JP5217532B2 - Vehicle control apparatus and control method - Google Patents

Description

  The present invention relates to vehicle control, and more particularly, to vehicle control in which an engagement state of a clutch mechanism that transmits torque of a drive source to a transmission is controlled by an actuator.

  In recent years, vehicles that control the engagement state of a clutch mechanism that transmits torque of a drive source to a mechanical automatic transmission by an actuator have been developed and put into practical use. In such a vehicle, the engagement state of the clutch mechanism is changed by displacing the movable member in either the engagement direction or the release direction by the actuator. In such a vehicle, it is a big problem to end the speed change quickly without causing a shock.

  In particular, in the process of engaging the released clutch mechanism, the flywheel connected to the input shaft of the drive source and the clutch disk connected to the input shaft of the mechanical automatic transmission are slid in a contact state. Control (so-called half-latch control) is important for smooth shift control. In order to perform this half-clutch control appropriately, it is necessary to accurately grasp the engagement start position of the clutch mechanism (the position of the movable member when the flywheel and the clutch disk start to engage). The combined start position varies from vehicle to vehicle due to the effects of component assembly tolerances, and changes depending on the wear of the flywheel and clutch disc. Therefore, in order to appropriately perform the half-clutch control, it is desirable to learn the engagement start position for each vehicle at a predetermined cycle time after vehicle manufacture, rather than setting the engagement start position in advance before vehicle manufacture. .

An example of learning of the engagement start position is disclosed in Japanese Patent Application Laid-Open No. 2004-197842 (Patent Document 1). A control device disclosed in Japanese Patent Application Laid-Open No. 2004-197842 includes a flywheel that rotates integrally with an output shaft of a drive source, and a clutch disk that faces the flywheel and rotates integrally with an input shaft of a transmission. In a clutch control device comprising a friction clutch having an actuator and an actuator that changes an engagement state between the clutch disk and a flywheel by operating the clutch, the clutch disk is displaced in an engagement direction from a state where the clutch disk is not substantially rotated The rotation of the flywheel is transmitted to the clutch disk, the position of the rod displaced by the actuator when the rotation speed of the clutch disk reaches the predetermined rotation speed is detected by the stroke sensor, and the detected value of the stroke sensor is engaged. Learning as the starting position.
JP 2004-197842 A JP 2006-077926 A JP 2004-044814 A JP-A-9-112588

  However, as in the device disclosed in Japanese Patent Application Laid-Open No. 2004-197842, when learning the engagement start position using the detection value of the stroke sensor, there is a problem that learning is not completed early. That is, the position of the rod displaced by the actuator fluctuates due to the influence of rotation and vibration of the drive source. For this reason, the detection value of the stroke sensor becomes an unstable value such that the detection value varies depending on the detection timing. Further, it is conceivable that the detection value of the stroke sensor is different even if the actual position of the rod is the same due to the influence of individual differences of the stroke sensor. If the engagement start position is learned with the sensor detection value that is unstable and varies from sensor to sensor, appropriate learning is not performed or learning is not necessary, and learning is not completed early.

  The present invention has been made in order to solve the above-described problems, and an object of the present invention is to provide a vehicle in which an engagement state of a clutch mechanism that transmits torque of a drive source to a transmission is controlled by an actuator. It is an object of the present invention to provide a control device and a control method capable of learning an engagement start position quickly and accurately.

  A control device according to a first aspect of the present invention includes a clutch mechanism connected between an output shaft of a drive source and an input shaft of a transmission, and a clutch mechanism that is displaced in either the engagement direction or the release direction. A vehicle is provided that includes a movable member that changes the engagement state and an actuator that controls the position of the movable member. The actuator displaces the movable member to a position commanded by a control signal from the control device. The control device outputs a learning control signal for outputting a learning control signal for displacing the movable member in the engaging direction to the actuator when the predetermined learning start condition is satisfied, and the learning control signal is output from the output means. Thus, when a predetermined rotation condition regarding the input shaft of the transmission is satisfied, the position commanded by the learning control signal is learned as the engagement start position of the movable member at which the engagement of the clutch mechanism is started. Learning means.

  In the control device according to the second invention, in addition to the configuration of the first invention, the learning means corrects the position commanded by the learning control signal when the rotation condition is not satisfied, and sets the position as the engagement start position. learn.

  In the control device according to the third aspect of the invention, in addition to the configuration of the second aspect of the invention, when the learning means corrects the position commanded by the learning control signal without satisfying the rotation condition, the corrected position The learning control signal corresponding to is output to the output means, and the learning of the engagement start position is continued.

