WO2012086225A1 - 車両の制御装置、及びそれを備える自動二輪車 - Google Patents
車両の制御装置、及びそれを備える自動二輪車 Download PDFInfo
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- WO2012086225A1 WO2012086225A1 PCT/JP2011/058885 JP2011058885W WO2012086225A1 WO 2012086225 A1 WO2012086225 A1 WO 2012086225A1 JP 2011058885 W JP2011058885 W JP 2011058885W WO 2012086225 A1 WO2012086225 A1 WO 2012086225A1
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/19—Improvement of gear change, e.g. by synchronisation or smoothing gear shift
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
- B60W10/113—Stepped gearings with two input flow paths, e.g. double clutch transmission selection of one of the torque flow paths by the corresponding input clutch
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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
- F16H61/04—Smoothing ratio shift
- F16H61/0437—Smoothing ratio shift by using electrical signals
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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
- F16H61/688—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 two inputs, e.g. selection of one of two torque-flow paths by clutches
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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
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/40—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism comprising signals other than signals for actuating the final output mechanisms
- F16H63/50—Signals to an engine or motor
- F16H63/502—Signals to an engine or motor for smoothing gear shifts
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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
- B60W2556/00—Input parameters relating to data
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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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/10—Road Vehicles
- B60Y2200/12—Motorcycles, Trikes; Quads; Scooters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/42—Clutches or brakes
- B60Y2400/421—Dog type clutches or brakes
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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
- F16H2306/00—Shifting
- F16H2306/18—Preparing coupling or engaging of future gear
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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
- F16H2306/00—Shifting
- F16H2306/40—Shifting activities
- F16H2306/54—Synchronizing engine speed to transmission input speed
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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
- F16H63/00—Control outputs from the control unit to change-speed- or reversing-gearings for conveying rotary motion or to other devices than the final output mechanism
- F16H63/02—Final output mechanisms therefor; Actuating means for the final output mechanisms
- F16H63/08—Multiple final output mechanisms being moved by a single common final actuating mechanism
- F16H63/16—Multiple final output mechanisms being moved by a single common final actuating mechanism the final output mechanisms being successively actuated by progressive movement of the final actuating mechanism
- F16H63/18—Multiple final output mechanisms being moved by a single common final actuating mechanism the final output mechanisms being successively actuated by progressive movement of the final actuating mechanism the final actuating mechanism comprising cams
Definitions
- the present invention relates to a vehicle control device in which two paths are provided as power transmission paths from an engine to an output shaft of a transmission, and a clutch is arranged in each path, and a motorcycle.
- Patent Document 1 discloses a twin clutch type vehicle.
- a twin clutch type vehicle two paths are provided as power transmission paths from the engine to the output shaft of the transmission.
- a clutch and a transmission mechanism are provided in each of the two paths. That is, a transmission mechanism composed of gears that form even-numbered gears is connected to one clutch, and a transmission mechanism composed of gears that form odd-numbered gears is connected to the other clutch.
- the two speed change mechanisms have a common output shaft.
- the transmission of the vehicle of Patent Document 1 is a so-called dog clutch transmission.
- a dog clutch dog tooth and dog hole
- a gear pair composed of two gears can be engaged by the dog clutch.
- the gear pairs are engaged only in one of the transmission mechanisms, and all the gear pairs are placed in a neutral state (released state) in the other transmission mechanism.
- the power transmission path is switched from one to the other. That is, the gear pair of one transmission mechanism that has been engaged so far is set to the neutral state, and the gear pair of the other transmission mechanism is set to the engaged state. Further, the clutch connected to the other speed change mechanism (the clutch that starts power transmission by the speed change) transitions from the released state to the engaged state.
- a shift shock may occur if there is a difference in rotational speed between the driving member and the driven member of the clutch. Therefore, in order to suppress the occurrence of a shift shock, before the clutch drive member and the driven member are engaged, the engine rotational speed after the shift (determined according to the vehicle speed during the shift and the gear ratio of the next shift stage ( Hereinafter, control for increasing or decreasing the engine rotation speed toward the target rotation speed) may be performed.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle control device capable of smoothly engaging a gear pair while suppressing a shift shock, and a motorcycle including the same. There is to do.
- a control device includes two clutches that receive power of an engine on a power transmission path that transmits engine power, and two transmission mechanisms that are arranged downstream of the clutches and have a common output shaft. It is mounted on a vehicle provided with In this vehicle, each of the two speed change mechanisms is movable relative to the first gear in conjunction with the rotation of the output gear and the first gear that is linked to the rotation of the driven member of the clutch. And a second gear engageable with the first gear by a dog clutch. And the said control apparatus switches the path
- the first control device which is the control device, includes a gear control unit, a rotation speed control unit, and a clutch control unit.
- the gear control unit causes the first gear and the second gear of the transmission mechanism that starts power transmission due to a shift command to approach each other.
- the rotational speed control unit sets an engine rotational speed corresponding to a reduction ratio realized by engagement of the first gear and the second gear, which are close to each other by the gear control unit, and a vehicle speed as a target rotational speed. Then, control is performed to change the engine rotational speed toward the target rotational speed.
- the rotational speed control unit suppresses the engine rotational speed from reaching the target rotational speed until the first gear and the second gear are engaged.
- the clutch control unit brings the clutch that starts power transmission in response to a shift command close to the engaged state and closes the other clutch to the released state.
- the clutch control unit brings the clutch for starting power transmission close to the engaged state in response to the shift command in response to the engine rotational speed reaching the target rotational speed. Therefore, a shift shock can be suppressed. Further, the rotation speed control unit suppresses the engine rotation speed from reaching the target rotation speed until the first gear and the second gear are engaged. Therefore, the first gear and the second gear can be smoothly engaged.
- the second control device is also a control device mounted on the vehicle.
- the second control device includes a gear control unit, a rotation speed control unit, and a clutch control unit.
- the gear control unit causes the two gears of the transmission mechanism that starts power transmission in response to a shift command to approach each other.
- the rotation speed control unit sets the engine rotation speed according to the reduction ratio realized by the engagement of the two gears approaching each other by the gear control unit and the vehicle speed as a target rotation speed, and moves toward the target rotation speed.
- the rotation speed control unit changes the engine rotation speed to a rotation speed exceeding the target rotation speed, and then changes the engine rotation speed to the target rotation speed until the two gears are engaged by the gear engagement unit. Suppress returning.
- the clutch control unit brings the clutch that starts power transmission in accordance with a shift command close to the engaged state and closes the other clutch to the released state.
- the clutch control unit brings the clutch that starts power transmission close to the engaged state by the shift command in response to the arrival (return) of the engine speed to the target speed. Therefore, a shift shock can be suppressed. Further, the rotation speed control unit changes the engine rotation speed to a rotation speed exceeding the target rotation speed, and then suppresses the engine rotation speed from returning to the target rotation speed until the two gears are engaged. Therefore, the first gear and the second gear can be smoothly engaged.
- the third control device is also a control device mounted on the vehicle.
- the third control device includes a gear control unit, a collision determination unit, a rotation speed control unit, and a clutch control unit.
- the gear control unit causes the first gear and the second gear of the speed change mechanism that starts power transmission in response to a speed change command to approach each other.
- the collision determination unit determines whether the dog clutches collide with each other without engaging the first gear and the second gear that are close to each other by the gear control unit.
- the rotational speed control unit sets an engine rotational speed corresponding to a reduction ratio realized by engagement of the first gear and the second gear, which are close to each other by the gear control unit, and a vehicle speed as a target rotational speed. To do.
- the target rotational speed is controlled to change the engine rotational speed toward the target rotational speed.
- the rotational speed control unit changes the engine rotational speed in a direction away from the target rotational speed.
- the clutch control unit brings the clutch that starts power transmission in accordance with a shift command close to an engaged state and closes the other clutch to a released state in response to the engine rotational speed reaching the target rotational speed.
- the clutch control unit brings the clutch for starting power transmission close to the engaged state in response to the shift command in accordance with the arrival of the engine rotation speed at the target rotation speed. Therefore, a shift shock can be suppressed. Further, when a dog clutch collision occurs between the first gear and the second gear, the rotational speed control unit changes the engine rotational speed in a direction away from the target rotational speed. Therefore, even when a dog clutch collision occurs, the collision can be resolved in a short time and the first gear and the second gear can be engaged.
- the motorcycle according to the present invention includes any one of the first control device, the second control device, and the third control device.
- FIG. 1 is a side view of a motorcycle including a control device according to an embodiment of the present invention. It is the schematic of the mechanism provided in the torque transmission path from an engine to a rear wheel. It is a block diagram which shows the structure of the said motorcycle. It is a figure for demonstrating the outline
- FIG.11 and FIG.12 It is a flowchart which shows the example of a process of the modification shown in FIG.11 and FIG.12. It is a flowchart which shows the example of the process performed in the other modification of the said 1st Embodiment. It is a time chart which shows the example of a change of the engine rotational speed etc. by the modification shown in FIG. In this figure, the case of power-on shift-down control is shown. It is a time chart which shows the example of a change of the engine rotational speed etc. by the modification shown in FIG. This figure shows the case of power-off shift-up control. It is a block diagram which shows the function with which the control apparatus of the other example of the said 1st Embodiment is provided.
- FIG. 31 is a flowchart illustrating an example of processing executed in power-on shift-down control or power-off shift up control illustrated in FIGS. 29 and 30.
- FIG. 1 is a side view of a motorcycle 1 having a control device 10 as an example of an embodiment of the present invention.
- FIG. 2 is a schematic view of a mechanism provided in a torque transmission path from the engine 20 to the rear wheel 3.
- FIG. 3 is a block diagram showing the configuration of the motorcycle 1.
- the motorcycle 1 includes a front wheel 2, a rear wheel 3, and an engine unit 11.
- the front wheel 2 is supported at the lower end of the front fork 4.
- a steering shaft 5 that is rotatably supported at the foremost part of a vehicle body frame (not shown) is connected to the upper portion of the front fork 4.
- a steering 6 is provided above the steering shaft 5.
- the steering 6, the front fork 4 and the front wheel 2 are integrally rotatable left and right around the steering shaft 5.
- a seat 7 on which the passenger can sit across is disposed behind the steering wheel 6.
- a rear wheel 3 is disposed behind the engine unit 11. Torque output from the transmission 30 (see FIG. 2) is transmitted to the rear wheel 3 via a torque transmission member (not shown) such as a chain, belt, or drive shaft.
- the engine unit 11 includes an engine 20 and a transmission 30.
- the motorcycle 1 is a so-called twin clutch type vehicle, and a first clutch 40A and a second clutch 40B are provided in the engine unit 11.
- the engine 20 includes a crankshaft 21 that rotates when driven.
- the torque of the engine 20 (rotation of the crankshaft 21) is input to each of the first clutch 40A and the second clutch 40B.
- the first clutch 40 ⁇ / b> A and the second clutch 40 ⁇ / b> B in this example have a drive member 41 that is interlocked with the rotation of the crankshaft 21.
- the crankshaft 21 has two primary gears 21a.
- a primary gear 41a is provided on the drive member 41 of the first clutch 40A and the drive member 41 of the second clutch 40B.
- the primary gear 41a meshes with the primary gear 21a.
- the first clutch 40A and the second clutch 40B have a driven member 42 that interlocks with an input shaft 31 of transmission mechanisms 30A and 30B described later.
- the first clutch 40A and the second clutch 40B are, for example, single-plate or multi-plate friction clutches.
- the drive member 41 and the driven member 42 are pressed against each other in the axial direction, torque is transmitted between them.
- the drive member 41 is, for example, a friction disk
- the driven member 42 is, for example, a clutch disk.
- the transmission 30 includes a first transmission mechanism 30A and a second transmission mechanism 30B.
- the first transmission mechanism 30A and the second transmission mechanism 30B are disposed downstream of the first clutch 40A and the second clutch 40B, respectively. That is, the input shaft 31 is provided in each of the first transmission mechanism 30A and the second transmission mechanism 30B.
- the input shaft 31 of the first transmission mechanism 30A is connected to the driven member 42 of the first clutch 40A, and torque is input to the first transmission mechanism 30A via the first clutch 40A.
- the input shaft 31 of the second transmission mechanism 30B is connected to the driven member 42 of the second clutch 40B, and torque is input to the second transmission mechanism 30B via the second clutch 40B.
- the first transmission mechanisms 30 ⁇ / b> A and 30 ⁇ / b> B have a common output shaft 32.
- the motorcycle 1 has two paths as torque transmission paths from the crankshaft 21 of the engine 20 to the output shaft 32 of the transmission 30.
- the first path is configured by the first transmission mechanism 30A and the first clutch 40A
- the second path is configured by the second transmission mechanism 30B and the second clutch 40B.
- the output shaft 32 of the transmission 30 is connected to the axle of the rear wheel 3 via a torque transmission member composed of a chain, a belt, a shaft and the like.
- the first transmission mechanism 30A and the second transmission mechanism 30B include a plurality of gears 1i to 6i and 1h to 6h.
- the gears 1 i to 6 i are provided on the input shaft 31, and the gears 1 h to 6 h are provided on the output shaft 32.
- the gear 1i and the gear 1h mesh with each other, and the reduction ratio thereof corresponds to the first speed.
- the gears 2i to 6i mesh with the gears 2h to 6h, respectively, and their reduction ratios correspond to the 2nd to 6th speeds, respectively.
