US 12,233,717 B2
Control device
Yukihiro Inamitsu, Kosai (JP)
Assigned to UNIVANCE CORPORATION, Kosai (JP)
Appl. No. 17/795,510
Filed by UNIVANCE CORPORATION, Kosai (JP)
PCT Filed Jan. 30, 2020, PCT No. PCT/JP2020/003425
§ 371(c)(1), (2) Date Jul. 26, 2022,
PCT Pub. No. WO2021/152772, PCT Pub. Date Aug. 5, 2021.
Prior Publication US 2023/0331095 A1, Oct. 19, 2023
Int. Cl. B60L 15/20 (2006.01); B60K 6/20 (2007.10); B60L 7/18 (2006.01); F16H 57/00 (2012.01); F16H 57/12 (2006.01)
CPC B60L 15/20 (2013.01) [B60L 7/18 (2013.01); F16H 57/12 (2013.01); B60K 6/20 (2013.01); B60L 2220/42 (2013.01); B60L 2240/423 (2013.01); B60L 2270/142 (2013.01); B60Y 2200/92 (2013.01); F16H 57/0006 (2013.01); F16H 2057/123 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A control device for a vehicle including two drive devices, a first speed reducer, and a second speed reducer, the first speed reducer transmitting a torque of one of the two drive devices to an output shaft, the second speed reducer transmitting a torque of the other drive device to
the output shaft at a reduction ratio different from the reduction ratio of the first speed reducer, the control device comprising a memory device and a CPU that performs arithmetic processing based on a program stored in the memory device to implement a torque control section that, based on a target torque, controls the torques outputted from the two drive devices;
wherein the torque control section includes a limiting section for controlling the torques that are outputted from the two drive devices when a sign of the target torque changes from a first sign to a second sign; and
wherein, while allowing one of the two drive devices to output a torque for reducing the backlash of the first speed reducer or second speed reducer, the limiting section allows the other drive device to output a torque based on the target torque, the torque being a torque of a magnitude based on the difference in reduction ratio between the first speed reducer and the second speed reducer.