WO2011013828A1 - 車両の駆動制御装置 - Google Patents
車両の駆動制御装置 Download PDFInfo
- Publication number
- WO2011013828A1 WO2011013828A1 PCT/JP2010/062956 JP2010062956W WO2011013828A1 WO 2011013828 A1 WO2011013828 A1 WO 2011013828A1 JP 2010062956 W JP2010062956 W JP 2010062956W WO 2011013828 A1 WO2011013828 A1 WO 2011013828A1
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- WIPO (PCT)
- Prior art keywords
- rotational speed
- electric motor
- drive
- vehicle
- control device
- Prior art date
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/13—Controlling the power contribution of each of the prime movers to meet required power demand in order to stay within battery power input or output limits; in order to prevent overcharging or battery depletion
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- B—PERFORMING OPERATIONS; TRANSPORTING
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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
- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- 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
- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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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
- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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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
- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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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
- 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
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a vehicle drive control device that uses a plurality of drive sources in combination.
- the left and right axles of a vehicle are connected to a differential device, and a driving force is transmitted to the differential device via a speed reduction mechanism by an electric motor coaxially arranged on the outer periphery of one axle.
- a speed reduction mechanism by an electric motor coaxially arranged on the outer periphery of one axle.
- the driving apparatus 100 includes an axle driving electric motor 102, a planetary gear type reduction gear 112 that decelerates the driving rotation of the electric motor 102, and outputs of the planetary gear type reduction gear 112 from the left and right sides of the vehicle.
- the planetary gear type reduction gear 112 and the electric motor 102 are coaxially arranged on the outer peripheral side of one axle 110B connected to the differential gear 113.
- the differential gear 113 is distributed to the two axles 110A and 110B. .
- the sun gear 121 and planetary carrier 123 of the planetary gear reducer 112 are connected to the rotor 115 of the electric motor 102 and the differential case 131 of the differential device 113, respectively, and the ring gear 124 of the planetary gear reducer 112 is fixed to the vehicle body.
- a hydraulic brake 128 is provided between the ring gear 124 and the speed reducer case 111 so as to engage the ring gear 124 and the speed reducer case 111 and apply a braking force to the ring gear 124. Is described.
- the ring gear 124 When a braking force is applied to the ring gear 124 by the hydraulic brake 128, the ring gear 124 is fixed to the speed reducer case 111, and the driving force input from the rotor 115 of the electric motor 102 to the sun gear 121 is set by the planetary gear type speed reducer 112. It is decelerated to the ratio and transmitted to the differential case 131 of the differential device 113. The driving force transmitted to the differential case 131 is distributed to the left and right axles 110A and 110B by the differential device 113. Further, when the application of the braking force from the hydraulic brake 128 is interrupted, the ring gear 124 rotates freely with respect to the reducer case 111.
- the ring gear 124 is responded to the excess rotation on the axles 110A and 110B side. Runs idle in the reducer case 111, and the rotation on the axles 110A, 110B side is not input to the motor 102 side. Thereby, when driving or regeneration of the electric motor 102 is unnecessary, the application of the braking force by the hydraulic brake 128 is cut off to prevent the electric motor 102 from being accompanied and to improve fuel efficiency.
- FIG. 37 is an overall view of the hybrid vehicle described in Patent Document 2.
- FIG. 38 shows a torque transmission mechanism used in the hybrid vehicle described in Patent Document 2.
- the hybrid vehicle H shown in FIGS. 37 and 38 can run by at least one of the engine 101 and the motor 102.
- Hybrid vehicle H includes a clutch mechanism 106, a connection control mechanism 141, and a rotation speed control mechanism 122.
- the clutch mechanism 106 includes a one-way clutch 105 for transmitting the torque of the motor 102 to the drive side when the vehicle starts running from a vehicle stopped state, and a hydraulic clutch 104 that connects the output shaft 121 of the motor 102 to the drive shaft 103 by hydraulic pressure.
- the connection control mechanism 141 disconnects the hydraulic clutch 104 when the rotation speed of the motor 102 exceeds the allowable rotation speed, and reconnects the hydraulic clutch 104 when the operation condition allows the rotation of the motor 102. As shown in FIG.
- the rotational speed control mechanism 122 rapidly increases the rotational speed of the motor 102 to a rotational speed (switching rotational speed r) lower than the target rotational speed R when reconnecting, and then performs the target rotational speed. Control is performed to gradually increase the rotational speed of the motor 102 until the number R is reached.
- the control performed by the rotational speed control mechanism 122 can avoid a phenomenon in which the rotational speed of the motor 102 overshoots the target rotational speed R, and the output shaft 121 of the motor 102 is connected to the one-way clutch 105. Engage gently. For this reason, it is possible to avoid a mechanical shock that occurs when the output shaft 121 of the motor 102 is suddenly engaged with the one-way clutch 105.
- the driving device 100 does not apply the braking force by the hydraulic brake 128 to the ring gear 124 when the driving or regeneration of the electric motor 102 is unnecessary.
- the ring gear 124 idles in the speed reducer case 111, so that no driving force is transmitted between the sun gear 121 and the planetary carrier 123. Accordingly, torque is not transmitted between the axles 110A and 110B and the electric motor 102.
- the drive device 100 switches to one of these two states according to the traveling state of the vehicle. .
- the vehicle travels only by the driving force from the internal combustion engine.
- the driving device 100 releases the application of the braking force to the ring gear 124 by the hydraulic brake 128.
- the driving device 100 applies a braking force by the hydraulic brake 128 to the ring gear 124.
- the braking force by the hydraulic brake 128 is applied to or released from the ring gear 124, and the state between the sun gear 121 and the planetary carrier 123 changes each time.
- Torque transmitted between the sun gear 121 and the planetary carrier 123 is transmitted through at least two gears facing each other.
- a gap called “backlash” is provided between the teeth of the two opposing gears that are engaged with each other. This backlash allows the gears to move freely.
- an impact occurs when a gear that has been rotating in one direction is rotated in the opposite direction, or when the gear is rotated in a direction in which backlash exists from a non-rotating state. This impact causes vibration and noise and also reduces the life of the machine.
- the engine 101 and the motor 102 are provided on the drive shaft 103 side, and no drive source is provided on the other axle (driven shaft) side.
- the motor 101 is also provided on the other axle side as an auxiliary drive source different from the engine 101 and the motor 102, and a one-way clutch is provided to transmit the torque of the motor to the axle.
- the one-way clutch is engaged in a state where there is a rotational speed difference between the front wheels and the rear wheels, a shock is generated.
- Patent Document 2 does not describe a method for avoiding or reducing a shock when the motor is driven by a driving device including a plurality of elements such as a one-way clutch and a brake.
- An object of the present invention is to provide a vehicle drive control device that reduces a shock generated in a power transmission unit provided on a power transmission path.
- a drive control device is a first axle that is one of the front and rear wheel shafts (for example, the main drive shaft in the embodiment). 8) a driving source capable of outputting driving force (for example, the internal combustion engine 4 and the electric motor 5 in the embodiment) and a second axle (for example, an axle in the embodiment) which is the other of the front and rear wheel shafts.
- a one-way power transmission unit for example, a one-way clutch 50 in the embodiment
- Rotational power from the second axle to the motor, or Bidirectional power transmission unit for example, hydraulic brakes 60A and 60B in the embodiment
- a vehicle 3) drive control device wherein the first detection unit detects the speed of the vehicle or the rotation speed of the second axle (for example, the vehicle speed sensor 117 or the rotation speed sensor 117a in the embodiment).
- a target rotational speed determination unit that determines the target rotational speed of the electric motor based on the speed of the vehicle detected by the detection unit or the rotational speed of the second axle (for example, in the embodiment) Management ECU 9), a second detection unit (for example, resolvers 20A and 20B and management ECU 9 in the embodiment) for detecting the number of revolutions of the electric motor, and driving force from the driving source.
- a control unit for example, management ECU 9 in the embodiment
- the control unit when the motor is regeneratively driven, the control unit, when the rotational speed of the motor reaches a threshold rotational speed lower than the target rotational speed, the bidirectional power transmission unit is actuated.
- the control unit when the electric motor is driven by power running, when the rotational speed of the motor reaches a threshold rotational speed lower than the target rotational speed, The electric motor is controlled so as to output a predetermined torque.
- the predetermined torque is a constant torque necessary for synchronizing the rotational speed of the electric motor with the target rotational speed.
- a reduction gear (for example, the planetary gear type reduction gear 12A in the embodiment) provided on the power transmission path between the second axle and the electric motor. 12B).
- the vehicle includes a left and right wheel (for example, the left rear wheel LWr and the right rear wheel RWr in the embodiment) provided on the second axle side.
- a left and right wheel for example, the left rear wheel LWr and the right rear wheel RWr in the embodiment
- the control unit travels by turning the vehicle by the driving force from the driving source.
- the control unit determines that the rotational speed of the electric motor is the target rotational speed. It is characterized by determining that it is synchronized with the rotational speed.
- the bidirectional power transmission unit transmits power between the second axle and the electric motor by hydraulic pressure, and the control unit When the hydraulic pressure of the directional power transmission unit reaches a threshold value, it is determined that the rotation speed of the electric motor is synchronized with the target rotation speed.
- the control unit when the predetermined time has elapsed from the operation of the bidirectional power transmission unit, the control unit synchronizes the rotation speed of the motor with the target rotation speed. It is characterized by judging.
- the control unit when the electric motor is regeneratively driven, the control unit, when the rotational speed of the motor reaches a threshold rotational speed lower than the target rotational speed, The electric motor is controlled to output a predetermined torque, and the bidirectional power transmission unit is operated when the rotational speed of the motor is synchronized with the target rotational speed.
- the control unit when the electric motor is driven by powering, the control unit, when the rotational speed of the electric motor reaches a threshold rotational speed lower than the target rotational speed, The electric motor is controlled to output a predetermined torque, and when the rotational speed of the motor is synchronized with the target rotational speed, the electric motor is controlled to output a requested torque.