  In the control device according to the fourth invention, in addition to the configuration of any one of the first to third inventions, the rotation condition is that the state where the input shaft rotation speed of the transmission is included in the predetermined region continues for a predetermined time. It is a condition.

  In the control device according to the fifth aspect of the invention, in addition to the configuration of the fourth aspect of the invention, the learning start condition is that the output shaft of the drive source rotates with the clutch mechanism released, and the input of the transmission The condition is that the shaft is not rotating and the transmission is in a neutral state. The predetermined region is set based on the number of rotations at which the increase in the number of rotations of the input shaft of the transmission temporarily stagnate as the engagement of the clutch mechanism is started when the learning start condition is satisfied. The

  The control device according to the sixth aspect of the invention further includes storage means for storing the engagement start position in addition to the configuration of the fourth aspect of the invention. The output means outputs a learning control signal for displacing the movable member to the engagement start position stored in the storage means to the actuator. The learning means is a first judging means for judging whether or not the input shaft rotational speed is included in the predetermined area when a predetermined time has elapsed since the input shaft rotational speed became higher than the lower limit value of the predetermined area. And a first updating unit for updating the stored engagement start position at the position commanded by the learning control signal when the first determining unit determines that the input shaft rotational speed is included in the predetermined region. If the first determining means determines that the input shaft speed is not included in the predetermined area, is the input shaft speed higher than the upper limit value of the predetermined area or lower than the lower limit value of the predetermined area? When the second determination means and the second determination means determine that the input shaft rotational speed is higher than the upper limit value, the position commanded by the learning control signal is brought closer to the release side by a predetermined value. In the position corrected to When the second update means for updating the stored engagement start position and the second determination means determine that the input shaft rotational speed is lower than the lower limit value, the position commanded by the learning control signal is predetermined. And a third update means for updating the stored engagement start position at a position corrected so as to approach the engagement side by a value.

  In the control device according to the seventh invention, in addition to the configuration of any one of the first to sixth inventions, the control device outputs a shift control signal based on the learning result by the learning means to the actuator, and the transmission And means for controlling the clutch mechanism when shifting at a speed.

  The control methods according to the eighth to fourteenth inventions have the same requirements as the control devices according to the first to seventh inventions.

  According to the present invention, the engagement start position is learned based on the position commanded by the learning control signal that is not affected by the rotation or vibration of the drive source or the individual differences of the sensors. Therefore, compared with the case where the engagement start position is learned from the sensor detection value, the engagement start position can be learned early and accurately.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

  With reference to FIG. 1, the control block diagram of the whole vehicle provided with the control apparatus which concerns on this Embodiment is demonstrated. The vehicle to which the control device according to the present invention can be applied is not limited to the vehicle shown in FIG. 1 as long as it is a vehicle that controls the state of the clutch mechanism that transmits the torque of the drive source to the transmission by an actuator. The vehicle which has an aspect may be sufficient. Further, the drive source is not limited to the engine but may be a motor.

  The vehicle includes an engine 100, a clutch mechanism 200, an actuator 300, a mechanical automatic transmission 400, a reduction gear 500, a drive shaft 600, drive wheels 700, and an ECU 8000.

  Engine 100 is a gasoline engine that burns fuel injected from an injector (not shown) in a combustion chamber of a cylinder (not shown). The piston in the cylinder is pushed down by the combustion, and the crankshaft 110 is rotated.

  Clutch mechanism 200 is provided between engine 100 and mechanical automatic transmission 400. The clutch mechanism 200 transmits the torque of the engine 100 (engine torque) transmitted to the crankshaft 110 to the mechanical automatic transmission 400 via the input shaft 410 by the operation of the actuator 300.

  Actuator 300 operates in response to a control signal (stroke command value SXcom) from ECU 8000, and changes the engagement state of clutch mechanism 200 as described above. The clutch mechanism 200 and the actuator 300 will be described in detail later.

  The mechanical automatic transmission 400 is connected to the crankshaft 110 via the clutch mechanism 200 and the input shaft 410. The mechanical automatic transmission 400 includes an electric motor (not shown) that drives a gear shift member in the select direction and the shift direction, respectively, as a shift actuator. During gear shifting operation, the gear shift member is driven by the operation of the electric motor to switch the meshing state of the internal gear mechanism, thereby forming a desired gear stage and shifting the rotational speed of the crankshaft 110 to the desired rotational speed. .

  One end of the output shaft 420 of the mechanical automatic transmission 400 is connected to the mechanical automatic transmission 400 by spline fitting, and the other end is connected to the speed reducer 500. Reducer 500 is connected to drive shaft 600. Power is transmitted to the left and right drive wheels 700 via the drive shaft 600.

