Patent Application
20190299779
The present invention relates to a torque control device for a four-wheel-drive vehicle including main driving wheels and auxiliary driving wheels to which a drive force from a driving source is transmitted. The torque control device controls a distributed drive torque distributed to the auxiliary driving wheels by controlling a torque distribution clutch provided between the drive source and the auxiliary driving wheels.
Conventionally, a hydraulic electronic control four-wheel-drive system is known as so-called a real-time type four-wheel-drive system that alternately switches between a two-wheel-drive (2WD) state and a four-wheel-drive (4WD) state depending on a road surface condition. This hydraulic electronic control four-wheel-drive system is configured to electronically control a hydraulic pressure for engaging a clutch (namely, clutch engagement pressure) using an electric oil pump and a solenoid valve (namely, hydraulic control valve). This clutch is a hydraulic multi-disc type, which is arranged inside of a rear differential mechanism, for connecting/disconnecting a propeller shaft for transmitting a drive torque from an engine to the rear wheel side. For example, refer to Patent Document 1.
In the above-described four-wheel-drive system, on one hand, when the hydraulic multi-disc type clutch is disengaged (namely, disconnected), no rotation of the propeller shaft is transmitted to the rear wheel side. Consequently, a whole torque of the engine is transmitted to the front wheels, thereby establishing the front-wheel drive (2WD). On the other hand, when the hydraulic multi-disc type clutch is connected, a rotation of the propeller shaft is transmitted to the rear wheel side. Consequently, the torque of the engine is distributed to both the front wheels and the rear wheels, thereby establishing the four-wheel drive (4WD). Further, the rear torque distribution transmitted to the rear wheel side can be changed by changing the clutch engagement pressure.
A rear torque command with respect to the rear torque distribution of the above-described four-wheel-drive system is performed by a control unit (ECU) having a torque distribution control structure shown in
First, as a problem on the control side, as shown in
In addition, as illustrated by the dotted line (namely, no front wheel idling) and the actual line (namely, front wheel idling) in
Furthermore, as illustrated in
On the other hand, there is a problem on the mechanism side. As the LSD torque is transmitted to the rear differential gear side in the process of engaging the clutch after inputting a clutch differential rotation, a lower torque value is output necessarily to the rear differential gear side due to the efficiency at the time of pressing, compared to a so-called stand-by torque transmitted to the rear differential gear side in the process of inputting the clutch differential rotation after the clutch engagement.
In addition, an output of the torque transmitted to the rear differential gear side (namely, a transmission torque capacity of the clutch) decreases over time due to heat generation of the clutch. Therefore, as shown in
The present invention was made in view of above-mentioned point, and the purpose is to provide the torque control device for the four-wheel-drive vehicle that can stably output a minimum torque required for the start or running of the vehicle to the auxiliary driving wheel side under the road surface condition that the main driving wheels are in the idling state.
In order to achieve the above objects, a torque control device for a four-wheel-drive vehicle according to the present invention includes main driving wheels (Wf1, Wf2) to which a drive torque from a drive source (3) of the vehicle is always transmitted, auxiliary driving wheels (Wr1, Wr2) to which the drive torque is transmitted as needed, a drive torque transmission path (20) for transmitting the drive torque to the auxiliary driving wheels, a clutch (10) for connecting/disconnecting the drive torque transmission path, and a control means (50) for controlling a distribution drive torque distributed to the auxiliary driving wheels by controlling the clutch. The control means (50) includes a command torque output section (50A) for outputting a command distribution drive torque (TrCMD) that is a command value of the distribution drive torque. If a differential rotation (ΔN) of the clutch (10) continues for a predetermined first time (T1), the control means (50) characteristically performs control to raise a current command distribution drive torque for the clutch (10).
In the above-described configuration, upon judgement that the main driving wheels are idling after the first time has passed in the state in which a differential rotation has occurred to the clutch, the current command distribution drive torque for the clutch is raised. This enables the command distribution drive torque to rise fast, whereby the time required to output an actual drive torque is greatly shortened. Further, because of the rise in the command distribution drive torque, no command distribution drive torque is output low. As a result, in the so-called LSD torque state in which the clutch is engaged after inputting the clutch differential rotation, the actual torque higher than or equivalent to the rated torque can be easily transmitted to the auxiliary driving wheel side. Therefore, a minimum torque necessary for the start or running of the vehicle under the road surface condition that the main driving wheel are idling can be stably output to the auxiliary driving wheel side, thus enabling the vehicle to escape from the idling state of the main driving wheels earlier.
