JP2018150992A - Clutch control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To ensure good responsiveness while preventing the occurrence of overshoot. SOLUTION: When a clutch device 10 is engaged and disengaged, a feed forward control is executed based on a target value setting unit 52 for setting a target position of a piston 22 and a target position of the piston 22, and the piston 22 is used. The feed forward control unit 54 that determines the feed forward value regarding the movement amount to be adjusted, the actuator control unit 56 that controls the clutch actuator 20 based on the feed forward value, and the control value that acquires the control value in the clutch actuator 20. The feed-forward control unit 54 includes an acquisition unit 53, and when the control value is larger than a predetermined threshold value, the feed regarding the amount of movement of the piston to be adjusted in the feed-forward control is compared with the case where the control value is greater than or equal to the threshold value. Decrease the forward gain. [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 moving amount of the piston with respect to the working fluid amount in the pressure chamber in the clutch actuator is not linear. In such a clutch device, there is a risk of overshooting when attempting to ensure the response of the clutch actuator.

  An object of the technology of the present disclosure is to provide a clutch control device capable of ensuring good responsiveness while preventing occurrence of overshoot.

  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 control value acquisition unit that acquires a control value in the clutch actuator, The feedforward control unit When the control value acquired by the control value acquisition unit is larger than a predetermined threshold value, the feedforward gain related to the amount of movement of the piston to be adjusted in the feedforward control is smaller than when the control value is equal to or less than the threshold value. It is characterized by making small.

  In the technology of the present disclosure, when the control value is in the first range equal to or less than the threshold value, the feedforward control unit performs the feedforward by using a first feedforward gain related to a movement amount to be adjusted by the piston. A value is determined, and when the control value is in a second range greater than the 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 configured to change the control value within a predetermined control value range while the control value changes from the first range to the second range. The feed forward gain is gradually changed from the first feed forward gain to the second feed forward gain.

  Furthermore, in the technology of the present disclosure, the feedforward control unit is configured to change the control value within a predetermined control value range while the control value changes from the second range to the first range. The feed forward gain is gradually changed from the second feed forward gain to the first feed forward 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. When the control value is larger than a predetermined threshold value, the feedback control unit has a feedback gain related to a movement amount of the piston to be adjusted in the feedback control as compared with a case where the control value is equal to or smaller than the threshold value. 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.

  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.

  Furthermore, in the technology of the present disclosure, the control value acquisition unit acquires the amount of working fluid in the pressure chamber in the clutch actuator.

  Furthermore, in the technique of the present disclosure, the control value acquisition unit acquires the position of the piston.

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

  According to the technology of the present disclosure, it is possible to ensure good responsiveness while preventing the occurrence of overshoot.

It is a typical lineblock diagram of a clutch system provided with a clutch control device 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 disengagement process or contact 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 including a clutch control device 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, when the air amount in the pressure chamber 23 is in the first range equal to or smaller than the 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 becomes small. When the air amount in the pressure chamber 23 is in the second range larger than the 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.

  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, an air amount calculation unit 53, a feedforward control unit 54, a PID (Proportional-Integral-Differential) control unit 55, and an actuator control unit 56. I have. 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 air amount calculation 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 air amount calculation 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 that effect. Notify 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 has not been completed, the air amount calculation unit 53 notifies the fact. Notify

  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.

  The air amount calculation unit 53 detects that the clutch disengagement operation or the clutch engagement operation is started from the clutch operation determination unit 51 or that the clutch disengagement operation or the clutch engagement operation has not been completed. The amount of air in the pressure chamber 23 is calculated from the stroke of the piston 22, for example, by a predetermined calculation formula, and the value of the amount of air is output 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, the feedforward control unit 54 determines whether or not the value of the air amount in the pressure chamber 23 input from the air amount calculation unit 53 is greater than a predetermined threshold, that is, the value of the air amount is within the first range. Or in the second range (see FIG. 2B).

