motion characterised by the type of Ravigneaux set
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/203—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes
- F16H2200/2046—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes with six engaging means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/203—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes
- F16H2200/2069—Transmissions using gears with orbital motion characterised by the engaging friction means not of the freewheel type, e.g. friction clutches or brakes using two freewheel mechanism
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2200/00—Transmissions for multiple ratios
- F16H2200/20—Transmissions using gears with orbital motion
- F16H2200/2079—Transmissions using gears with orbital motion using freewheel type mechanisms, e.g. freewheel clutches
- F16H2200/2082—Transmissions using gears with orbital motion using freewheel type mechanisms, e.g. freewheel clutches one freewheel mechanisms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H2342/00—Calibrating
- F16H2342/04—Calibrating engagement of friction elements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H3/00—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion
- F16H3/44—Toothed gearings for conveying rotary motion with variable gear ratio or for reversing rotary motion using gears having orbital motion
- F16H3/62—Gearings having three or more central gears
- F16H3/66—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another
- F16H3/663—Gearings having three or more central gears composed of a number of gear trains without drive passing from one train to another with conveying rotary motion between axially spaced orbital gears, e.g. RAVIGNEAUX
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/68—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings
- F16H61/684—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive
- F16H61/686—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing specially adapted for stepped gearings without interruption of drive with orbital gears
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T10/00—Road transport of goods or passengers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Description
内燃機関に駆動連結される入力部材と車輪に駆動連結される出力部材とを結ぶ動力伝達経路に、油圧駆動式の複数の変速用係合装置を有する自動変速機が設けられた車両用駆動装置を制御対象とする制御装置であって、