In this case, when the differential rotation of the clutch continues for the first time in the state in which the auxiliary driving wheels are at stop, the control means may immediately raise the above-described current command distribution drive torque step by step.
According to this configuration, the vehicle is judged to be in a stuck state (namely, halting state) with the main driving wheels being idling after the differential rotation of the clutch has continued for the first time in the state in which the auxiliary driving wheels are at stop. And in this case, a quick transmission of an excessive torque (namely, a maximum torque or a nearly maximum torque) to the auxiliary driving wheels allows the vehicle to return early and securely from the stuck state. In this manner, the vehicle can quickly escape from the stuck state prior to any influences such as heating of the clutch.
Alternatively, after the differential rotation of the clutch has continued for the first time in the state in which no auxiliary driving wheels are at stop, the above-described control means may raise the command distribution drive torque gradually according to elapsed time. In this case, moreover, the above-described control means may raise the command distribution drive torque so as to be proportional to the elapsed time after the differential rotation of the clutch has continued for the first time.
According to this configuration, the main driving wheels are judged to be idling while the vehicle is running (particularly, at a low speed) after the differential rotation of the clutch has continued for the first time in the state in which no auxiliary driving wheels are at stop. And in this case, by gradually (namely, step by step) transmitting a non-excessive torque (namely, relatively small torque) to the auxiliary driving wheels, the clutch is smoothly engaged so as to dissolve the idling state of the main driving wheels. This enables the main driving wheels to return from the idling state without no unstable behavior of the running vehicle.
In other words, if an excessive torque, namely, a maximum or nearly maximum torque is suddenly transmitted to the auxiliary driving wheels when the main driving wheels are idling in the state in which the vehicle is running, for example, on a snow-covered uphill road at a low speed, the vehicle might behave unstably. Because of this, in that case, a gradual increase in the torque transmitted to the auxiliary driving wheels can secure the stability of behaviors of the vehicle.
Furthermore, in the torque control device for the four-wheel-drive vehicle, the control means may perform control to release the command distribution drive torque when a brake for braking rotations of the main driving wheels and the auxiliary driving wheels operates and the main driving wheels and the auxiliary driving wheels stop after raising the command distribution drive torque step by step.
In the above-described configuration, by releasing the command distribution drive torque when the brake operates and the main driving wheels and the auxiliary driving wheels stop after the command distribution drive torque is raised step by step, the clutch can be completely disconnected once. As this can eliminate a differential rotation input in the clutch, a subsequent clutch engagement enables formation of so-called a stand-by torque state in which a torque is input after engaging the clutch (namely, a differential rotation between the front and rear wheels is input).
Moreover, in the above-described torque control device for the four-wheel-drive vehicle, the control means (50) may perform the control to raise the command distribution drive torque (TrCMD) step by step when a predetermined second time (T2) has passed after releasing the command distribution drive torque (TrCMD).
In the above-described configuration, by releasing the clutch for the prescribed time (namely, second time), the clutch is engaged in the state in which no clutch differential rotation occurs, thereby forming the stand-by torque state to the clutch. As a result, the actual drive torque transmitted to the auxiliary driving wheels via the clutch suitably follows the command distribution drive torque. In this manner, the actual drive torque higher than or equivalent to the rated torque can be transmitted to the auxiliary driving wheels.
According to the present invention, in the torque control device for the four-wheel-drive vehicle that changes the distribution drive torque distributed to the auxiliary driving wheels from the drive source of the vehicle, the actual drive torque higher than or equivalent to the minimum rated torque necessary for the start or running of the vehicle can be transmitted to the auxiliary driving wheels in the case that the main driving wheels are judged to be in the idling state. This can improve the running stability necessary for the vehicle under the road surface condition that the main driving wheels are in the idling state.
Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
An output shaft (not shown in the figure) of the engine 3 is connected to the left and right front wheels W1, W2, which are main driving wheels, via the automatic transmission 4, a front differential (hereinafter referred to as “front diff”) 5, and left and right front drive shafts 6L, 6R. Furthermore, the output shaft of the engine 3 is connected to the right and left rear wheels Wr, Wr, which are auxiliary driving wheels, via the automatic transmission 4, the front diff 5, a propeller shaft 7, a rear differential unit (hereinafter referred to as “rear diff unit”) 8 and right and left rear drive shafts 9L, 9R.