  The feedforward control unit 54 controls the feedforward control when the amount of air in the pressure chamber 23 is equal to or less than a predetermined threshold, that is, when the amount of air is in the first range (see FIG. 2B). The feed forward gain related to the stroke amount to be adjusted in the piston 22 is set to a first feed forward gain such that the stroke of the piston 22 with respect to the air amount in the pressure chamber 23 is linearly controlled, for example. A feedforward value related to the stroke amount of the piston 22 to be adjusted is determined by the forward gain.

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

  On the other hand, when the air amount in the pressure chamber 23 is larger than the predetermined threshold, that is, when the air amount is in the second range (see FIG. 2B), the feed forward control unit 54 feeds forward. In the control, the feed forward gain related to the stroke amount to be adjusted of the piston 22 is set to, for example, a second feed forward gain such that the stroke of the piston 22 can respond sensitively to the air amount in the pressure chamber 23, A feedforward value relating to the stroke amount of the piston 22 to be adjusted is determined by the second feedforward gain. At this time, the second feedforward gain is set to be smaller than the first feedforward gain.

  In addition, the feedforward control unit 54 is configured so that the inside of the pressure chamber 23 is within the predetermined air amount range (see FIG. 2B) while the air amount in the pressure chamber 23 changes from the first range to the second range. As the air amount changes, the feed forward gain is gradually changed from the first feed forward gain to the second feed forward gain. Further, the feedforward control unit 54 is configured so that the inside of the pressure chamber 23 is within a predetermined air amount range (see FIG. 2B) while the air amount in the pressure chamber 23 changes from the second range to the first range. As the air amount changes, the feed forward gain is gradually changed from the second feed forward gain to the first feed forward gain.

  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, the PID control unit 55 determines whether or not the value of the air amount in the pressure chamber 23 input from the air amount calculation unit 53 is larger than a predetermined threshold, that is, the value of the air amount falls within the first range. It is determined whether it is in the second range (see FIG. 2B). Then, when the air amount in the pressure chamber 23 is equal to or less than a predetermined threshold, that is, when the air amount is in the first range (see FIG. 2B), the PID control unit 55 The proportional gain of the feedback gain relating to the stroke amount to be adjusted of the piston 22 is set to, for example, a first proportional gain such that the stroke of the piston 22 with respect to the air amount in the pressure chamber 23 is linearly controlled. Thus, a feedback value related to the stroke amount of the piston 22 to be adjusted is determined.

  On the other hand, when the air amount in the pressure chamber 23 is larger than the predetermined threshold, that is, when the air amount is in the second range (see FIG. 2B), the PID control unit 55 performs the PID control. The proportional gain of the feedback gain related to the stroke amount to be adjusted of the piston 22 is set to, for example, a second proportional gain that makes the stroke of the piston 22 sensitively responsive to the amount of air in the pressure chamber 23, and A feedback value related to the stroke amount of the piston 22 to be adjusted is determined by the 2 proportional gain. At this time, the second proportional gain is set smaller than the first proportional gain.

  In addition, the PID control unit 55 determines the air amount in the pressure chamber 23 within a predetermined air amount range in which the air amount in the pressure chamber 23 changes from the first range to the second range (see FIG. 2B). The proportional gain is gradually changed from the first proportional gain to the second proportional gain with the change of. Further, the PID control unit 55 determines the air amount in the pressure chamber 23 within a predetermined air amount range in which the air amount in the pressure chamber 23 changes from the second range to the first range (see FIG. 2B). The proportional gain is gradually changed from the second proportional gain to the first proportional gain with the change of.

  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 disengagement process or the clutch engagement process according to the present embodiment. The clutch disengagement process or 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 to start clutch disengagement or clutch engagement (step S11). Then, when the clutch disengagement or clutch engagement is not started (step S11: NO), the clutch operation determination unit 51 returns to step S11 and waits to start the clutch disengagement or clutch engagement. Then, when starting the clutch disengagement or clutch engagement (step S11: YES), the air amount calculation unit 53 calculates the air amount in the pressure chamber 23 (step S12). Moreover, the target value setting part 52 sets the target value of the stroke of the piston 22 when starting clutch disengagement or clutch engagement (step S11: YES).