前記車両用駆動装置は、前記動力伝達経路における前記自動変速機よりも前記入力部材側に回転電機が設けられたものであり、
前記自動変速機が動力を伝達しないニュートラル状態のときに前記回転電機及び前記内燃機関の少なくとも一方を駆動し、前記回転電機及び前記内燃機関の少なくとも一方が駆動している状態で、複数の前記変速用係合装置のうちの1つである対象係合装置の係合動作部に油圧を供給する特定供給制御を実行する。
制御装置の第1実施形態について、図面を参照して説明する。この制御装置1は、車両用駆動装置3を制御対象とする車両用駆動装置用制御装置である。制御装置1による制御対象となる車両用駆動装置3は、内燃機関EG及び回転電機33の双方を備えた車両V(ハイブリッド車両)を駆動するための駆動装置である。この車両用駆動装置3は、パラレル方式のハイブリッド車両を駆動するためのパラレルハイブリッド車両用駆動装置として構成されている。
制御装置の第2実施形態について、図面を参照して説明する。本実施形態では、特定供給制御及び学習制御を実行する際の開始状態が、第1実施形態とは異なっている。以下、本実施形態の制御装置1について、主に第1実施形態との相違点について説明する。なお、特に明記しない点に関しては、第1実施形態と同様であり、同一の符号を付して詳細な説明は省略する。
制御装置の第3実施形態について、図面を参照して説明する。本実施形態では、制御対象の車両用駆動装置3の構成、並びに、特定供給制御及び学習制御を実行する際の開始状態及びその場合の許可条件が、第1実施形態及び第2実施形態とは異なっている。以下、本実施形態の制御装置1について、主に第1実施形態との相違点について説明する。なお、特に明記しない点に関しては、第1実施形態と同様であり、同一の符号を付して詳細な説明は省略する。
制御装置の第4実施形態について、図面を参照して説明する。本実施形態では、特定供給制御及び学習制御の具体的内容が、上述した各実施形態とは異なっている。以下、本実施形態の制御装置1について、主に第2実施形態との相違点について説明する。なお、特に明記しない点に関しては、第2実施形態と同様であり、同一の符号を付して詳細な説明は省略する。
(1)上記の各実施形態では、学習制御において、対象係合装置CLtの係合動作部への油圧供給後における回転電機33のトルク変化を検出し、その検出結果に基づいて対象係合装置CLtの係合開始時期及び係合開始油圧を学習する構成を例として説明した。しかし、そのような構成に限定されることなく、例えば回転電機33のトルク変化の検出結果に基づいて対象係合装置CLtの係合開始時期だけ又は係合開始油圧だけを学習しても良い。或いは、例えば対象係合装置CLtの係合動作部への油圧供給後における自動変速機35の変速入力部材34の回転速度変化を検出し、その検出結果に基づいて対象係合装置CLtの係合開始時期を学習しても良い。
以上をまとめると、本開示に係る制御装置は、好適には、以下の各構成を備える。
前記車両用駆動装置(3)は、前記動力伝達経路における前記自動変速機(35)よりも前記入力部材(31)側に回転電機(33)が設けられたものであり、
前記自動変速機(35)が動力を伝達しないニュートラル状態のときに前記回転電機(33)及び前記内燃機関(EG)の少なくとも一方を駆動し、前記回転電機(33)及び前記内燃機関(EG)の少なくとも一方が駆動している状態で、複数の前記変速用係合装置(CL)のうちの1つである対象係合装置(CLt)の係合動作部に油圧を供給する特定供給制御を実行する。
前記特定供給制御において、前記対象係合装置(CLt)以外の前記変速用係合装置(CL)の係合動作部には油圧を供給しないことが好ましい。
前記特定供給制御において、前記対象係合装置(CLt)以外の前記変速用係合装置(CL)のうちの1つ(CLs)の係合動作部に油圧を供給している状態で、前記対象係合装置(CLt)の係合動作部に油圧を供給することが好ましい。
前記特定供給制御において、前記対象係合装置(CLt)の係合動作部に油圧を供給した後、当該供給油圧を低下させることが好ましい。
前記車両用駆動装置(3)は、前記動力伝達経路における前記自動変速機(35)よりも前記出力部材(39)側に、又は、前記動力伝達経路から独立した第二車輪(W)に駆動力を伝達可能に、前記内燃機関(EG)及び前記回転電機(33)とは異なる駆動力源である別駆動力源(44)が設けられたものであり、
前記別駆動力源(44)の駆動力による車両走行中に、前記特定供給制御を実行することが好ましい。
停車中に、前記特定供給制御を実行することが好ましい。
前記ニュートラル状態で前記回転電機(33)が前記内燃機関(EG)と一体的に回転しつつ発電している状態で、前記特定供給制御を実行することが好ましい。
前記ニュートラル状態で前記回転電機(33)が前記内燃機関(EG)と一体的に回転しつつ発電している状態で、油圧供給前の前記内燃機関(EG)及び前記回転電機(33)の回転速度を目標回転速度として前記回転電機(33)の回転速度制御を実行しつつ、前記特定供給制御を実行することが好ましい。
前記対象係合装置(CLt)の係合動作部への油圧供給後における前記自動変速機(35)の変速入力部材(34)の回転速度変化及び前記回転電機(33)のトルク変化の少なくとも一方を検出し、その検出結果に基づいて前記対象係合装置(CLt)の係合開始時期及び係合開始油圧の少なくとも一方を学習する学習制御を実行することが好ましい。
