JP2018150993A - Clutch control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure good responsiveness even when the pressure in a pressure chamber of a clutch actuator drops. SOLUTION: A target value setting unit for setting a target position of a piston when engaging and disengaging a clutch device, and a feed forward control should be executed based on the set target position of the piston to adjust the piston. A feed forward control unit that determines the feed forward value related to the amount of movement, an actuator control unit that controls the clutch actuator based on the determined feed forward value, and a pressure value acquisition unit that acquires the pressure value in the pressure chamber of the clutch actuator. In the case where the feed forward control unit contacts the clutch device by discharging the working fluid in the pressure chamber, the pressure value in the pressure chamber acquired by the pressure value acquisition unit is equal to or less than a predetermined first threshold value. In that case, the feed forward gain is increased as compared with the case where it is larger than the first threshold value. [Selection diagram] Fig. 3

Description

  The present invention relates to a clutch control device, and more particularly to a clutch control device that connects and disconnects a clutch device by controlling a clutch actuator having a piston and a cylinder.

  2. Description of the Related Art Conventionally, a clutch control device that controls transmission of driving force between an engine and a transmission mechanism by arranging a clutch device between the engine and the transmission mechanism and controlling connection / disconnection of the clutch device is known. . A clutch control device that controls connection / disconnection of the clutch device using a fluid (working fluid) such as air or hydraulic oil is also known.

  As this type of clutch control device, for example, when the clutch control device of Patent Document 1 controls the clutch by supplying air to the clutch actuator, it first controls the operation of the small opening solenoid valve for air supply. The control of the small opening solenoid valve for supplying air is stopped to control the operation of the large opening solenoid valve for supplying air, and then the control of the large opening solenoid valve for supplying air is stopped to control the small opening solenoid valve for supplying air. Is controlled again, and when the clutch stroke of the clutch actuator reaches the target clutch stroke value, the operation control of the small opening solenoid valve for supplying air is stopped (for example, see Patent Document 1).

JP 2014-111957 A

  Incidentally, some clutch devices in which a clutch actuator is driven by a working fluid to connect and disconnect the clutch have a nonlinear clutch spring characteristic. That is, there is a type in which the movement amount of the piston with respect to the supply amount of the working fluid in the pressure chamber in the clutch actuator is not linear. In such a clutch device, when the pressure in the pressure chamber of the clutch actuator decreases, the amount of air discharged from the pressure chamber of the clutch actuator decreases as the pressure decreases, thereby ensuring the responsiveness of the clutch actuator. You may not be able to.

  An object of the technology of the present disclosure is to provide a clutch control device that can ensure good responsiveness even when the pressure in the pressure chamber of the clutch actuator decreases.

  The technology of the present disclosure is a clutch control device for connecting / disconnecting a clutch device by controlling a clutch actuator having a piston and a cylinder, and a target for setting a target position of the piston when the clutch device is connected / disconnected. A feedforward control that executes feedforward control based on a target position of the piston set by the value setting unit and the target value setting unit, and determines a feedforward value related to the amount of movement of the piston to be adjusted An actuator control unit that controls the clutch actuator based on the feedforward value determined by the feedforward control unit, and a pressure value acquisition unit that acquires a pressure value in a pressure chamber in the clutch actuator. The feed forward The control unit is configured to contact the clutch device by discharging the working fluid in the pressure chamber, and when the pressure value in the pressure chamber acquired by the pressure value acquisition unit is equal to or less than a predetermined first threshold value. Is characterized in that the feedforward gain is increased as compared with the case where the value is larger than the first threshold value.

  In the technology of the present disclosure, the feedforward control unit determines the feedforward value by a first feedforward gain when the pressure value in the pressure chamber is in a first range equal to or less than the first threshold value. When the pressure value in the pressure chamber is in a second range larger than the first threshold, the feedforward value is determined by a second feedforward gain that is smaller than the first feedforward gain.

  Furthermore, in the technology of the present disclosure, the feedforward control unit is a case where the clutch device is engaged and a difference between the static characteristic and the dynamic characteristic is small, and the position of the piston is equal to or less than a predetermined second threshold value. When in the third range, the feedforward value is determined by a third feedforward gain, and when the position of the piston is in the fourth range that is greater than the second threshold, the third feedforward gain The feedforward value is determined by a fourth feedforward gain that is also smaller.

  Furthermore, in the technique of the present disclosure, the feedforward control unit is a case where the clutch device is disconnected by supplying a working fluid in the pressure chamber, and the position of the piston is equal to or less than a predetermined second threshold value. When the position is in the third range, the feedforward value is determined by a third feedforward gain. When the position of the piston is in the fourth range that is larger than the second threshold, the feedforward value is larger than the third feedforward gain. The feedforward value is determined by a small fourth feedforward gain.

  Furthermore, the technology of the present disclosure further includes a valve disposed between the clutch actuator and an air supply / exhaust source, and the actuator control unit is based on the feedforward value determined by the feedforward control unit, The clutch actuator is controlled by controlling the valve according to a duty ratio.

  Furthermore, in the technique of the present disclosure, a feedback control unit that performs feedback control based on the target position of the piston and the current position of the piston and determines a feedback value related to the amount of movement of the piston to be adjusted. The feedback control unit is configured to contact the clutch device 10 by discharging air in the pressure chamber 23, and when the pressure value in the pressure chamber is equal to or less than the first threshold value, The feedback gain is increased as compared with a case where the value is larger than one threshold, and the actuator control unit is based on the feedforward value determined by the feedforward control unit and the feedback value determined by the feedback control unit. , Controlling the clutch actuator.