- the first transmission mechanism 30A is configured by gears 1i, 3i, 5i, 1h, 3h, and 5h corresponding to odd-numbered gears
- the second transmission mechanism 30B is gears 2i, 4i, and 6i corresponding to even-numbered gears. , 2h, 4h, 6h.
- the transmission mechanisms 30A and 30B are so-called selective sliding transmission mechanisms. Any one of the gear pairs (for example, the gear 1i and the gear 1h) corresponding to each gear is rotatable relative to the shaft on which the one gear is provided. On the other hand, the other gear meshes with a shaft provided with the other gear by a spline, and rotates integrally with the shaft. In this example, the gears 1h, 5i, 3h, 4h, 6i, 2h are rotatable relative to the shaft on which these gears are provided. On the other hand, the gears 1i, 5h, 3i, 4i, 6h, 2i mesh with the shafts on which they are provided, and rotate integrally with the shafts.
- the gear pairs (5i, 5h) and (6i, 6h) are interlocked with the output shaft 32, and the gear pairs (1i, 1h), ( 3i, 3h), (4i, 4h) and (2i, 2h) are linked to the input shaft 31.
- the gears interlocking with the input shaft 31 and the gears interlocking with the output shaft 32 are arranged so as to be adjacent to each other in the axial direction, and can be relatively moved in the axial direction (movable in the approaching direction and the away direction). ing.
- the plurality of gears 1i to 6i and 1h to 6h include a gear in which a dog clutch is formed.
- the gear interlocked with the input shaft 31 and the gear interlocked with the output shaft 32 can be engaged by a dog clutch.
- the rotation (torque) of the input shaft 31 of the first transmission mechanism 30A or the input shaft 31 of the second transmission mechanism 30B is transmitted to the output shaft 32 by the engagement of these two gears.
- the gears 5h, 3i, 4i, and 6h are movable in the axial direction.
- the transmission 30 is provided with a shift actuator 39 for moving axially movable gears 5h, 3i, 4i, 6h (hereinafter, movable gears) in the axial direction.
- the shift actuator 39 includes a plurality of shift forks 39a that are caught by a movable gear, a shift cam 39b that moves the shift fork 39a in the axial direction by rotating, an electric motor 39c that generates power to rotate the shift cam 39b, and the like.
- the shift actuator 39 moves the movable gear under the control of the control device 10 to switch the gear position.
- the clutches 40A and 40B are provided with clutch actuators 49A and 49B which are moved under the control of the control device 10 (that is, the clutches 40A and 40B are engaged or disengaged).
- the clutch actuators 49A and 49B include, for example, an electric motor. The power of the electric motor is transmitted to either one of the driving member 41 or the driven member 42 of the clutches 40A and 40B via hydraulic pressure or a rod, and presses the driving member 41 and the driven member 42 in the axial direction.
- the engine 20 is provided with a fuel injection device 22, a throttle actuator 23, and a spark plug 24.
- the fuel injection device 22 supplies the engine 20 with fuel to be burned in the combustion chamber of the engine 20.
- the throttle actuator 23 controls the opening of a throttle valve (not shown) that adjusts the amount of air flowing through the intake passage of the engine 20.
- the spark plug 24 ignites the air / fuel mixture flowing into the combustion chamber of the engine 20.
- the fuel injection amount of the fuel injection device 22, the ignition timing of the spark plug 24, and the opening of the throttle valve (hereinafter referred to as throttle opening) are controlled by the control device 10.
- the motorcycle 1 includes an engine rotation speed sensor 19a, a gear position sensor 19b, clutch sensors 19c and 19d, an output side rotation sensor 19e, a shift switch 19f, and an accelerator sensor 19g. These sensors are connected to the control device 10.
- the engine rotation speed sensor 19a is constituted by a rotation sensor that outputs a pulse signal having a frequency corresponding to the engine rotation speed.
- the control device 10 calculates the engine rotation speed (the rotation speed of the crankshaft 21) based on the output signal of the engine rotation speed sensor 19a.
- the gear position sensor 19b is constituted by, for example, a potentiometer that outputs a voltage signal corresponding to the rotation angle of the shift cam 39b.
- the control device 10 detects the position of the movable gears 5h, 3i, 4i, 6h, the current gear position, and the like based on the output signal of the gear position sensor 19b.
- the output side rotation sensor 19e is provided on the axle of the rear wheel 3 or the output shaft 32.
- the output side rotation sensor 19e is a rotation sensor that outputs a pulse signal having a frequency corresponding to the rotation speed of the rear wheel 3 or the rotation speed of the output shaft 32, for example.
- the control device 10 calculates the vehicle speed and the rotation speed of the output shaft 32 based on the output signal of the output side rotation sensor 19e.
- the shift switch 19f is a switch operated by the occupant, and inputs the occupant's shift command (a signal indicating a shift-up command for increasing the shift speed and a signal indicating a shift-down command for decreasing the shift speed) to the control device 10. To do.
- the shift switch 19f is provided with a shift up switch and a shift down switch.
- the accelerator sensor 19g outputs a signal corresponding to an operation amount (rotation angle) of an accelerator grip (not shown) provided on the steering 6.
- the accelerator sensor 19g is constituted by, for example, a potentiometer.
- the control device 10 detects the operation amount of the accelerator grip (accelerator operation amount) based on the output signal of the accelerator sensor 19g.
- the clutch sensor 19c is a sensor for detecting the transmission torque capacity of the first clutch 40A (the maximum torque that can be transmitted in the current state of the first clutch 40A (current degree of engagement)).
- the clutch sensor 19d is a sensor for detecting the transmission torque capacity of the second clutch 40B (the maximum torque that can be transmitted in the current state of the second clutch 40B (the current degree of engagement)).
- the transmission torque capacity is maximum, and when the clutches 40A and 40B are in the released state, the transmission torque capacity is minimum (for example, 0 Nm).
- the transmission torque capacity corresponds to the positions of the clutches 40A and 40B (clutch stroke amount).
- the clutch sensors 19c and 19d are, for example, potentiometers that output signals corresponding to the positions of the clutches 40A and 40B (signals corresponding to the operation amounts of the clutch actuators 49A and 49B).
- the control device 10 detects the transmission torque capacity from the clutch position detected based on the output signals of the clutch sensors 19c and 19d. For example, the control device 10 calculates the transmission torque capacity from the detected clutch position using a map or an arithmetic expression that associates the clutch position with the transmission torque capacity.
- the transmission torque capacity corresponds to the hydraulic pressure (hereinafter referred to as clutch pressure) acting on the clutches 40A and 40B.
- the clutch sensors 19c and 19d may be hydraulic pressure sensors that output a signal corresponding to the clutch pressure.
- the control device 10 detects the transmission torque capacity from the clutch pressure detected based on the output signals of the clutch sensors 19c and 19d. For example, the control device 10 calculates the transmission torque capacity from the detected clutch pressure using a map or an arithmetic expression that associates the clutch pressure with the transmission torque capacity.
- the transmission torque capacity corresponds to the force (pressing force acting between the drive member 41 and the driven member 42) acting on the clutches 40A and 40B from the clutch actuators 49A and 49B. Due to the force acting on the clutches 40A, 40B from the clutch actuators 49A, 49B, the portions receiving the forces (for example, the cases of the clutches 40A, 40B) are distorted. Therefore, the clutch sensors 19c and 19d may be strain sensors that output a signal corresponding to the magnitude of strain at the portion receiving the force from the clutches 40A and 40B. In that case, the control device 10 detects the transmission torque capacity from the distortion detected based on the output signals of the clutch sensors 19c and 19d. For example, the control device 10 calculates the transmission torque capacity from the detected distortion by using a map or an arithmetic expression that associates the distortion of the clutch with the transmission torque capacity.
- the control device 10 includes a CPU (Central Processing Unit) and a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory).
- the control device 10 executes a program stored in the memory in the CPU, and controls the engine 20, the transmission 30, and the clutches 40A and 40B.
- the control device 10 sets a target value (hereinafter referred to as a target engine torque) for the output torque of the engine 20, and the throttle actuator 23 and the fuel injection so that the actual output torque becomes the target engine torque.
- the device 22 and the spark plug 24 are driven.
- the control device 10 sets a target value (hereinafter referred to as a target torque capacity) for the transmission torque capacity of the first clutch 40A and the transmission torque capacity of the second clutch 40B, and the actual transmission torque capacity is the target torque capacity.
- the clutch actuators 49A and 49B are moved so that Furthermore, the control device 10 moves the shift actuator 39 so that the shift speed set by the first transmission mechanism 30A and the second transmission mechanism 30B corresponds to the shift command.
- the control device 10 has a plurality of control modes as shift control.
- the first control mode is shift-down control (hereinafter, power-on shift-down control) with the accelerator open.
- the second control mode is shift-up control (hereinafter, power-off shift-up control) with the accelerator closed.
- the control device 10 includes, as other control modes, shift down control with the accelerator closed and shift up control with the accelerator open.
- the control device 10 outputs the output torque of the clutches 40A and 40B and the engine 20 so that the movable gear and the fixed gear are smoothly engaged in the power-on shift-down control and the power-off shift-up control. To control. The control of the control device 10 will be described in detail later.
- the clutch that transmits the torque of the engine 20 before shifting is referred to as the front clutch, and the other clutch (that is, the transmission of the torque of the engine 20). Is the next clutch.
- the speed change mechanism that transmits the torque of the engine 20 before the speed change is the front speed change mechanism, and the other speed change mechanism (that is, the transmission of the torque of the engine 20). Is the next speed change mechanism.
- FIG. 4 is a diagram for explaining the outline of the shift control.
- the speed change mechanisms 30A and 30B and the clutches 40A and 40B shown in FIG. 2 are further simplified.
- the clutch Cp is the front clutch
- the clutch Cn is the next clutch.
- the transmission mechanism Tp is a front transmission mechanism
- the transmission mechanism Tn is a next transmission mechanism.
- the gear Gp1 of the front transmission mechanism Tp indicates a movable gear (5h, 3i, 4i, or 6h) that transmits torque at the previous gear, and the gear Gp2 transmits torque at the previous gear.
- the fixed gear (1h, 5i, 3h, 4h, 6i, or 2h) is shown.
- the gear Gn1 of the next transmission mechanism Tn indicates a movable gear that transmits torque at the next shift stage
- the gear Gn2 indicates a fixed gear that transmits torque at the next shift stage.
- one movable gear Gp1, Gn1 and one fixed gear Gp2, Gn2 are shown.
- the fixed gears Gp2 and Gn2 are fixed to the output shaft 32 (that is, meshed with the output shaft 32 by splines), and rotate integrally with the output shaft 32.
- the movable gears Gp1 and Gn1 can freely rotate relative to the output shaft 32.
- the movable gears Gp1 and Gn1 mesh with gears Gp3 and Gn3 fixed to the input shaft 31, respectively, and interlock with the rotation of the gears Gp3 and Gn3 and the input shaft 31.
- the two clutches Cp and Cn are set to the engaged state (the state where the transmission torque capacity is maximum).
- the movable gear Gp1 and the fixed gear Gp2 corresponding to the previous gear stage are engaged by a dog clutch.
- all the movable gears are arranged at neutral positions (positions that do not engage any fixed gear). Therefore, the torque of the engine 20 is transmitted toward the rear wheel 3 via one of the two torque transmission paths (the front clutch Cp and the front transmission mechanism Tp). In the other path, torque transmission is interrupted in the next transmission mechanism Tn.
- the control device 10 switches the path for transmitting torque from one to the other. That is, the control device 10 engages the movable gear Gn1 and the fixed gear Gn2 of the next transmission mechanism Tn to bring the movable gear Gp1 of the front transmission mechanism Tp to the neutral position.
- the speed change mechanisms Tp, Tn and the clutches Cp, Cn are moved as follows in the speed change control. (S1) First, the control device 10 disengages the next clutch Cn (see FIG. 4B). (S2) Next, the control device 10 moves the movable gear Gn1 of the next transmission mechanism Tn to engage with the adjacent fixed gear Gn2 (see FIG. 4B).
- rotational speed adjustment control In a vehicle having two clutches in the power transmission path leading to the output shaft 32, the rotational speed of the drive member 41 of the next clutch Cn and the driven member are suppressed in order to suppress increase / decrease (shift shock) of the drive force of the rear wheel 3 during the shift.
- Control for matching the rotational speed of 42 (so-called inertia phase, hereinafter referred to as rotational speed adjustment control) may be required before the step of S3. Specifically, such a rotational speed adjustment control is necessary in the power-on shift-down and power-off shift-up described above.
- the control device 10 determines the engine rotational speed in accordance with the vehicle speed at the time of the shift and the reduction ratio of the next shift stage (the reduction ratio realized by the engagement of the movable gear Gn1 and the fixed gear Gn2).
- the actual engine rotational speed is increased or decreased toward (hereinafter referred to as the next gear stage corresponding speed Stg).
- the speed corresponding to the next gear stage Stg is, for example, vehicle speed ⁇ reduction ratio of the next gear stage ⁇ primary reduction ratio (reduction ratio of the primary gears 21a and 41a).
- step S2 When the engine rotational speed matches the next gear stage corresponding speed Stg and the movable gear Gn1 and the fixed gear Gn2 are engaged (step S2), the rotational speed of the drive member 41 of the next clutch Cn and the rotation of the driven member 42 are detected. The speed becomes equal. In this state, if the driving member 41 and the driven member 42 are engaged in the step S3, the shift shock can be suppressed.