The rear diff unit 8 is provided with a rear differential (hereinafter referred to as “rear diff”) 19 for distributing a drive torque to the left and right rear drive shafts 9L, 9R and a front and rear torque distribution clutch 10 for connecting and disconnecting the torque transmission path from the propeller shaft 7 to the rear diff 19. The front and rear torque distribution clutch 10 is an actuator composed of a hydraulic clutch for controlling the drive torque distributed to the rear wheels Wr1, Wr2 in the driving force transmission path 20. The front and rear torque distribution clutch 10 also includes a hydraulic circuit 30 for supplying hydraulic fluid to the front and rear torque distribution clutch 10 and a 4WD-ECU 50 (hereinafter referred to as “control unit”) that is a control means for controlling a hydraulic pressure supplied from the hydraulic circuit 30. The control unit 50 includes a microcomputer and other devices. The above-described control unit 50 and the above-described hydraulic circuit 30 constitute a hydraulic control device 60 (namely, torque control device). The hydraulic control device 60 and the front and rear torque distribution clutch 10 constitute a drive torque distributor 70.
The command rear torque output section 50A of the above-described control unit 50 is composed of a total drive torque output section 51 for outputting an estimated total drive torque TrD, a basic distribution torque output section 52 for outputting a basic distribution torque TrB, a PID control amount output section 53 for outputting a PID control amount CX, a subtraction section 54 for subtracting the basic distribution torque TrB from the estimated total drive torque TrD, a multiplication section 55 for multiplying a residual drive torque ΔTr output from the subtraction section 54 by the PID control amount CX, an addition section 56 for adding an LSD torque Tr1 output from the multiplication section 55 to the basic distribution torque TrB, and a torque limit section 57 for outputting a smaller one of an addition drive torque ΣTr output from the addition section 56 and a maximum distribution torque TrM.
The basic distribution torque TrB is a drive torque distributed to the rear wheels Wr1, Wr2 as a default value (namely, initial value), for example, when a differential rotation occurs between the front wheels Wf1, Wf2 and the rear wheels Wr1, Wr2. Therefore, the basic distribution torque TrB is preferably a torque value that is higher than or equivalent to a minimum rated torque required to start the vehicle 1.
The estimated total drive torque TrD is a total drive torque of the whole four wheels presumably required for the stable running of the vehicle 1. Therefore, the estimated total drive toque TrD is calculated based on all or part of an accelerator pedal opening APD, a brake BRK, a shift position, a steering angle, a front and rear wheel rotation speed VWf1, VWf2, VWr1, VWr2 and a clutch differential rotation ΔN.
The PID control amount CX is a total value of an appropriate combination of a proportional gain (namely, P term gain), an integral gain (namely, I term gain) and a differential gain (namely, D term gain) determined depending on the clutch differential rotation ΔN. Therefore, when the front wheels Wf1, Wf2 are judged to be stuck in the idling state, the control unit 50 raises the current command rear torque TrCMD step by step by operating the PID control amount RX and raising the LSD torque Tr1.
The torque limit section 57 selects and outputs a smaller one of an addition drive torque ΣTr (=Tr1+TrB) and a preset maximum distribution torque TrU. Namely, when the addition drive torque ΣTr exceeds the maximum distribution torque TrU, an excess beyond the maximum distribution torque TrU is eliminated by the torque limit section 57. Thus, the command rear torque TrCMD can be always suppressed to less than or equal to the maximum distribution torque TrU. It should be noted that the maximum distribution torque TrU is derived by multiplying the estimated total drive torque TrD by a predetermined distribution ratio.
And, in the drive torque control device for the four-wheel-drive vehicle 1 of this embodiment, vehicle 1 is judged to be stuck at stop in the state in which the front wheels Wf1, Wf2 are idling when the differential rotation ΔN of the clutch 10 continues for a first threshold time T1 in the state in which the rear wheels Wr1, Wr2 are at stop, thereby performing control to immediately raise the rear torque command value for the clutch 10 step by step. This control will be described in detail below.
In step ST1 of
It should be noted that the clutch differential rotation ΔN here refers to a rotation speed difference between an input rotation speed of the clutch 10 and an output rotation speed of the clutch 10. The clutch differential rotation ΔN also refers to a difference between a rotation speed of the propeller shaft 7 of the front side of the clutch 10 (namely, engine 3 side) and a rotation speed of the propeller shaft 7 of the rear side (namely, rear diff 19 side) of the clutch 10.