- control unit controls the output torque of the electric motor to 0 when the rotational speed of the electric motor is synchronized with the target rotational speed.
- the control unit sets the rotational speed of the electric motor to the target rotational speed. It is characterized by determining that it is synchronized with the rotational speed.
- the rotational speed of the electric motor is increased when a predetermined time has elapsed. It is characterized by determining that it is synchronized with the target rotational speed.
- the predetermined torque is a constant torque necessary for synchronizing the rotational speed of the electric motor with the target rotational speed.
- the drive control apparatus of the first to seventeenth aspects of the present invention it is possible to reduce the shock that occurs in the power transmission unit provided on the power transmission path.
- the drive control apparatus of the fifth aspect of the present invention it is possible to reduce the impact caused by the backlash even if the rotation direction of the gear of the reduction gear on the power transmission path changes.
- the front wheel for example, the first axle side
- the rear wheel for example, the second axle side. Shock due to the difference in rotational speed can be reduced.
- FIG. 1 is a block diagram showing a schematic configuration of a hybrid vehicle that is an embodiment of a vehicle to which a drive device can be applied.
- Vertical section of the drive unit Partial enlarged view of the drive device shown in FIG. The perspective view which shows the state with which the drive device was mounted in the flame
- Collinear diagram of the drive unit when the vehicle is stopped Colinear chart of the drive unit when the drive unit is driven forward and travels forward Collinear diagram of the drive device when the drive device is traveling on the coast side and the motor stops A nomographic chart of the drive device when the drive device travels forward on the coast side and the motor regenerates Colinear chart of the drive device when the drive device is on the drive side and travels backward Colinear diagram of the drive unit when the drive unit is traveling on the coast side and traveling backward
- working state of the vehicle 3, and the state of the separation mechanism The figure which shows schematic structure by the side of the left rear wheel LWr of the drive device 1.
- Timing chart showing various parameters when the vehicle 3 that has been decelerated at high speed cruise or naturally decelerates
- requirement performs Timing chart showing various parameters when the vehicle 3 shifts from high speed cruise or natural deceleration to deceleration regeneration
- requirement performs
- Torque transmission mechanism diagram used in hybrid vehicle described in Patent Document 2 38 is a time chart showing motor speed control performed by the speed control mechanism included in the hybrid vehicle shown in FIG.
- a drive device 1 uses electric motors 2A and 2B as drive sources for driving an axle, and is used for a vehicle 3 having a drive system as shown in FIG. 1, for example.
- a vehicle 3 shown in FIG. 1 is a hybrid vehicle having a drive unit 6 in which an internal combustion engine 4 and an electric motor 5 are connected in series at the front of the vehicle.
- the power of the drive unit 6 is transmitted via a transmission 7 and a main drive shaft 8. While being transmitted to the front wheel Wf, the power of the drive device 1 provided at the rear of the vehicle separately from the drive unit 6 is transmitted to the rear wheels Wr (RWr, LWr).
- the electric motor 5 of the drive unit 6 and the electric motors 2A, 2B of the drive device 1 on the rear wheel Wr side are connected to a battery via a PDU (power drive unit) (not shown), and power supply from the battery and energy regeneration to the battery are performed. This is done via a PDU.
- the management ECU (MG ECU) 9 controls each operation of the electric motors 2A, 2B and the hydraulic brakes 60A, 60B included in the drive device 1.
- FIG. 2 is a longitudinal sectional view of the entire drive device 1.
- 10A and 10B are left and right axles on the rear wheel Wr side of the vehicle 3, which are arranged coaxially in the vehicle width direction.
- the reduction gear case 11 of the drive device 1 is formed in a substantially cylindrical shape as a whole, and includes an axle driving motor 2A, 2B, and a planetary gear type reduction gear 12A for reducing the drive rotation of the motor 2A, 2B. , 12B are arranged coaxially with the axles 10A, 10B.
- the electric motor 2A and the planetary gear type reduction gear 12A control the left rear wheel LWr, and the electric motor 2B and the planetary gear type reduction gear 12B control the right rear wheel RWr, and the electric motor 2A, the planetary gear type reduction gear 12A, the electric motor 2B,
- the planetary gear type speed reducer 12B is disposed symmetrically in the vehicle width direction within the speed reducer case 11. As shown in FIG. 4, the speed reducer case 11 is supported by the support portions 13 a and 13 b of the frame member 13 that is a part of the frame that is the skeleton of the vehicle 3 and the frame of the drive device 1 (not shown). Yes.
- the support portions 13a and 13b are provided on the left and right with respect to the center of the frame member 13 in the vehicle width direction. Note that the arrows in FIG. 4 indicate the positional relationship when the drive device 1 is mounted on the vehicle 3.
- the stators 14A and 14B of the electric motors 2A and 2B are respectively fixed inside the left and right ends of the speed reducer case 11, and annular rotors 15A and 15B are rotatably arranged on the inner peripheral sides of the stators 14A and 14B.
- Cylindrical shafts 16A and 16B surrounding the outer periphery of the axles 10A and 10B are coupled to the inner peripheral portions of the rotors 15A and 15B, and the cylindrical shafts 16A and 16B are decelerated so as to be coaxially rotatable with the axles 10A and 10B.
- the machine case 11 is supported by end walls 17A and 17B and intermediate walls 18A and 18B via bearings 19A and 19B.
- Resolvers 20A and 20B for feeding back the rotational position information of the rotors 15A and 15B to the management ECU 9 are provided on the outer circumferences on one end side of the cylindrical shafts 16A and 16B and on the end walls 17A and 17B of the speed reducer case 11. Is provided.
- management ECU9 can detect the rotation speed of electric motor 2A, 2B based on the signal from resolver 20A, 20B.
- the planetary gear speed reducers 12A and 12B include sun gears 21A and 21B, a plurality of planetary gears 22A and 22B meshed with the sun gear 21, planetary carriers 23A and 23B that support the planetary gears 22A and 22B, and planetary gears. Ring gears 24A and 24B meshed with the outer peripheral sides of 22A and 22B, and the driving forces of the electric motors 2A and 2B are input from the sun gears 21A and 21B, and the reduced driving force is output through the planetary carriers 23A and 23B. It is like that.
- Sun gears 21A and 21B are formed integrally with cylindrical shafts 16A and 16B.
- the planetary gears 22A and 22B include large-diameter first pinions 26A and 26B that are directly meshed with the sun gears 21A and 21B, and a second pinion having a smaller diameter than the first pinions 26A and 26B.
- the first and second pinions 26A and 26B and the second pinions 27A and 27B are integrally formed in a state of being coaxially and offset in the axial direction.
- the planetary gears 22A and 22B are supported by the planetary carriers 23A and 23B, and the planetary carriers 23A and 23B are supported so as to be integrally rotatable with the axially inner ends extending inward in the radial direction and being spline-fitted to the axles 10A and 10B.
- the intermediate walls 18A and 18B are supported.
- the intermediate walls 18A and 18B separate the motor housing space for housing the motors 2A and 2B and the speed reducer space for housing the planetary gear type speed reducers 12A and 12B, and the axial distance from the outer diameter side to the inner diameter side. It is configured to bend so as to spread.
- Bearings 33A and 33B that support the planetary gears 22A and 22B are arranged on the inner diameter side of the intermediate walls 18A and 18B and on the planetary gear type speed reducers 12A and 12B, and the outer diameter side of the intermediate walls 18A and 18B.
- bus rings 41A and 41B for the stators 14A and 14B are arranged on the side of the electric motors 2A and 2B (see FIG. 2).
- the ring gears 24A and 24B are disposed opposite to each other at gears 28A and 28B whose inner peripheral surfaces are meshed with the second pinions 27A and 27B having a small diameter, and smaller in diameter than the gear parts 28A and 28B, at an intermediate position of the speed reducer case 11.
- the maximum radii of the ring gears 24A and 24B are set to be smaller than the maximum distance from the center of the axles 10A and 10B of the first pinions 26A and 26B.
- the small diameter portions 29A and 29B are spline-fitted to an inner race 51 of a one-way clutch (one-way clutch) 50, which will be described later, and the ring gears 24A and 24B are configured to rotate integrally with the inner race 51 of the one-way clutch 50.
- a cylindrical space is secured between the speed reducer case 11 and the ring gears 24A and 24B, and hydraulic brakes 60A and 60B that constitute braking means for the ring gears 24A and 24B are provided in the space portions in the first pinion 26A, It wraps in the radial direction with 26B and wraps in the axial direction with the second pinions 27A and 27B.
- the hydraulic brakes 60A and 60B include a plurality of fixed plates 35A and 35B that are spline-fitted to the inner peripheral surface of a cylindrical outer diameter side support portion 34 that extends in the axial direction on the inner diameter side of the speed reducer case 11, a ring gear 24A, A plurality of rotating plates 36A, 36B that are spline-fitted to the outer peripheral surface of 24B are alternately arranged in the axial direction, and these plates 35A, 35B, 36A, 36B are engaged and released by the annular pistons 37A, 37B. It has become so.
- the pistons 37 ⁇ / b> A and 37 ⁇ / b> B are formed between the left and right dividing walls 39 extending from the intermediate position of the reduction gear case 11 to the inner diameter side, and the outer diameter side support portion 34 and the inner diameter side support portion 40 connected by the left and right division walls 39.
- the pistons 37A and 37B are moved forward by introducing high pressure oil into the cylinder chambers 38A and 38B, and the oil is discharged from the cylinder chambers 38A and 38B.
- the pistons 37A and 37B are moved backward.
- the hydraulic brakes 60A and 60B are connected to an oil pump 70 disposed between the support portions 13a and 13b of the frame member 13 described above, as shown in FIG.
- the pistons 37A and 37B have first piston walls 63A and 63B and second piston walls 64A and 64B in the axial direction, and the piston walls 63A, 63B, 64A and 64B are cylindrical. Are connected by inner peripheral walls 65A and 65B. Therefore, an annular space that opens radially outward is formed between the first piston walls 63A and 63B and the second piston walls 64A and 64B. This annular space is formed on the inner periphery of the outer wall of the cylinder chambers 38A and 38B. It is partitioned forward and backward in the axial direction by partition members 66A and 66B fixed to the surface.