- movement of the movable gear Gn1 requires a certain amount of time. Therefore, when the movement of the movable gear Gn1 toward the fixed gear Gn2 and the increase or decrease of the engine rotational speed (that is, rotational speed adjustment control) are started at the same timing, the movable gear Gn1 and the fixed gear Gn2 Before the engagement is completed, the engine speed may reach the gear speed corresponding speed. In this case, the engagement between the movable gear Gn1 and the fixed gear Gn2 is difficult to be performed smoothly.
- the next clutch Cn is in a released state.
- rotation can be transmitted from the drive member 41 to the driven member 42 due to partial contact between the drive member 41 and the driven member 42 or the viscosity of the oil.
- the movable gear Gn1 is not engaged with the fixed gear Gn2 (all the fixed gears included in the next transmission mechanism Tn)
- the rotational speed of the driven member 42 and the input shaft 31 of the next clutch Cn in the released state is easily achieved. Can change.
- the rotation speed of the driven member 42, the input shaft 31, and the movable gear Gn1 is also equal to the rotation speed of the drive member 41. Ascend or descend. If the engine rotational speed reaches the next gear speed Stg before the engagement between the movable gear Gn1 and the fixed gear Gn2 is completed, the rotational speed of the movable gear Gn1 and the rotational speed of the fixed gear Gn2 are Will be equal.
- the control device 10 avoids the timing at which the movable gear Gn1 of the next transmission mechanism Tn hits the fixed gear Gn2 and the timing at which the engine rotation speed reaches the next gear corresponding speed Stg in the step S2 from each other.
- the rotation speed adjustment control is executed. Specifically, in the first embodiment, the control device 10 determines that the engine speed reaches the next gear stage corresponding speed Stg until the movable gear Gn1 of the next speed change mechanism Tn is engaged with the fixed gear Gn2. suppress. For example, the control device 10 starts the rotation speed adjustment control after the movable gear Gn1 is engaged with the fixed gear Gn2. In another example, the rotation speed control unit 10g maintains the engine rotation speed at a rotation speed away from the next gear stage corresponding speed Stg until the movable gear Gn1 engages with the fixed gear Gn2.
- FIG. 5 is a time chart for explaining an example of power-on shift-down control executed by the control device 10.
- the solid line shows an example of a change in the engine rotation speed Se.
- the broken line indicates an example of the change in the rotational speed Stn of the input shaft 31 of the next transmission mechanism Tn
- the two-dot chain line indicates the rotational speed Stp of the input shaft 31 of the previous transmission mechanism Tp.
- the value which a broken line and a dashed-two dotted line show is a product of the rotational speed of the input shaft 31, and a primary reduction ratio.
- the solid line shows an example of a change in the target engine torque Te.
- the broken line indicates an example of a change in the target value (ie, target torque capacity) Tcn for the transmission torque capacity of the next clutch Cn
- the two-dot chain line indicates a change in the target torque capacity Tcp of the previous clutch Cp.
- An example is shown.
- the value shown with a broken line and a dashed-two dotted line in the figure (b) is a value which remove
- the control device 10 changes the next clutch Cn from the engaged state to the released state.
- the engaged state is a state where the transmission torque capacity is maximized.
- the released state is a state where the transmission torque capacity is minimum (for example, 0 Nm). Therefore, the control device 10 minimizes the target torque capacity Tcn of the next clutch Cn at t1.
- the control device 10 instructs the shift actuator 39 to move the movable gear Gn1 of the next transmission mechanism Tn toward the fixed gear Gn2 (output of a gear engagement command).
- the movable gear Gn1 of the next transmission mechanism Tn starts to move toward the fixed gear Gn2.
- the engagement between the movable gear Gn1 and the fixed gear Gn2 is completed at t2.
- the rotational speed Stn of the input shaft 31 of the next speed change mechanism Tn is, as shown in FIG. The speed rises according to the ratio.
- the control device 10 After detecting that the movable gear Gn1 and the fixed gear Gn2 are engaged, the control device 10 starts control for changing the engine rotational speed Se toward the next gear stage corresponding speed Stg (the rotational speed adjustment control described above). (T3).
- the rotational speed adjustment control is started after the movable gear Gn1 and the fixed gear Gn2 are engaged, the timing at which the movable gear Gn1 collides with the fixed gear Gn2 and the engine rotational speed Se are set to the speed corresponding to the next gear stage Stg. It is possible to prevent the timing at which the signal reaches the same time from being reached. As a result, the movable gear Gn1 and the fixed gear Gn2 approach each other with a rotational speed difference between them, and can be engaged smoothly.
- the control device 10 performs the following rotation speed adjustment control.
- the control device 10 increases the target engine torque Te of the engine 20 (t3).
- the value corresponding to the accelerator operation amount detected by the accelerator sensor 19g is set as the target engine torque Te
- the engine 20 Control is performed so as to output the target engine torque Te (hereinafter, the target engine torque corresponding to the accelerator operation amount is set as a reference target torque).
- the rotational speed adjustment control as indicated by t3 to t4 in FIG.
- a value higher than the reference target torque is set as the target engine torque Te, and the engine 20 is set to the high target engine torque.
- Control is performed to output Te.
- the control device 10 shifts the front clutch Cp to a half-engaged state that is a state between the engaged state and the released state (t3). Specifically, the control device 10 decreases the target torque capacity Tcp of the front clutch Cp to a capacity corresponding to the reference target torque.
- the capacity corresponding to the reference target torque is specifically a capacity necessary and sufficient for transmitting the reference target torque (reference target torque ⁇ primary reduction ratio).
- the control device 10 sets the target torque capacity Tcn of the next clutch Cn to the minimum, and maintains the next clutch Cn in the released state.
- the increment of the target engine torque Te with respect to the reference target torque acts as a torque that increases the engine rotational speed Se.
- the engine rotation speed Se starts to increase as shown in FIG. Thereafter, the engine rotation speed Se reaches the next gear speed Stg (t4).
- the control device 10 ends the rotational speed adjustment control, and thereafter executes control (path switching control) for switching the path for transmitting the torque of the engine 20. .
- the control device 10 minimizes the target torque capacity Tcp of the front clutch Cp, and transitions the front clutch Cp to the released state (t5). Further, the control device 10 causes the next clutch Cn to transition from the released state to the engaged state.
- the control device 10 temporarily sets the target torque capacity Tcn of the next clutch Cn to a capacity (actual engine torque ⁇ primary deceleration) temporarily corresponding to the current actual engine torque (torque that the engine 20 actually outputs). Ratio) (t6).
- the control device 10 moves the front transmission mechanism Tp toward the neutral position of the movable gear Gp1 (moving in a direction away from the fixed gear Gp2). Let it begin. That is, the control device 10 outputs a gear release command to the shift actuator 39. As a result, in the example of the figure, the movable gear Gp1 is separated from the fixed gear Gp2 at t7, and their engagement is released. When these engagements are released, the driven member 42 of the front clutch Cp and the input shaft 31 of the front transmission mechanism Tp start to interlock with the rotation of the crankshaft 21 and the drive member 41. As a result, the rotational speed of the input shaft 31 of the front transmission mechanism Tp increases to a speed corresponding to the engine rotational speed (specifically, the next gear speed corresponding speed Stg) and the primary reduction ratio.
- control device 10 returns the front clutch Cp and the next clutch Cn to the engaged state. That is, control device 10 sets these target torque capacities Tcp and Tcn to the maximum. Thereby, the shift control ends.
- FIG. 6 is a time chart for explaining an example of the power-off shift up control executed by the control device 10.
- the contents indicated by the lines in FIGS. 5A and 5B are the same as those in FIG.
- the reference target torque is a negative value.
- the control device 10 minimizes the target torque capacity Tcn of the next clutch Cn as in the case of the power-on shift-down control. To do. Further, the control device 10 outputs a gear engagement command at t1. Thereby, the movable gear Gn1 of the next transmission mechanism Tn starts to move toward the fixed gear Gn2. In the example of the figure, the engagement between the movable gear Gn1 and the fixed gear Gn2 is completed at t2. As shown in FIG.
- the control device 10 starts the rotation speed adjustment control after detecting that the movable gear Gn1 and the fixed gear Gn2 are engaged (t3).
- the control device 10 decreases the target engine torque Te of the engine 20 (t3). Specifically, a value lower than the reference target torque is set as the target engine torque Te. Further, the control device 10 sets the target torque capacity Tcp of the front clutch Cp to a capacity corresponding to the reference target torque. Further, the control device 10 keeps the target torque capacity Tcn of the next clutch Cn to a minimum, and keeps the next clutch Cn in a released state.
- the decrease of the target engine torque Te with respect to the reference target torque acts as a torque that decreases the engine rotational speed Se.
- the engine speed Se starts to decrease. Thereafter, the engine rotation speed Se reaches the next gear speed Stg (t4).
- the control device 10 executes the path switching control (operation from t4 to t7) as in the power-on shift down control shown in FIG. This completes the power-off shift-up control.
- FIG. 7 is a block diagram showing functions of the control device 10.
- the control device 10 includes a shift command determination unit 10a and a shift control unit 10b as functions thereof.
- the shift control unit 10b includes a gear control unit 10h, a clutch control unit 10i, an engine control unit 10j, a gear determination unit 10c, a target speed calculation unit 10d, a torque change amount calculation unit 10e, and a reference target torque calculation unit. 10f and a rotation speed control unit 10g. These are realized by the CPU executing a program stored in the memory of the control device 10.
- the shift command determination unit 10a executes processing for determining a control mode to be executed in response to the shift command among the above-described plurality of control modes when the shift command is generated. Specifically, the shift command determination unit 10a determines whether the content of the shift command (shift down command / shift up command) and the driving state of the vehicle (in this example, the accelerator operation amount) when the shift command is received. It is determined whether the start condition of the control mode is met. Then, the control mode is determined based on the determination result.
- the shift control unit 10b when the shift command is a shift-down command and the accelerator operation amount is equal to or greater than a predetermined threshold, the power-on shift-down control is executed by the shift control unit 10b. Further, when the shift command is a shift-up command and the accelerator operation amount is smaller than a predetermined threshold value, the power-off shift-up control is executed by the shift control unit 10b.
- the downshift command and the upshift command which are shift commands, are input to the control device 10 from the shift switch 19f according to the operation of the shift switch 19f by the passenger.
- the downshift command and the upshift command may be generated by the control device 10 based on the driving state of the vehicle and the accelerator operation of the occupant, without depending on the operation of the shift switch 19f. For example, when the accelerator operation amount increases rapidly, the control device 10 may generate a downshift command.
- the shift control unit 10b executes shift control according to the determination result of the shift command determination unit 10a. As described above, when a downshift command is generated and the accelerator operation amount is greater than or equal to a predetermined threshold value, the shift control unit 10b executes power-on downshift control. Further, when a shift up command is generated and the accelerator operation amount is smaller than a predetermined threshold, the shift control unit 10b executes power off shift up control.
- the gear control unit 10h drives the shift actuator 39 (that is, outputs the driving power of the shift actuator 39), and selectively selects the plurality of movable gears Gp1 of the front transmission mechanism Tp and the plurality of movable gears Gn1 of the next transmission mechanism Tn. Move to. Then, the gear control unit 10h engages the movable gear Gn1 of the next transmission mechanism Tn with the fixed gear Gn2, and cancels the engagement between the movable gear Gp1 and the fixed gear Gp2 of the previous transmission mechanism Tp.
- the clutch control unit 10i drives the clutch actuators 49A and 49B (outputs the driving power of the clutch actuators 49A and 49B) to change the next clutch Cn and the previous clutch Cp to the engaged state or to the released state. Let Further, the clutch control unit 10i sets the next clutch Cn and the previous clutch Cp in a half-engaged state between the engaged state and the released state in the process of shifting.
- the clutch control unit 10i includes the clutch actuators 49A, 49a, 49c, so that the actual transmission torque capacities of the front clutch Cp and the next clutch Cn match the target torque capacities Tcp, Tcn set by the rotation speed control unit 10g. Move 49B.
- the engine control unit 10j controls the throttle opening, the fuel injection amount, and the ignition timing based on the accelerator operation amount detected by the accelerator sensor 19g.
- the engine control unit 10j sets a reference target torque that is a torque corresponding to the detected accelerator operation amount as the target engine torque Te.
- a torque higher or lower than the reference target torque is set as the target engine torque Te.
- the engine control unit 10j refers to a map or the like stored in advance in the memory, and controls the throttle opening and the like so that the actual output torque of the engine 20 matches the target engine torque Te.
- the gear determination unit 10c determines whether or not the movable gear Gn1 and the fixed gear Gn2 of the next transmission mechanism Tn are engaged. For example, the gear determination unit 10c determines whether or not the position of the movable gear Gn1 detected by the gear position sensor 19b has reached an engagement position that engages with the fixed gear Gn2. The gear determination unit 10c may determine whether or not the state where the movable gear Gn1 is in the engaged position has continued for a predetermined time. Further, the gear determination unit 10c may determine whether or not the movable gear Gn1 is engaged with the fixed gear Gn2 by using a change in the rotational speed Stn of the input shaft 31 of the next transmission mechanism Tn.