前記特定供給制御において、前記回転電機(33)の回転速度制御を実行しながら前記対象係合装置(CLt)の係合動作部に油圧を供給し、
前記学習制御において、前記回転電機(33)のトルク変化として、前記回転速度制御におけるフィードバックトルクの変化開始時期及び変化量を検出し、その検出結果に基づいて前記対象係合装置(CLt)の係合開始時期及び係合開始油圧を学習することが好ましい。
前記学習制御において、検出された前記回転電機(33)のトルク変化が予め定められた適正範囲内に収まるまで、前記対象係合装置(CLt)の係合開始時期及び係合開始油圧(Pse)の補正を繰り返し行うことが好ましい。
前記特定供給制御において、前記対象係合装置(CLt)の係合動作部への供給油圧が安定した後、当該供給油圧を次第に上昇させ、
前記学習制御において、前記回転電機(33)のトルク変化が予め定められた適正量となった時点における供給油圧の増加量に応じて、前記対象係合装置(CLt)の係合開始油圧(Pse)を補正することが好ましい。
前記自動変速機(35)は、前記対象係合装置(CLt)との協働によって1つの変速段を形成する一方向係合装置(F)をさらに有し、
前記対象係合装置(CLt)が係合しても前記一方向係合装置(F)が非係合状態に維持される車速域での車両走行中にのみ、前記特定供給制御及び前記学習制御を実行することが好ましい。
前記自動変速機(35)は、前記対象係合装置(CLt)との協働によって1つの変速段を形成する一方向係合装置(F)をさらに有し、
前記特定供給制御及び前記学習制御の実行中、前記対象係合装置(CLt)が係合しても前記一方向係合装置(F)が非係合状態に維持されるように、前記回転電機(33)の回転速度を車速に応じて異なる回転速度とすることが好ましい。
前記自動変速機(35)は、前記対象係合装置(CLt)との協働によって1つの変速段を形成する一方向係合装置(F)をさらに有し、
車両停止中は、ブレーキペダルに対するペダル操作がなされている場合にのみ前記特定供給制御及び前記学習制御を実行することが好ましい。
前記特定供給制御において、その開始時に回転速度制御を実行して前記回転電機(33)の回転速度を上昇させ、
所定時間内に前記回転電機(33)の実回転速度と前記回転速度制御の目標回転速度との差が予め定められた基準差回転速度(Rd)に達した場合、前記特定供給制御を中止することが好ましい。
前記特定供給制御において、前記回転電機(33)の回転速度制御を実行しながら前記対象係合装置(CLt)の係合動作部に油圧を供給し、
前記回転速度制御におけるフィードバックトルクが予め定められた第一基準トルク(TR1)に達した場合、前記特定供給制御を中止し、前記対象係合装置(CLt)の係合動作部への供給油圧を次第に低下させることが好ましい。
前記対象係合装置(CLt)の係合動作部への供給油圧を低下させ始めた後、前記回転速度制御におけるフィードバックトルクが前記第一基準トルク(TR1)よりも低い値に予め定められた第二基準トルク(TR2)に達してから、前記回転速度制御を終了することが好ましい。
前記回転速度制御におけるフィードバックトルクが前記第一基準トルク(TR1)よりも高い値に予め定められた第三基準トルク(TR3)に達した場合、前記特定供給制御を中止し、前記対象係合装置(CLt)の係合動作部への油圧供給を遮断するとともに前記回転速度制御を中止することが好ましい。
前記特定供給制御において、前記回転電機(33)及び前記内燃機関(EG)の少なくとも一方を継続的に駆動させた状態で、複数の前記変速用係合装置(CL)の中で前記対象係合装置(CLt)を切り替えてそれら複数の前記対象係合装置(CLt)の係合動作部への油圧供給を順次行うことが好ましい。
前記自動変速機(35)は、複数の前記変速用係合装置(CL)のうちのいずれか2つ以上が選択的に係合されることによって複数の変速段を切替可能な有段自動変速機であり、
前記対象係合装置(CLt)は、その時点での目標変速段を形成するために係合される2つ以上の前記変速用係合装置(CL)のうちの1つであることが好ましい。
3 車両用駆動装置
14 学習制御部
15 特定供給制御部
31 入力部材
33 回転電機
34 変速入力部材
35 自動変速機
39 出力部材
44 第二回転電機(別駆動力源)
V 車両
EG 内燃機関
W 車輪
W1 第一車輪
W2 第二車輪
CL 変速用係合装置
CLt 対象係合装置
F ワンウェイクラッチ(一方向係合装置)
Claims (15)
- 内燃機関に駆動連結される入力部材と車輪に駆動連結される出力部材とを結ぶ動力伝達経路に、油圧駆動式の複数の変速用係合装置を有する自動変速機が設けられた車両用駆動装置を制御対象とする制御装置であって、
前記車両用駆動装置は、前記動力伝達経路における前記自動変速機よりも前記入力部材側に回転電機が設けられたものであり、
停車中、前記回転電機及び前記内燃機関の両方が停止しており、前記自動変速機が動力を伝達しないニュートラル状態のときに、前記内燃機関を停止させたまま前記回転電機を駆動し、前記回転電機の回転速度制御を実行しながら、複数の前記変速用係合装置のうちの1つである対象係合装置の係合動作部に油圧を供給する特定供給制御を実行し、