  Furthermore, the technology of the present disclosure further includes a valve disposed between the clutch actuator and an air supply / exhaust source, wherein the actuator control unit is configured to determine the feedforward value and the feedback control determined by the feedforward control unit. The clutch actuator is controlled by controlling the valve according to a duty ratio based on the feedback value determined by the unit.

  Further, the second threshold value is different between when the clutch device is disconnected and when the clutch device is engaged.

  According to the technique of the present disclosure, even when the pressure in the pressure chamber of the clutch actuator is reduced, good responsiveness can be ensured.

It is a typical lineblock diagram of the clutch system concerning this embodiment. FIG. 2A is a diagram showing the relationship between the stroke and the release load in the clutch actuator according to the present embodiment. FIG. 2B is a diagram showing the relationship between the stroke and the amount of air in the pressure chamber in the clutch actuator according to the present embodiment. It is a functional lineblock diagram of ECU concerning this embodiment. It is a flowchart of the clutch engagement processing according to the present embodiment. It is a flowchart of the clutch disengagement process which concerns on this embodiment.

  Hereinafter, a clutch control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a schematic configuration diagram of a clutch system according to the present embodiment. The clutch system 1 includes a clutch device 10, a clutch actuator 20, a clutch control device 2, and a stroke sensor 18.

  The clutch device 10 includes a flywheel 12, a clutch disk 13, a pressure plate 14, a clutch cover 15, a diaphragm spring 16, and a release bearing 17.

  The flywheel 12 is connected to a crankshaft 11 to which an engine driving force (not shown) is transmitted so as to be integrally rotatable. A clutch cover 15 is fixed to the outer peripheral edge of the flywheel 12 on the side opposite to the crankshaft 11.

  The clutch disc 13 is disposed coaxially with the crankshaft 11, and has an attachment portion 13A that is spline-fitted to an input shaft 31 of a transmission (not shown) so as to be axially movable and integrally rotatable, and an outer periphery of the attachment portion 13A. An annular disc main body portion 13B fixed to the disk portion, and a friction plate 13C fixed to both surfaces of the outer edge portion of the disc main body portion 13B.

  The pressure plate 14 is disposed on the opposite side of the clutch disk 13 from the flywheel 12 so as to be in contact with the friction plate 13C. An outer edge portion of the diaphragm spring 16 is disposed on the surface of the pressure plate 14 opposite to the flywheel 12 so that the outer edge of the diaphragm spring 16 can come into contact with the pressure plate 14. When pressed by the diaphragm spring 16, the clutch disc 13 can be pressed against the flywheel 12. It has become. When the pressure plate 14 is not pressed by the diaphragm spring 16, the pressure plate 14 is moved to the side opposite to the flywheel 12 by a spring (not shown) so that the clutch disk 13 is not pressed against the flywheel 12. .

  The diaphragm spring 16 is a substantially conical spring member in an unloaded state, and an intermediate portion between the inner edge portion and the outer edge portion is attached to the clutch cover 15. The outer edge portion of the diaphragm spring 16 is disposed so as to contact the side opposite to the flywheel 12 of the pressure plate 14, and the inner edge portion of the diaphragm spring 16 is disposed so as to contact the surface of the release bearing 17 on the flywheel 12 side. Has been.

  In the present embodiment, when the release bearing 17 does not press the inner edge of the diaphragm spring 16 toward the flywheel 12, the outer edge of the diaphragm spring 16 presses the pressure plate 14 toward the flywheel 12, and the clutch disk 13 is brought into pressure contact with the flywheel 12, that is, the clutch device 10 is brought into a contact state. On the other hand, when the release bearing 17 presses the inner edge of the diaphragm spring 16 toward the flywheel 12, the outer edge of the diaphragm spring 16 moves to the opposite side of the flywheel 12, and the outer edge of the diaphragm spring 16 moves. The pressure plate 14 is not pressed, and the clutch disc 13 is not pressed against the flywheel 12, that is, the clutch device 10 is disconnected.

  The release bearing 17 is configured such that the inner ring flywheel 12 side comes into contact with the inner edge of the diaphragm spring 16, and the outer ring flywheel 12 side is connected to a piston 22, which will be described later, of the clutch actuator 20. The spring 16 and the piston 22 can rotate relative to each other, and can move in the axial direction of the input shaft 31 as the piston 22 moves in the axial direction.

  The clutch actuator 20 includes a cylinder 21 that is disposed around the input shaft 31 so as to be relatively rotatable, and a piston 22 that is movable in the axial direction within the cylinder 21. A pressure chamber 23 is formed by the surface of the piston 22 opposite to the flywheel 12 and the inner wall of the cylinder 21, and an open chamber 24 is formed by the outer peripheral surface of the piston 22, the surface of the flywheel 12 and the inner wall of the cylinder 21. Is formed.

  The cylinder 21 is provided with an air supply pipe 25 for supplying air (an example of a working fluid) into the pressure chamber 23 and an exhaust pipe 26 for discharging air from the pressure chamber 23. . The cylinder 21 is formed with an open hole 21 </ b> A that allows the open chamber 24 to communicate with the outside (for example, the outside at atmospheric pressure).

  According to the clutch actuator 20, by supplying air into the pressure chamber 23, the piston 22 can be moved to the flywheel 12 side to disengage the clutch device 10, and the air is discharged from the pressure chamber 23. By doing so, the piston 22 can be moved to the opposite side to the flywheel 12, and the clutch apparatus 10 can be made into a contact state.