In step ST2, it is judged whether to output the LSD torque Tr1. The control unit 50 raises the command rear torque TrCMD step by step as soon as the vehicle is judged to be stuck in the idling state of the front wheels Wf1, Wf2. And, the control unit 50 continues outputting the command rear torque TrCMD as the LSD torque Tr1. It should be note that the step ST2 corresponds to a stepwise rise in the command rear torque to shift to Tr1 at time t2 and time t4, as will be described in
In step ST3, it is judged whether to release the command rear torque TrCMD. The control unit 50 forcibly releases the current command rear torque TrCMD if the brake is in operation and all of the four-wheels are at stop (hereinafter referred to as “forced four-wheel stop state”). In other words, the torque of the clutch 10 is reduced forcibly to zero. It should be that this step ST3 corresponds to the release of the command rear torque to shift to 0 at time t3, t5 and t8, as will be described in
In step ST4, it is judged whether to output the stand-by torque Tr2. If the forced four-wheel stop state continues for a second threshold time T2, the control unit 50 immediately raises the current command rear torque TrCMD step by step. And, the control unit 50 continues outputting the command rear torque TrCMD as the stand-by torque Tr2. It should be noted that this step ST4 corresponds to the stepwise rise in the command rear torque to shift to Tr2 at time t6 and t9, as will be described in
As shown in
At time t2 (=t1+T1), in the state in which the rear wheels Wr1, Wr2 are at stop, the first threshold time T1 has passed after the front wheels Wf1, Wf2 had begun turning. As a result, as shown in
As shown in
At time t4, the brake BRK is turned OFF, and as shown in
At time t5, as shown in
At time t6 (=t5+T2), the second threshold time T2 has passed after the release of the drive torque at time t5. Thus, as shown in
At time t7, as shown in
At time t8, as shown in
At time t9 (=t8+T2), the second threshold time T2 has passed since the drive torque had been released at time t8. In this case, as shown in
At time t10, as shown in
At time t11, the rotation speed VWf1, VWf2 of the front wheels rises from zero. Following this, at time t12, the rotation speed VWr1, VWr2 of the rear wheels rises from zero.
At time t13 (=t12+T3), the third threshold time T3 has passed since the rear wheels Wr1, Wr2 had begun rotating, whereby as shown in
After time t14 onward, the control unit 50 performs the normative rear torque command.
As described above, the control unit 50 of the present invention raises the command rear torque TrCMD step by step as soon as the vehicle is judged to be stuck in the idling state of the front wheels Wf1, Wf2, which are the driving wheels. And, as soon as the brake BRK operates and all of the four wheels stop in the state in which the front wheel idling/stuck judgment flag is “1”, the command rear torque TrCMD is reduced to zero step by step so as to release the drive torque (namely, clutch engagement pressure) of the clutch 10. And, as soon as the second threshold time T2 passes after the release of the drive torque, the command rear torque TrCMD is raised step by step so as to form the stand-by torque state. By forming the stand-by torque state, an actual torque larger than or equal to a minimum rated torque required to start the vehicle 1 can be transmitted to the rear wheels Wr1, Wr2. This enables the vehicle 1 to escape from the running condition of being stuck in the idling state of the front wheels Wf1, Wf2.
Furthermore, the dependence of the command rear torque TrCMD in accordance with the present invention on the estimated total drive torque is small on the whole. As a result, under the road surface condition that the front wheels Wf1, Wf2 are stuck in the idling state, no command rear torque TrCMD is estimated to be low (namely, a low command rear torque TrCMD is not output). In addition, the command rear torque TrCMD rises fast. This can instantly raise the current command rear torque TrCMD step by step, so as to in the LSD torque state or the stand-by torque state, transmit a minimum rated torque required to start the vehicle 1 to the rear wheels Wr1, Wr2.
Moreover, the first rise in the command rear torque TrCMD shortens the engagement time. Accordingly, no output reduction in the transmission torque occurs due to the heating of the clutch 10.
Therefore, according to the present invention, in the drive torque distributor for the four-wheel-drive vehicle that controls the clutch 10 for front and rear torque distribution so as to change the torque distributed to the rear wheels Wr1, Wr2, which are the auxiliary driving wheels, when the front wheels Wf1, Wf2, which are the main driving wheels, are stuck in the idling state, the actual torque higher than or equivalent to the minimum rated torque required to start the vehicle can be instantly transmitted to the rear wheel Wr1, Wr2, which are the auxiliary driving wheels. In this manner, under the road surface condition that the main driving wheels Wf1, Wf2 are stuck in the idling state or under the road surface condition equivalent thereto, the running performance of the vehicle can be improved.
Next, a second embodiment of the present invention is described. In the description of the second embodiment and the corresponding drawings, component parts that are identical or equivalent to those of the first embodiment are denoted by the same symbols, and any detailed description of those parts is omitted. And features other than those described as below are the same as in the first embodiment.