前記対象係合装置の係合動作部への油圧供給後における前記回転速度制御のフィードバックトルクの変化開始時期及び変化量を検出し、その検出結果に基づいて前記対象係合装置の係合開始時期及び係合開始油圧を学習する学習制御を実行する制御装置。 - 前記特定供給制御において、前記対象係合装置以外の前記変速用係合装置の係合動作部には油圧を供給しない請求項1に記載の制御装置。
- 前記特定供給制御において、前記対象係合装置以外の前記変速用係合装置のうちの1つの係合動作部に油圧を供給している状態で、前記対象係合装置の係合動作部に油圧を供給する請求項1に記載の制御装置。
- 前記特定供給制御において、前記対象係合装置の係合動作部に油圧を供給した後、当該供給油圧を低下させる請求項1から3のいずれか一項に記載の制御装置。
- 前記学習制御において、検出された前記回転電機のトルク変化が予め定められた適正範囲内に収まるまで、前記対象係合装置の係合開始時期及び係合開始油圧の補正を繰り返し行う請求項1から4のいずれか一項に記載の制御装置。
- 前記特定供給制御において、前記対象係合装置の係合動作部への供給油圧が安定した後、当該供給油圧を次第に上昇させ、
前記学習制御において、前記回転電機のトルク変化が予め定められた適正量となった時点における供給油圧の増加量に応じて、前記対象係合装置の係合開始油圧を補正する請求項1から4のいずれか一項に記載の制御装置。 - 前記自動変速機は、前記対象係合装置との協働によって1つの変速段を形成する一方向係合装置をさらに有し、
車両停止中であってブレーキペダルに対するペダル操作がなされている場合にのみ前記特定供給制御及び前記学習制御を実行する請求項1から6のいずれか一項に記載の制御装置。 - 前記特定供給制御において、その開始時に前記回転速度制御を実行して前記回転電機の回転速度を上昇させ、
所定時間内に前記回転電機の実回転速度と前記回転速度制御の目標回転速度との差が予め定められた基準差回転速度に達した場合、前記特定供給制御を中止する請求項1から7のいずれか一項に記載の制御装置。 - 前記回転速度制御におけるフィードバックトルクが予め定められた第一基準トルクに達した場合、前記特定供給制御を中止し、前記対象係合装置の係合動作部への供給油圧を次第に低下させる請求項1から8のいずれか一項に記載の制御装置。
- 前記対象係合装置の係合動作部への供給油圧を低下させ始めた後、前記回転速度制御におけるフィードバックトルクが前記第一基準トルクよりも低い値に予め定められた第二基準トルクに達してから、前記回転速度制御を終了する請求項9に記載の制御装置。
- 前記回転速度制御におけるフィードバックトルクが前記第一基準トルクよりも高い値に予め定められた第三基準トルクに達した場合、前記特定供給制御を中止し、前記対象係合装置の係合動作部への油圧供給を遮断するとともに前記回転速度制御を中止する請求項9又は10に記載の制御装置。
- 前記特定供給制御において、前記回転電機を継続的に駆動させた状態で、複数の前記変速用係合装置の中で前記対象係合装置を切り替えてそれら複数の前記対象係合装置の係合動作部への油圧供給を順次行う請求項1から11のいずれか一項に記載の制御装置。
- 前記自動変速機は、複数の前記変速用係合装置のうちのいずれか2つ以上が選択的に係合されることによって複数の変速段を切替可能な有段自動変速機であり、
前記対象係合装置は、その時点での目標変速段を形成するために係合される2つ以上の前記変速用係合装置のうちの1つである請求項1から12のいずれか一項に記載の制御装置。 - 内燃機関に駆動連結される入力部材と車輪に駆動連結される出力部材とを結ぶ動力伝達経路に、油圧駆動式の複数の変速用係合装置を有する自動変速機が設けられた車両用駆動装置を制御対象とする制御装置であって、
前記車両用駆動装置は、前記動力伝達経路における前記自動変速機よりも前記入力部材側に回転電機が設けられたものであり、
前記自動変速機が動力を伝達しないニュートラル状態のときに前記回転電機を駆動し、前記回転電機が駆動している状態で、複数の前記変速用係合装置のうちの1つである対象係合装置の係合動作部に油圧を供給する特定供給制御を実行し、
前記特定供給制御において、その開始時に回転速度制御を実行して前記回転電機の回転速度を上昇させ、
所定時間内に前記回転電機の実回転速度と前記回転速度制御の目標回転速度との差が予め定められた基準差回転速度に達した場合、前記特定供給制御を中止する制御装置。 - 内燃機関に駆動連結される入力部材と車輪に駆動連結される出力部材とを結ぶ動力伝達経路に、油圧駆動式の複数の変速用係合装置を有する自動変速機が設けられた車両用駆動装置を制御対象とする制御装置であって、
前記車両用駆動装置は、前記動力伝達経路における前記自動変速機よりも前記入力部材側に回転電機が設けられたものであり、
前記自動変速機が動力を伝達しないニュートラル状態のときに前記回転電機を駆動し、前記回転電機が駆動している状態で、複数の前記変速用係合装置のうちの1つである対象係合装置の係合動作部に油圧を供給する特定供給制御を実行し、
前記特定供給制御において、前記回転電機の回転速度制御を実行しながら前記対象係合装置の係合動作部に油圧を供給し、
前記回転速度制御におけるフィードバックトルクが予め定められた第一基準トルクに達した場合、前記特定供給制御を中止し、前記対象係合装置の係合動作部への供給油圧を次第に低下させる制御装置。
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