  The clutch control device 2 is disposed between the air supply valve 41 disposed between the air supply side for supplying air and the air supply pipe 25, and between the exhaust side for discharging air and the exhaust pipe 26. The exhaust valve 42 and an electronic control unit (ECU) 50 for controlling the air supply valve 41 and the exhaust valve 42 are provided.

  The supply valve 41 communicates the supply side and the pressure chamber 23 to supply air (supply state), and shuts off the supply side and the pressure chamber 23 to stop supplying air (supply). (Stop state). The air supply valve 41 can switch between the supply state and the supply stop state by controlling the duty ratio in the ECU 50 to adjust the supply amount of air in the pressure chamber 23.

  The exhaust valve 42 communicates the exhaust side and the pressure chamber 23 to discharge air (discharge state), and shuts off the exhaust side and the pressure chamber 23 to stop air discharge (discharge stop state). And can be switched. The exhaust valve 42 can switch between a discharge state and a discharge stop state by adjusting the duty ratio in the ECU 50 to adjust the air discharge amount.

  The stroke sensor 18 detects a position (stroke) from a predetermined reference position of the piston 22 of the clutch actuator 20. The stroke sensor 18 notifies the ECU 50 of the detected stroke of the piston 22.

  Next, characteristics of the clutch actuator 20 when operating the clutch device 10 will be described in detail.

  FIG. 2A is a diagram showing the relationship between the stroke and the release load in the clutch actuator according to the present embodiment. In FIG. 2A, the vertical axis represents the load (release load) applied to the piston 22, and the horizontal axis represents the stroke of the piston 22. The position where the stroke in FIG. 2A is 0 is, for example, when the pressure in the pressure chamber 23 and the open chamber 24 is both atmospheric pressure.

  As shown in FIG. 2A, when the stroke of the piston 22 is small, the change in the stroke with respect to the change in the load is smaller than when the stroke is large. That is, the stroke of the piston 22 is non-linear with respect to the load.

  FIG. 2B is a diagram showing the relationship between the stroke of the piston and the amount of air in the pressure chamber in the clutch actuator according to the present embodiment. In FIG. 2B, the vertical axis indicates the amount of air in the pressure chamber 23, and the horizontal axis indicates the stroke of the piston 22. Note that the position where the stroke is 0 in FIG. 2B indicates the position when the piston 22 is at a predetermined initial position (set position). Further, the left side of the horizontal axis is the side where the clutch comes into contact, and is the direction in which the piston 22 moves when exhausted from the pressure chamber 23 by the exhaust valve 42. On the other hand, the right side of the horizontal axis is the side where the clutch is disengaged, and is the direction in which the piston 22 moves when air is supplied to the pressure chamber 23 by the air supply valve 41.

  As shown in FIG. 2B, in the case where the stroke of the piston 22 is in the third range equal to or less than the second threshold value (stroke threshold value), the change in the stroke amount of the piston 22 with respect to the change in the air amount in the pressure chamber 23. When the air amount in the pressure chamber 23 is in the fourth range larger than the second threshold value, the change in the stroke of the piston 22 with respect to the change in the air amount in the pressure chamber 23 is large. That is, the stroke of the piston 22 is non-linear with respect to the amount of air in the pressure chamber 23. The first threshold, the first range, and the second range will be described later.

  Next, the ECU 50 will be described in detail.

  FIG. 3 is a functional configuration diagram of the ECU 50 according to the present embodiment. The ECU 50 controls the clutch actuator 20 to connect / disconnect the clutch device 10 and includes a known CPU, ROM, RAM, input port, output port, and the like.

  The ECU 50 includes a clutch operation determination unit 51, a target value setting unit 52, a pressure estimation unit (pressure value acquisition unit) 53, a feedforward control unit 54, a PID (Proportional-Integral-Differential) control unit 55, an actuator And a control unit 56. Each of these functional elements will be described as being included in the ECU 50 which is an integral piece of hardware. However, any one of these functional elements may be provided in separate hardware, and the CPU, ROM and ROM included in the ECU 50 It can also be realized by software mainly composed of a program read from the program and executed by the CPU.

  The clutch operation determination unit 51 determines whether to start the clutch disengagement operation based on, for example, a vehicle speed from a vehicle speed sensor (not shown), an accelerator opening from an accelerator opening sensor, or the like. Then, when starting the clutch disengagement operation, the clutch operation determination unit 51 notifies the target value setting unit 52 and the pressure estimation unit 53 to that effect. Further, the clutch operation determination unit 51 determines whether or not to start the clutch engagement operation based on, for example, whether or not the shift of the transmission has been completed. Then, when starting the clutch engagement operation, the clutch operation determination unit 51 notifies the target value setting unit 52 and the pressure estimation unit 53 to that effect.

  Furthermore, the clutch operation determination unit 51 determines whether or not the clutch disengagement operation has been completed based on, for example, a vehicle speed from a vehicle speed sensor (not shown), an accelerator opening from an accelerator opening sensor, or the like. Then, when the clutch disengagement operation is completed, the clutch operation determination unit 51 notifies the actuator control unit 56 to that effect. When the clutch disengagement operation has not been completed, the clutch operation determination unit 51 informs the pressure estimation unit 53 to that effect. Notice. Further, the clutch operation determination unit 51 determines whether or not the clutch engagement operation is completed based on, for example, whether or not the shift of the transmission is completed. When the clutch engagement operation is completed, the clutch operation determination unit 51 notifies the actuator control unit 56 to that effect, and when the clutch engagement operation is not completed, the clutch operation determination unit 51 notifies the pressure estimation unit 53 to that effect. Notice.