In the first embodiment, on one hand, the control to instantly raise the command rear torque TrCMD step by step is performed in the state in which the vehicle is stuck (namely, vehicles are at stop) in the idling state of the front wheels. In the control of the present embodiment, on the other hand, if the front wheels Wf1, Wf2 fall in the idling state while the vehicle is running (at a low speed), the command rear torque TrCMD is gradually (so-called in a sweep shape) raised so as to gradually increase with respect to the elapsed time from the time when the front wheels Wf1, Wf2 fall in the idling state.
If the front wheels are judged to be in the idling/stuck state (YES) in step ST1 of
As a result, on one hand, if the vehicle is judged not to be running at a low speed (NO), the operation is terminated as it is. On the other hand, if the vehicle is judged to be running at a low speed (YES), the operation proceeds to a front wheel idling during running judgment (step ST6). In this front wheel idling during running judgment in step ST6, it is judged whether the front wheels Wf1, Wf2 are idling in the state in which the vehicle is running (at a low speed). In this case, if the rear wheels Wr1, Wr2 are not at stop (namely, the rotation speed of the rear wheels Wr1, Wr2 is other than 0) and the clutch differential rotation ΔN is greater than or equal to a predetermined rotation N2 (ΔN>=N2), and these states continue for the first threshold time T1, which are judgment criteria here, the front wheels Wf1, Wf2 are judged to be idling while the vehicle 1 is running. It should be noted that this step ST6 corresponds to shift of 0 to 1 (0→*1) of the front wheel idling during running judgment flag at time t2 in
In step ST7, the LSD torque Tr1 is output. Namely, upon judgement that the front wheels Wf1, Wf2 are idling while the vehicle is running (namely, the front wheel idling during running judgment flag shifts from 0 to 1), the control unit 50 (gradually) raises the command rear torque TrCMD as the LSD torque Tr1 so as to gradually increase according to an elapsed time from this judgement. And, the control unit 50 continues outputting the command rear torque TrCMD as the LSD torque Tr1. It should be noted that this step ST7 corresponds to a gradual rise in the command rear torque to shift to Tr1 depending on elapsed time from time t2 of
In step ST3, it is judged whether to release the command rear torque TrCMD. As the contents of the control of this step ST3 are the same as those of the control in step ST3 of
In step ST4, it is judged whether to output the stand-by torque Tr2. As the contents of the control of this step ST4 are the same as those of the control in step ST4 of
As shown in
Thereafter, at time t2 (=t1+T1), the first threshold time T1 has passed since the front wheels Wf1, Wf2 began rotating. As a result, as shown in
As changes in each value after time t3 are the same as those shown in FIG. of the first embodiment, any detailed descriptions thereof are omitted here.
As described above, upon judgement that the front wheels Wf1, Wf2 are idling while the vehicle is running at a relatively low speed, the control unit 50 gradually raises the command rear torque TrCMD so as to gradually increase according to elapsed time from this judgement. Thus, by gradually (step by step) transmitting a non-excessive torque (relatively small torque) to the rear driving wheels Wr1, Wr2 if the front wheels Wf1, Wf2 are in the idling state when the vehicle is running at a low speed, the front and rear torque distribution clutch 10 is smoothly engaged so as to dissolve the idling state of the front driving wheels Wf1, Wf2. This enables the front driving wheels Wf1, Wf2 to return from the idling state without no unstable behavior of the running vehicle.
In other words, if a maximum or nearly maximum torque is suddenly transmitted to the rear wheels Wr1, Wr2 when the front wheels Wf1, Wf2 are idling in the state in which the vehicle is running, for example, on a snow-covered uphill road (at a low speed), the vehicle might behave unstably. Because of this, in that case, a gradual increase in the torque transmitted to the rear wheels Wr1, Wr2 can secure the stability of behaviors of the vehicle.
While embodiments of the present invention have been described above, the present invention is not limited to the above-mentioned embodiments, but various modifications are possible within the scope of the technical idea as defined in the claims, the specification, and the drawings. For example, the above-described second embodiment describes the case that if the front wheels Wf1, Wf2 fall into the idling state while the vehicle is running (at a low speed), the command rear torque TrCMD is raised in proportion to the elapsed time from the time when the front wheels Wf1, Wf2 fall in the idling state. However, the control of the present invention may be performed so that the command rear torque TrCMD be raised not only proportionally but also in other embodiments as far as it is raised gradually with respect to the elapsed time.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2016-241698 | Dec 2016 | JP | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/JP2017/043484 | 12/4/2017 | WO | 00 |