  The ECU 8000 includes an engine speed sensor 810, a stroke sensor 820, an input shaft speed sensor 830, an output shaft speed sensor 840, a position switch 8006 of a shift lever 8004, and an accelerator opening sensor 8010 of an accelerator pedal 8008. Are connected via a harness or the like.

  The engine speed sensor 810 detects the speed (engine speed) NE of the crankshaft 110. The stroke sensor 820 detects a stroke position SX in the clutch mechanism 200. The stroke position SX will be described later in detail. The input shaft speed sensor 830 detects the input shaft speed NIN of the mechanical automatic transmission 400. The output shaft speed sensor 840 detects the output shaft speed NOUT of the mechanical automatic transmission 400. The position switch 8006 detects the position (shift position) SP of the shift lever 8004. The accelerator opening sensor 8010 detects the opening (accelerator opening) ACC of the accelerator pedal 8008. Each of these sensors transmits a signal representing the detection result to ECU 8000.

  ECU 8000 is a signal sent from engine speed sensor 810, stroke sensor 820, input shaft speed sensor 830, output shaft speed sensor 840, position switch 8006, accelerator opening sensor 8010, and other sensors (not shown). Based on various information such as programs, threshold values, maps, etc. stored in the storage unit 8300, the devices are controlled so that the vehicle is in a desired running state.

  The clutch mechanism 200 and the actuator 300 will be described with reference to FIGS.

  As shown in FIGS. 2 and 3, the clutch mechanism 200 includes a flywheel 210 connected to the crankshaft 110, a clutch cover 220 fixed to the flywheel 210, and a clutch disk 230 connected to the input shaft 410. And a pressure plate 240 that clamps the clutch disc 230 with the flywheel 210, and a diaphragm spring 250.

  The diaphragm spring 250 is attached to the clutch cover 220 by being clamped via a set of rings 260 provided at a plurality of bent portions provided at the inner peripheral end of the clutch cover 220. The outer peripheral end 252 of the diaphragm spring 250 is in contact with the protrusion 242 of the pressure plate 240. As shown in FIG. 4, the diaphragm spring 250 is provided with a plurality of slits 256. These slits 256 are provided from the inner peripheral end 254 side to a position sandwiched by the ring 260.

  The actuator 300 includes a main body portion 302 through which the input shaft 410 passes, a movable member 304 inserted into the main body portion 302, and a hydraulic circuit 310 that moves the movable member 304 in the axial direction of the input shaft 410. The end of the movable member 304 is in contact with the inner peripheral end 254 of the diaphragm spring 250. The movable member 304 moves in the direction toward the diaphragm spring 250 (the X direction indicated by the arrow in FIG. 2) according to the hydraulic pressure supplied from the hydraulic circuit 310. The actuator 300 is not limited to the hydraulic type, and may be an electric type, for example.

  The actuator 300 receives a control signal from the ECU 8000. This control signal includes a stroke command value SXcom or a learning stroke command value SXLcom. The stroke command value SXcom and the learning stroke command value SXLcom are values indicating the amount of displacement of the movable member 304 from the initial position, that is, the position of the movable member 304 relative to the initial position. The actuator 300 supplies the hydraulic pressure from the hydraulic circuit 310 to the movable member 304, thereby displacing the movable member 304 to a position commanded by the stroke command value SXcom or the learning stroke command value SXLcom included in the control signal.

  In the following description, for convenience of explanation, ECU 8000 will be described as outputting stroke command value SXcom or learning stroke command value SXLcom to actuator 300.

  FIG. 2 shows a state of the clutch mechanism 200 when the stroke command value SXcom is set to an initial value (for example, zero) and the movable member 304 is set to the initial position. When the movable member 304 is in the initial position, the inner peripheral end 254 of the diaphragm spring 250 is displaced to the actuator 300 side (the direction opposite to the X direction), and the outer peripheral end 252 of the diaphragm spring 250 is the pressure plate 240 side (X direction). Move to). Therefore, the clutch disc 230 is pinched by the pressure plate 240 and the flywheel 210. Thus, the clutch mechanism 200 enters a state where engine torque is transmitted to the mechanical automatic transmission 400 (hereinafter, the state of the clutch mechanism 200 is also referred to as an engaged state).