- a space between the left and right dividing walls 39 of the reduction gear case 11 and the second piston walls 64A and 64B is a first working chamber into which high-pressure oil is directly introduced, and between the partition members 66A and 66B and the first piston walls 63A and 63B.
- the second working chamber communicates with the first working chamber through the through holes formed in the inner peripheral walls 65A and 65B.
- the second piston walls 64A and 64B and the partition members 66A and 66B are electrically connected to the atmospheric pressure.
- the fixed plates 35A and 35B are supported by the outer diameter side support portion 34 extending from the reduction gear case 11, while the rotation plates 36A and 36B are supported by the ring gears 24A and 24B.
- the frictional engagement between the plates 35A, 35B, 36A, and 36B causes a braking force to act on the ring gears 24A and 24B, and the state is fixed.
- the engagement by the pistons 37A and 37B is released, the ring gears 24A and 24B are allowed to freely rotate.
- a space is secured between the coupling portions 30A and 30B of the ring gears 24A and 24B facing each other in the axial direction, and only power in one direction is transmitted to the ring gears 24A and 24B in the space to transmit power in the other direction.
- a one-way clutch 50 is arranged to be shut off.
- the one-way clutch 50 has a large number of sprags 53 interposed between an inner race 51 and an outer race 52.
- the inner race 51 is connected to the small diameter portions 29A, 29B of the ring gears 24A, 24B by spline fitting. It is configured to rotate integrally.
- the outer race 52 is positioned by the inner diameter side support portion 40 and is prevented from rotating.
- the one-way clutch 50 is configured to engage and lock the rotation of the ring gears 24A and 24B when the vehicle 3 moves forward. More specifically, the one-way clutch 50 is configured to lock or disconnect the ring gears 24A and 24B according to the direction of the torque acting on the ring gears 24A and 24B, and the sun gears 21A and 21B when the vehicle 3 moves forward. When the rotation direction is the forward rotation direction, the rotation of the ring gears 24A and 24B is locked when the torque in the reverse rotation direction acts on the ring gears 24A and 24B.
- 5 to 10 are collinear diagrams in each state, and S and C on the left side are a sun gear 21A of a planetary gear type reduction gear 12A connected to the electric motor 2A and a planetary carrier 23A connected to the axle 10A, respectively.
- S and C on the right side are the sun gear 21B of the planetary gear type reduction gear 12B connected to the electric motor 2B, the planetary carrier 23B connected to the axle 10B, R is the ring gears 24A and 24B, BRK is the hydraulic brakes 60A, 60B, and OWC are A one-way clutch 50 is represented.
- the rotation direction of the sun gears 21A and 21B during forward movement is defined as the forward rotation direction.
- the upper direction is the rotation in the forward direction
- the lower direction is the rotation in the reverse direction
- the arrow indicates the torque in the normal direction
- the lower side indicates the torque in the reverse direction.
- FIG. 5 is an alignment chart when the vehicle 3 is stopped. At this time, since the electric motors 2A and 2B are stopped and the axles 10A and 10B are stopped, no torque acts on any of the elements.
- FIG. 6 is a collinear diagram when the vehicle 3 travels forward by the motor torque of the electric motors 2A and 2B of the drive device 1, that is, when the vehicle 3 moves forward with the drive device 1 on the drive side.
- the electric motors 2A and 2B are driven, torque in the forward rotation direction is applied to the sun gears 21A and 21B.
- the ring gears 24A and 24B are locked by the one-way clutch 50, and a lock torque in the forward direction is applied to the ring gears 24A and 24B that are about to rotate in the reverse direction.
- the planetary carriers 23A, 23B rotate in the forward rotation direction and travel forward.
- the running resistance from the axles 10A and 10B acts in the reverse direction on the planetary carriers 23A and 23B.
- the ignition is turned on to increase the torque of the electric motors 2A and 2B, whereby the one-way clutch 50 is mechanically engaged and the ring gears 24A and 24B are locked.
- the vehicle 3 can be started without operating the oil pump 70 that drives 60B. Thereby, the responsiveness at the time of vehicle 3 start can be improved.
- FIG. 7 is a collinear diagram when the motors 2A and 2B are stopped while the vehicle 3 is traveling forward by the drive unit 6, that is, when the drive device 1 is on the coast side and the motors 2A and 2B are stopped. .
- the forward rotation torque is applied to the planetary carriers 23A and 23B from the axles 10A and 10B, so that the forward rotation is applied to the ring gears 24A and 24B.
- the one-way clutch 50 is released by the action of the torque. Accordingly, the ring gears 24A and 24B idle at a higher speed than the planetary carriers 23A and 23B.
- FIG. 8 shows a case where the vehicle 3 travels forward by the drive unit 6 and is regenerated by the electric motors 2A and 2B in a natural deceleration state with the accelerator off and a braking deceleration by the brake. It is a collinear diagram in case the motors 2A and 2B are regenerated on the coast side.
- the forward rotation torque is applied to the planetary carriers 23A and 23B from the axles 10A and 10B, so that the forward rotation is applied to the ring gears 24A and 24B.
- the one-way clutch 50 is released by the action of the torque.
- FIG. 9 is a collinear diagram when the vehicle 3 travels backward by the motor torque of the electric motors 2A and 2B of the drive device 1, that is, when the drive device 1 moves backward on the drive side.
- the motors 2A, 2B are driven in the reverse direction, torque in the reverse direction is applied to the sun gears 21A, 21B.
- forward torque acts on the ring gears 24A and 24B, and the one-way clutch 50 is released.
- the ring gears 24A and 24B are fixed and the planetary carriers 23A and 23B rotate in the reverse direction and move backward.
- Driving is done. Note that running resistance from the axles 10A and 10B acts in the forward direction on the planetary carriers 23A and 23B.
- FIG. 10 is a collinear diagram of the drive device 1 on the coast side when the vehicle 3 is traveling backward by the drive unit 6.
- the reverse rotation torque is applied to the planetary carriers 23A, 23B from the axles 10A, 10B
- the ring gears 24A, 24B are locked by the one-way clutch 50 to rotate in the reverse rotation direction.
- the forward rotation direction lock torque is applied to the ring gears 24A and 24B, and the motors 2A and 2B generate back electromotive force in the forward rotation direction.
- FIG. 11 is a diagram showing the state of the electric motors 2A and 2B and the state of the separation mechanism (one-way clutch 50 and hydraulic brakes 60A and 60B) when the vehicle 3 is running.
- “front” represents the drive unit 6 that drives the front wheel Wf
- “rear” represents the drive device 1 that drives the rear wheel Wr, where ⁇ is activated (including drive and regeneration), and x is not activated (stopped).
- the “MOT state” means the state of the electric motors 2 ⁇ / b> A and 2 ⁇ / b> B of the driving device 1.
- OWC means the one-way clutch 50
- BRK means the hydraulic brakes 60A and 60B.
- the motors 2A and 2B of the driving device 1 are stopped, and the driving unit 6 on the front wheel Wf side and the driving device 1 on the rear wheel Wr side are both stopped, and are separated as described with reference to FIG.
- the mechanism is also inactive.
- the electric motors 2A and 2B of the driving device 1 for the rear wheel Wr are driven.
- the separation mechanism is locked by the one-way clutch 50, and the power of the electric motors 2A and 2B is transmitted to the axles 10A and 10B.
- the motor efficiency is good, and the drive unit 6 on the front wheel Wf side is inactive, and the drive device 1 on the rear wheel Wr side performs rear wheel drive. Also at this time, as described with reference to FIG. 6, the separation mechanism is locked by the one-way clutch 50, and the power of the electric motors 2A, 2B is transmitted to the axles 10A, 10B.
- the front wheel drive by the drive unit 6 on the front wheel Wf side is performed because the engine efficiency is good.
- the one-way clutch 50 of the separation mechanism is disengaged (OWC free) and the hydraulic brakes 60A and 60B are not operated, so the motors 2A and 2B are stopped.
- the motors 2A and 2B rotate in the reverse direction, and the one-way clutch 50 of the separation mechanism is disconnected (OWC free), but the hydraulic brakes 60A and 60B are connected.
- the power of the electric motors 2A and 2B is transmitted to the axles 10A and 10B.
- the separation mechanism is locked by the one-way clutch 50, and the power of the electric motors 2A, 2B is transmitted to the axles 10A, 10B.
- the four states of the motors 2A and 2B of the driving device 1 in the vehicle state shown in FIG. 11 are “MOT drive”, “MOT reverse rotation”, “MOT stop”, and “MOT regeneration”.
- the torque transmission path in each state will be described below.
- a schematic configuration of the drive device 1 described above on the left rear wheel LWr side is shown in FIG.
- Electric motors 2A, 2B sun gears 21A, 21B ⁇ first pinions 26A, 26B ⁇ second pinions 27A, 27B ⁇ ring gears 24A, 24B ( ⁇ second pinions 27A, 27B) ⁇ planetary carriers 23A, 23B ⁇ Axle 10A, 10B ⁇ rear wheel Wr "
- the engagement between the sun gears 21A and 21B and the first pinions 26A and 26B indicated by dotted ellipses in FIG. 2 is realized by gears facing each other. As described above, a gap called “backlash” is provided between the teeth of the two opposing gears engaged with each other, as shown in FIG.
- the drive device 1 of the present embodiment performs control so that an impact caused by backlash does not occur when the torque transmission direction changes or when torque is transmitted in any direction from the torque-free state. .
- torque is transmitted in the same direction (second pinion 27A, 27B ⁇ ring gear 24A, 24B) between the second pinions 27A, 27B of the planetary gears 22A, 22B and the ring gears 24A, 24B in any state. There is no need to perform this control.
- FIG. 13 is a timing chart showing various parameters when the vehicle 3 that has been decelerating at high speed or naturally is accelerating.