  When the clutch operation determining unit 51 is notified that the clutch disengagement operation or the clutch engagement operation is performed, the target value setting unit 52 sets the target value of the stroke (position) of the piston 22 and feeds the target value of the stroke. It outputs to the forward control part 54 and the PID control part 55.

  When the pressure estimation unit 53 is notified from the clutch operation determination unit 51 that the clutch engagement operation is started or the clutch engagement operation is not completed, the pressure estimation unit 53 determines, for example, from the stroke of the piston 22 detected by the stroke sensor 18. The pressure in the pressure chamber 23 is estimated by a predetermined calculation formula, and the pressure value is output to the feedforward control unit 54 and the PID control unit 55.

  In addition, when the pressure estimation unit 53 is notified from the clutch operation determination unit 51 that the clutch disengagement operation is started or the clutch disengagement operation is not completed, the pressure estimation unit 53 detects the stroke of the piston 22 detected by the stroke sensor 18. The value is output as it is to the feedforward control unit 54 and the PID control unit 55.

  The feedforward control unit 54 executes feedforward control based on the target value of the stroke of the piston 22 input from the target value setting unit 52, and feedforward related to the stroke amount (movement amount) of the piston 22 to be adjusted. The value is determined, and the feedforward value is output to the actuator controller 56. The correspondence relationship between the target value of the stroke of the piston 22 and the feedforward value can be experimentally grasped in advance.

  At this time, when the feedforward control unit 54 contacts the clutch device 10 by discharging the air in the pressure chamber 23, the pressure value in the pressure chamber 23 input from the pressure estimation unit 53 is a predetermined first threshold value ( It is determined whether or not the pressure value is equal to or lower than the pressure threshold value, that is, whether the pressure value is in the first range equal to or lower than the first threshold value or in the second range greater than the first threshold value.

  When the pressure value in the pressure chamber 23 is in the first range equal to or lower than the first threshold value, the feedforward control unit 54 calculates the feedforward gain related to the stroke amount to be adjusted by the piston 22 in the feedforward control. For example, the first feedforward gain is set such that the stroke of the piston 22 with respect to the discharge amount of air in the pressure chamber 23 is linearly controlled, and the feed related to the stroke amount of the piston 22 to be adjusted by the first feedforward gain. Determine the forward value.

  Here, the first threshold value may be a pressure value at which a change in the stroke of the piston 22 with respect to a change in the amount of air in the pressure chamber 23 becomes a predetermined value or less, or a pressure detected by experimentally performing a clutch operation. Alternatively, various other pressure values may be used.

  On the other hand, when the pressure value in the pressure chamber 23 is in the second range larger than the first threshold, the feedforward control unit 54 sets the feedforward gain related to the stroke amount to be adjusted by the piston 22 in the feedforward control. For example, the second feedforward gain is set so that the stroke of the piston 22 can respond sensitively to the amount of air in the pressure chamber 23, and the stroke amount to be adjusted by the piston 22 is determined by the second feedforward gain. Determine the feedforward value. At this time, the second feedforward gain is set to be smaller than the first feedforward gain.

  The feedforward gain is adjusted based on the pressure value in the pressure chamber 23 in this way because the amount of discharge by the exhaust valve 42 when the air is discharged from the pressure chamber 23 greatly affects the pressure in the pressure chamber 23. This is because the amount of air discharged from the exhaust valve 42 becomes smaller as the pressure in the pressure chamber 23 becomes lower.

  Further, when the feedforward control unit 54 disconnects the clutch device 10 by supplying air in the pressure chamber 23, the stroke value of the piston 22 input from the pressure estimation unit 53 is equal to or less than a predetermined second threshold value. It is determined whether there is, that is, whether the value of the stroke is in the third range or the fourth range (see FIG. 2B).

  When the value of the stroke of the piston 22 is in the third range equal to or less than the second threshold, the feedforward control unit 54 calculates a feedforward gain related to the stroke amount to be adjusted by the piston 22 in the feedforward control, for example, The third feedforward gain is set so that the stroke of the piston 22 with respect to the amount of air in the pressure chamber 23 is linearly controlled, and the feedforward value relating to the stroke amount to be adjusted by the piston 22 is set by the third feedforward gain. decide.

  Here, the second threshold value may be a stroke value at which a change in the stroke of the piston 22 with respect to a change in the amount of air in the pressure chamber 23 becomes a predetermined value or less, and is detected by experimentally performing a clutch operation. A stroke value may be used, and various other stroke values may be used.

  On the other hand, when the value of the stroke of the piston 22 is in the fourth range larger than the second threshold value, the feedforward control unit 54 determines the feedforward gain related to the stroke amount to be adjusted by the piston 22 in the feedforward control. For example, the fourth feedforward gain is set such that the stroke of the piston 22 can respond sensitively to the amount of air in the pressure chamber 23, and the feed related to the stroke amount to be adjusted by the piston 22 is set by the fourth feedforward gain. Determine the forward value. At this time, the fourth feedforward gain is set to be smaller than the third feedforward gain.

  Further, the feedforward control unit 54 determines the value of the stroke of the piston 22 within a predetermined stroke range (see FIG. 2B) while the stroke value of the piston 22 changes from the third range to the fourth range. The feedforward gain is gradually changed from the third feedforward gain to the fourth feedforward gain with the change of.