- the rotational speed (Sout ⁇ Rnext) of the input shaft 31 determined according to the rotational speed (Sout) of the rear wheel 3 and the output shaft 32 and the reduction ratio (Rnext) of the next shift stage, and the speed of the next transmission mechanism Tn. It may be determined whether or not the difference (Sout ⁇ Rnext ⁇ Stn) from the rotational speed Stn of the input shaft 31 is smaller than a threshold value.
- the gear determination unit 10c may determine that the two gears Gn1 and Gn2 are engaged when the difference is smaller than the threshold value. Further, when the state where the difference is smaller than the threshold value continues for a predetermined time, it may be determined that the two gears Gn1 and Gn2 are engaged.
- the gear determination unit 10c also determines whether or not the engagement between the movable gear Gp1 and the fixed gear Gp2 of the front transmission mechanism Tp has been released. This determination can also be made based on the output signal of the gear position sensor 19b and the rotational speed Stp of the input shaft 31. For example, the gear determination unit 10c determines whether or not the movable gear Gp1 is in the neutral position based on the output signal of the gear position sensor 19b. The gear determination unit 10c disengages the movable gear Gp1 from the fixed gear Gp2 when the movable gear Gp1 is in the neutral position or when the movable gear Gp1 is in the neutral position for a predetermined time or longer. Judge that
- the target speed calculation unit 10d calculates the engine rotation speed that should be reached by the rotation speed adjustment control. That is, the target speed calculation unit 10d calculates the above-described next shift speed corresponding speed Stg.
- the target speed calculation unit 10d for example, the rotation speed (Sout) of the output shaft 32 detected before the start of the rotation speed adjustment control by the output side rotation sensor 19e, the reduction ratio (Rnext) of the next shift stage, and the primary deceleration
- the product (Sout ⁇ Rnext ⁇ R1) with the ratio (R1) is set as the next gear speed Stg.
- the torque change amount calculation unit 10e calculates a torque (hereinafter, referred to as a required torque change amount) necessary for increasing or decreasing the engine rotation speed Se toward the next shift speed corresponding speed Stg in the rotation speed adjustment control.
- the required torque change amount is, for example, an inertia torque of the engine 20 that is generated when the engine rotational speed Se is increased or decreased to the next shift speed corresponding speed Stg.
- the required torque change amount includes the actual engine rotation speed Se at the start of the rotation speed adjustment control, the next gear speed Stg, and the time for executing the rotation speed adjustment control (from t3 in FIGS. 5 and 6). It is calculated based on the time to t4, hereinafter, the adjustment control time ( ⁇ t)).
- the torque change amount calculation unit 10e calculates the required torque change amount using, for example, the following arithmetic expression.
- Required torque change I ⁇ (Se ⁇ Stg) / ⁇ t
- I is the moment of inertia of the engine 20 around the crankshaft 21 of the engine 20, and this moment of inertia can be calculated at the stage of designing the engine 20, for example.
- the adjustment control time is calculated with reference to, for example, a map provided in the control device 10 (hereinafter referred to as adjustment time map).
- the adjustment control time is associated with the contents of the shift command (previous shift speed and next shift speed) and the accelerator operation amount.
- the adjustment control time is set shorter as the accelerator operation amount increases.
- the torque change amount calculation unit 10e calculates the adjustment control time based on the content of the shift command and the accelerator operation amount detected by the accelerator sensor 19g.
- the adjustment control time is not limited to this.
- the adjustment control time may be a fixed value. Further, the adjustment control time may be calculated based on another value that represents the driving state of the vehicle.
- the method of calculating the required torque change amount is not limited to this.
- the adjustment control time may not be used for calculating the required torque change amount.
- the required torque change amount may be directly calculated from a map that associates the accelerator operation amount, the contents of the shift speed, and the like with the required torque change amount.
- the required torque change amount may be a predetermined value.
- the reference target torque calculation unit 10f calculates the reference target torque described above based on the accelerator operation amount. For example, a map (torque map) that associates the accelerator operation amount, the engine rotation speed, and the engine torque is stored in the memory of the control device 10 in advance.
- the reference target torque calculation unit 10f calculates the reference target torque with reference to the torque map. That is, the reference target torque calculation unit 10f calculates the engine torque corresponding to the accelerator operation amount and the engine rotation speed Se detected by the sensor as the reference target torque. As described above, in the normal engine control, this reference target torque is set as the target engine torque Te.
- the reference target torque calculation unit 10f calculates the reference target torque every predetermined time. Accordingly, the target torque capacity Tcp and the target engine torque Te of the front clutch Cp gradually change according to changes in the accelerator operation amount and the like not only during normal travel but also during shifting (including during the rotation speed adjustment control). It is done.
- Rotational speed control unit 10g causes engine control unit 10j and clutch control unit 10i to function to execute rotational speed adjustment control.
- the rotation speed control unit 10g increases or decreases the engine rotation speed Se toward the next gear stage corresponding speed Stg. Specifically, at the time of power-on shift down, the rotation speed control unit 10g increases the target engine torque Te to be higher than the reference target torque and decreases the transmission torque capacity of the clutches Cp and Cn. As a result, it is possible to increase the engine rotational speed Se toward the next shift speed corresponding speed Stg while suppressing fluctuations in the torque transmitted to the rear wheel 3.
- the rotational speed control unit 10g lowers the target engine torque Te from the reference target torque and lowers the transmission torque capacity of the clutches Cp and Cn. As a result, it is possible to reduce the engine rotational speed Se toward the next gear stage corresponding speed Stg while suppressing fluctuations in the torque transmitted to the rear wheel 3.
- the rotational speed control unit 10g executes ascending control and descending control as rotational speed adjustment control.
- the increase control is control (control from t3 to t4 in FIG. 5) that increases the engine rotation speed Se to the next gear corresponding speed Stg.
- the rotation speed control unit 10g sets the target engine torque Te at the time of executing the increase control to a torque that is higher than the reference target torque by a necessary torque change amount.
- the engine 20 outputs a torque that is higher than the reference target torque by a necessary torque change amount in the rotation speed adjustment control.
- the rotation speed control unit 10g sets the target torque capacity Tcp for the front clutch Cp to a capacity corresponding to the reference target torque.
- the capacity corresponding to the reference target torque is, for example, a torque necessary and sufficient to transmit the reference target torque (reference target torque ⁇ primary reduction ratio) as described above.
- the rotation speed control unit 10g minimizes the target torque capacity Tcn for the next clutch Cn (for example, 0 Nm). Thereby, the required torque change amount acts as a torque for increasing the engine rotation speed Se.
- the method of increasing the engine rotational speed Se is not limited to this.
- the target engine torque Te in the increase control may be, for example, the sum of a value obtained by further correcting the reference target torque corresponding to the accelerator operation amount and the required torque change amount.
- the capacity corresponding to the corrected value is set as the target torque capacity Tcp of the front clutch Cp.
- the descending control is a control (control from t3 to t4 in FIG. 6) that lowers the engine speed Se to the next gear speed Stg.
- the rotation speed control unit 10g sets the target engine torque Te at the time of executing the lowering control to a torque that is lower than the reference target torque by the absolute value of the required torque change amount.
- the engine 20 outputs a torque lower than the reference target torque by a necessary torque change amount in the rotation speed adjustment control.
- the target engine torque Te at the time of executing the lowering control can be calculated as the sum of the reference target torque and the required torque change amount.
- the rotation speed control unit 10g sets the target torque capacity Tcp for the front clutch Cp to a capacity corresponding to the reference target torque. Further, the rotation speed control unit 10g minimizes the target torque capacity Tcn for the next clutch Cn (for example, 0 Nm). Thereby, the required torque change amount acts as a torque for lowering the engine rotation speed Se.
- the sum of the reference target torque and the required torque change amount may be less than the minimum torque, such as when the reference target torque is a lower limit value of torque that can be output by the engine 20 (hereinafter referred to as minimum torque). Further, when the reference target torque is an upper limit value of torque that can be output by the engine 20 (hereinafter, maximum torque), the sum of the reference target torque and the necessary torque change amount may exceed the maximum torque.
- the rotation speed control unit 10g may perform the following process according to the magnitude of the reference target torque.
- the rotation speed control unit 10g compares the sum of the reference target torque (Tnml) and the necessary torque change amount ( ⁇ Ta) (Tnml + ⁇ Ta) with the minimum torque.
- the rotational speed control unit 10g sets the higher one as the target engine torque Te.
- the rotation speed control unit 10g compares the sum of the reference target torque (Tnml) and the necessary torque change amount ( ⁇ Ta) (Tnml + ⁇ Ta) with the maximum torque. Then, the rotational speed control unit 10g sets the lower one as the target engine torque Te.
- the rotation speed control unit 10g calculates a target torque capacity Tcp for the front clutch Cp based on the target engine torque Te and the necessary torque change amount. For example, the capacity ((
- FIG. 8 is a time chart for explaining the outline of the descending control executed when the reference target torque is the minimum torque. Here, the description will focus on differences from the time chart shown in FIG.
- the minimum torque is the reference target torque corresponding to the accelerator operation amount. Therefore, the minimum torque is set as the target engine torque Te in both the normal engine control and the descent control before the start of the descent control (from t3 to t4).
- the corresponding capacity is set as the target torque capacity Tcp of the front clutch Cp at a value lower than the torque capacity corresponding to the minimum torque by the absolute value of the required torque change amount. That is, the target torque capacity Tcp is a capacity that is necessary and sufficient to transmit the difference torque between the absolute value of the minimum torque and the absolute value of the necessary torque change amount.
- the rotation speed control unit 10g suppresses the engine rotation speed Se from reaching the next gear stage corresponding speed Stg until the movable gear Gn1 and the fixed gear Gn2 are engaged. Specifically, the rotation speed control unit 10g executes the above-described ascent control and descending control after the engagement of the gears Gn1 and Gn2 is completed. In another example, the rotation speed control unit 10g temporarily stops the above-described ascent control and descending control until the engagement of the gears Gn1 and Gn2 is completed.
- the reference target torque calculation unit 10f calculates the reference target torque every predetermined time. Therefore, when the accelerator operation amount changes during the rotation speed adjustment control, the reference target torque also changes. In this case, the target engine torque Te set by the rotation speed control unit 10g also changes, and the target torque capacity Tcp determined based on the reference target torque also changes.
- FIG. 9 is a flowchart illustrating an example of processing executed in power-on shift-down control and power-off shift up control.
- the clutch control unit 10i sets the target torque capacity Tcn of the next clutch Cn to a minimum value (S101). That is, the clutch control unit 10i shifts the next clutch Cn to the released state.
- the gear control unit 10h outputs a gear engagement command that instructs the movement of the movable gear Gn1 of the next transmission mechanism Tn toward the fixed gear Gn2 (S102). That is, the gear control unit 10h brings the movable gear Gn1 and the fixed gear Gn2 closer to each other.
- the gear determination unit 10c determines whether or not the movable gear Gn1 is engaged with the fixed gear Gn2 (S103). The gear determination unit 10c repeats the process of S103 until the movable gear Gn1 engages with the fixed gear Gn2.
- the torque change amount calculation unit 10e calculates the required torque change amount (S104), and the rotation speed control unit 10g controls the rotation speed adjustment control (increase). Control or descending control) is executed (S105). Specifically, the rotation speed control unit 10g executes an ascending control during the power-on shift-down and a descending control during the power-off shift-up. Thus, since it is determined in S103 that the movable gear Gn1 and the fixed gear Gn2 are engaged, the ascending control and the descending control are started, so that the movable gear Gn1 and the fixed gear Gn2 are smoothly engaged.
- the rotational speed control unit 10g determines whether or not the engine rotational speed Se has reached the next gear stage corresponding speed Stg (S106). That is, the rotational speed control unit 10g determines whether or not the rotational speed difference between the drive member 41 and the driven member 42 of the next clutch Cn has been eliminated.
- the rotation speed control unit 10g executes the increase control in S105 until the engine rotation speed Se reaches the next gear stage corresponding speed Stg.
- the engine rotation speed Se corresponds to the next shift stage based on a value (for example, the difference itself or a ratio of the speeds) according to the difference between the engine rotation speed Se and the next shift stage corresponding speed Stg.
- the rotational speed control unit 10g determines whether or not the speed Stg has been reached. For example, the rotation speed control unit 10g determines whether or not the absolute value of the difference between the engine rotation speed Se and the next shift speed corresponding speed Stg is smaller than a sufficiently small threshold.
- the rotational speed control unit 10g ends the ascent control and returns the target engine torque Te to the reference target torque (S107). Then, the control device 10 performs the path switching control (control from t4 to t7 in FIGS. 5 and 6) (S108), and then ends the current shift control.
- FIG. 10 is a flowchart showing an example of processing performed in the route switching control.
- the clutch control unit 10i starts a transition toward the disengaged state of the previous clutch Cp in response to the arrival of the engine rotational speed Se to the next gear speed corresponding speed Stg.
- the clutch control unit 10i sets the target torque capacity Tcp of the front clutch Cp to a capacity (for example, the minimum value 0 (hereinafter, gear canceling capacity)) that can disengage the gears Gp1 and Gp2 of the front transmission mechanism Tp. Is set (S201). Further, the clutch control unit 10i starts a transition toward the engaged state of the next clutch Cn in response to the arrival of the engine rotation speed Se at the next shift speed corresponding speed Stg.
- the clutch control unit 10i sets the target torque capacity Tcn of the next clutch Cn to a capacity (current engine torque ⁇ primary reduction ratio) corresponding to the torque currently output by the engine 20 (hereinafter, current engine torque). Set (S202). Thereby, the current engine speed is maintained.