  FIG. 3 shows the state of the clutch mechanism 200 when the stroke command value SXcom is increased from the initial value and the movable member 304 is displaced in the X direction from the initial position. When the movable member 304 is displaced in the X direction, the inner peripheral end 254 of the diaphragm spring 250 is displaced toward the pressure plate 240 (X direction), and the diaphragm spring 250 warps around the ring 260 as a fulcrum, and the outer peripheral end 252 of the diaphragm spring 250. Moves to the opposite side of the pressure plate 240 (the direction opposite to the X direction). As a result, the pressure plate 240 moves in a direction away from the clutch disk 230, so that the clutch disk 230 is not pinched. Therefore, the clutch mechanism 200 does not transmit engine torque to the mechanical automatic transmission 400 (hereinafter, the state of the clutch mechanism 200 is also referred to as a released state).

  The stroke sensor 820 is provided in the main body 302 of the actuator 300 and detects an actual position (hereinafter also referred to as a stroke position SX) with respect to the initial position of the movable member 304. That is, the stroke position SX increases when the movable member 304 is displaced in the X direction shown in FIG. 2 or FIG. 3 (hereinafter also referred to as the release direction), and is opposite to the X direction shown in FIG. 2 or FIG. It decreases when it is displaced in the direction (hereinafter also referred to as the engagement direction).

  The ECU 8000 increases the stroke command value SXcom and shifts the clutch mechanism 200 to the released state shown in FIG. 3 when performing a shift in the mechanical automatic transmission 400, and then performs a shift in the mechanical automatic transmission 400. After completion of the shift in the mechanical automatic transmission 400, the stroke command value SXcom is decreased to bring the clutch mechanism 200 into the engaged state shown in FIG.

  Further, ECU 8000 increases clutch command value SXcom and maintains clutch mechanism 200 in the released state shown in FIG. 3 to improve fuel efficiency while the vehicle is stopped.

  FIG. 5 shows a control structure of a program executed by ECU 8000 when clutch mechanism 200 is engaged after the completion of gear shifting. Note that the flowchart shown in FIG. 5 is merely an example, and the present invention is not limited to this.

  In step (hereinafter, step is abbreviated as S) 10, ECU 8000 reads out engagement start position SX (C) from storage unit 8300. The engagement start position SX (C) is a position of the movable member 304 when the engagement between the flywheel 210 and the clutch disk 230 is started when the released clutch mechanism 200 is brought into the engagement state. The engagement start position SX (C) is stored in the storage unit 8300 in advance.

  In S12, ECU 8000 outputs stroke command value SXcom to actuator 300 (hydraulic circuit 310) in accordance with engagement start position SX (C). The stroke command value SXcom output in this process is a value for shift control, and is different from a learning stroke command value SXLcom described later.

  FIG. 6 shows a timing chart of the shift command stroke command value SXcom output from the ECU 8000 to the actuator 300 in the process of S12. The stroke command value SXcom for shift control shown in FIG. 6 is merely an example and is not limited to this.

  The stroke command value SXcom is maintained at SXcom (1) that maintains the clutch mechanism 200 in the disengaged state until time t (1) when the shift in the mechanical automatic transmission 400 is completed.

  When the shift in the mechanical automatic transmission 400 is completed at time t (1), the stroke command value SXcom is relatively abruptly decreased to SXcom (A) that is larger by a predetermined amount A than the engagement start position SX (C). , SXcom (A) is maintained until time t (2) when the accelerator is turned on. Thereby, the movable member 304 is in a standby state at a position immediately before the start of engagement.

  After the time t (2), the stroke command value SXcom is gradually decreased to SXcom (B) that is smaller than the engagement start position SX (C) by a predetermined amount B, and the engine speed NE and the input shaft speed NIN Is maintained at SXcom (B) until time t (3) at which is synchronized. Thereby, the movable member 304 is displaced to the engagement side from the engagement start position SX (C), and the clutch mechanism 200 is in a state where the flywheel 210 and the clutch disc 230 are slipping without being completely engaged ( So-called half-clutch state).

  After time t (3), the stroke command value SXcom is gradually reduced to zero. As a result, the movable member 304 is displaced to the initial position, and the flywheel 210 and the clutch disc 230 are completely engaged.

  As described above, in the process of engaging the clutch mechanism 200 after the completion of the shift in the mechanical automatic transmission 400, the ECU 8000 temporarily sets the stroke command value SXcom to a value corresponding to the engagement start position SX (C). Thus, the clutch mechanism 200 is controlled to the half-clutch state. Therefore, in order to appropriately control this half-clutch state, it is important to accurately grasp the engagement start position SX (C).

  Therefore, ECU 8000 according to the present embodiment learns engagement start position SX (C) based on stroke command value SXcom.

  FIG. 7 shows a functional block diagram of the ECU 80000 when learning the engagement start position SX (C). The ECU 80000 includes an input interface (input I / F) 8100, an arithmetic processing unit 8200, a storage unit 8300, and an output interface (output I / F) 8400.