  Subsequently, the feedforward control unit 54 and the PID control unit 55 determine whether or not the value of the air amount in the pressure chamber 23 is larger than a predetermined threshold value (step S13).

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

  In addition, when the amount of air in the pressure chamber 23 is equal to or less than the predetermined threshold (step S13: NO), the PID control unit 55 sets the proportional gain to the first proportional gain (step S14), Is greater than the predetermined threshold value (step S13: YES), the proportional gain is set to the second proportional gain (step S15), and then a feedback value related to the stroke amount of the piston 22 to be adjusted 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 disengagement or the clutch engagement is completed (step S17). Then, when the clutch disengagement or the clutch engagement is not completed (step S17: NO), the air amount calculation unit 53 calculates the air amount in the pressure chamber 23 again (step S12). On the other hand, when the clutch disengagement or 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 performs the clutch operation. The determination unit 51 determines again whether to start the clutch disengagement or the clutch engagement (step S11).

  As described above in detail, according to the clutch control device 2 according to the present embodiment, when the air amount in the pressure chamber 23 is larger than the predetermined threshold value, the feedforward control is performed compared to the case where the air amount is less than the threshold value. The feed forward gain related to the stroke amount to be adjusted of the piston 22 is reduced. Further, according to the clutch control device 2 according to the present embodiment, when the air amount in the pressure chamber 23 is in the first range equal to or less than the threshold value, the first feedforward gain relating to the movement amount of the piston 22 to be adjusted is used. The feedforward value is determined, and when the air amount in the pressure chamber 23 is in the second range that is larger than the threshold value, the feedforward value is determined by the second feedforward gain that is smaller than the first feedforward gain. As a result, when the amount of air in the pressure chamber 23 is equal to or less than a predetermined threshold, the stroke of the piston 22 can be increased, so that the responsiveness of the clutch device 10 can be improved. When the amount of air is larger than the predetermined threshold, the stroke of the piston 22 can be reduced, so that the occurrence of overshoot in the clutch device 10 can be reduced.

  Further, according to the clutch control device 2 according to the present embodiment, when the air amount in the pressure chamber 23 is larger than the predetermined threshold value, the piston 22 is adjusted in the PID control as compared with the case where the air amount is equal to or smaller than the threshold value. Reduce the feedback gain related to the power stroke amount. Thereby, in addition to the feedforward control unit 54, the gain change control based on the threshold value is also performed for the PID control unit 55, so that excellent responsiveness can be ensured while preventing further overshoot.

  Furthermore, according to the clutch control device 2 according to the present embodiment, the air amount in the pressure chamber 23 is within a predetermined air amount range in which the air amount in the pressure chamber 23 changes from the first range to the second range. Along with the change, the feed forward gain is gradually changed from the first feed forward gain to the second feed forward gain. Furthermore, according to the clutch control device 2 according to the present embodiment, the air amount in the pressure chamber 23 is within a predetermined air amount range in which the air amount in the pressure chamber 23 changes from the first range to the second range. In accordance with the change, the proportional gain of the feedback gain is gradually changed from the first proportional gain to the second proportional gain. As a result, the stroke of the piston 22 can be gradually reduced within a predetermined air amount range in which the air amount in the pressure chamber 23 changes from the first range to the second range. Can be further reduced.

  Furthermore, according to the clutch control device 2 according to the present embodiment, the air amount in the pressure chamber 23 is within a predetermined air amount range in which the air amount in the pressure chamber 23 changes from the second range to the first range. Along with the change, the feed forward gain is gradually changed from the second feed forward gain to the first feed forward gain. Furthermore, according to the clutch control device 2 according to the present embodiment, the air amount in the pressure chamber 23 is within a predetermined air amount range in which the air amount in the pressure chamber 23 changes from the second range to the first range. With the change, the proportional gain of the feedback gain is gradually changed from the second proportional gain to the first proportional gain. As a result, the stroke of the piston 22 can be gradually increased within a predetermined air amount range in which the air amount in the pressure chamber 23 changes from the second range to the first range. Can be further improved.