- the gear control unit 10h moves the movable gear of the front transmission mechanism Tp.
- the movement toward G1 neutral position (movement away from fixed gear Gp2) is started. That is, the gear control unit 10h outputs a gear release command to the shift actuator 39 (S203).
- the gear determination unit 10c determines whether or not the engagement between the movable gear Gp1 and the fixed gear Gp2 has been released (S204).
- the clutch control unit 10i returns both the front clutch Cp and the next clutch Cn to the normal state after the engagement of the movable gear Gp1 and the fixed gear Gp2 is released. That is, the clutch control unit 10i maximizes the target torque capacity Tcp of the previous clutch Cp and the target torque capacity Tcn of the next clutch Cn (S205). Thereby, the path switching control is completed.
- the rotational speed adjustment control is executed after it is determined that the movable gear Gn1 and the fixed gear Gn2 of the next transmission mechanism Tn are engaged. Therefore, it becomes possible to smoothly engage the movable gear Gn1 and the fixed gear Gn2 in the next transmission mechanism Tn.
- the rotation speed control unit 10g starts the rotation speed adjustment control (ascending control or descending control) before the engagement between the movable gear Gn1 and the fixed gear Gn2 is completed.
- the rotation speed control unit 10g then rotates between the engine rotation speed before the gear shift command is generated and the next gear stage corresponding speed Stg until the engagement between the movable gear Gn1 and the fixed gear Gn2 is completed.
- the engine rotation speed Se is maintained at (maintenance rotation speed).
- the rotation speed control unit 10g starts the increase control in response to the shift command, and the engine rotation speed is set to a rotation speed lower than the next shift speed corresponding speed Stg until the gears Gn1 and Gn2 are engaged. Maintain Se. Further, in the power-off shift up, the rotational speed control unit 10g starts the descending control in response to the shift command, and the engine rotational speed is set to a rotational speed that is higher than the next gear speed Stg until the gears Gn1 and Gn2 are engaged. Maintain Se.
- FIG. 11 is a time chart showing an outline of power-on shift-down control according to this example.
- FIG. 12 is a time chart showing an outline of the power-off shift-up control according to this example.
- the contents indicated by each line are the same as those in FIG. In the example of FIG. 12, the minimum torque is set as the reference target torque.
- the gear control unit 10h outputs a gear engagement command at t1 when the shift command is received.
- the movable gear Gn1 of the next transmission mechanism Tn starts to move toward the fixed gear Gn2.
- the engagement between the movable gear Gn1 and the fixed gear Gn2 is completed at t3.
- the rotational speed Stn of the input shaft 31 of the next transmission mechanism Tn is increased or decreased to a rotational speed corresponding to the vehicle speed at that time and the speed reduction ratio of the next shift stage.
- Rotational speed control unit 10g starts rotational speed adjustment control without waiting for completion of engagement of movable gear Gn1 and fixed gear Gn2 in next transmission mechanism Tn (before completion of engagement).
- the rotation speed control unit 10g starts the rotation speed adjustment control at t1. That is, simultaneously with the output of the gear engagement command, the rotation speed control unit 10g starts the rotation speed adjustment control.
- the rotational speed control unit 10g executes the ascending control
- the rotational speed control unit 10g executes the descending control. Therefore, the engine rotation speed Se starts to increase or decrease from t1 (see FIGS. 11 and 12 (a)).
- the sum of the reference target torque and the necessary torque change amount is set as the target engine torque Te, and the capacity corresponding to the reference target torque is set as the target torque capacity Tcp of the front clutch Cp. ing.
- the reference target torque is the minimum torque. Therefore, in the lowering control, the minimum torque is set as the target engine torque Te, and the target torque capacity Tcp of the front clutch Cp is a capacity corresponding to a value obtained by subtracting the absolute value of the necessary torque change amount from the absolute value of the minimum torque. Is set. 11 and 12, the target torque capacity Tcn of the next clutch Cn is set to the minimum value by the start of the ascent control or the descending control.
- the engine rotation speed Se starts to increase or decrease at t1, and then reaches a maintenance rotation speed set between the next gear speed Stg and the engine rotation speed before the shift at t2.
- the maintenance rotation speed is a speed calculated according to the next shift speed corresponding speed Stg.
- the maintenance rotation speed is a rotation speed that is lower than the next shift speed corresponding speed Stg by a predetermined value.
- the maintenance rotation speed is a rotation speed that is higher than the next shift speed corresponding speed Stg by a predetermined value.
- This predetermined value may be a predetermined fixed value, or may be a value that changes in accordance with the required torque change amount or the content of the shift command (previous shift speed and next shift speed).
- the rotation speed control unit 10g temporarily stops the ascent control or the descent control started at t1, and maintains the engine rotation speed Se at the current engine rotation speed (here, the maintenance rotation speed) (hereinafter, maintenance control). Execute).
- the rotation speed control unit 10g sets the reference target torque as the target engine torque Te, and sets the target torque capacity Tcp of the front clutch Cp to a capacity corresponding to the reference target torque. Further, the target torque capacity Tcn of the next clutch Cn is set to the minimum value.
- the rotational speed control unit 10g executes ascending control or descending control again (t4). That is, in the power-on shift down control of FIG. Further, in the power-off shift up control of FIG. 12, the lowering control is executed. As a result, the engine rotation speed Se starts to increase or decrease again, and reaches the next gear stage corresponding speed Stg at t5. As described above, the rotational speed control unit 10g temporarily stops the ascent control or the descending control, so that the engine rotational speed Se is changed to the next gear corresponding speed Stg before the engagement between the movable gear Gn1 and the fixed gear Gn2. To match.
- control device 10 executes the path switching control in the same manner as the processing shown in FIGS. 5 and 6 and ends the current shift control (t8).
- FIG. 13 is a flowchart showing an example of processing executed in power-on shift-down control and power-off shift-up control according to this example.
- the gear control unit 10h outputs a gear engagement command (S301). Further, the torque change amount calculation unit 10e calculates the required torque change amount (S302). Then, the rotational speed control unit 10g executes rotational speed adjustment control (upward control or downward control) based on the required torque change amount and the reference target torque without waiting for completion of engagement between the movable gear Gn1 and the fixed gear Gn2. (S303).
- the rotation speed adjustment control is started continuously after the output of the gear engagement command in S301. Note that in the case of power-on shift-down control, the rotational speed control unit 10g performs ascent control in S303, and in the case of power-off shift-up control, the rotational speed control unit 10g performs descending control in S303.
- the rotational speed controller 10g determines whether or not the movable gear Gn1 and the fixed gear Gn2 of the next transmission mechanism Tn are engaged (S304).
- the rotational speed control unit 10g determines whether or not the engine rotational speed Se has reached the maintenance rotational speed (S305). If it is determined in S305 that the engine rotational speed Se has not yet reached the maintenance rotational speed, the rotational speed control unit 10g continues the ascent control or the descending control (S303).
- the rotation speed control unit 10g executes the maintenance control for the engine rotation speed Se (S306). As a result, the increase or decrease in the engine rotation speed Se is stopped, and the engine rotation speed Se remains at the maintenance rotation speed. Thereafter, the process returns to S304, and it is determined again whether or not the movable gear Gn1 and the fixed gear Gn2 are engaged.
- the rotational speed control unit 10g determines whether the engine rotational speed Se has reached the next shift speed corresponding speed Stg. Is determined (S307). If the engine rotational speed Se has not yet reached the next gear stage corresponding speed Stg, the rotational speed control unit 10g resumes or continues the ascent control or the descending control (S303). On the other hand, when the engine rotational speed Se has already reached the next gear speed Stg in S307, the rotational speed control unit 10g sets the reference target torque as the target engine torque Te (S308). Then, after executing the above-described path switching control (S309), the control device 10 ends the current shift control.
- the rotational speed control unit 10g starts the ascending control or the descending control. Therefore, since the change of the engine rotational speed Se can be started at an early stage, the time lag between the shift command from the passenger and the drive change of the engine 20 resulting therefrom can be reduced, and the operational feeling of the vehicle during the shift can be improved.
- the maintenance rotation speed is calculated based on the speed corresponding to the next gear stage. Therefore, it is possible to suppress variations in time required for the engine speed Se to change from the maintenance speed to the next gear speed.
- the rotation speed control unit 10g has two modes as its control mode.
- the first control is the above-described rotation speed adjustment control that suppresses the engine rotation speed Se from reaching the next shift speed corresponding speed Stg until the engagement of the gears Gn1 and Gn2 is completed in the next transmission mechanism Tn.
- the second control is a control for changing the engine rotational speed Se toward the next gear corresponding speed Stg independently of the determination as to whether the gears Gn1 and Gn2 are engaged. In other words, in the second control, whether the gears Gn1 and Gn2 are engaged is not determined, or the above-described ascent control and descending control are started regardless of the determination result. Thereafter, the up control and the down control are continuously performed until the engine speed Se reaches the next gear stage corresponding speed Stg.
- Rotational speed control unit 10g selectively executes the first control and the second control based on the amount of change in engine rotational speed Se required to reach the next gear stage corresponding speed Stg. That is, the rotational speed control unit 10g performs either one of the first control and the second control based on the difference between the engine rotational speed before the start of the rotational speed adjustment control and the next gear stage corresponding speed Stg. select.
- the amount of change in the rotational speed necessary to reach the next gear stage corresponding speed Stg is large (that is, when the next gear stage corresponding speed Stg is far away from the engine rotational speed before the start of the rotational speed adjustment control). ), It takes a long time for the engine rotational speed Se to reach the next gear stage corresponding speed Stg.
- the next speed change mechanism Tn is required before the engine speed Se reaches the next gear stage corresponding speed Stg.
- the movable gear Gn1 is engaged with the fixed gear Gn2. Therefore, in this example, when the amount of change in rotational speed necessary to reach the next gear stage corresponding speed Stg is small, the rotational speed control unit 10g executes the first control. When the amount of change in the rotational speed necessary to reach the next gear stage corresponding speed Stg is large, the rotational speed control unit 10g executes the second control. According to the second control, the engine rotational speed Se can be reached at the early stage the next gear stage corresponding speed Stg.
- FIG. 14 is a flowchart showing an example of processing executed in power-on shift-down control and power-off shift-up control according to this example.
- the control device 10 determines whether or not the amount of change in the engine rotation speed Se required to reach the next gear position corresponding speed Stg is greater than a threshold value. Specifically, it is determined whether or not the difference between the engine speed (current or the engine speed immediately before the shift) and the next shift speed corresponding speed Stg (hereinafter, the planned change amount) is greater than a threshold (hereinafter, the mode determination threshold). Determination is made (S401).
- the first control is executed (S402).
- the processing from S101 to S107 shown in FIG. 9 is executed.
- the processing from S301 to S308 shown in FIG. 13 may be executed.
- the process after S403, which is the second control is executed.
- the gear control unit 10h outputs a gear engagement command (S403).
- the torque change amount calculation unit 10e calculates the required torque change amount (S404), and the rotation speed control unit 10g detects the required torque change amount without detecting the completion of engagement between the movable gear Gn1 and the fixed gear Gn2.
- Ascending control or descending control based on the reference target torque is executed (S405).
- the rotation speed control unit 10g performs ascending control during power-on shift-down and performs descending control during power-off shift-up.
- the rotational speed control unit 10g determines whether or not the engine rotational speed Se has reached the next shift speed corresponding speed Stg (S406).
- the rotational speed control unit 10g continues the ascending control or descending control of S405.
- the rotational speed control unit 10g ends the ascending control or descending control, and returns the target engine torque Te to the reference target torque (S407).
- the gear determination unit 10c determines whether or not the movable gear Gn1 of the next transmission mechanism Tn is engaged with the fixed gear Gn2 (S408).
- the control device 10 executes the above-described path switching control (S409) and ends the current shift control.
- FIG. 15 is a time chart showing an example of changes in the engine speed and the like when the second control described above is executed in the power-on downshift.
- FIG. 16 is a time chart showing an example of changes in the engine speed and the like when the second control described above is executed in the power-off shift up. The contents indicated by each line in these figures are the same as those in FIG.
- the target engine torque Te minimum torque
- the target torque capacity Tcp of the front clutch Cp).
- , target torque capacity Tcn of the next clutch Cn minimum value).
- the timing t2 at which the movable gear Gn1 is engaged with the fixed gear Gn2 is earlier than the timing t3 at which the engine rotational speed Se reaches the next shift speed corresponding speed Stg.
- the rotational speed adjustment control is terminated. Thereafter, the same path switching control as that after t4 in FIG. 5 is executed, and the current shift control is terminated at t6.
- the rotation speed control unit 10g stops the maintenance control and resumes the ascent control or the descending control.
- FIG. 17 is a block diagram showing functions of the control device 10 of this example.
- the control device 10 includes a collision determination unit 10k in addition to the rotation speed control unit 10g described so far.
- the collision determination unit 10k determines whether a dog clutch collision has occurred.
- the collision determination unit 10k determines whether or not a dog clutch collision has occurred, for example, based on the position of the movable gear Gn1 detected by the gear position sensor 19b. For example, when the movable gear Gn1 stays at a position between the engagement position where the movable gear Gn1 engages with the fixed gear Gn2 and the neutral position for a predetermined time or more, the collision determination unit 10k determines that a dog clutch collision has occurred. This process of the collision determination unit 10k is continued until the engagement between the movable gear Gn1 and the fixed gear Gn2 is completed.