  The input I / F 8100 includes an engine rotational speed NE from the engine rotational speed sensor 810, an input shaft rotational speed NIN from the input shaft rotational speed sensor 830, an output shaft rotational speed NOUT from the output shaft rotational speed sensor 840, and a position switch 8006. The shift position SP and the accelerator position ACC from the accelerator position sensor 8010 are received and transmitted to the arithmetic processing unit 8200.

  The storage unit 8300 stores various information, programs, threshold values, maps, and the like in addition to the above-described engagement start position SX (C), and data is read from the arithmetic processing unit 8200 as necessary. Or stored.

  Arithmetic processing unit 8200 includes a stroke command unit 8210, a stagnation determination unit 8220, an update unit 8230, and a command value correction unit 8240.

  When the learning start condition is satisfied, the stroke command unit 8210 outputs a learning stroke command value SXLcom for learning the engagement start position SX (C) to the actuator 300 via the output interface 8400. The learning start condition is, for example, that the crankshaft 110 of the engine 100 is rotating (NE> 0) with the clutch mechanism 200 released (for example, when the vehicle is stopped), and the input shaft 410 of the mechanical automatic transmission 400. Is not rotating (NIN = 0), and the mechanical automatic transmission 400 is in a neutral state. The stroke command unit 8210 reads the engagement start position SX (C) stored in the storage unit 8300, and outputs the read engagement start position SX (C) as a learning stroke command value SXLcom.

  The stagnation determination unit 8220 determines whether or not the state where the input shaft rotational speed NIN is included in the predetermined region α continues for a predetermined time after the output of the learning stroke command value SXLcom. This predetermined region α is obtained when the increase in the input shaft rotational speed NIN temporarily stagnates with the start of engagement of the clutch mechanism 200 when the clutch mechanism 200 is engaged when the learning start condition is satisfied. It is set based on the rotational speed of the input shaft rotational speed NIN and is stored in advance in the storage unit 8300. The stagnation determination unit 8220 outputs the determination result to the update unit 8230 or the command value correction unit 8240.

  When the update unit 8230 receives a determination result indicating that the input shaft rotational speed NIN is included in the predetermined region α from the stagnation determination unit 8220, the update unit 8230 stores the learning stroke command value SXLcom output from the stroke command unit 8210 as a storage unit. The engagement start position SX (C) stored in 8300 is updated.

  When the command value correction unit 8240 receives the determination result indicating that the input shaft rotational speed NIN is not included in the predetermined region α from the stagnation determination unit 8220, the command value correction unit 8240 uses the learning stroke command value SXLcom output from the stroke command unit 8210. The engagement start position SX (C) stored in the storage unit 8300 is updated with the corrected learning stroke command value SXLcom after correction.

  In the present embodiment, the stroke command unit 8210, the stagnation determination unit 8220, the update unit 8230, and the command value correction unit 8240 are all stored in the storage unit 8300 as the CPU that is the arithmetic processing unit 8200. Although described as functioning as software realized by executing a program, it may be realized by hardware. Such a program is recorded on a storage medium and mounted on the vehicle.

  Hereinafter, a control structure of a program executed when learning the engagement start position SX (C) by ECU 8000 which is the control apparatus according to the present embodiment will be described with reference to FIG. Note that this program is repeatedly executed at a predetermined cycle time.

  In S100, ECU 8000 determines whether or not a learning start condition is satisfied. For example, ECU 8000 indicates that crankshaft 110 of engine 100 is rotating (NE> 0) with clutch mechanism 200 being released, and input shaft 410 of mechanical automatic transmission 400 is not rotating (NIN = 0) and the mechanical automatic transmission 400 is in the neutral state, it is determined that the learning start condition is satisfied. If the learning start condition is satisfied (YES in S100), the process proceeds to S102. Otherwise (NO in S100), this process ends.

  In S102, ECU 8000 outputs engagement start position SX (C) stored in storage unit 8300 to actuator 300 as learning stroke command value SXLcom.

  In S104, ECU 8000 starts monitoring input shaft speed NIN. In S106, ECU 8000 determines whether or not input shaft speed NIN is greater than the lower limit value of predetermined region α. If input shaft rotation speed NIN is greater than the lower limit value of predetermined region α (YES in S106), the process proceeds to S108. Otherwise (NO in S106), the process proceeds to S118.

  In S108, ECU 8000 determines whether or not a predetermined time T has elapsed. If predetermined time T has elapsed (YES in S108), the process proceeds to S110. Otherwise (NO in S108), the process returns to S108 and waits until a predetermined time T elapses.