- the electric motors 2A and 2B of the drive device 1 are stopped. Since the motors 2A and 2B are stopped, the one-way clutch 50 of the separation mechanism is disconnected (OWC free). Further, the hydraulic brakes 60A and 60B are not operated.
- the management ECU 9 issues a command to increase the rotation speed (motor rotation speed) of the electric motors 2A and 2B to the target rotation speed Nmr (rotation speed synchronization command).
- the management ECU 9 determines whether or not there is an acceleration request from the driver based on the accelerator pedal opening Ap shown in FIG. Further, the management ECU 9 determines the target rotational speed Nmr based on the vehicle speed or the rotational speeds of the axles 10A and 10B. Further, the vehicle speed is determined by the management ECU 9 based on the signal from the vehicle speed sensor 117 shown in FIG. 1, and the rotational speeds of the axles 10A and 10B are based on the signals from the rotational speed sensors 117a and 117b shown in FIG. The management ECU 9 determines.
- the management ECU 9 controls the electric motors 2A and 2B so as to output a constant torque when the motor rotation speed increases to a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed after the electric motors 2A and 2B start control for outputting a constant torque.
- the timing at which the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed is the time when the rotation speed of the electric motors 2A and 2B reaches the target rotation speed Nmr, or the electric motors 2A and 2B output a constant torque. This is the time when a predetermined time has elapsed since the start of control.
- the ring gears 24A and 24B of the planetary gear speed reducers 12A and 12B are locked by the one-way clutch 50 before the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed. At this time, the electric motors 2A and 2B output driving torque in a direction in which the one-way clutch 50 is engaged.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed, the management ECU 9 controls the electric motors 2A and 2B to output the required torque.
- the output torque from the electric motors 2A and 2B is transmitted to the rear wheels Wr, and the vehicle 3 is accelerated.
- FIG. 14 is a flowchart showing the contents of control performed by the management ECU 9 at the time of acceleration request.
- the management ECU 9 determines whether or not there is an acceleration request from the driver based on the accelerator pedal opening Ap (step S101). If there is an acceleration request, the process proceeds to step S103.
- step S103 the management ECU 9 detects the rotational speeds of the axles 10A and 10B based on signals from the rotational speed sensors 117a and 117b.
- step S105 the management ECU 9 determines the target rotational speed Nmr based on the rotational speed
- step S107 the management ECU 9 issues a command (rotational speed synchronization command) for increasing the rotational speed (motor rotational speed) Nmf of the electric motors 2A and 2B to the target rotational speed Nmr (step S107).
- the management ECU 9 determines whether the motor rotation speed Nmf has reached a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value (step S109).
- the management ECU 9 controls the electric motors 2A and 2B so as to output a constant torque T (step S111).
- step S113 the management ECU 9 determines whether the motor rotation speed Nmf has reached the target rotation speed Nmr. However, as shown in FIG. 15, instead of step S113, the management ECU 9 counts an elapsed time t from the start of control (step S111) in which the electric motors 2A and 2B output a constant torque T (step S214). It may be determined whether the elapsed time t has reached the predetermined time B (step S213).
- the impact caused by the backlash between the sun gears 21A and 21B and the first pinions 26A and 26B is large.
- the output torque of the motors 2A and 2B when the ring gears 24A and 24B are locked by the one-way clutch 50 is constant, the sun gears 21A and 21B and the first pinion 26A, The impact due to backlash between 26B is very small. That is, even if the rotation direction of the gear of the speed reducer on the power transmission path changes, the impact due to backlash can be reduced.
- the electric motors 2A and 2B change from the “MOT stop” state to the “MOT reverse rotation” state. At this time, an impact caused by backlash may occur.
- the control performed by the drive device 1 of the present embodiment is performed when the vehicle is traveling. Therefore, when the stopped vehicle travels backward, the drive device 1 does not perform the control.
- the motors 2A and 2B are switched from the “MOT stop” state to “MOT regeneration” when (a) the vehicle that has been performing high-speed cruise is decelerated and regenerated, or (b) the vehicle that has been naturally decelerated is decelerated and regenerated. It becomes a state.
- FIG. 16 is a timing chart showing various parameters when the vehicle 3 shifts from high speed cruise or natural deceleration to deceleration regeneration.
- the electric motors 2A and 2B of the drive device 1 are stopped. Since the motors 2A and 2B are stopped, the one-way clutch 50 of the separation mechanism is disconnected (OWC free). Further, the hydraulic brakes 60A and 60B are not operated.
- the management ECU 9 issues a command to increase the rotation speed (motor rotation speed) of the electric motors 2A and 2B to the target rotation speed Nmr (rotation speed synchronization command).
- the management ECU 9 determines whether or not there is a deceleration request from the driver based on the brake pedal depression force Br shown in FIG. Further, the management ECU 9 determines the target rotational speed Nmr based on the vehicle speed or the rotational speeds of the axles 10A and 10B. Further, the vehicle speed is determined by the management ECU 9 based on the signal from the vehicle speed sensor 117 shown in FIG. 1, and the rotational speeds of the axles 10A and 10B are based on the signals from the rotational speed sensors 117a and 117b shown in FIG. The management ECU 9 determines.
- the management ECU 9 issues a drive command for the hydraulic brakes 60A and 60B when the motor rotation speed increases to a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value.
- oil is supplied from the oil pump 70 to the hydraulic brakes 60A and 60B, and the ring gears 24A and 24B of the planetary gear type speed reducers 12A and 12B are locked by the hydraulic brakes 60A and 60B.
- the timing of the drive command of the hydraulic brakes 60A and 60B by the management ECU 9 and the timing at which the ring gears 24A and 24B are locked by the hydraulic brakes 60A and 60B are not simultaneous. That is, it takes time until the ring gears 24A and 24B are locked due to the time required to supply oil from the oil pump 70 to the hydraulic brakes 60A and 60B, the viscosity of the oil, and the like. Therefore, the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed after issuing a drive command for the hydraulic brakes 60A and 60B.
- the timing at which the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed is that when the rotation speed of the electric motors 2A and 2B reaches the target rotation speed Nmr, the hydraulic pressure of the hydraulic brakes 60A and 60B has reached a predetermined value. This is the point in time or when a predetermined time has elapsed from the drive command for the hydraulic brakes 60A and 60B.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B is completed, the electric motors 2A and 2B are applied with regenerative torque in a direction in which the one-way clutch 50 is not engaged. Therefore, in order to maintain the lock of the ring gears 24A and 24B, the management ECU 9 continues to issue drive commands for the hydraulic brakes 60A and 60B even after the determination. Thus, since the locks of the ring gears 24A and 24B by the hydraulic brakes 60A and 60B are maintained, regenerative braking is performed by the electric motors 2A and 2B, and the vehicle 3 decelerates.
- FIG. 17 is a flowchart showing the contents of control performed by the management ECU 9. As shown in FIG. 17, the management ECU 9 determines whether or not there is a deceleration request from the driver based on the brake pedal depression force Br (step S121). If there is a deceleration request, the process proceeds to step S123.
- step S123 the management ECU 9 detects the rotational speeds of the axles 10A and 10B based on signals from the rotational speed sensors 117a and 117b.
- the management ECU 9 determines a target rotational speed Nmr based on the rotational speed (step S125).
- step S127 the management ECU 9 issues a command (rotational speed synchronization command) for increasing the rotational speed (motor rotational speed) Nmf of the electric motors 2A and 2B to the target rotational speed Nmr (step S127).
- the management ECU 9 determines whether the motor rotation speed Nmf has reached a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value (step S129). If the relationship of Nmf ⁇ Nmr ⁇ A is satisfied, the management ECU 9 issues a drive command for the hydraulic brakes 60A and 60B (step S131).
- step S133 the management ECU 9 determines whether the motor rotational speed Nmf has reached the target rotational speed Nmr. However, as shown in FIG. 18, instead of step S133, the management ECU 9 may determine whether the hydraulic pressure Pf of the hydraulic brakes 60A and 60B has reached a predetermined value Pr (step S233). As shown in FIG. 19, instead of step S113, the management ECU 9 counts the elapsed time t from the drive command (step S131) of the hydraulic brakes 60A and 60B (step S334), and the elapsed time t is predetermined. It may be determined whether the time B has been reached (step S333).
- the rotation speed synchronization control of the motors 2A and 2B is performed, and The ring gears 24A and 24B are gradually locked by the hydraulic brakes 60A and 60B. For this reason, the regenerative torque is gradually transmitted from the first pinions 26A, 26B of the planetary gears 22A, 22B to the sun gears 21A, 21B.
- the impact caused by backlash between the first pinions 26A and 26B and the sun gears 21A and 21B is very small. That is, even if the rotation direction of the gear of the speed reducer on the power transmission path changes, the impact due to backlash can be reduced.
- the electric motor 2A and the planetary gear type reduction gear 12A of the driving device 1 control the left rear wheel LWr
- the electric motor 2B and the planetary gear type reduction device 12B of the driving device 1 control the right rear wheel RWr. Therefore, when the electric motors 2A and 2B need to be driven while the vehicle 3 is turning, the management ECU 9 makes different torque requests to the left and right electric motors 2A and 2B. That is, the management ECU 9 calculates the required torque for the left and right electric motors 2A, 2B based on the traveling state of the vehicle 3 at this time.
- one of the required torques for the left and right electric motors 2A may be drive torque and the other may be regenerative torque.
- the management ECU 9 performs the control shown in FIG. 13 for the electric motor for which the driving torque is requested, and performs the control shown in FIG. 16 for the electric motor for which the regenerative torque is requested. Further, when the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed, the management ECU 9 determines whether or not the total value of these two required torques is 0 or more.
- the management ECU 9 stops the drive command for the hydraulic brake on the motor side for which the regenerative torque is requested. At this time, regenerative torque is applied to the electric motor in the direction in which the one-way clutch 50 is engaged. For this reason, the ring gear is locked by the one-way clutch 50 even if the lock by the hydraulic brake is released. Therefore, the output torque from the electric motors 2A and 2B is transmitted to the rear wheels Wr, and the vehicle 3 is accelerated.