  The PID control unit 55 calculates a difference between the target value of the stroke of the piston 22 input from the target value setting unit 52 and the current stroke of the piston 22 detected by the stroke sensor 18, and based on the difference, the PID Control is executed to determine a feedback value related to the stroke amount of the piston 22 to be adjusted, and the feedback value is output to the actuator controller 56.

  At this time, when the PID control unit 55 contacts the clutch device 10 by discharging the air in the pressure chamber 23, is the pressure value in the pressure chamber 23 input from the pressure estimation unit 53 equal to or less than the first threshold value? It is determined whether or not the pressure value is in the first range or the second range. When the pressure value in the pressure chamber 23 is in the first range equal to or less than the first threshold value, the PID control unit 55 determines the proportional gain of the feedback gain related to the stroke amount to be adjusted by the piston 22 in the PID control. For example, the first proportional gain is set such that the stroke of the piston 22 with respect to the air discharge amount in the pressure chamber 23 is linearly controlled, and a feedback value related to the stroke amount to be adjusted by the piston 22 is set by the first proportional gain. decide.

  On the other hand, when the pressure value in the pressure chamber 23 is in the second range larger than the first threshold value, the PID control unit 55 sets the proportional gain of the feedback gain related to the stroke amount to be adjusted in the piston 22 in the PID control. For example, the second proportional gain is set such that the stroke of the piston 22 can respond sensitively to the amount of air in the pressure chamber 23, and the feedback value related to the stroke amount to be adjusted by the piston 22 is set by the second proportional gain. To decide. At this time, the second proportional gain is set smaller than the first proportional gain.

  Further, when the PID control unit 55 disengages the clutch device 10 by supplying air in the pressure chamber 23, the stroke value of the piston 22 input from the pressure estimation unit 53 is equal to or less than a predetermined second threshold value. Whether the stroke value is in the third range or the fourth range (see FIG. 2B). Then, when the stroke value of the piston 22 is in the third range equal to or smaller than the second threshold value, the PID control unit 55 sets a proportional gain of the feedback gain related to the stroke amount to be adjusted by the piston 22 in the PID control, for example. The third proportional gain is set such that the stroke of the piston 22 with respect to the air amount in the pressure chamber 23 is linearly controlled, and a feedback value related to the stroke amount to be adjusted by the piston 22 is determined by the third proportional gain.

  On the other hand, when the stroke value of the piston 22 is in the fourth range larger than the second threshold value (see FIG. 2B), the PID control unit 55 determines the stroke amount to be adjusted by the piston 22 in the PID control. For example, the proportional gain of the feedback gain is set to a fourth proportional gain such that the stroke of the piston 22 can respond sensitively to the amount of air in the pressure chamber 23, and the piston 22 is adjusted by the fourth proportional gain. Determine a feedback value for the amount of stroke to be performed. At this time, the fourth proportional gain is set smaller than the third proportional gain.

  Further, the PID controller 55 determines the value of the stroke of the piston 22 within a predetermined stroke range (see FIG. 2B) while the stroke value of the piston 22 changes from the third range to the fourth range. As the change proceeds, the proportional gain of the feedback gain is gradually changed from the third proportional gain to the fourth proportional gain.

  The actuator control unit 56 determines a stroke amount to be adjusted by the piston 22 based on the feedforward value input from the feedforward control unit 54 and the feedback value input from the PID control unit 55. In addition, the actuator control unit 56 generates a control signal for controlling the supply valve 41 or the exhaust valve 42 with a duty ratio based on the stroke amount of the piston 22 to be adjusted. Then, the actuator controller 56 outputs the control signal to the supply valve 41 or the exhaust valve 42 to control the supply valve 41 or the exhaust valve 42, whereby the pressure chamber 23 in the clutch actuator 20 is controlled. The internal air amount is adjusted to adjust the stroke of the piston 22, and thereafter, the fact is notified to the clutch operation determination unit 51.

  Further, when notified from the clutch operation determining unit 51 that the clutch disengagement operation or the clutch engagement operation has been completed, the actuator control unit 56 stops the supply valve 41 and stops the exhaust valve 42 from being discharged. A stop signal for generating a state is generated, the stop is output to the supply valve 41 and the exhaust valve 42, and the supply valve 41 and the exhaust valve 42 are stopped, whereby the pressure chamber 23 in the clutch actuator 20 is stopped. The adjustment of the air amount inside is stopped, the movement of the stroke of the piston 22 is stopped, and thereafter, the fact is notified to the clutch operation determination unit 51.

  Next, the processing operation in the clutch system 1 according to the present embodiment will be described.

  FIG. 4 is a flowchart of the clutch engagement process according to the present embodiment. The clutch engagement process is started, for example, when the vehicle power is turned on (the key switch of the ignition switch is turned on).

  First, the clutch operation determination unit 51 determines whether or not to start clutch engagement (step S11). When the clutch operation determination unit 51 does not start the clutch engagement (step S11: NO), the clutch operation determination unit 51 returns to step S11 and waits to start the clutch engagement. And the pressure estimation part 53 estimates the pressure value in the pressure chamber 23, when clutch engagement is started (step S11: YES) (step S12). Moreover, the target value setting part 52 sets the target value of the stroke of the piston 22 when starting clutch engagement (step S11: YES).

  Subsequently, the feedforward control unit 54 and the PID control unit 55 determine whether or not the pressure value in the pressure chamber 23 is equal to or less than the first threshold value (step S13).