  In S110, ECU 8000 determines whether or not input shaft speed NIN is included in predetermined area α (whether or not input shaft speed NIN is larger than the lower limit value of predetermined area α and smaller than the upper limit value). Judging. If input shaft rotation speed NIN is included in predetermined area α (YES in S110), the process proceeds to S112. Otherwise (NO in S110), the process proceeds to S114.

  In S112, ECU 8000 updates engagement start position SX (C) stored in storage unit 8300 with learning stroke command value SXLcom.

  In S114, ECU 8000 determines whether or not input shaft speed NIN is larger than the upper limit value of predetermined region α. If input shaft speed NIN is larger than the upper limit value of predetermined region α (YES in S114), the process proceeds to S116. Otherwise (NO in S114), the process proceeds to S120.

  In step S116, the ECU 8000 stores the learning stroke command value SXLcom plus a predetermined value ΔS (a value obtained by bringing the learning stroke command value SXLcom closer to the release side by the predetermined value ΔS) and stored in the storage unit 8300. The combination start position SX (C) is updated.

  In S118, ECU 8000 determines whether or not a predetermined time has elapsed. This predetermined time is set based on the predicted arrival time of the input shaft rotation speed NIN to the predetermined region α when the engagement start position SX (C) is assumed to be an appropriate value. If the predetermined time has elapsed (YES in S118), the process proceeds to S120. Otherwise (NO in S118), the process returns to S106.

  In S120, ECU 8000 stores in storage unit 8300 a value obtained by subtracting predetermined value ΔS from learning stroke command value SXLcom (a value obtained by bringing learning stroke command value SXLcom closer to the engagement side by predetermined value ΔS). The engagement start position SX (C) is updated.

  Learning of the engagement start position SX (C) performed by ECU 8000 serving as the control device according to the present embodiment based on the above-described structure and flowchart will be described with reference to FIG. FIG. 9 is an example of a timing chart of the learning stroke command value SXLcom, the stroke position SX, and the input shaft rotational speed NIN.

  When the learning start condition is satisfied at time t (5) when the vehicle is stopped (YES in S100), the engagement start position SX (C) stored in the storage unit 8300 is used as the learning stroke command value SXLcom. (102). Thereby, the movable member 304 is displaced to the engagement start position SX (C).

  When input shaft speed NIN exceeds the lower limit value of predetermined region α at time t (6) (YES in S108), input shaft speed NIN at time t (7) when predetermined time T has elapsed is predetermined. It is determined whether it is included in the region α (S110).

  Here, when the input shaft rotational speed NIN is included in the predetermined region α also at time t (7), the position of the movable member 304 at time t (7) is considered to be the engagement start position. This is because the predetermined region α is set based on the rotational speed of the input shaft rotational speed NIN when the increase in the input shaft rotational speed NIN temporarily stagnate with the start of engagement of the clutch mechanism 200. is there.

  However, when the position of the movable member 304 at time t (7) is detected by the stroke sensor 820 and the stroke position SX, which is the detection result by the stroke sensor 820, is learned as the engagement start position SX (C), learning is completed early. May not.

  That is, as shown in FIG. 3 described above, the end of the movable member 304 is in contact with the inner peripheral end 254 of the diaphragm spring 250. Therefore, the rotation and vibration of the engine 100 are transmitted to the movable member 304 via the inner peripheral end 254, and the stroke position SX by the stroke sensor 820 is unstable and fluctuates over time as shown in FIG. Value. In particular, if the positions of the plurality of inner peripheral ends 254 in the X direction vary, the movable member 304 vibrates in the X direction each time the engine 100 rotates, so that the variation amount of the stroke position SX becomes larger.

  In addition, as indicated by a one-dot chain line and a two-dot chain line in FIG. 9, it is conceivable that different stroke positions SX are detected due to individual differences of the stroke sensors 820.

  If the engagement start position SX (C) is learned at such an unstable and variable stroke position SX (sensor detection value) for each sensor, the learning is performed until it is not necessary to learn the engagement start position SX (C). Therefore, the engagement start position SX (C) may not converge to an appropriate value early.

  Therefore, in the present embodiment, the engagement start position SX (C) is updated not by the stroke position SX at time t (7) but by the learning stroke command value SXLcom at time t (7) (112) ). In the case shown in FIG. 9, the engagement start position SX (C) output as the learning stroke command value SXLcom is updated as it is as an appropriate value.

  Therefore, compared to the case where the engagement start position SX (C) is learned at the stroke position SX at time t (7), there is no problem of learning until the learning is not necessary, and the engagement starts. The position SX (C) can be quickly stabilized at an appropriate value.