- the management ECU 9 maintains the drive command for the hydraulic brake on the motor side for which the regenerative torque is requested in order to keep the ring gear locked.
- FIG. 20 is a flowchart showing the control performed by the drive device 1.
- the management ECU 9 determines whether or not there is a drive request for the electric motors 2A and 2B (step S151). If there is a drive request, the process proceeds to step S153.
- step S153 the management ECU 9 determines whether the traveling of the vehicle 3 is turning based on the steering operation information of the vehicle 3. If the vehicle is turning, the process proceeds to step S171. If the vehicle is traveling straight instead of turning, the process proceeds to step S155.
- step S155 the management ECU 9 calculates the required torque Tmr for the left and right electric motors 2A, 2B based on the traveling state of the vehicle 3.
- step S157 the management ECU 9 determines whether the required torque Tmr is a power running drive request for the electric motors 2A, 2B (step S157). If it is a power running drive request, the process proceeds to step S159. If it is not a power running drive request but a regenerative drive request, the process proceeds to step S161.
- step S159 the management ECU 9 performs the control described with reference to FIG.
- step S161 the management ECU 9 performs the control described with reference to FIG.
- step S163 the required torque Tmr to the instruction torque Tm
- step S171 the management ECU 9 calculates the required torques Trmr and Tlmr for the left and right electric motors 2A and 2B based on the traveling state of the vehicle 3.
- step S173 the management ECU 9 determines whether both of the required torques Trmr and Tlmr are powering drive requests (step S173). If both the requested torques Trmr and Tlmr are power running drive requests, the process proceeds to step S175. If at least one of them is not a power running drive request but a regenerative drive request, the process proceeds to step S179.
- step S175 the management ECU 9 performs the control described in FIG.
- step S177 the management ECU 9 performs either the control described with reference to FIG. 13 or the control described with reference to FIG. 16 according to the required torque of each electric motor.
- step S179 the management ECU 9 determines whether or not the sum of the required torques Trmr and Tlmr is equal to or greater than 0. If the sum is equal to or greater than 0, the management ECU 9 proceeds to step S181. In step S181, the management ECU 9 releases the lock of the hydraulic brake. Finally, in step S183, the management ECU 9 sets the required torques Trmr and Tlmr to the command torques Trm and Tlm.
- FIG. 21 is a diagram illustrating the state of the electric motors 2A and 2B and the state of the separation mechanism (one-way clutch 50 and hydraulic brakes 60A and 60B) when the vehicle 3 is running.
- “front” represents the drive unit 6 that drives the front wheel Wf
- “rear” represents the drive device 1 that drives the rear wheel Wr, where ⁇ is activated (including drive and regeneration), and x is not activated (stopped).
- the “MOT state” means the state of the electric motors 2 ⁇ / b> A and 2 ⁇ / b> B of the driving device 1.
- OWC means the one-way clutch 50
- BRK means the hydraulic brakes 60A and 60B.
- the motors 2A and 2B of the driving device 1 are stopped, and the driving unit 6 on the front wheel Wf side and the driving device 1 on the rear wheel Wr side are both stopped, and are separated as described with reference to FIG.
- the mechanism is also inactive.
- the electric motors 2A and 2B of the driving device 1 for the rear wheel Wr are driven.
- the separation mechanism is locked by the one-way clutch 50, and the power of the electric motors 2A and 2B is transmitted to the axles 10A and 10B.
- the motor efficiency is good, and the drive unit 6 on the front wheel Wf side is inactive, and the drive device 1 on the rear wheel Wr side performs rear wheel drive. Also at this time, as described with reference to FIG. 6, the separation mechanism is locked by the one-way clutch 50, and the power of the electric motors 2A, 2B is transmitted to the axles 10A, 10B.
- the front wheel drive by the drive unit 6 on the front wheel Wf side is performed because the engine efficiency is good.
- the one-way clutch 50 of the separation mechanism is disengaged (OWC free) and the hydraulic brakes 60A and 60B are not operated, so the motors 2A and 2B are stopped.
- FIGS. 21 and 22 the control that the management ECU 9 performs on the electric motors 2A and 2B and the hydraulic brakes 60A and 60B of the drive device 1 when the vehicle 3 shifts from high-speed cruise to deceleration regeneration will be described.
- the timing at which the vehicle 3 shifts from high-speed cruise to deceleration regeneration is indicated by an elliptical dotted line.
- FIG. 22 is a timing chart showing various parameters when the vehicle 3 shifts from high-speed cruise to deceleration regeneration.
- the driving unit 6 on the front wheel Wf side is running, and the motors 2A and 2B of the driving device 1 are stopped. Since the motors 2A and 2B are stopped, the one-way clutch 50 of the separation mechanism is disconnected (OWC free). Further, the hydraulic brakes 60A and 60B are not operated. Therefore, the vehicle 3 is traveling by front wheel drive.
- the management ECU 9 issues a command to increase the rotation speed (motor rotation speed) of the electric motors 2A and 2B to the target rotation speed Nmr (rotation speed synchronization command).
- the management ECU 9 determines whether or not there is a deceleration request from the driver based on the brake pedal depression force Br shown in FIG. Further, the management ECU 9 determines the target rotational speed Nmr based on the vehicle speed or the rotational speeds of the axles 10A and 10B. Further, the vehicle speed is determined by the management ECU 9 based on the signal from the vehicle speed sensor 117 shown in FIG. 1, and the rotational speeds of the axles 10A and 10B are based on the signals from the rotational speed sensors 117a and 117b shown in FIG. The management ECU 9 determines.
- the management ECU 9 issues a drive command for the hydraulic brakes 60A and 60B when the motor rotation speed increases to a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value.
- oil is supplied from the oil pump 70 to the hydraulic brakes 60A and 60B, and the ring gears 24A and 24B of the planetary gear type speed reducers 12A and 12B are locked by the hydraulic brakes 60A and 60B.
- the timing of the drive command of the hydraulic brakes 60A and 60B by the management ECU 9 and the timing at which the ring gears 24A and 24B are locked by the hydraulic brakes 60A and 60B are not simultaneous. That is, it takes time until the ring gears 24A and 24B are locked due to the time required to supply oil from the oil pump 70 to the hydraulic brakes 60A and 60B, the viscosity of the oil, and the like. Therefore, the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed after issuing a drive command for the hydraulic brakes 60A and 60B.
- the timing at which the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed is that when the rotation speed of the electric motors 2A and 2B reaches the target rotation speed Nmr, the hydraulic pressure of the hydraulic brakes 60A and 60B has reached a predetermined value. This is the point in time or when a predetermined time has elapsed from the drive command for the hydraulic brakes 60A and 60B.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B is completed, the electric motors 2A and 2B are applied with regenerative torque in a direction in which the one-way clutch 50 is not engaged. Therefore, in order to maintain the lock of the ring gears 24A and 24B, the management ECU 9 continues to issue drive commands for the hydraulic brakes 60A and 60B even after the determination. Thus, since the locks of the ring gears 24A and 24B by the hydraulic brakes 60A and 60B are maintained, regenerative braking is performed by the electric motors 2A and 2B, and the vehicle 3 decelerates.
- the deceleration regeneration of the vehicle 3 is started after the lapse of the required time from the deceleration request by the driver.
- the ring gears 24A and 24B are gradually locked by the hydraulic brakes 60A and 60B, a shock due to the difference in the rotational speed between the front wheels Wf and the rear wheels Wr does not occur.
- FIG. 23 is a diagram illustrating the states of the electric motors 2A and 2B and the state of the separation mechanism (one-way clutch 50 and hydraulic brakes 60A and 60B) when the vehicle 3 is running.
- the timing at which the vehicle 3 that has been naturally decelerated is accelerated is indicated by an elliptical dotted line.
- FIG. 24 is a timing chart showing various parameters when the vehicle 3 that has been naturally decelerating accelerates.
- the management ECU 9 issues a command to increase the rotation speed (motor rotation speed) of the electric motors 2A and 2B to the target rotation speed Nmr (rotation speed synchronization command).
- the management ECU 9 determines whether or not there is an acceleration request from the driver based on the accelerator pedal opening Ap shown in FIG. Further, the management ECU 9 determines the target rotational speed Nmr based on the vehicle speed or the rotational speeds of the axles 10A and 10B. Further, the vehicle speed is determined by the management ECU 9 based on the signal from the vehicle speed sensor 117 shown in FIG. 1, and the rotational speeds of the axles 10A and 10B are based on the signals from the rotational speed sensors 117a and 117b shown in FIG. The management ECU 9 determines.
- the management ECU 9 issues a drive command for the hydraulic brakes 60A and 60B when the motor rotation speed increases to a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value.
- oil is supplied from the oil pump 70 to the hydraulic brakes 60A and 60B, and the ring gears 24A and 24B of the planetary gear type speed reducers 12A and 12B are locked by the hydraulic brakes 60A and 60B.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed after issuing a drive command for the hydraulic brakes 60A and 60B.
- the timing at which the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed is that when the rotation speed of the electric motors 2A and 2B reaches the target rotation speed Nmr, the hydraulic pressure of the hydraulic brakes 60A and 60B has reached a predetermined value. This is the point in time or when a predetermined time has elapsed from the drive command for the hydraulic brakes 60A and 60B.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed, the management ECU 9 stops the drive command for the hydraulic brakes 60A and 60B. At this time, the regenerative torque is applied to the motors 2A and 2B in the direction in which the one-way clutch 50 is engaged. For this reason, the ring gears 24A and 24B are locked by the one-way clutch 50 even when the locks by the hydraulic brakes 60A and 60B are released. Therefore, the output torque from the electric motors 2A and 2B is transmitted to the rear wheels Wr, and the vehicle 3 is accelerated.
- the acceleration of the vehicle 3 is started after the required time has elapsed from the acceleration request by the driver.