  When the pressure value in the pressure chamber 23 is equal to or lower than the first threshold (step S13: YES), the feedforward control unit 54 sets the feedforward gain to the first feedforward gain (step S14), and the pressure When the pressure value in the chamber 23 is larger than the first threshold value (step S13: NO), the feed forward gain is set to the second feed forward gain (step S15), and then the stroke amount of the piston 22 to be adjusted is set. Determine the feedforward value for.

  Further, when the pressure value in the pressure chamber 23 is equal to or lower than the first threshold value (step S13: YES), the PID control unit 55 sets the proportional gain to the first proportional gain (step S14), If the pressure value is larger than the first threshold value (step S13: NO), the proportional gain is set to the second proportional gain (step S15), and then the feedback value related to the stroke amount to be adjusted by the piston 22 is determined. To do.

  Subsequently, the actuator control unit 56 determines the stroke amount to be adjusted of the piston 22 based on the feedforward value and the feedback value, and then, based on the stroke amount to be adjusted of the piston 22, the air supply valve 41. Alternatively, the amount of air in the pressure chamber 23 in the clutch actuator 20 is adjusted by controlling the exhaust valve 42 (step S16).

  Subsequently, the clutch operation determination unit 51 determines whether or not the clutch engagement is completed (step S17). Then, when the clutch engagement is not completed (step S17: NO), the pressure estimation unit 53 estimates the pressure value in the pressure chamber 23 again (step S12). On the other hand, when the clutch engagement is completed (step S17: YES), the actuator control unit 56 stops the control of the supply valve 41 or the exhaust valve 42 (step S18), and then the clutch operation determination unit 51. Determines again whether to start the clutch engagement (step S11).

  FIG. 5 is a flowchart of the clutch disengagement process according to the present embodiment. The clutch disengagement process is started, for example, when the vehicle power is turned on (key switch of the ignition switch is turned on).

  First, the clutch operation determination unit 51 determines whether or not to start the clutch disengagement (step S21). When the clutch disengagement unit 51 does not start the clutch disengagement (step S21: NO), the clutch operation determination unit 51 returns to step S21 and waits for the clutch disengagement to start. Then, when starting the clutch disengagement (step S21: YES), the feedforward control unit 54 and the PID control unit 55 determine whether or not the stroke value of the piston 22 is equal to or less than the second threshold (step). S22). Moreover, the target value setting part 52 sets the target value of the stroke of the piston 22 when starting the clutch disengagement (step S21: YES).

  When the stroke value of the piston 22 is equal to or smaller than the second threshold (step S22: YES), the feedforward control unit 54 sets the feedforward gain to the third feedforward gain (step S23), and the piston 22 If the stroke value is larger than the second threshold value (step S22: NO), the feed forward gain is set to the fourth feed forward gain (step S24), and then the feed related to the stroke amount to be adjusted by the piston 22 is set. Determine the forward value.

  In addition, when the stroke value of the piston 22 is equal to or smaller than the second threshold (step S22: YES), the PID control unit 55 sets the proportional gain to the third proportional gain (step S23), If the value is larger than the second threshold value (step S22: NO), the proportional gain is set to the fourth proportional gain (step S24), and then a feedback value related to the stroke amount of the piston 22 to be adjusted is determined.

  Subsequently, the actuator control unit 56 determines the stroke amount to be adjusted of the piston 22 based on the feedforward value and the feedback value, and then, based on the stroke amount to be adjusted of the piston 22, the air supply valve 41. Alternatively, the amount of air in the pressure chamber 23 in the clutch actuator 20 is adjusted by controlling the exhaust valve 42 (step S25).

  Subsequently, the clutch operation determination unit 51 determines whether or not the clutch disengagement is completed (step S26). Then, when the clutch disengagement is not completed (step S26: NO), the feedforward control unit 54 and the PID control unit 55 again determine whether or not the stroke value of the piston 22 is equal to or less than the second threshold value. Determination is made (step S22). On the other hand, when the clutch disengagement is completed (step S26: YES), the actuator control unit 56 stops the control of the supply valve 41 or the exhaust valve 42 (step S27), and then the clutch operation determination unit 51. Determines again whether to start the clutch disengagement (step S21).

  As described above in detail, according to the clutch control device 2 according to the present embodiment, the clutch device 10 is brought into contact by discharging the air in the pressure chamber 23, and the pressure value in the pressure chamber 23 is the first value. When the value is less than or equal to one threshold, the feedforward gain is increased as compared with the case where the value is greater than the first threshold. Further, when the pressure value in the pressure chamber 23 is in the first range equal to or lower than the first threshold value, the feedforward value is determined by the first feedforward gain, and the pressure value in the pressure chamber 23 is larger than the first threshold value. When in the second range, the feedforward value is determined by the second feedforward gain that is smaller than the first feedforward gain. As a result, when the pressure value in the pressure chamber 23 is equal to or less than the first threshold value, it becomes possible to increase the amount of air discharged from the pressure chamber 23 and to increase the stroke of the piston 22. Even when the pressure in the pressure chamber decreases, the responsiveness of the clutch device 10 can be improved. Therefore, the speed at the time of gear shift can be improved, and a shock at the time of gear shift can be effectively prevented.