  When the input shaft rotational speed NIN does not reach the lower limit value of the predetermined area α (NO in S106, NO in S118), the input shaft rotational speed NIN at time t (7) is included in the predetermined area α. If not (NO in S110), the engagement start position SX (C) is updated with a value obtained by correcting the learning stroke command value SXLcom (S114, S116, S120). Thereafter, as long as the learning start condition is satisfied (YES in S100), the updated engagement start position SX (C) (that is, a value obtained by correcting the learning stroke command value SXLcom) is used as the learning stroke command value SXLcom. 300 (102), and learning of the engagement start position SX (C) is continued. Therefore, the value of the engagement start position SX (C) is converged to an appropriate value at an early stage, compared to the case where the stroke start position SX at time t (7) is used to correct and learn the engagement start position SX (C). Can be made.

  As described above, according to the control device according to the present embodiment, the engagement in the clutch mechanism is based on the learning stroke command value that is not affected by the rotation or vibration of the engine or the individual difference of the stroke sensor. The starting position is learned. Therefore, compared with the case where the engagement start position is learned from the detection value of the stroke sensor, the engagement start position can be learned early and accurately.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1 is a control block diagram of an entire vehicle to which a control device according to an embodiment of the present invention is applied. It is sectional drawing (the 1) of the clutch mechanism and actuator which concern on embodiment of this invention. It is sectional drawing (the 2) of the clutch mechanism and actuator which concern on embodiment of this invention. It is a figure which shows the clutch cover and diaphragm spring which concern on embodiment of this invention. It is a flowchart (the 1) which shows the control structure of ECU which is a control apparatus which concerns on embodiment of this invention. It is a timing chart of the stroke command value output from ECU which concerns on embodiment of this invention. It is a functional block diagram of ECU which is a control device concerning an embodiment of the invention. It is a flowchart (the 2) which shows the control structure of ECU which is a control apparatus which concerns on embodiment of this invention. It is a timing chart of learning stroke command value SXLcom, stroke position SX, and input shaft rotational speed NIN.

Explanation of symbols

  100 Engine, 110 Crankshaft, 200 Clutch mechanism, 210 Flywheel, 220 Clutch cover, 230 Clutch disc, 240 Pressure plate, 242 Projection, 250 Diaphragm spring, 252 Outer end, 254 Inner end, 256 Slit, 260 Ring, 300 Actuator, 302 Main Body, 304 Movable Member, 310 Hydraulic Circuit, 400 Mechanical Automatic Transmission, 410 Input Shaft, 420 Output Shaft, 500 Reducer, 600 Drive Shaft, 700 Drive Wheel, 810 Engine Speed Sensor, 820 Stroke Sensor, 830 Input shaft rotational speed sensor, 840 Output shaft rotational speed sensor, 8004 Shift lever, 8006 Position switch, 8008 Accelerator pedal, 8010 Accelerator Degree sensor, 8000 ECU, 8200 arithmetic processing unit, 8100 input interface, 8210 stroke reference unit, 8220 stagnation determining unit, 8230 update unit, 8240 command value correcting portion, 8300 storage portion, 8400 output interface.

Claims (12)