- the ring gears 24A and 24B are locked by the one-way clutch 50 after the ring gears 24A and 24B are gradually locked by the hydraulic brakes 60A and 60B, the shock caused by the difference in the rotational speed between the front wheels Wf and the rear wheels Wr Does not occur.
- the above description is an example when the vehicle 3 that has been naturally decelerated is accelerated, the same control is performed when the vehicle 3 during high-speed cruise further accelerates.
- FIG. 25 is a flowchart showing the contents of control performed by the management ECU 9.
- the management ECU 9 determines whether or not there is a deceleration request from the driver based on the brake pedal depression force Br (step S101). If there is a deceleration request, the process proceeds to step S103, and if there is no deceleration request, the process proceeds to step S121.
- step S103 the management ECU 9 detects the rotational speeds of the axles 10A and 10B based on signals from the rotational speed sensors 117a and 117b.
- step S105 the management ECU 9 determines the target rotational speed Nmr based on the rotational speed
- step S107 the management ECU 9 issues a command (rotational speed synchronization command) for increasing the rotational speed (motor rotational speed) Nmf of the electric motors 2A and 2B to the target rotational speed Nmr (step S107).
- the management ECU 9 determines whether the motor rotation speed Nmf has reached a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value (step S109). If the relationship of Nmf ⁇ Nmr ⁇ A is satisfied, the management ECU 9 issues a drive command for the hydraulic brakes 60A and 60B (step S111).
- step S121 the management ECU 9 determines whether or not there is an acceleration request from the driver based on the accelerator pedal opening Ap. If there is an acceleration request, the process proceeds to step S123, and if there is no acceleration request, the process returns to step S101.
- step S123 the management ECU 9 detects the rotational speeds of the axles 10A and 10B based on signals from the rotational speed sensors 117a and 117b.
- the management ECU 9 determines a target rotational speed Nmr based on the rotational speed (step S125).
- step S127 the management ECU 9 issues a command (rotational speed synchronization command) for increasing the rotational speed (motor rotational speed) Nmf of the electric motors 2A and 2B to the target rotational speed Nmr (step S127).
- the management ECU 9 determines whether the motor rotation speed Nmf has reached a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value (step S129). If the relationship of Nmf ⁇ Nmr ⁇ A is satisfied, the management ECU 9 issues a drive command for the hydraulic brakes 60A and 60B (step S131).
- the ring gears 24A and 24B are locked by the one-way clutch 50 even when the locks by the hydraulic brakes 60A and 60B are released. Therefore, the output torque from the electric motors 2A and 2B is transmitted to the rear wheels Wr, and the vehicle 3 is accelerated.
- the management ECU 9 determines whether the motor rotation speed Nmf has reached the target rotation speed Nmr in steps S113 and S133. However, as shown in FIG. 26, instead of steps S113 and S133, the management ECU 9 may determine whether the hydraulic pressure Pf of the hydraulic brakes 60A and 60B has reached a predetermined value Pr (steps S213 and S233). As shown in FIG. 27, instead of steps S113 and S133, the management ECU 9 counts an elapsed time T from the drive command (steps S111 and S131) for the hydraulic brakes 60A and 60B (steps S314 and S334). Further, it may be determined whether the elapsed time T has reached the predetermined time B (steps S313 and S333).
- the ring gears 24A and 24B are locked gradually by the hydraulic brakes 60A and 60B.
- a shock due to the difference in rotational speed between the front wheel Wf and the rear wheel Wr does not occur.
- the ring gears 24A and 24B are locked by the hydraulic brakes 60A and 60B, and then the ring gears 24A and 24B are locked by the one-way clutch 50. Therefore, a shock due to the difference in rotational speed between the front wheel Wf and the rear wheel Wr does not occur. That is, when the unidirectional power transmission unit is engaged, the shock due to the difference in the rotational speed between the front wheels and the rear wheels can be reduced.
- the hydraulic pressure from the oil pump 70 to the hydraulic brakes 60A and 60B when the management ECU 9 issues a drive command for the hydraulic brakes 60A and 60B may be constantly high or may be changed from low to high. Even when the hydraulic pressure is always high, the ring gears 24A and 24B are gradually locked by the hydraulic brakes 60A and 60B. However, the time required for the ring gears 24A and 24B to be completely locked is longer when the hydraulic pressure is changed from low pressure to high pressure than when the hydraulic pressure is always high. Therefore, in the control performed by the management ECU 9, when the flowchart of FIG. 27 is used, the predetermined time B compared with the elapsed time T in steps S313 and S333 is changed from low pressure to high pressure as compared with the case where the hydraulic pressure is always high. Longer when changed.
- the electric motor 2A and the planetary gear type reduction gear 12A of the driving device 1 control the left rear wheel LWr
- the electric motor 2B and the planetary gear type reduction device 12B of the driving device 1 control the right rear wheel RWr. . Therefore, when the electric motors 2A and 2B need to be driven while the vehicle 3 is turning, the management ECU 9 makes different torque requests to the left and right electric motors 2A and 2B. That is, the management ECU 9 calculates the required torque for the left and right electric motors 2A, 2B based on the traveling state of the vehicle 3 at this time. The management ECU 9 determines whether the total value of these two required torques is 0 or more.
- the management ECU 9 When the total value is 0 or more, the management ECU 9 performs the processes of steps S103 to S115 shown in FIGS. On the other hand, when the total value is less than 0, the management ECU 9 performs the processes of steps S123 to S137 shown in FIGS.
- FIG. 28 is a diagram showing the state of the electric motors 2A and 2B and the state of the separation mechanism (one-way clutch 50 and hydraulic brakes 60A and 60B) in the traveling state of the vehicle 3.
- front represents the drive unit 6 that drives the front wheel Wf
- rear represents the drive device 1 that drives the rear wheel Wr, where ⁇ is activated (including drive and regeneration), and x is not activated (stopped).
- MOT state means the state of the electric motors 2 ⁇ / b> A and 2 ⁇ / b> B of the driving device 1.
- OWC means the one-way clutch 50
- BRK means the hydraulic brakes 60A and 60B.
- the motors 2A and 2B of the driving device 1 are stopped, and the driving unit 6 on the front wheel Wf side and the driving device 1 on the rear wheel Wr side are both stopped, and are separated as described with reference to FIG.
- the mechanism is also inactive.
- the electric motors 2A and 2B of the driving device 1 for the rear wheel Wr are driven.
- the separation mechanism is locked by the one-way clutch 50, and the power of the electric motors 2A and 2B is transmitted to the axles 10A and 10B.
- the motor efficiency is good, and the drive unit 6 on the front wheel Wf side is inactive, and the drive device 1 on the rear wheel Wr side performs rear wheel drive. Also at this time, as described with reference to FIG. 6, the separation mechanism is locked by the one-way clutch 50, and the power of the electric motors 2A, 2B is transmitted to the axles 10A, 10B.
- the front wheel drive by the drive unit 6 on the front wheel Wf side is performed because the engine efficiency is good.
- the one-way clutch 50 of the separation mechanism is disengaged (OWC free) and the hydraulic brakes 60A and 60B are not operated, so the motors 2A and 2B are stopped.
- FIG. 28 the control that the management ECU 9 performs on the motors 2A and 2B and the hydraulic brakes 60A and 60B of the drive device 1 when the vehicle 3 shifts from high-speed cruise to deceleration regeneration will be described.
- the timing at which the vehicle 3 shifts from high-speed cruise to deceleration regeneration is indicated by an elliptical dotted line.
- FIG. 29 is a timing chart showing various parameters when the vehicle 3 shifts from high-speed cruise to deceleration regeneration.
- the management ECU 9 issues a command to increase the rotation speed (motor rotation speed) of the electric motors 2A and 2B to the target rotation speed Nmr (rotation speed synchronization command).
- the management ECU 9 determines whether or not there is a deceleration request from the driver based on the brake pedal depression force Br shown in FIG. Further, the management ECU 9 determines the target rotational speed Nmr based on the vehicle speed or the rotational speeds of the axles 10A and 10B. Further, the vehicle speed is determined by the management ECU 9 based on the signal from the vehicle speed sensor 117 shown in FIG. 1, and the rotational speeds of the axles 10A and 10B are based on the signals from the rotational speed sensors 117a and 117b shown in FIG. The management ECU 9 determines.
- the management ECU 9 controls the electric motors 2A and 2B so as to output a constant torque when the motor rotation speed increases to a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed after the electric motors 2A and 2B start control for outputting a constant torque.
- the timing at which the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed is the time when the rotation speed of the electric motors 2A and 2B reaches the target rotation speed Nmr, or the electric motors 2A and 2B output a constant torque. This is the time when a predetermined time has elapsed since the start of control.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed, the management ECU 9 controls the output torque of the electric motors 2A and 2B to zero. At this time, regenerative torque is applied to the electric motors 2A and 2B in a direction in which the one-way clutch 50 is not engaged. Therefore, in order to maintain the lock of the ring gears 24A and 24B, the management ECU 9 issues a drive command for the hydraulic brakes 60A and 60B.
- oil is supplied from the oil pump 70 to the hydraulic brakes 60A and 60B, and the ring gears 24A and 24B of the planetary gear type speed reducers 12A and 12B are locked by the hydraulic brakes 60A and 60B.
- regenerative braking is performed by the electric motors 2A and 2B, and the vehicle 3 decelerates.
- the timing of the drive command of the hydraulic brakes 60A and 60B by the management ECU 9 and the timing at which the ring gears 24A and 24B are locked by the hydraulic brakes 60A and 60B are not simultaneous. That is, it takes time until the ring gears 24A and 24B are locked due to the time required to supply oil from the oil pump 70 to the hydraulic brakes 60A and 60B, the viscosity of the oil, and the like.
- the hydraulic brakes 60A and 60B operate in a state where the electric motors 2A and 2B output a constant torque.
- the hydraulic brakes 60A and 60B are activated while the regenerative torque of the electric motors 2A and 2B is increasing, the torque is rapidly transmitted, so that a shock is generated in the traveling vehicle 3.
- the release mechanism is locked by the one-way clutch 50 when the hydraulic brakes 60A and 60B are operated.