  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 air amount calculation unit 53 calculates the air amount in the pressure chamber 23 based on the stroke of the piston 22 detected by the stroke sensor 18. The amount of air in 23 may be acquired, and various other methods can be used.

  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.

  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 embodiment, the feedforward gain is gradually changed in accordance with the change in the air amount in the pressure chamber 23 within the predetermined air amount range. However, the feed forward gain may be switched immediately according to the threshold value. .

  Furthermore, in the above embodiment, the proportional gain of the feedback gain is gradually changed in accordance with the change of the air amount in the pressure chamber 23 within the predetermined air amount range. Good.

  Furthermore, in the above embodiment, when the amount of air in the pressure chamber 23 is larger than the predetermined threshold value, the feedback gain in the PID control is made smaller than in the case where the air volume is equal to or smaller than the threshold value. Feedback control can be used.

  Further, in the above embodiment, the air amount calculation unit 53 calculates the air amount in the pressure chamber 23 based on the stroke of the piston 22 detected by the stroke sensor 18 and outputs it to the feedforward control unit 54 and the PID control unit 55. However, the value of the stroke of the piston 22 detected by the stroke sensor 18 is acquired and output as it is, and the feedforward control unit 54 and / or the PID control unit 55 performs gain change control based on the threshold value according to the stroke value. Also good. In this case, the piston position acquisition unit acquires the position of the piston, and the feedforward control unit and / or the feedback control unit determines whether the piston position acquired by the piston position acquisition unit is greater than a predetermined threshold value. The feedforward gain and / or the feedback gain are reduced as compared with the following cases. That is, the control value acquisition unit acquires a control value in the clutch actuator, and the feedforward control unit and / or the feedback control unit has a threshold value when the control value acquired by the control value acquisition unit is larger than a predetermined threshold value. The feedforward gain and / or the feedback gain may be reduced as compared with the following cases.

  Furthermore, in the above embodiment, the same threshold value is used when the clutch is disengaged or the clutch is engaged, but different threshold values may be used when the clutch is disengaged and when the clutch is engaged.

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 air amount calculation unit 54 feedforward control unit 55 PID control unit 56 actuator control unit

Claims (10)

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 control value acquisition unit for acquiring a control value in the clutch actuator;
With
The feedforward control unit adjusts the piston in the feedforward control when the control value acquired by the control value acquisition unit is larger than a predetermined threshold, compared to the case where the control value is equal to or less than the threshold. A clutch control device characterized by reducing a feedforward gain related to a power shift amount. When the control value is in a first range equal to or less than the threshold, the feedforward control unit determines the feedforward value by a first feedforward gain related to a movement amount of the piston to be adjusted, and the control value 2. The clutch control device according to claim 1, wherein the feedforward value is determined by a second feedforward gain that is smaller than the first feedforward gain when is in a second range that is greater than the threshold. . The feedforward control unit sets the feedforward gain in accordance with a change in the control value within the predetermined control value range while the control value changes from the first range to the second range. The clutch control device according to claim 2, wherein a feedforward gain is gradually changed to the second feedforward gain. The feedforward control unit sets the feedforward gain in accordance with a change in the control value within the predetermined control value range while the control value changes from the second range to the first range. 4. The clutch control device according to claim 2, wherein the clutch control device gradually changes from a feed forward gain to the first feed forward gain. 5. 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;
When the control value is greater than a predetermined threshold, the feedback control unit reduces a feedback gain related to the amount of movement of the piston to be adjusted in the feedback control as compared to a case where the control value is equal to or less than the threshold.
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. 5. The clutch control device according to any one of 4. 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 any one of claims 1 to 7, wherein the control value acquisition unit acquires a working fluid amount in a pressure chamber of the clutch actuator. The clutch control device according to any one of claims 1 to 7, wherein the control value acquisition unit acquires the position of the piston. The clutch control device according to any one of claims 1 to 9, wherein the threshold value is different between when the clutch device is disconnected and when the clutch device is engaged.

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