- the process of the collision determination unit 10k may be as follows.
- the rotational speed Stn of the input shaft 31 of the next transmission mechanism Tn increases or decreases, and the rotational speed according to the vehicle speed and the speed reduction ratio of the next gear stage Become. Therefore, the collision determination unit 10k may determine whether or not a dog clutch collision has occurred based on the rotational speed Stn of the input shaft 31 of the next transmission mechanism Tn. Specifically, a change in the rotational speed Stn of the input shaft 31 has not been detected when a predetermined time has elapsed from the timing when the gear control unit 10h starts moving the movable gear Gn1 (output timing of the gear engagement command). In this case, the collision determination unit 10k may determine that a dog clutch collision has occurred.
- FIG. 18 is a time chart showing an example of changes in the engine speed and the like when the control of this example is executed. Each line shown in this figure represents the same contents as in FIG.
- the gear control unit 10h outputs a gear engagement command. Further, the rotation speed control unit 10g starts ascending control at t1. As a result, the engine speed Se starts to increase as shown in FIG. In this example, a dog clutch collision occurs between the movable gear Gn1 and the fixed gear Gn2 at t2. The increase control is continued until the collision of the dog clutch is resolved even after the engine rotational speed Se reaches the next shift speed corresponding speed Stg. As a result, the engine rotation speed Se exceeds the next gear stage corresponding speed Stg.
- the rotational speed control unit 10g performs control to return the engine rotational speed Se to the speed corresponding to the next gear stage (hereinafter referred to as "gear") , Return control). Specifically, as shown in FIG. 5B, the rotational speed control unit 10g uses the target engine torque Te as a reference while maintaining the target torque capacity Tcp of the front clutch Cp at a capacity corresponding to the reference target torque. The torque is set lower than the target torque. As a result, as shown in FIG.
- the engine rotational speed Se starts to decrease, and at t4, the engine rotational speed Se coincides with the next gear stage corresponding speed Stg. Thereafter, the above-described path switching control is executed (t4 to t7), and the current shift control is completed.
- FIG. 19 is a flowchart showing processing executed by the control device 10 of this example.
- the same processes as those shown in FIG. 14 are denoted by the same reference numerals, and description thereof is omitted here.
- the rotational speed control unit 10g continues or restarts the ascent control or the descending control in S405, and changes the engine rotational speed Se. That is, in the case of power-on shift-down control, ascent control is executed in S405, and in the case of power-off shift-up control, descending control is executed in S405. The up control or the down control in S405 is continued until the dog clutch collision is resolved. By continuing or resuming the ascent control or the descending control, a rotational speed difference can be generated between the movable gear Gn1 and the fixed gear Gn2. As a result, the collision of the dog clutch can be eliminated and the movable gear Gn1 and the fixed gear Gn2 can be engaged in a shorter time than when such a difference in rotational speed is not generated.
- the rotational speed control unit 10g executes a return control for returning the engine rotational speed Se to the next gear corresponding speed Stg (S412).
- FIG. 20 is a flowchart showing an example of processing executed in the engine speed return control.
- the return control is a control for changing the engine speed Se that has exceeded the next shift speed corresponding speed Stg as a result of the ascending control or the descending control toward the next speed corresponding speed Stg.
- the rotational speed control unit 10g first determines whether or not the engine rotational speed Se has already coincided with the next shift speed corresponding speed Stg (S501). If the engine rotational speed Se does not coincide with the next gear stage corresponding speed Stg, the rotational speed control unit 10g determines whether or not the engine rotational speed Se is higher than the next gear stage corresponding speed Stg (S502). ). When the engine rotational speed Se is higher than the next gear stage corresponding speed Stg, the second lowering control is performed to lower the engine rotational speed Se toward the next gear stage corresponding speed Stg (S503).
- the second descending control is performed as follows, for example.
- the rotation speed control unit 10g reduces the target engine torque Te by a predetermined value from the reference target torque.
- This predetermined value is, for example, a fixed value.
- the predetermined value is calculated based on the required torque change amount, the contents of the shift command (next gear stage and previous gear speed), the speed adjustment time used when calculating the required torque change amount, and the like. Also good.
- the rotation speed control unit 10g maintains the target torque capacity Tcp of the front clutch Cp at a capacity corresponding to the reference target torque. Further, the target torque capacity of the next clutch Cn is maintained at the minimum value 0.
- the second increase control for increasing the engine rotational speed Se toward the next shift speed corresponding speed Stg is executed (S504).
- the second ascent control is performed as follows.
- the rotation speed control unit 10g increases the target engine torque Te by a predetermined value from the reference target torque. This predetermined value may also be a fixed value, or may be calculated based on the required torque change amount and the like, similar to the predetermined value in the second descending control.
- the rotation speed control unit 10g maintains the target torque capacity Tcp of the previous clutch Cp at a capacity corresponding to the reference target torque, and also maintains the target torque capacity of the next clutch Cn at a minimum value. .
- the rotational speed control unit 10g ends the second descending control or the second ascending control, and sets the target engine torque Te to the reference target torque (S505).
- the above processing is an example of return control.
- the rotation speed control unit 10g continues or restarts the change in the engine rotation speed Se according to the determination result of the collision determination unit 10k. Therefore, even when a dog clutch collision occurs, the collision can be resolved in a short time and the movable gear Gn1 and the fixed gear Gn2 can be engaged early.
- the rotational speed control unit 10g executes control to return the engine rotational speed Se to the next gear stage corresponding speed Stg. Therefore, even when a dog clutch collision occurs, the engine rotation speed Se can be made to coincide with the next gear stage corresponding speed Stg, and the shift shock can be reduced.
- the rotation speed control unit 10g changes the engine rotation speed Se to a rotation speed exceeding the next shift speed corresponding speed Stg (hereinafter, excess rotation speed). Then, the gear control unit 10h moves the movable gear Gn1 so that the movable gear Gn1 of the next transmission mechanism Tn comes into contact with the fixed gear Gn2 after the engine rotational speed Se exceeds the next gear stage corresponding speed Stg. In other words, the rotation speed control unit 10g suppresses the engine rotation speed Se from returning from the excess rotation speed to the next gear stage corresponding speed Stg until the engagement between the movable gear Gn1 and the fixed gear Gn2 is completed.
- FIG. 21 is a time chart showing an outline of power-on shift-down control according to this embodiment.
- FIG. 22 is a time chart showing an outline of the power-off shift-up control according to this embodiment. The contents indicated by the lines in (a) and (b) of these figures are the same as those in FIG.
- the target torque capacity Tcp of the front clutch Cp is set to a capacity corresponding to the difference between the minimum torque and the required torque change amount. Further, the minimum value 0 is set for the target torque capacity Tcn of the next clutch Cn, as in the case of the increase control.
- the rotation speed control unit 10g continues the increase control or the decrease control even after the engine rotation speed Se reaches the next shift speed corresponding speed Stg, as shown in (a) of these drawings.
- the engine rotational speed Se increases or decreases beyond the next gear stage corresponding speed Stg.
- the engine rotational speed Se reaches the excessive rotational speed set beyond the next gear stage corresponding speed Stg.
- This excess rotational speed is a value higher than the speed corresponding to the next gear stage in the power-on shift-down control, and is a value lower than the speed corresponding to the next speed stage in the power-off shift-up control.
- the rotational speed control unit 10g ends the ascent control or the descending control, and starts the above-described maintenance control.
- the gear control unit 10h starts moving the movable gear Gn1 so that the movable gear Gn1 of the next transmission mechanism Tn hits the fixed gear Gn2 in a situation where the engine rotational speed Se is higher than the next gear stage corresponding speed Stg.
- the gear control unit 10h outputs a gear engagement command (t2) when the timing at which the engine rotational speed Se reaches the next shift speed corresponding speed Stg is slightly exceeded.
- the movable gear Gn1 hits the fixed gear Gn2 and is engaged (t4) when the engine rotational speed Se is at a rotational speed higher than the next gear stage corresponding speed Stg.
- the timing at which the gear control unit 10h outputs a gear engagement command (that is, the movement start timing of the movable gear Gn1) may be appropriately set according to the operating speed of the shift actuator 39. For example, when the operating speed of the shift actuator 39 is slow, the gear control unit 10h may start the movement of the movable gear Gn1 earlier than the timing at which the engine rotation speed Se reaches the next shift speed corresponding speed Stg.
- the rotational speed control unit 10g When the movable gear Gn1 is engaged with the fixed gear Gn2 at t4, the rotational speed control unit 10g performs the return control to return the engine rotational speed Se to the next gear corresponding speed Stg as shown in FIG. Start. In the example of FIG. 21, the engine rotational speed Se is higher than the next shift speed corresponding speed Stg at t4. Therefore, the rotational speed control unit 10g executes the second descending control described with reference to FIG. 20 as the return control. In the second descending control, the target engine torque Te is set to a torque lower than the reference target torque.
- the target torque capacity Tcp of the previous clutch Cp is set to a capacity corresponding to the reference target torque, and the target torque capacity of the next clutch Cn is set to a minimum value 0.
- the rotation speed control unit 10g executes the second increase control described with reference to FIG. 20 as the return control. Yes.
- the target engine torque Te is set to a torque higher than the reference target torque.
- the target torque capacity Tcp of the previous clutch Cp is set to a capacity corresponding to the reference target torque
- the target torque capacity of the next clutch Cn is set to a minimum value 0.
- the engine speed Se rises or falls toward the next gear stage corresponding speed Stg by the second descending control or the second raising control, and the speed corresponding to the next gear stage at t5. Stg has been reached.
- the rotational speed control unit 10g returns the target engine torque Te to the reference target torque.
- the control device 10 executes the path switching control (t5 to t8) and ends the current shift control.
- FIG. 23 is a flowchart showing an example of processing executed in power-on shift-down control and power-off shift-up control according to this embodiment.
- the torque change amount calculation unit 10e calculates the required torque change amount (S601), and the rotation speed control unit 10g executes ascending control or descending control based on the required torque change amount (S602). Lowering control is executed in power-off shift-up control, and rising control is executed in power-on shift-down control.
- the rotation speed control unit 10g starts the movement toward the engagement position of the movable gear Gn1 of the next transmission mechanism Tn (that is, the rotation speed at which a gear engagement command is to be output; It is determined whether or not the engine speed Se has reached (speed) (S603).
- the gear movement start speed is a speed determined based on the value ⁇ S1 determined in consideration of the operation speed of the shift actuator 39 and the next shift speed corresponding speed Stg (for example, the next shift speed corresponding speed Stg + ⁇ S1).
- the gear movement start speed is set to a value lower than the next shift speed corresponding speed Stg.
- the gear movement start speed may be set to a value higher than the next shift speed corresponding speed Stg.
- Rotational speed control unit 10g continues the ascending control or descending control of S602 until engine rotational speed Se reaches the gear movement start speed.
- the gear control unit 10h determines whether or not a gear engagement command has already been output (S604). If the gear engagement command has not been output yet, the gear control unit 10h outputs the gear engagement command (S605). Thereafter, the gear determination unit 10c determines whether or not the movable gear Gn1 is engaged with the fixed gear Gn2 (S606).
- the rotational speed control unit 10g determines whether or not the engine rotational speed Se has reached the excessive rotational speed (S607).
- the excess rotational speed is higher than the next gear stage corresponding speed Stg by a predetermined value ⁇ S2 and higher than the gear movement start speed described above.
- the excess rotational speed is lower than the next shift speed corresponding speed Stg by a predetermined value ⁇ S3 and lower than the gear movement start speed described above.
- the rotation speed control unit 10g performs the second descending control or the second decrease control for returning the engine rotation speed Se to the next gear stage corresponding speed Stg.
- the ascent control is executed (S609).
- the rotational speed control unit 10g determines whether or not the engine rotational speed Se has returned to the next gear stage corresponding speed Stg (S610). The rotation speed control unit 10g continues the control of S609 until the engine rotation speed Se returns to the next gear stage corresponding speed Stg.
- the rotational speed control unit 10g ends the control of S609 and returns the target engine torque Te to the reference target torque (S611). Then, the control device 10 executes path switching control (S612), and ends the current shift control.
- the rotation speed control unit 10g maintains the engine rotation speed Se at the excess rotation speed until the movable gear Gn1 and the fixed gear Gn2 are engaged. Therefore, it becomes easy to apply the movable gear Gn1 to the fixed gear Gn2 in a situation where the engine rotation speed Se is higher than the next gear stage corresponding speed Stg.
- the gear control unit 10h outputs a gear engagement command so that the movable gear Gn1 and the fixed gear Gn2 come into contact with each other when the engine rotational speed Se exceeds the next gear speed Stg.
- the approach of the movable gear Gn1 and the fixed gear Gn2 is started). Therefore, the movable gear Gn1 and the fixed gear Gn2 can be smoothly engaged without causing a dog clutch collision.
- the gear control unit 10h outputs a gear engagement command when the engine rotation speed Se exceeds the gear start speed determined based on the next gear stage corresponding speed Stg. Therefore, it becomes easy to apply the movable gear Gn1 to the fixed gear Gn2 in a situation where the engine rotation speed Se is higher than the next gear stage corresponding speed Stg.
- the rotation speed control unit 10g executes control to decrease the engine rotation speed Se.
- the rotational speed control unit 10g performs control to increase the engine speed Se.