- FIG. 30 is a diagram illustrating the states of the electric motors 2A and 2B and the state of the separation mechanism (one-way clutch 50 and hydraulic brakes 60A and 60B) when the vehicle 3 is traveling.
- the timing at which the vehicle 3 that has been naturally decelerated is accelerated is indicated by an elliptical dotted line.
- FIG. 31 is a timing chart showing various parameters when the vehicle 3 that has been naturally decelerated is accelerating.
- the management ECU 9 issues a command to increase the rotation speed (motor rotation speed) of the electric motors 2A and 2B to the target rotation speed Nmr (rotation speed synchronization command).
- the management ECU 9 determines whether or not there is an acceleration request from the driver based on the accelerator pedal opening Ap shown in FIG. Further, the management ECU 9 determines the target rotational speed Nmr based on the vehicle speed or the rotational speeds of the axles 10A and 10B. Further, the vehicle speed is determined by the management ECU 9 based on the signal from the vehicle speed sensor 117 shown in FIG. 1, and the rotational speeds of the axles 10A and 10B are based on the signals from the rotational speed sensors 117a and 117b shown in FIG. The management ECU 9 determines.
- the management ECU 9 controls the electric motors 2A and 2B so as to output a constant torque when the motor rotation speed increases to a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed after the electric motors 2A and 2B start control for outputting a constant torque.
- the timing at which the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed is the time when the rotation speed of the electric motors 2A and 2B reaches the target rotation speed Nmr, or the electric motors 2A and 2B output a constant torque. This is the time when a predetermined time has elapsed since the start of control.
- the ring gears 24A and 24B of the planetary gear speed reducers 12A and 12B are locked by the one-way clutch 50 before the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed. At this time, the electric motors 2A and 2B output driving torque in a direction in which the one-way clutch 50 is engaged.
- the management ECU 9 determines that the rotation speed synchronization of the electric motors 2A and 2B has been completed, the management ECU 9 controls the electric motors 2A and 2B to output the required torque.
- the output torque from the electric motors 2A and 2B is transmitted to the rear wheels Wr, and the vehicle 3 is accelerated.
- the ring gears 24A and 24B are locked by the one-way clutch 50 while the electric motors 2A and 2B output a constant torque. If the ring gears 24A and 24B are locked while the output torques of the electric motors 2A and 2B are increasing, the torque is rapidly transmitted to the rear wheels Wr, so that a shock is generated in the traveling vehicle 3.
- the output torque of the electric motors 2A and 2B when the ring gears 24A and 24B are locked by the one-way clutch 50 is constant, no shock occurs.
- FIG. 32 is a flowchart showing the contents of control performed by the management ECU 9.
- the management ECU 9 determines whether or not there is a deceleration request from the driver based on the brake pedal depression force Br (step S101). If there is a deceleration request, the process proceeds to step S103, and if there is no deceleration request, the process proceeds to step S121.
- step S103 the management ECU 9 detects the rotational speeds of the axles 10A and 10B based on signals from the rotational speed sensors 117a and 117b.
- step S105 the management ECU 9 determines the target rotational speed Nmr based on the rotational speed
- step S107 the management ECU 9 issues a command (rotational speed synchronization command) for increasing the rotational speed (motor rotational speed) Nmf of the electric motors 2A and 2B to the target rotational speed Nmr (step S107).
- the management ECU 9 determines whether the motor rotation speed Nmf has reached a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value (step S109).
- step S115 When the management ECU 9 determines that the rotation speed synchronization is completed in step S115, regenerative torque is applied to the electric motors 2A and 2B in a direction in which the one-way clutch 50 is not engaged. For this reason, the management ECU 9 continues to issue driving commands for the hydraulic brakes 60A and 60B even after the determination. Therefore, regenerative braking is performed by the electric motors 2A and 2B, and the vehicle 3 is decelerated.
- step S121 the management ECU 9 determines whether or not there is an acceleration request from the driver based on the accelerator pedal opening Ap. If there is an acceleration request, the process proceeds to step S123, and if there is no acceleration request, the process returns to step S101.
- step S123 the management ECU 9 detects the rotational speeds of the axles 10A and 10B based on signals from the rotational speed sensors 117a and 117b.
- the management ECU 9 determines a target rotational speed Nmr based on the rotational speed (step S125).
- step S127 the management ECU 9 issues a command (rotational speed synchronization command) for increasing the rotational speed (motor rotational speed) Nmf of the electric motors 2A and 2B to the target rotational speed Nmr (step S127).
- the management ECU 9 determines whether the motor rotation speed Nmf has reached a value (Nmr-A) lower than the target rotation speed Nmr by a predetermined value (step S129).
- the management ECU 9 controls the motors 2A and 2B to output a constant torque T (step S131).
- the management ECU 9 determines whether the motor rotation speed Nmf has reached the target rotation speed Nmr in steps S115 and S133. However, as shown in FIG. 33, instead of steps S115 and S133, the management ECU 9 counts an elapsed time t from the start of control (steps S111 and S131) in which the electric motors 2A and 2B output a constant torque T. (Steps S316 and S334), it may be determined whether the elapsed time t has reached the predetermined time B (steps S315 and S333).
- the hydraulic brakes 60A and 60B are output with the electric motors 2A and 2B outputting a constant torque. Is activated, no shock is generated in the traveling vehicle 3. Further, when the vehicle 3 that has been naturally decelerated or cruised at high speed accelerates, the ring gears 24A and 24B are locked by the one-way clutch 50 while the electric motors 2A and 2B output a constant torque. There is no shock in the vehicle 3 inside. That is, it is possible to reduce a shock when the one-way power transmission unit or the brake is engaged when the electric motor is driven.
- the electric motor 2A and the planetary gear type reduction gear 12A of the driving device 1 control the left rear wheel LWr