A clutch mechanism connected between the output shaft of the drive source and the input shaft of the transmission, and a movable member that changes the engagement state of the clutch mechanism by displacing in either the engagement direction or the release direction. And an actuator for controlling the position of the movable member, wherein the actuator displaces the movable member to a position commanded by a control signal from the control device,
The controller is
An output means for outputting a learning control signal for displacing the movable member in the engagement direction to the actuator when a predetermined learning start condition is satisfied;
When a predetermined rotation condition regarding the input shaft of the transmission is satisfied by the output of the learning control signal from the output means, the position commanded by the learning control signal is set to the engagement of the clutch mechanism. and learning means for learning as an engagement start position of the movable member engagement is initiated seen including,
The rotation condition is a vehicle control apparatus in which a state where the input shaft rotation speed of the transmission is included in a predetermined region continues for a predetermined time .   2. The vehicle control device according to claim 1, wherein when the rotation condition is not satisfied, the learning unit corrects the position commanded by the learning control signal and learns the position as the engagement start position.   When the learning means corrects the position commanded by the learning control signal without satisfying the rotation condition, the learning means outputs the learning control signal corresponding to the corrected position to the output means, and The vehicle control device according to claim 2, wherein the learning of the engagement start position is continued. The learning start condition is that the output shaft of the drive source is rotating while the clutch mechanism is released, the input shaft of the transmission is not rotating, and the transmission is in a neutral state. And the condition
The predetermined region is a rotational speed at which an increase in the rotational speed of the input shaft of the transmission temporarily stagnates when the engagement of the clutch mechanism is started when the learning start condition is satisfied. It is set based on the control apparatus for a vehicle according to claim 1. The control device further includes storage means for storing the engagement start position,
The output means outputs the learning control signal for displacing the movable member to the engagement start position stored in the storage means to the actuator,
The learning means includes
A first determination for determining whether or not the input shaft rotational speed is included in the predetermined area when the predetermined time has elapsed since the input shaft rotational speed has become higher than a lower limit value of the predetermined area. Means,
When the first determining means determines that the input shaft rotational speed is included in the predetermined region, the stored engagement start position is updated at the position commanded by the learning control signal. First updating means;
If the first determining means determines that the input shaft speed is not included in the predetermined area, is the input shaft speed higher than the upper limit value of the predetermined area or the lower limit of the predetermined area? A second determination means for determining whether the value is lower than the value;
When the second determining means determines that the input shaft rotational speed is higher than the upper limit value, the position commanded by the learning control signal is corrected to approach the release side by a predetermined value, Second update means for updating the stored engagement start position;
When the second determining means determines that the input shaft rotational speed is lower than the lower limit value, the position commanded by the learning control signal is corrected so as to approach the engagement side by a predetermined value, The vehicle control device according to claim 1, further comprising third update means for updating the stored engagement start position. Said control device, said a based Ku control signal to the learning result by the learning means outputs to said actuator further includes means for performing control of the clutch mechanism in the case of shift in the transmission, claim The vehicle control device according to any one of 1 to 5 . A clutch mechanism connected between the output shaft of the drive source and the input shaft of the transmission, and a movable member that changes the engagement state of the clutch mechanism by displacing in either the engagement direction or the release direction. And a control device for controlling a vehicle including an actuator for controlling the position of the movable member, wherein the actuator moves the movable member to a position commanded by a control signal from the control device. Displace,
The control method is:
An output step of outputting, to the actuator, a learning control signal for displacing the movable member in the engagement direction when a predetermined learning start condition is satisfied;
When a predetermined rotation condition regarding the input shaft of the transmission is satisfied by the output of the learning control signal in the output step, the position commanded by the learning control signal is set to the position of the clutch mechanism. and learning step of learning as an engagement start position of the movable member engagement is initiated seen including,
The rotation condition is a vehicle control method in which a state where an input shaft rotation speed of the transmission is included in a predetermined region continues for a predetermined time . 8. The vehicle control method according to claim 7 , wherein when the rotation condition is not satisfied, the learning step corrects the position commanded by the learning control signal and learns the position as the engagement start position. In the learning step, when the position commanded by the learning control signal is corrected without satisfying the rotation condition, the learning control signal corresponding to the corrected position is output to the output step, The vehicle control method according to claim 8 , wherein learning of the engagement start position is continued. The learning start condition is that the output shaft of the drive source is rotating while the clutch mechanism is released, the input shaft of the transmission is not rotating, and the transmission is in a neutral state. And the condition
The predetermined region is a rotational speed at which an increase in the rotational speed of the input shaft of the transmission temporarily stagnates when the engagement of the clutch mechanism is started when the learning start condition is satisfied. The vehicle control method according to claim 7, wherein the vehicle control method is set based on The control device includes a storage unit that stores the engagement start position.
The output step outputs the learning control signal for displacing the movable member to the engagement start position stored in the storage unit to the actuator,
The learning step includes
A first determination step of determining whether or not the input shaft rotational speed is included in the predetermined area when the predetermined time has elapsed since the input shaft rotational speed has become higher than a lower limit value of the predetermined area; ,
When it is determined in the first determination step that the input shaft rotational speed is included in the predetermined area, the stored engagement start position is updated at the position commanded by the learning control signal. An update step;
If it is determined in the first determination step that the input shaft speed is not included in the predetermined area, is the input shaft speed higher than an upper limit value of the predetermined area or the lower limit of the predetermined area? A second determination step for determining whether the value is lower than the value;
When it is determined in the second determination step that the input shaft rotational speed is higher than the upper limit value, the position commanded by the learning control signal is corrected to approach the release side by a predetermined value, A second update step of updating the stored engagement start position;
When it is determined in the second determination step that the input shaft rotational speed is lower than the lower limit value, the position commanded by the learning control signal is corrected to approach the engagement side by a predetermined value, The vehicle control method according to claim 7, further comprising a third update step of updating the stored engagement start position. The control method, the outputs of the based Ku control signal to the learning result of the learning step to the actuator, further comprising a step of performing control of the clutch mechanism in the case of shift in the transmission, according to claim 7 The vehicle control method according to any one of to 11 .

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