  Further, according to the clutch control device 2 according to the present embodiment, the clutch device 10 is disconnected by supplying air in the pressure chamber 23, and the third range in which the position of the piston 22 is equal to or less than the second threshold value. If the position of the piston 22 is in the fourth range larger than the second threshold value, the fourth feedforward is smaller than the third feedforward gain. The feedforward value is determined by the gain. Accordingly, when the stroke of the piston 22 is equal to or smaller than the second threshold value, the stroke of the piston 22 can be increased, so that the responsiveness of the clutch device 10 can be improved, and the stroke of the piston 22 is increased to the second threshold value. If it is larger than this, the stroke of the piston 22 can be reduced, so that the occurrence of overshoot in the clutch device 10 can be reduced. Furthermore, within a predetermined stroke range during which the stroke value of the piston 22 changes from the third range to the fourth range, the feedforward gain is changed from the third feedforward gain as the stroke value of the piston 22 changes. Gradually change to 4th feed forward gain. Thereby, in the said stroke range, since the stroke of piston 22 can be made small gradually, generation | occurrence | production of the overshoot in the clutch apparatus 10 can be reduced further.

  Furthermore, according to the clutch control device 2 according to the present embodiment, the clutch device 10 is contacted by discharging the air in the pressure chamber 23, and the pressure value in the pressure chamber 23 is equal to or less than the first threshold value. In this case, the proportional gain is increased as compared with the case where it is larger than the first threshold. Further, when the pressure value in the pressure chamber 23 is in the first range equal to or less than the first threshold value, the feedback value is determined by the first proportional gain, and the second pressure value in the pressure chamber 23 is larger than the first threshold value. If it is within the range, the feedback value is determined by a second proportional gain that is smaller than the first proportional gain. Thereby, in addition to the feedforward control unit 54, the gain change control based on the threshold is also performed for the PID control unit 55, so even better response is ensured even when the pressure in the pressure chamber of the clutch actuator is reduced. can do.

  In addition, this invention is not limited to the above-mentioned embodiment, In the range which does not deviate from the meaning of this invention, it can change suitably and can implement.

  For example, in the present embodiment, the pressure value in the pressure chamber 23 is estimated based on the stroke of the piston 22 detected by the stroke sensor 18. For example, the pressure value in the pressure chamber 23 is directly from the pressure sensor in the pressure chamber. The pressure value may be acquired, or the pressure value in the pressure chamber 23 may be acquired by a state estimator such as a Kalman filter for estimating the pressure value in the pressure chamber 23. The present invention can be applied to a pressure value acquisition unit that acquires a pressure value in a pressure chamber.

  Moreover, in the said embodiment, although the clutch actuator 20 was arrange | positioned in the position which surrounds the input shaft 31, it is arrange | positioned in the position away from the input shaft 31 instead of the position which surrounds the input shaft 31, and predetermined | prescribed spindle The clutch device may be connected / disconnected using a clutch lever that can be rotated around the center, and can be applied to various other clutch devices and clutch actuators.

  Further, in the above embodiment, in the clutch engagement operation, the gain change control by the first threshold is performed by the estimated pressure, but it can be assumed that the mass and the viscosity are smaller than the steady state and the rigidity of the diaphragm spring. That is, when the static characteristics and the dynamic characteristics do not change significantly (when the difference between the static characteristics and the dynamic characteristics is small), the gain change control based on the second threshold value is performed according to the stroke value as in the case of the clutch disengagement operation. You may implement.

  Furthermore, in the said embodiment, although the 2nd threshold value at the time of clutch disengagement or clutch engagement was made into the same threshold value, you may use a different threshold value at the time of clutch disengagement and clutch engagement.

  Furthermore, in the said embodiment, when the pressure value in the pressure chamber 23 is below a 1st threshold value, a feedforward gain is set to a 1st feedforward gain, and the pressure value in the pressure chamber 23 is more than a 1st threshold value. When it is large, the feed forward gain is set to the second feed forward gain. However, when the pressure value in the pressure chamber 23 is equal to or smaller than the first threshold value, the feed forward gain is increased as compared with the case where the pressure value is larger than the first threshold value. If the pressure value in the pressure chamber 23 is larger than the first threshold value, various other controls may be performed. For example, when the pressure value in the pressure chamber 23 is larger than the first threshold value, the feed forward gain is set to the third feed when the stroke value of the piston 22 is equal to or smaller than the second threshold value, as in the clutch disengagement operation. The feed gain may be set to the fourth feed forward gain when the value of the stroke of the piston 22 is larger than the second threshold value.

  Furthermore, in the said embodiment, when the pressure value in the pressure chamber 23 is below a 1st threshold value, a feedforward gain is set to a 1st feedforward gain, and the pressure value in the pressure chamber 23 is more than a 1st threshold value. When the value is large, the feed forward gain is set to the second feed forward gain. However, in the case of the clutch engagement operation, as in the case of the clutch disengagement operation, the feed forward gain is set when the stroke value of the piston 22 is equal to or less than the second threshold value. The gain may be set to the third feedforward gain, and the feedforward gain may be set to the fourth feedforward gain when the stroke value of the piston 22 is larger than the second threshold value.

  Furthermore, in the above embodiment, the gain change control based on the threshold value is performed in both the feedforward control unit 54 and the PID control unit 55, but the gain change control based on the threshold value may be performed only on the feedforward control unit 54. Only the control unit 55 may perform gain change control using a threshold value.

  Further, in the above embodiment, the control for changing the proportional gain of the feedback gain is performed according to the threshold value. However, the integral gain and the differential gain may be changed, or these gains may be changed in combination. What is necessary is just to implement control which changes a gain.

  Furthermore, in the above embodiment, the change control is performed with two gains based on one threshold, but the change control may be performed with three or more gains based on a plurality of thresholds.