- the electric motor 2B and the planetary gear type reduction device 12B of the driving device 1 control the right rear wheel RWr. . Therefore, when the electric motors 2A and 2B need to be driven while the vehicle 3 is turning, the management ECU 9 makes different torque requests to the left and right electric motors 2A and 2B. That is, the management ECU 9 calculates the required torque for the left and right electric motors 2A, 2B based on the traveling state of the vehicle 3 at this time. The management ECU 9 determines whether the total value of these two required torques is 0 or more.
- the management ECU 9 When the total value is 0 or more, the management ECU 9 performs the processes of steps S103 to S117 shown in FIGS. On the other hand, when the total value is less than 0, the management ECU 9 performs the processes of steps S123 to S135 shown in FIGS.
- the drive device 1 described above is provided with two electric motors 2A and 2B and two planetary gear speed reducers 12A and 12B respectively corresponding to the left and right rear wheels Wr.
- a configuration in which one electric motor 2 and planetary gear speed reducer 12 common to the left and right rear wheels Wr are provided may be employed.
- a differential gear 118 is provided between the electric motor 2 and the axle so that the vehicle 3 can turn.
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Abstract
Description
請求項5に記載の発明の駆動制御装置によれば、動力伝達経路上の減速機の歯車の回転方向が変わってもバックラッシュに起因した衝撃を低減できる。
請求項7及び8に記載の発明の駆動制御装置によれば、一方向動力伝達部が係合する際に前輪(例えば、第1の車軸側)と後輪(例えば、第2の車軸側)の回転数差によるショックを低減できる。
請求項12及び13に記載の発明の駆動制御装置によれば、電動機が所定のトルクを出力した結果、電動機の回転数が目標回転数に同期すると一方向動力伝達部による係合が行われ、電動機の回転数が目標回転数に同期した状態でブレーキが締結される。このため、電動機の駆動時における一方向動力伝達部又はブレーキが係合する際のショックを低減できる。
本発明にかかる駆動装置1は、電動機2A、2Bを車軸駆動用の駆動源とするものであり、例えば、図1に示すような駆動システムの車両3に用いられる。
図1に示す車両3は、内燃機関4と電動機5が直列に接続された駆動ユニット6を車両前部に有するハイブリッド車両であり、この駆動ユニット6の動力がトランスミッション7及び主駆動軸8を介して前輪Wfに伝達される一方で、この駆動ユニット6と別に車両後部に設けられた駆動装置1の動力が後輪Wr(RWr、LWr)に伝達されるようになっている。駆動ユニット6の電動機5と後輪Wr側の駆動装置1の電動機2A、2Bは、図示しないPDU(パワードライブユニット)を介してバッテリに接続され、バッテリからの電力供給と、バッテリへのエネルギー回生がPDUを介して行われるようになっている。また、マネジメントECU(MG ECU)9は、駆動装置1に含まれる電動機2A、2B及び油圧ブレーキ60A、60Bの各動作を制御する。
この油圧ブレーキ60A、60Bでは、第1作動室と第2作動室に高圧オイルが導入され、第1ピストン壁63A、63Bと第2ピストン壁64A、64Bに作用するオイルの圧力によって固定プレート35A、35Bと回転プレート36A、36Bを相互に押し付けが可能である。したがって、軸方向前後の第1,第2ピストン壁63A、63B,64A、64Bによって大きな受圧面積を稼ぐことができるため、ピストン37A、37Bの径方向の面積を抑えたまま固定プレート35A、35Bと回転プレート36A、36Bに対する大きな押し付け力を得ることができる。
図11は、車両3の走行状態における電動機2A、2Bの状態と切離機構(一方向クラッチ50と油圧ブレーキ60A、60B)の状態を示した図である。なお、「フロント」とは前輪Wfを駆動する駆動ユニット6、「リア」とは後輪Wrを駆動する駆動装置1を表わし、○が作動(駆動、回生含む)、×が非作動(停止)を意味する。また、「MOT状態」とは、駆動装置1の電動機2A、2Bの状態を意味する。さらに「OWC」は一方向クラッチ50を意味し、「BRK」は油圧ブレーキ60A、60Bを意味する。
電動機2A、2Bが「MOT駆動」時、図6及び図10に示したように、リングギヤ24A、24Bは、一方向クラッチ50によってロックされる。また、電動機2A、2Bが「MOT逆転」時、図9に示したように、リングギヤ24A、24Bは、油圧ブレーキ60A、60Bによってロックされる。したがって、電動機2A、2Bからのトルク(駆動トルク)は、以下に示す経路で伝達される。なお、下記経路中の括弧内の経路は、リングギヤ24A、24Bがロックされているために生じた反力(反作用)を示す。
電動機2A、2Bが「MOT停止」時、図5及び図7に示したように、リングギヤ24A、24Bは、一方向クラッチ50によっても油圧ブレーキ60A、60Bによってもロックされない。したがって、車両3の後輪Wrからのトルクは、以下に示す経路で伝達される。
なお、リングギヤ24A、24Bはロックされていないため、非常に小さい力でリングギヤ24A、24Bは回転する。したがって、後輪Wrからのトルクの大部分は、プラネタリギヤ22A、22Bの第1ピニオン26A、26B側には伝達されずに、リングギヤ24A、24B側に伝達される。
電動機2A、2Bが「MOT回生」時、図8に示したように、リングギヤ24A、24Bは、油圧ブレーキ60A、60Bによってロックされる。したがって、電動機2A、2Bからのトルク(回生トルク)は、以下に示す経路で伝達される。なお、下記経路中の括弧内の経路は、リングギヤ24A、24Bがロックされているために生じた反力(反作用)を示す。
図21は、車両3の走行状態における電動機2A、2Bの状態と切離機構(一方向クラッチ50と油圧ブレーキ60A、60B)の状態を示した図である。なお、「フロント」とは前輪Wfを駆動する駆動ユニット6、「リア」とは後輪Wrを駆動する駆動装置1を表わし、○が作動(駆動、回生含む)、×が非作動(停止)を意味する。また、「MOT状態」とは、駆動装置1の電動機2A、2Bの状態を意味する。さらに「OWC」は一方向クラッチ50を意味し、「BRK」は油圧ブレーキ60A、60Bを意味する。
図28は、車両3の走行状態における電動機2A、2Bの状態と切離機構(一方向クラッチ50と油圧ブレーキ60A、60B)の状態を示した図である。なお、「フロント」とは前輪Wfを駆動する駆動ユニット6、「リア」とは後輪Wrを駆動する駆動装置1を表わし、○が作動(駆動、回生含む)、×が非作動(停止)を意味する。また、「MOT状態」とは、駆動装置1の電動機2A、2Bの状態を意味する。さらに「OWC」は一方向クラッチ50を意味し、「BRK」は油圧ブレーキ60A、60Bを意味する。
2A 電動機
2B 電動機
4 内燃機関
5 電動機
6 駆動ユニット
7 トランスミッション
9 マネジメントECU
117 車速センサ
117a,117b 回転数センサ
10A 車軸
10B 車軸
11 減速機ケース
12A 遊星歯車式減速機
12B 遊星歯車式減速機
13 フレーム部材
13a 支持部
13b 支持部
16A、16B 円筒軸
18A、18B 中間壁
20A、20B レゾルバ
21A、21B サンギヤ
23A、23B プラネタリキャリア
24A、24B リングギヤ
26A、26B 第1ピニオン
27A、27B 第2ピニオン
33A、33B 軸受
41A、41B バスリング
50 一方向クラッチ
60A 油圧ブレーキ
60B 油圧ブレーキ
70 オイルポンプ
Wf 前輪
LWr 左後輪
RWr 右後輪
Claims (17)
- 前後輪軸の一方の軸である第1の車軸に駆動力を出力可能な駆動源と、
前記前後輪軸の他方の軸である第2の車軸に駆動力を出力可能な電動機と、
前記第2の車軸と前記電動機の間の動力伝達経路上に設けられ、前記電動機からの力行駆動力を前記第2の車軸に伝達する一方向動力伝達部と、
前記動力伝達経路上に前記一方向動力伝達部と並列に設けられ、前記第2の車軸からの回転動力を前記電動機に、又は、前記電動機からの力行駆動力および回生駆動力を前記第2の車軸に伝達する双方向動力伝達部と、を備えた車両の駆動制御装置であって、
前記車両の速度又は前記第2の車軸の回転数を検出する第1検出部と、
前記検出部が検出した前記車両の速度又は前記第2の車軸の回転数に基づいて、前記電動機の目標回転数を決定する目標回転数決定部と、
前記電動機の回転数を検出する第2検出部と、
前記駆動源からの駆動力によって前記車両が走行している状態で前記電動機の力行駆動又は回生駆動を開始するとき、前記電動機の回転数が前記目標回転数に同期するよう前記電動機を制御し、かつ、前記電動機の出力トルク又は前記双方向動力伝達部の作動を制御する制御部と、
を備えたことを特徴とする駆動制御装置。 - 請求項1に記載の駆動制御装置であって、
前記制御部は、前記電動機が回生駆動する際には、
前記電動機の回転数が前記目標回転数よりも低い閾回転数に到達すると、前記双方向動力伝達部を作動することを特徴とする駆動制御装置。 - 請求項1又は2に記載の駆動制御装置であって、
前記制御部は、前記電動機が力行駆動する際には、
前記電動機の回転数が前記目標回転数よりも低い閾回転数に到達すると、所定のトルクを出力するよう前記電動機を制御することを特徴とする駆動制御装置。 - 請求項3に記載の駆動制御装置であって、
前記所定のトルクは、前記電動機の回転数が前記目標回転数に同期するために必要な一定のトルクであることを特徴とする駆動制御装置。 - 請求項1~4のいずれか一項に記載の駆動制御装置であって、
前記第2の車軸と前記電動機の間の動力伝達経路上に設けられた減速機を備えたことを特徴とする駆動制御装置。 - 請求項5に記載の駆動制御装置であって、
前記車両には、前記第2の車軸側に設けられた左右車輪のそれぞれに対して、前記電動機、前記減速機、前記双方向動力伝達部及び前記第2の車軸が設けられ、
前記制御部は、前記駆動源からの駆動力によって前記車両が旋回して走行している状態で前記電動機の力行駆動又は回生駆動を開始するとき、前記左右車輪の各車輪に対応した前記電動機の出力トルク又は前記双方向動力伝達部の作動をそれぞれ独立して制御することを特徴とする駆動制御装置。 - 請求項1に記載の駆動制御装置であって、
前記制御部は、前記電動機の力行駆動を開始するとき、
前記電動機の回転数が前記目標回転数よりも低い閾回転数に到達すると、前記双方向動力伝達部を作動し、
前記電動機の回転数が前記目標回転数に同期すると、前記双方向動力伝達部の作動を停止することを特徴とする駆動制御装置。 - 請求項1に記載の駆動制御装置であって、
前記制御部は、前記電動機の回生駆動を開始するとき、
前記電動機の回転数が前記目標回転数よりも低い閾回転数に到達すると、前記双方向動力伝達部を作動し、
前記電動機の回転数が前記目標回転数に同期しても、前記双方向動力伝達部の作動を維持することを特徴とする駆動制御装置。 - 請求項7又は8に記載の駆動制御装置であって、
前記制御部は、前記電動機の回転数が前記閾回転数を超えて前記目標回転数に到達したとき、前記電動機の回転数が前記目標回転数に同期したと判断することを特徴とする駆動制御装置。 - 請求項7又は8に記載の駆動制御装置であって、
前記双方向動力伝達部は、液圧によって前記第2の車軸と前記電動機の間の動力の伝達を行い、
前記制御部は、前記双方向動力伝達部の液圧がしきい値に到達したとき、前記電動機の回転数が前記目標回転数に同期したと判断することを特徴とする駆動制御装置。 - 請求項7又は8に記載の駆動制御装置であって、
前記制御部は、前記双方向動力伝達部の作動から所定時間が経過したとき、前記電動機の回転数が前記目標回転数に同期したと判断することを特徴とする駆動制御装置。 - 請求項1に記載の駆動制御装置であって、
前記制御部は、前記電動機が回生駆動する際には、
前記電動機の回転数が前記目標回転数よりも低い閾回転数に到達すると、所定のトルクを出力するよう前記電動機を制御し、
前記電動機の回転数が前記目標回転数に同期すると、前記双方向動力伝達部を作動することを特徴とする駆動制御装置。 - 請求項1に記載の駆動制御装置であって、
前記制御部は、前記電動機が力行駆動する際には、
前記電動機の回転数が前記目標回転数よりも低い閾回転数に到達すると、所定のトルクを出力するよう前記電動機を制御し、
前記電動機の回転数が前記目標回転数に同期すると、要求されたトルクを出力するよう前記電動機を制御することを特徴とする駆動制御装置。 - 請求項12に記載の駆動制御装置であって、
前記制御部は、前記電動機の回転数が前記目標回転数に同期すると、前記電動機の出力トルクを0に制御することを特徴とする駆動制御装置。 - 請求項12又は13に記載の駆動制御装置であって、
前記制御部は、前記電動機の回転数が前記閾回転数を超えて前記目標回転数に到達したとき、前記電動機の回転数が前記目標回転数に同期したと判断することを特徴とする駆動制御装置。 - 請求項12又は13に記載の駆動制御装置であって、
前記制御部は、前記所定のトルクを出力するよう前記電動機の制御を開始してから所定時間が経過したとき、前記電動機の回転数が前記目標回転数に同期したと判断することを特徴とする駆動制御装置。 - 請求項12~16のいずれか一項に記載の駆動制御装置であって、
前記所定のトルクは、前記電動機の回転数が前記目標回転数に同期するために必要な一定のトルクであることを特徴とする駆動制御装置。
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BR112012002219A BR112012002219A2 (pt) | 2009-07-31 | 2010-07-30 | controlador de acionamento para veículos |
US13/387,696 US9174526B2 (en) | 2009-07-31 | 2010-07-30 | Drive controller for vehicle |
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CN102470764A (zh) | 2012-05-23 |
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CN102470764B (zh) | 2014-06-04 |
RU2522176C2 (ru) | 2014-07-10 |
RU2012103172A (ru) | 2013-08-10 |
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