- control apparatus 10 of this example is provided with the collision determination part 10k shown in FIG.
- FIG. 24 is a time chart showing an outline of power-on shift-down control according to this example.
- the contents indicated by the lines in FIGS. 5A and 5B are the same as those in FIG.
- the rotation speed control unit 10g starts the ascending control.
- the engine speed Se starts to increase as shown in FIG.
- the increase control is continued even after the engine rotational speed Se has reached the next shift speed corresponding speed Stg.
- the engine rotational speed Se reaches the excessive rotational speed at t3, and thereafter is maintained at the excessive rotational speed by the maintenance control.
- the gear control unit 10h outputs a gear engagement command when the engine rotation speed Se reaches a gear movement start speed set slightly higher than the next shift speed corresponding speed Stg. (T2).
- the rotation speed control unit 10g changes the engine rotation speed Se again. Specifically, the engine rotation speed Se is changed in the direction opposite to the change in the engine rotation speed by the rotation speed adjustment control (in this example, the ascending control) executed previously. In this example, the rotation speed control unit 10g executes control for decreasing the engine rotation speed Se (for example, the second lowering control described above). In the example of the figure, in order to lower the engine rotational speed Se, the rotational speed control unit 10g makes the target engine torque Te lower than the reference target torque, and maintains the target torque capacity of the front clutch Cp at the reference target torque. The target torque capacity of the next clutch Cn is maintained at the minimum value.
- the rotational speed control unit 10g performs control to return the engine rotational speed Se to the next gear corresponding speed Stg (specifically, The return control described above (see FIG. 20)) is executed.
- the engine rotational speed Se at the time point t5 is lower than the next shift speed corresponding speed Stg. Therefore, the engine rotational speed Se increases again by the return control and returns to the next shift speed corresponding speed Stg at t6. .
- the path switching control is executed (t6 to t9) as in the previous embodiments.
- FIG. 25 is a flowchart showing an example of processing executed in power-on shift-down control or power-off shift-up control according to this example.
- the same processes as those shown in FIG. 23 are denoted by the same reference numerals, and the description thereof is omitted here.
- the gear determination unit 10c determines whether a dog clutch collision has occurred between them (S613). If no dog clutch collision has occurred, the rotational speed control unit 10g determines whether or not the engine rotational speed Se has reached an excessive rotational speed (S607). When the engine rotational speed Se has reached the excessive rotational speed, the rotational speed control unit 10g executes the maintenance control (S608), and it is determined again whether or not the movable gear Gn1 and the fixed gear Gn2 are engaged ( S606).
- the rotational speed control unit 10g executes control to change the engine rotational speed Se in the opposite direction to the control up to that point. Specifically, when the ascent control is executed in S602, the second descending control for reducing the engine rotational speed Se is executed in S614. Further, when the lowering control is executed in S602, second increasing control for increasing the engine rotational speed Se is executed in S614. Thereafter, it is determined again whether or not the movable gear Gn1 is engaged with the fixed gear Gn2 (S606).
- the rotation speed control unit 10g may determine whether the engine rotation speed Se is too low with respect to the next gear stage corresponding speed Stg during the execution of the second lowering control. For example, the rotation speed control unit 10g may determine whether or not the difference (Stg-Se) between the next gear position corresponding speed Stg and the engine rotation speed Se is smaller than a threshold value.
- the rotation speed control unit 10g may execute the maintenance control of S608, for example, without executing the second descending control of S614.
- the rotational speed control unit 10g executes the return control described with reference to FIG. 20 (S615), and the engine.
- the rotational speed Se is returned to the next gear stage corresponding speed Stg.
- the control device 10 executes path switching control (S612).
- the rotation speed control unit 10g continues or restarts the change in the engine rotation speed according to the determination result of the collision determination unit 10k. Therefore, even when a dog clutch collision occurs, the collision can be resolved in a short time and the movable gear Gn1 and the fixed gear Gn2 can be engaged.
- the rotation speed control unit 10g changes the direction of change in the engine rotation speed Se according to the determination result of the collision determination unit 10k. Therefore, it is possible to prevent the engine rotation speed Se from being excessively separated from the next shift speed corresponding speed Stg.
- the controller 10 rotates the engine so that the movable gear Gn1 does not collide with the fixed gear Gn2 in a situation where the engine rotational speed Se matches the next gear speed corresponding speed Stg.
- the speed Se was controlled.
- the control device 10 does not perform such control, and when a dog clutch collision occurs between the movable gear Gn1 and the fixed gear Gn2, the speed corresponding to the next gear stage.
- the engine clutch speed Se is changed in the direction away from the control to eliminate the dog clutch collision.
- the rotation speed control unit 10g when a dog clutch collision occurs in the process in which the rotation speed control unit 10g is changing the engine rotation speed Se toward the next gear stage corresponding speed Stg, the rotation speed control unit 10g is opposite to the previous one.
- the engine speed Se is changed in the direction.
- the rotation speed control unit 10g executes the descent control and decreases the engine rotation speed Se.
- the rotation speed control unit 10g executes the increase control to increase the engine rotation speed Se.
- the function with which the control apparatus 10 which concerns on this form is provided is the same as that of what was shown in FIG.
- FIG. 26 is a time chart showing an outline of power-on shift-down control according to this embodiment
- FIG. 27 is a time chart showing an outline of power-off shift-up control according to this embodiment.
- the gear control unit 10h outputs a gear engagement command at t1 when the shift command is generated.
- the rotation speed control unit 10g starts ascending control or descending control at t1.
- the engine speed Se begins to raise or fall.
- the dog clutch collides between the movable gear Gn1 and the fixed gear Gn2 at t2.
- the rotation speed control unit 10g starts control for changing the engine rotation speed Se in the direction opposite to the control started at t1.
- the rotational speed control unit 10g executes the downward control (for example, the above-described second downward control) to decrease the engine rotational speed Se.
- the rotational speed control unit 10g executes ascent control (for example, the above-described second ascent control) to increase the engine speed Se.
- the rotational speed control unit 10g resumes the control that was first executed (that is, ascending control in the example of FIG. 26 and descending control in the example of FIG. 27). Then, the engine rotational speed Se is again brought close to the next gear stage corresponding speed Stg. As a result, the engine rotational speed Se has reached the next gear stage corresponding speed Stg (t4). Thereafter, the above-described path switching control is executed, and the shift control is finished (t7).
- FIG. 28 is a flowchart showing an example of processing executed in power-off shift-up control and power-on shift-down control according to this embodiment.
- the gear control unit 10h outputs a gear engagement command (S701). Further, the torque change amount calculation unit 10e calculates the required torque change amount (S702), and the rotation speed control unit 10g executes the ascending control or the descending control based on the required torque change amount (S703). That is, descending control is executed in power-off shift-up control, and ascending control is executed in power-on shift-down control.
- the gear determining unit 10c determines whether or not the movable gear Gn1 is engaged with the fixed gear Gn2 (S704).
- the collision determination unit 10k determines whether or not a dog clutch collision has occurred (S705).
- the rotation speed control unit 10g executes control to change the engine rotation speed Se in the direction opposite to the control in S703.
- the rotational speed control unit 10g executes the second descending control for decreasing the engine rotational speed Se when the upward control is executed at S703 (S706), and when the downward control is executed at S703. Then, the second increase control for increasing the engine rotation speed Se is executed (S706). Thereafter, it is determined again in S704 whether or not the movable gear Gn1 is engaged with the fixed gear Gn2. When the movable gear Gn1 is engaged with the fixed gear Gn2, the rotational speed control unit 10g determines whether or not the engine rotational speed Se has reached the next shift speed corresponding speed Stg (S707).
- the rotational speed control unit 10g executes the ascent control or the descending control of S703. On the other hand, if it is determined in S707 that the engine rotational speed Se has reached the next gear stage corresponding speed Stg, the rotational speed control unit 10g ends the ascending control or descending control, and returns the target engine torque to the reference target torque. (S708).
- the control device 10 executes path switching control (S709), and ends the current shift control.
- the rotational speed control unit 10g changes the engine rotational speed Se in a direction away from the next shift speed corresponding speed Stg.
- the rotational speed difference between the movable gear Gn1 and the fixed gear Gn2 increases.
- the collision can be resolved in a short time, and the movable gear Gn1 and the fixed gear Gn2 can be engaged.
- FIG. 29 is a time chart showing an example of power-on shift-down control according to this embodiment
- FIG. 30 is a time chart showing an example of power-off shift-up control according to this embodiment.
- the gear control unit 10h outputs the gear engagement command, and the rotation speed control unit 10g starts the rotation speed adjustment control. That is, in the power-on shift-down control of FIG. 29, the rotation speed control unit 10g starts the increase control, and in the power-off shift up control of FIG. 30, the rotation speed control unit 10g starts the decrease control.
- the engine speed Se starts to increase
- the engine speed Se starts to decrease.
- the dog clutch collides between the movable gear Gn1 and the fixed gear Gn2 at t2.
- the rotation speed control unit 10g continues the ascending control or the descending control until the dog clutch collision is resolved after the engine rotation speed Se reaches the next shift speed corresponding speed Stg.
- the rotational speed control unit 10g ends the ascending control or the descending control so far, and starts control for returning the engine rotational speed Se to the speed corresponding to the next gear stage.
- second down control is executed (see (b) of FIG. 29).
- the second ascending control is executed (see (b) of FIG. 30).
- the engine rotational speed Se coincides with the next shift speed corresponding speed Stg.
- the above-described path switching control is executed (t4 to t7), and the current shift control is completed.
- FIG. 31 is a flowchart showing an example of processing of the control device 10 according to this embodiment.
- the gear control unit 10h outputs a gear engagement command (S801). Further, the torque change amount calculation unit 10e calculates the required torque change amount (S802), and the rotation speed control unit 10g executes the rotation speed adjustment control (up control or decrease control) based on the required torque change amount (S803). . In other words, the rotation speed control unit 10g performs ascending control in the power-on shift-down control and performs descending control in the power-off shift-up control.
- the rotational speed control unit 10g determines whether or not the engine rotational speed Se has reached the next shift speed corresponding speed Stg (S804).
- the rotational speed control unit 10g continues the ascent control or the descending control of S803.
- the collision determination unit 10k determines whether or not a dog clutch collision has occurred (S805). If there is no dog clutch collision, the gear determination unit 10c determines whether or not the movable gear Gn1 is engaged with the fixed gear Gn2 (S806). If the movable gear Gn1 is not yet engaged with the fixed gear Gn2, the rotation speed control unit 10g executes the above-described maintenance control and maintains the current engine rotation speed Se (S807).
- step S805 If it is determined in step S805 that a dog clutch collision has occurred, the rotation speed control unit 10g continues the increase control or the decrease control in step S803 and continues to change the engine rotation speed Se. If a dog clutch collision occurs during the maintenance control in S807, the rotational speed control unit 10g resumes the ascending control or the descending control, whereby the engine rotational speed Se is determined from the next gear speed corresponding speed Stg. Further rise or fall. The up control or the down control in S803 is continued until the dog clutch collision is resolved.
- the rotational speed control unit 10g determines whether or not the engine rotational speed Se is equal to the next shift speed corresponding speed Stg (S808). .
- the rotational speed control unit 10g executes the second lowering control or the second upward control for returning the engine rotational speed Se to the next gear stage corresponding speed Stg. (S809), it is again determined whether or not the engine rotational speed Se matches the next gear speed Stg (S808).
- the rotational speed control unit 10g When the engine rotational speed Se coincides with the next gear stage corresponding speed Stg, the rotational speed control unit 10g returns the target engine torque to the reference target torque (S810). Further, the control device 10 executes route switching control (S811), and ends the current shift control.
- the present invention is not limited to the embodiment described above, and various modifications can be made.
- the specific target engine torque Te and target torque capacities Tcp and Tcn for increasing or decreasing the engine rotation speed may be appropriately changed in consideration of acceleration response required for the vehicle.