  Furthermore, in the above embodiment, the clutch device 10 is disconnected by supplying air into the pressure chamber 23, and the clutch device 10 is in contact state by discharging air from the pressure chamber 23. The clutch device 10 may be brought into a contact state by supplying air therein, and the clutch device 10 may be brought into a disconnected state by discharging air from the pressure chamber 23.

  Furthermore, in the above-described embodiment, the two valves of the air supply valve 41 and the exhaust valve 42 are provided. However, one valve for supplying and exhausting air may be used, and other various valves may be used. Good.

  Furthermore, in the said embodiment, although the clutch apparatus 10 was equipped with the diaphragm spring 16, it may be a coil spring and may be a clutch apparatus provided with various other springs.

  Furthermore, in the said embodiment, although air was used as a working fluid, working oil may be used as a working fluid and various other working fluids may be used.

  Furthermore, in the above-described embodiment, the feedforward gain is gradually changed in accordance with the change in the stroke value of the piston 22 in the predetermined stroke range. However, the feedforward gain may be switched immediately according to a threshold value.

  Furthermore, in the above-described embodiment, the feedback gain is gradually changed in accordance with the change in the stroke value of the piston 22 in the predetermined stroke range. However, the feedback gain may be switched immediately according to a threshold value.

  Furthermore, in the said embodiment, when the pressure value in the pressure chamber 23 is in the 1st range below the 1st threshold, it set to the proportional gain 1st proportional gain of the feedback gain in PID control, but other than PID control Various feedback controls can be used.

DESCRIPTION OF SYMBOLS 1 Clutch system 2 Clutch control apparatus 10 Clutch apparatus 11 Crankshaft 12 Flywheel 13 Clutch disk 14 Pressure plate 15 Clutch cover 16 Diaphragm spring 17 Release bearing 18 Stroke sensor 20 Clutch actuator 21 Cylinder 22 Piston 23 Pressure chamber 24 Open chamber 25 Air supply Piping 26 exhaust piping 31 input shaft 41 air supply valve 42 exhaust valve 50 ECU
51 Clutch operation determination unit 52 Target value setting unit 53 Pressure estimation unit (pressure value acquisition unit)
54 Feedforward Control Unit 55 PID Control Unit 56 Actuator Control Unit

Claims (8)

A clutch control device for connecting and disconnecting a clutch device by controlling a clutch actuator having a piston and a cylinder,
A target value setting unit for setting a target position of the piston when the clutch device is connected and disconnected;
A feedforward control unit that performs feedforward control based on a target position of the piston set by the target value setting unit and determines a feedforward value related to a movement amount of the piston to be adjusted;
An actuator controller that controls the clutch actuator based on the feedforward value determined by the feedforward controller;
A pressure value acquisition unit for acquiring a pressure value in a pressure chamber in the clutch actuator;
With
The feedforward control unit contacts the clutch device by discharging the working fluid in the pressure chamber, and the pressure value in the pressure chamber acquired by the pressure value acquisition unit is a predetermined first threshold value or less. In this case, the feedforward gain is increased as compared with a case where the value is larger than the first threshold value. The feedforward control unit determines the feedforward value by a first feedforward gain when the pressure value in the pressure chamber is in a first range equal to or less than the first threshold, and the pressure value in the pressure chamber is 2. The clutch control according to claim 1, wherein the feedforward value is determined based on a second feedforward gain smaller than the first feedforward gain when the second range is larger than the first threshold. apparatus. The feedforward control unit is in a case where the clutch device is engaged and a difference between a static characteristic and a dynamic characteristic is small and the position of the piston is in a third range equal to or less than a predetermined second threshold value. The feedforward value is determined by a third feedforward gain, and when the position of the piston is in a fourth range that is larger than the second threshold, a fourth feedforward gain that is smaller than the third feedforward gain is determined. The clutch control device according to claim 1, wherein the feedforward value is determined. The feedforward control unit disengages the clutch device by supplying a working fluid in the pressure chamber, and when the position of the piston is in a third range equal to or less than a predetermined second threshold value, The feedforward value is determined by a third feedforward gain, and when the position of the piston is in a fourth range larger than the second threshold, the fourth feedforward gain is smaller than the third feedforward gain. The clutch control device according to any one of claims 1 to 3, wherein a feedforward value is determined. A valve disposed between the clutch actuator and a supply / exhaust source;
The said actuator control part controls the said clutch actuator by controlling the said valve with a duty ratio based on the said feedforward value determined by the said feedforward control part. The clutch control device according to any one of the above. A feedback control unit configured to perform feedback control based on a target position of the piston and a current position of the piston, and to determine a feedback value related to a moving amount of the piston to be adjusted;
The feedback control unit is in the case of contacting the clutch device 10 by discharging the air in the pressure chamber 23, and when the pressure value in the pressure chamber is equal to or less than the first threshold value, it is larger than the first threshold value. Increase the feedback gain compared to the case,
The actuator control unit controls the clutch actuator based on the feedforward value determined by the feedforward control unit and the feedback value determined by the feedback control unit. The clutch control device according to claim 5. A valve disposed between the clutch actuator and a supply / exhaust source;
The actuator control unit controls the clutch actuator by controlling the valve with a duty ratio based on the feedforward value determined by the feedforward control unit and the feedback value determined by the feedback control unit. The clutch control device according to claim 6. The clutch control device according to claim 4, wherein the second threshold value is different between when the clutch device is disconnected and when the clutch device is engaged.

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