Abstract
Description
(S1)まず、制御装置10は次クラッチCnの係合を解除する(図4(b)参照)。
(S2)次に、制御装置10は、次変速機構Tnの可動ギアGn1を動かし、隣の固定ギアGn2に係合させる(図4(b)参照)。
(S3)その後、制御装置10は次クラッチCnを解放状態から係合状態に戻し、それとともに前クラッチCpを解放状態にする(図4(c)参照)。
(S4)最後に、制御装置10は前変速機構Tpの可動ギアGp1を中立位置まで移動させた後に、前クラッチCpを係合状態にする(図4(d)参照)。
S3は、前変速機構Tpと次変速機構Tnの双方において可動ギアGp1,Gn1が固定ギアGp2,Gn2に係合している状態で(トルク伝達が可能な状態で)、実行される。そのため、後輪3へのトルク伝達が変速の最中に途切れる期間を低減できる。
そこで、制御装置10は、S2の工程において次変速機構Tnの可動ギアGn1が固定ギアGn2に当るタイミングと、エンジン回転速度が次変速段対応速度Stgに到達するタイミングとが合致するのを避けるように、回転速度調整制御を実行する。具体的には、第1の実施形態では、制御装置10は、次変速機構Tnの可動ギアGn1が固定ギアGn2と係合するまで、エンジン回転速度が次変速段対応速度Stgに到達するのを抑える。例えば、制御装置10は、可動ギアGn1が固定ギアGn2と係合した後に、回転速度調整制御を開始する。また、他の例では、回転速度制御部10gは、可動ギアGn1が固定ギアGn2と係合するまで、次変速段対応速度Stgから離れた回転速度にエンジン回転速度を維持する。
必要トルク変化量=I×(Se-Stg)/Δt
ここでIはエンジン20のクランクシャフト21周りのエンジン20の慣性モーメントである、この慣性モーメントは、例えば、エンジン20を設計する段階で算出され得る。
(Se-Stg)/(Sp-Stg)>S1
S1は1に近い閾値である。また、Spは変速前のエンジン回転速度であり、例えば、次のように表される。
Sp=出力軸32の回転速度×前の変速段の減速比×一次減速比
この例では、回転速度制御部10gは、可動ギアGn1と固定ギアGn2との係合が完了する前に、回転速度調整制御(上昇制御又は下降制御)を開始する。そして、回転速度制御部10gは、可動ギアGn1と固定ギアGn2との係合が完了するまで、変速指令が生じる前のエンジン回転速度と、次変速段対応速度Stgとの間の回転速度(以下、維持回転速度)にエンジン回転速度Seを維持する。すなわち、パワーオンシフトダウンにおいては、回転速度制御部10gは変速指令に応じて上昇制御を開始し、ギアGn1,Gn2が係合するまで次変速段対応速度Stgよりも低い回転速度にエンジン回転速度Seを維持する。また、パワーオフシフトアップにおいては、回転速度制御部10gは変速指令に応じて下降制御を開始し、ギアGn1,Gn2が係合するまで次変速段対応速度Stgよりも高い回転速度にエンジン回転速度Seを維持する。
この例では、次変速機構Tnの可動ギアGn1と固定ギアGn2との係合が完了するまでエンジン回転速度Seが次変速段対応速度Stgに達するのを抑える上述した回転速度調整制御が、変速指令の内容や、次変速段対応速度Stgへの到達に必要なエンジン回転速度Seの変化量に応じて、選択的に実行される。
次変速機構Tnの可動ギアGn1が固定ギアGn2に向かって移動する際、これら2つのギアGn1,Gn2がドッグクラッチによって係合することなく互いに衝突する場合がある。すなわち、ドッグクラッチのドッグ歯がドッグ孔に嵌ることなく、2つのドッグクラッチが互いに衝突する場合がある。制御装置10はこのようなドッグクラッチの衝突が生じたか否かを判定してもよい。そして、その判定結果に応じて、回転速度制御部10gはエンジン回転速度Seの変化を継続又は再開してもよい。こうすることで、可動ギアGn1と固定ギアGn2との相対位置を変化させることでき、ドッグ歯をドッグ孔に嵌めることができる。
第2の実施形態では、回転速度制御部10gは、次変速段対応速度Stgを超えた回転速度(以下、超過回転速度)までエンジン回転速度Seを変化させる。そして、ギア制御部10hは、エンジン回転速度Seが次変速段対応速度Stgを超えた後に次変速機構Tnの可動ギアGn1が固定ギアGn2に当るように、可動ギアGn1を動かす。換言すれば、回転速度制御部10gは、可動ギアGn1と固定ギアGn2との係合が完了するまで、エンジン回転速度Seが超過回転速度から次変速段対応速度Stgに戻るのを抑える。この形態においても、可動ギアGn1と固定ギアGn2とを円滑に係合させることが可能である。また、エンジン回転速度Seの変化を早期に開始できるので、搭乗者による変速指令と、それに起因するエンジン20の駆動変化との時間的なずれを低減でき、変速中の車両の操作感を向上できる。なお、第2の実施形態に係る制御装置10も、図7に示す各機能を備えている。
この例では、ギア係合指令が出力された後に、可動ギアGn1と固定ギアGn2との間でドッグクラッチの衝突が生じたか否かが判定される。回転速度制御部10gは、その判定結果に応じて、エンジン回転速度Seの変化を継続又は再開する。特にこの例では、回転速度制御部10gは、ドッグクラッチの衝突が生じた場合、エンジン回転速度Seの変化の方向を変える。すなわち、回転速度制御部10gは、それまで実行していた制御によるエンジン回転速度Seの変化の方向とは反対方向にエンジン回転速度Seを変化させる。具体的には、エンジン回転速度Seを超過回転速度に向けて上昇させる上昇制御の実行中、或いは、その上昇制御の後の維持制御の実行中に、ドッグクラッチの衝突が生じた場合には、回転速度制御部10gはエンジン回転速度Seを下げる制御を実行する。また、エンジン回転速度を超過回転速度に向けて下げる下降制御の実行中、或いは、その下降制御の後の維持制御の実行中に、ドッグクラッチの衝突が生じた場合には、回転速度制御部10gはエンジン回転速度Seを上昇させる制御を実行する。
第1及び第2の実施形態では、エンジン回転速度Seが次変速段対応速度Stgに一致している状況で可動ギアGn1が固定ギアGn2に衝突することのないように、制御装置10はエンジン回転速度Seを制御していた。しかしながら、第3の実施形態では、制御装置10は、そのような制御を実行することなく、可動ギアGn1と固定ギアGn2との間でドッグクラッチの衝突が生じた場合に、次変速段対応速度から離れる方向にエンジン回転速度Seを変化させて、ドッグクラッチの衝突を解消する。例えば、回転速度制御部10gがエンジン回転速度Seを次変速段対応速度Stgに向けて変化させている過程で、ドッグクラッチの衝突が生じた場合に、回転速度制御部10gはそれまでとは反対方向にエンジン回転速度Seを変化させる。例えば、上昇制御を実行している最中にドッグクラッチの衝突が生じた場合には、回転速度制御部10gは下降制御を実行し、エンジン回転速度Seを下げる。反対に、下降制御を実行している最中にドッグクラッチの衝突が生じた場合には、回転速度制御部10gは上昇制御を実行し、エンジン回転速度Seを上昇させる。なお、この形態に係る制御装置10が備える機能は図17に示したものと同様である。
この例では、ドッグクラッチの衝突が生じた場合に、回転速度制御部10gは、ドッグクラッチの衝突が解消されるまで、変速指令に応じて開始した上昇制御又は下降制御を継続する。上昇制御又は下降制御を継続することで、エンジン回転速度Seが次変速段対応速度Stgから離れ、可動ギアGn1と固定ギアGn2との間に回転速度差が生じる。その結果、これらのギアGn1,Gn2が係合し易くなる。
Claims (15)
- エンジンの動力を伝達する動力伝達経路に、前記エンジンの動力がそれぞれ入力される2つのクラッチと、各クラッチの下流に配置され、共通の出力軸を有する2つの変速機構とが設けられ、前記2つの変速機構のそれぞれが、前記クラッチの従動部材の回転に連動する第1のギアと、前記出力軸の回転に連動し、前記第1のギアに対して相対移動可能で且つドッグクラッチによって前記第1のギアと係合可能な第2のギアとを含む、車両に設けられ、
動力を伝達する経路を、変速指令に応じて、一方のクラッチ及び変速機構から他方のクラッチ及び変速機構に切り替える制御装置であって、
変速指令に起因して動力伝達を開始する前記変速機構の前記第1のギアと前記第2のギアとを互いに接近させるギア制御部と、
前記ギア制御部によって互いに接近する前記第1のギアと前記第2のギアの係合によって実現される減速比と、車速とに応じたエンジン回転速度を目標回転速度とし、当該目標回転速度に向けてエンジン回転速度を変化させる制御を行う回転速度制御部であって、前記第1のギアと前記第2のギアとが係合するまで、エンジン回転速度が前記目標回転速度に到達するのを抑える回転速度制御部と、
エンジン回転速度の前記目標回転速度への到達に応じて、変速指令によって動力伝達を開始する前記クラッチを係合状態に近づけるとともに、他方のクラッチを解放状態に近づけるクラッチ制御部と、を含む、
ことを特徴とする車両の制御装置。 - 請求項1に記載の車両の制御装置において、
前記回転速度制御部は、前記第1のギアと前記第2のギアとが係合した後に、エンジン回転速度を前記目標回転速度に向けて変化させる前記制御を開始する、
ことを特徴とする車両の制御装置。 - 請求項1に記載の車両の制御装置において、
前記回転速度制御部は、前記第1のギアと前記第2のギアとが係合するまで、変速指令を受ける前のエンジン回転速度と前記目標回転速度との間の回転速度にエンジン回転速度を維持する、
ことを特徴とする車両の制御装置。 - 請求項3に記載の車両の制御装置において、
前記回転速度制御部がエンジン回転速度を維持する前記回転速度は、前記目標回転速度に基づいて算出される、
ことを特徴とする車両の制御装置。 - 請求項3に記載の車両の制御装置において、
前記ギア制御部によって前記第1ギアと前記第2ギアとが係合する前に、前記回転速度制御部はエンジン回転速度を変化させる前記制御を開始する、
ことを特徴とする車両の制御装置。 - 請求項1に記載の車両の制御装置において、
前記第1のギアと前記第2のギアとが係合したか否かを判定するギア判定部をさらに含み、
前記回転速度制御部は、その制御モードとして、前記ギア判定部によって前記第1のギアと前記第2のギアとが係合したと判断されるまで、エンジン回転速度が前記目標回転速度に到達するのを抑える第1の制御と、前記ギア制御部の判定結果とは独立して前記エンジン回転速度を前記目標回転速度に向けて変化させる第2の制御とを含み、
前記回転速度制御部は、前記目標回転速度に至るまでのエンジン回転速度の変化量に基づいて、前記第1の制御と前記第2の制御のいずれか一方を選択する、
ことを特徴とする車両の制御装置。 - 請求項1又は6に記載の車両の制御装置において、
前記ギア制御部によって互いに接近する前記第1のギアと前記第2のギアとが係合することなくそれらのドッグクラッチが互いに衝突したか否かを判定する衝突判定部をさらに備え、
前記回転速度制御部は、前記衝突判定部の判定結果に応じて、エンジン回転速度の変化を継続又は再開する、
ことを特徴とする車両の制御装置。 - 請求項7に記載の車両の制御装置において、
前記衝突判定部の判定結果に応じたエンジン回転速度の変化に起因して前記エンジン回転速度が前記目標回転速度を越えた場合に、前記回転速度制御部はエンジン回転速度を前記目標回転速度に戻す制御を実行する、
ことを特徴とする車両の制御装置。 - エンジンの動力を伝達する動力伝達経路に、前記エンジンの動力がそれぞれ入力される2つのクラッチと、各クラッチの下流に配置され共通の出力軸を有する2つの変速機構とが設けられ、前記2つの変速機構のそれぞれが、前記クラッチの従動部材の回転に連動する第1のギアと、前記出力軸の回転に連動し前記第1のギアに対して相対移動可能で且つドッグクラッチによって前記第1のギアと係合可能な第2のギアとを含む、車両に設けられ、
動力を伝達する経路を、変速指令に応じて、一方のクラッチ及び変速機構から他方のクラッチ及び変速機構に切り替える制御装置であって、
変速指令に応じて動力伝達を開始する前記変速機構の前記2つのギアを互いに接近させるギア制御部と、
前記ギア制御部によって互いに接近する前記2つのギアの係合によって実現される減速比と車速とに応じたエンジン回転速度を目標回転速度とし、当該目標回転速度に向けて、エンジン回転速度を変化させる制御を行う回転速度制御部であって、前記目標回転速度を超えた回転速度までエンジン回転速度を変化させた後、前記ギア係合部によって前記2つのギアが係合するまでエンジン回転速度が前記目標回転速度に戻るのを抑える回転速度制御部と、
エンジン回転速度の前記目標回転速度への戻りに応じて、変速指令に応じて動力伝達を開始する前記クラッチを係合状態に近づけるとともに、他方のクラッチを解放状態に近づけるクラッチ制御部と、を含む、
ことを特徴とする車両の制御装置。 - 請求項9に記載の車両の制御装置において、
前記回転速度制御部は、前記第1のギアと前記第2のギアとが係合するまで、前記目標回転速度を超えた前記回転速度にエンジン回転速度を維持する、
ことを特徴とする車両の制御装置。 - 請求項9に記載の車両の制御装置において、
エンジン回転速度が前記目標回転速度を越えた状況で互いに接近する前記第1のギアと前記第2のギアが当るように、前記ギア制御部は当該第1のギアと前記第2のギアの接近を開始する、
ことを特徴とする車両の制御装置。 - 請求項11に記載の車両の制御装置において、
前記ギア制御部は、エンジン回転速度が前記目標回転速度に基づいて定められる回転速度を超えた時に、前記第1のギアと前記第2のギアの接近を開始する、
ことを特徴とする車両の制御装置。 - 請求項9に記載の車両の制御装置において、
前記ギア制御部によって互いに接近する前記第1のギアと前記第2のギアとが係合することなくそれらのドッグクラッチが互いに衝突したか否かを判定する衝突判定部をさらに備え、
前記回転速度制御部は前記衝突判定部の判定結果に応じてエンジン回転速度の変化を継続又は再開する、
ことを特徴とする車両の制御装置。 - 請求項13に記載の車両の制御装置において、
前記回転速度制御部は、前記衝突判定部の判定結果に応じて、エンジン回転速度の変化の方向を変える、
ことを特徴とする車両の制御装置。 - 請求項1乃至14に記載の制御装置を備える自動二輪車。
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EP11851162.5A EP2657577B1 (en) | 2010-12-24 | 2011-04-08 | Vehicle control device and an automatic two-wheeled vehicle provided with same |
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